Binocular camera calibration method and system, electronic equipment and medium

Abstract

The invention provides a binocular camera calibration method and system, electronic equipment and a medium, and relates to the technical field of binocular calibration, and the method comprises the steps: obtaining a first image and a second image of a calibration board, the calibration board comprises an edge field point, and the first image and the second image respectively comprise the projection of the edge field point; determining a first projection distance according to the first image; determining a second projection distance according to the second image; determining a first included angle according to the first projection spacing, the first spacing, a preset object distance and a camera focal length; determining a second included angle according to the second projection spacing, the second spacing, the preset object distance and the focal length of the camera; determining a target included angle of the binocular camera according to the first included angle and the second included angle; and the included angle of the binocular camera is adjusted to the target included angle, so that single-point distance calibration of the binocular camera is realized, and the calibration efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of binocular calibration technology, and in particular to a binocular camera calibration method, system, electronic equipment and medium. Background Art

[0002] Mechanical installation errors in binocular cameras can reduce ranging accuracy. For example, an angle error of 0.3° can cause ranging errors to exceed 100%. Traditional binocular camera calibration methods rely on high-precision mechanical installation and use a robotic arm to capture images from multiple angles and distances for calibration, which is costly and time-consuming. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to overcome the deficiencies in the prior art and provide a binocular camera calibration method, system, electronic device, and medium. The present invention provides the following technical solutions:

[0004] In a first aspect, the present application provides a binocular camera calibration method, wherein the binocular camera includes: a first camera and a second camera, and the method includes:

[0005] Acquire a first image of a calibration plate through the first camera, and acquire a second image of the calibration plate through the second camera, wherein the calibration plate includes edge field points, and the first image and the second image respectively include projections of the edge field points;

[0006] Determining a first projection distance according to the first image, where the first projection distance is a distance between a projection of the edge field of view point and an aperture center axis of the first camera;

[0007] Determining a second projection distance based on the second image, where the second projection distance is the distance between the projection of the edge field of view point and the aperture center axis of the second camera;

[0008] Determining a first angle based on the first projection spacing, the first spacing, a preset object distance, and a camera focal length, wherein the preset object distance is the distance between the calibration plate and a center line, the first spacing is the distance between the edge field of view point and a reference axis of the first camera, the reference axis of the first camera is perpendicular to the center line, and the center line is a line connecting the aperture center of the first camera and the aperture center of the second camera;

[0009] determining a second angle according to the second projection distance, the second distance, the preset object distance, and the focal length of the camera, wherein the second distance is the distance between the edge field of view point and a reference axis of the second camera, and the reference axis of the second camera is perpendicular to the center line;

[0010] Determining a target angle of the binocular camera according to the first angle and the second angle;

[0011] Adjust the angle of the binocular camera to the target angle.

[0012] In one embodiment, the method further includes: determining a phase difference between the first image and the second image based on the first projection spacing and the second projection spacing; judging whether the angle of the binocular camera meets a preset shooting condition based on the phase difference; if not, determining that the binocular camera needs to be calibrated.

[0013] In one embodiment, judging whether the angle of the binocular camera meets the preset shooting condition based on the phase difference includes: judging whether the phase difference falls within a preset error range; if so, determining that the angle of the binocular camera meets the preset shooting condition; if not, determining that the angle of the binocular camera does not meet the preset shooting condition.

[0014] In one embodiment, determining the first angle based on the first projection spacing, the first spacing, the preset object distance and the camera focal length includes: determining a first angle value based on the first spacing and the preset object distance; determining a second angle value based on the first projection spacing and the camera focal length; and determining the first angle based on the first angle value and the first angle value.

[0015] In one embodiment, determining the second angle based on the second projection spacing, the second spacing, the preset object distance and the camera focal length includes: determining a third angle value based on the second spacing and the preset object distance; determining a fourth angle value based on the second projection spacing and the camera focal length; and determining the second angle based on the third angle value and the fourth angle value.

[0016] In one embodiment, determining the target angle of the binocular camera based on the first angle and the second angle includes: determining the sum of the first angle and the second angle as the target angle.

[0017] In one embodiment, adjusting the angle of the binocular cameras to the target angle includes: adjusting the aperture center axis of the second camera using the aperture center axis of the first camera as a reference line so that the angle between the aperture center axis of the first camera and the aperture center axis of the second camera is the target angle; or adjusting the aperture center axis of the first camera using the aperture center axis of the second camera as a reference line so that the angle between the aperture center axis of the second camera and the aperture center axis of the first camera is the target angle.

[0018] In a second aspect, an embodiment of the present application provides a binocular camera calibration system, the system comprising:

[0019] An image acquisition module is configured to acquire a first image of a calibration plate through a first camera, and acquire a second image of the calibration plate through a second camera, wherein the calibration plate includes edge field points, and the first image and the second image each include a projection of the edge field points;

[0020] a first determining module, configured to determine a first projection distance based on the first image, where the first projection distance is the distance between the projection of the edge field of view point and the aperture center axis of the first camera;

[0021] a second determining module, configured to determine a second projection distance based on the second image, where the second projection distance is a distance between a projection of the edge field of view point and a central axis of an aperture of the second camera;

[0022] a first angle determination module, configured to determine the first angle based on the first projection spacing, a first spacing, a preset object distance, and a camera focal length, wherein the preset object distance is the distance between the calibration plate and a center line, the first spacing is the distance between the edge field of view point and a reference axis of the first camera, the reference axis of the first camera is perpendicular to the center line, and the center line is a line connecting the aperture center of the first camera and the aperture center of the second camera;

[0023] a second angle determination module, configured to determine a second angle based on the second projection spacing, the second spacing, the preset object distance, and the camera focal length, wherein the second spacing is the distance between the edge field of view point and a reference axis of the second camera, and the reference axis of the second camera is perpendicular to the center line;

[0024] a target angle determination module, configured to determine a target angle of the binocular camera according to the first angle and the second angle;

[0025] A correction module is used to adjust the angle of the binocular camera to the target angle.

[0026] In a third aspect, the present invention provides an electronic device comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program runs on the processor, the binocular camera calibration method described in the first aspect is executed.

[0027] In a fourth aspect, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the binocular camera calibration method described in the first aspect is implemented.

[0028] The binocular camera calibration method, system, electronic device and medium provided in the embodiments of the present application obtain a first image of a calibration plate through the first camera, and obtain a second image of the calibration plate through the second camera, the calibration plate includes edge field of view points, and the first image and the second image respectively include projections of the edge field of view points; according to the first image, a first projection spacing is determined, and the first projection spacing is the distance between the projection of the edge field of view points and the aperture center axis of the first camera; according to the second image, a second projection spacing is determined, and the second projection spacing is the distance between the projection of the edge field of view points and the aperture center axis of the second camera; a first angle is determined according to the first projection spacing, the first spacing, a preset object distance and the focal length of the camera, and the preset object distance is The distance between the calibration plate and the center line, the first spacing is the distance between the edge field of view point and the reference axis of the first camera, the reference axis of the first camera is perpendicular to the center line, and the center line is the line connecting the aperture center of the first camera and the aperture center of the second camera; the second angle is determined according to the second projection spacing, the second spacing, the preset object distance and the camera focal length, the second spacing is the distance between the edge field of view point and the reference axis of the second camera, and the reference axis of the second camera is perpendicular to the center line; the target angle of the binocular camera is determined according to the first angle and the second angle; the angle of the binocular camera is adjusted to the target angle, thereby realizing single-point distance calibration of the binocular camera and improving calibration efficiency.

[0029] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 A schematic diagram of a process for calibrating a binocular camera according to an embodiment of the present application is shown;

[0032] Figure 2 A diagram showing the position relationship between the binocular camera and the calibration plate provided in an embodiment of the present application is shown;

[0033] Figure 3 A diagram showing a positional relationship between a binocular camera and an edge field of view point provided by an embodiment of the present application is shown;

[0034] Figure 4 Another schematic diagram of the process of calibrating a binocular camera according to an embodiment of the present application is shown;

[0035] Figure 5 Another schematic diagram of the process of the binocular camera calibration method provided in an embodiment of the present application is shown;

[0036] Figure 6 A calculation flow chart of the target angle provided by an embodiment of the present application is shown;

[0037] Figure 7 A schematic structural diagram of a binocular camera calibration system provided in an embodiment of the present application is shown;

[0038] Figure 8 A structural schematic diagram of an electronic device provided in an embodiment of the present application is shown.

[0039] Description of main component symbols:

[0040] 700-binocular camera calibration system; 710-image acquisition module; 720-first determination module; 730-second determination module; 740-first angle determination module; 750-second angle determination module; 760-target angle determination module; 770-correction module; 800-electronic device; 801-transceiver; 802-processor; 803-memory. DETAILED DESCRIPTION

[0041] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0042] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs. The terms used in the template description herein are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0044] Example 1

[0045] In order to solve the problem of decreased ranging accuracy of binocular cameras due to mechanical installation errors, this application embodiment provides a binocular camera calibration method, see Figure 1 , the method includes: steps S110 to S170.

[0046] Step S110: acquiring a first image of a calibration plate through the first camera, and acquiring a second image of the calibration plate through the second camera, wherein the calibration plate includes edge field points, and the first image and the second image respectively include projections of the edge field points.

[0047] Place the binocular camera at a preset distance from the calibration plate, and use the first camera and the second camera to take an image of the calibration plate respectively. The positional relationship between the binocular camera and the calibration plate can be seen in Figure 2 It should be noted that Figure 2 The calibration plate includes multiple field of view points: a central field of view point, two 0.5 field of view points and two edge field of view points. In the embodiment of the present application, the edge field of view point is any edge field of view point on the calibration plate.

[0048] Step S120: determining a first projection distance according to the first image, where the first projection distance is the distance between the projection of the edge field of view point and the aperture center axis of the first camera.

[0049] See Figure 3 , Figure 3 FIG. 1 shows a position relationship diagram between the binocular camera and the edge field of view provided in an embodiment of the present application. Figure 3 As shown, the first projection distance represents the distance between the projection of the edge field of view point in the first image and the central axis of the first camera aperture.

[0050] Step S130: determining a second projection distance according to the second image, where the second projection distance is the distance between the projection of the edge field of view point and the aperture center axis of the second camera.

[0051] Please see again Figure 3 , similarly to step S120 , the second projection distance represents the distance between the projection of the edge field of view point in the second image and the central axis of the second camera aperture.

[0052] Step S140: Determine a first angle based on the first projection spacing, the first spacing, a preset object distance, and the focal length of the camera, where the preset object distance is the distance between the calibration plate and the center line, the first spacing is the distance between the edge field of view point and the reference axis of the first camera, the reference axis of the first camera is perpendicular to the center line, and the center line is the line connecting the aperture center of the first camera and the aperture center of the second camera.

[0053] Please see again Figure 3 , Figure 3 In the figure, point a represents the aperture center of the first camera, and point b represents the aperture center of the second camera. It can be understood that the line connecting point a and point b is the center line, and the reference axis of the first camera and the reference axis of the second camera are respectively perpendicular to the center line.

[0054] In one embodiment, see Figure 4 , step S140 includes: steps S141 to S143.

[0055] Step S141 : determining a first angle value according to the first distance and the preset object distance.

[0056] Please combine Figure 3 , Figure 3 In , β1 represents the first incident angle, that is, the angle between the edge field of view point and the reference axis of the first camera. It can be understood that the first spacing, the preset object distance and the first incident angle satisfy the following relationship:

[0057]

[0058] Wherein, b1 represents the first spacing, Z represents the preset object distance, and tanβ1 is determined as the first angle value.

[0059] Step S142: determining a second angle value according to the first projection distance and the camera focal length.

[0060] Combine Figure 3 , it can be understood that the first projection distance, the camera focal length, the first angle and the first incident angle satisfy the following relationship:

[0061]

[0062] Where γ1 represents the first included angle, β1 represents the first incident angle, d1 represents the first projection distance, and f represents the focal length of the camera. tan(γ1+β1) is determined as the second angle value.

[0063] Step S143: determine the first angle according to the first angle value and the first angle value.

[0064] Combine the first angle value and the second angle value to determine the first angle

[0065] Step S150: Determine a second angle based on the second projection spacing, the second spacing, the preset object distance, and the camera focal length, where the second spacing is the distance between the edge field of view point and the reference axis of the second camera, and the reference axis of the second camera is perpendicular to the center line.

[0066] Please see again Figure 3 , Figure 3 Where γ2 represents the second angle.

[0067] In one embodiment, see Figure 5 , step S150 includes: steps S151 to S153.

[0068] Step S151 : determining a third angle value according to the second distance and the preset object distance.

[0069] Similar to step S141, please combine Figure 3 , Figure 3 In , β2 represents the second incident angle, that is, the angle between the edge field of view point and the reference axis of the second camera. It can be understood that the second spacing, the preset object distance and the second incident angle satisfy the following relationship:

[0070]

[0071] b2 represents the second spacing, Z represents the preset object distance, and tanβ2 is determined as the third angle value.

[0072] Step S152: determining a fourth angle value according to the second projection distance and the camera focal length.

[0073] Similar to step S142, Figure 3 , the second projection distance, camera focal length, second angle and second incident angle satisfy the following relationship:

[0074]

[0075] Where γ2 represents the second included angle, β2 represents the second incident angle, d2 represents the second projection distance, and f represents the focal length of the camera. tan(γ2+β2) is determined as the fourth angle value.

[0076] Step S153: Determine the second angle according to the third angle value and the fourth angle value.

[0077] Combine the first angle value and the second angle value to determine the first angle

[0078] Step S160: determining a target angle of the binocular camera according to the first angle and the second angle.

[0079] In one embodiment, determining the target angle of the binocular camera based on the first angle and the second angle includes: determining the sum of the first angle and the second angle as the target angle.

[0080] Combine Figure 3 , I can understand, The derivation process can be found in Figure 6 The flowchart shown.

[0081] Step S170: adjusting the angle of the binocular camera to the target angle.

[0082] Adjust the angle between the aperture center axes of the two cameras of the binocular camera to the target angle to complete the calibration of the binocular camera.

[0083] In one embodiment, adjusting the angle of the binocular cameras to the target angle includes: adjusting the aperture center axis of the second camera using the aperture center axis of the first camera as a reference line so that the angle between the aperture center axis of the first camera and the aperture center axis of the second camera is the target angle; or adjusting the aperture center axis of the first camera using the aperture center axis of the second camera as a reference line so that the angle between the aperture center axis of the second camera and the aperture center axis of the first camera is the target angle.

[0084] In this embodiment, the position of the first camera remains unchanged, and the second camera is adjusted so that the angle between the center axis of the second camera's aperture and the center axis of the first camera's aperture reaches the target angle. Alternatively, the position of the second camera remains unchanged, and the first camera is adjusted so that the angle between the center axis of the second camera's aperture and the center axis of the first camera's aperture reaches the target angle. Specifically, the adjustment method can be set according to actual needs.

[0085] The binocular camera calibration method provided by the embodiment of the present application obtains a first image of a calibration plate through the first camera, and obtains a second image of the calibration plate through the second camera, the calibration plate includes an edge field of view point, and the first image and the second image respectively include the projection of the edge field of view point; according to the first image, a first projection spacing is determined, and the first projection spacing is the distance between the projection of the edge field of view point and the aperture center axis of the first camera; according to the second image, a second projection spacing is determined, and the second projection spacing is the distance between the projection of the edge field of view point and the aperture center axis of the second camera; according to the first projection spacing, the first spacing, a preset object distance and the focal length of the camera, a first angle is determined, and the preset object distance is the distance between the calibration plate and the aperture center axis. The first spacing is the distance between the edge field of view point and the reference axis of the first camera, the reference axis of the first camera is perpendicular to the center line, and the center line is the line connecting the aperture center of the first camera and the aperture center of the second camera; the second angle is determined according to the second projection spacing, the second spacing, the preset object distance and the camera focal length, the second spacing is the distance between the edge field of view point and the reference axis of the second camera, and the reference axis of the second camera is perpendicular to the center line; the target angle of the binocular camera is determined according to the first angle and the second angle; the angle of the binocular camera is adjusted to the target angle, thereby realizing single-point distance calibration of the binocular camera and improving calibration efficiency.

[0086] Example 2

[0087] Also, see Figure 7 , the embodiment of the present application also provides a binocular camera calibration system, including:

[0088] An image acquisition module 710 is configured to acquire a first image of a calibration plate through a first camera, and acquire a second image of the calibration plate through a second camera, wherein the calibration plate includes edge view points, and the first image and the second image each include a projection of the edge view points;

[0089] A first determining module 720 is configured to determine a first projection distance based on the first image, where the first projection distance is the distance between the projection of the edge field of view point and the aperture center axis of the first camera;

[0090] a second determining module 730, configured to determine a second projection distance based on the second image, where the second projection distance is the distance between the projection of the edge field of view point and the aperture center axis of the second camera;

[0091] a first angle determination module 740 configured to determine a first angle based on the first projection spacing, a first spacing, a preset object distance, and a camera focal length, wherein the preset object distance is the distance between the calibration plate and a center line, the first spacing is the distance between the edge field of view point and a reference axis of the first camera, the reference axis of the first camera is perpendicular to the center line, and the center line is a line connecting the aperture centers of the first camera and the aperture centers of the second camera;

[0092] a second angle determining module 750, configured to determine a second angle based on the second projection spacing, the second spacing, the preset object distance, and the camera focal length, wherein the second spacing is the distance between the edge field of view point and a reference axis of the second camera, the reference axis of the second camera being perpendicular to the center line;

[0093] a target angle determination module 760, configured to determine a target angle of the binocular camera according to the first angle and the second angle;

[0094] The correction module 770 is used to adjust the angle of the binocular camera to the target angle.

[0095] The binocular camera calibration system 700 provided in the embodiment of the present application can execute the binocular camera calibration method provided in the above-mentioned method embodiment 1, and will not be described again here to avoid repetition.

[0096] The binocular camera calibration system provided by the embodiment of the present application comprises an image acquisition module acquiring a first image of a calibration plate through a first camera, and acquiring a second image of the calibration plate through a second camera, wherein the calibration plate includes an edge field of view point, and the first image and the second image respectively include projections of the edge field of view point; a first determination module determining a first projection spacing based on the first image, wherein the first projection spacing is the distance between the projection of the edge field of view point and the aperture center axis of the first camera; a second determination module determining a second projection spacing based on the second image, wherein the second projection spacing is the distance between the projection of the edge field of view point and the aperture center axis of the second camera; a first angle determination module determining a first angle based on the first projection spacing, the first spacing, a preset object distance and the focal length of the camera, wherein the preset object distance is the distance between the projection of the edge field of view point and the aperture center axis of the second camera. and the center line, the first spacing is the distance between the edge field of view point and the reference axis of the first camera, the reference axis of the first camera is perpendicular to the center line, and the center line is the line connecting the aperture center of the first camera and the aperture center of the second camera; the second angle determination module determines the second angle according to the second projection spacing, the second spacing, the preset object distance and the camera focal length, the second spacing is the distance between the edge field of view point and the reference axis of the second camera, and the reference axis of the second camera is perpendicular to the center line; the target angle determination module determines the target angle of the binocular camera according to the first angle and the second angle; the correction module adjusts the angle of the binocular camera to the target angle, thereby realizing single-point distance calibration of the binocular camera and improving calibration efficiency.

[0097] Example 3

[0098] In addition, an embodiment of the present invention provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program runs on the processor, it executes the binocular camera calibration method provided in Example 1.

[0099] For details, see Figure 8The electronic device 800 includes: a transceiver 801, a bus interface and a processor 802, wherein the processor 802 is configured to obtain a first image of a calibration plate through the first camera, and obtain a second image of the calibration plate through the second camera, wherein the calibration plate includes edge field of view points, and the first image and the second image respectively include projections of the edge field of view points; determine a first projection spacing based on the first image, wherein the first projection spacing is the distance between the projection of the edge field of view points and the aperture center axis of the first camera; determine a second projection spacing based on the second image, wherein the second projection spacing is the distance between the projection of the edge field of view points and the aperture center axis of the second camera; and determine a first projection spacing based on the first projection spacing, the first spacing, the preset object distance and the camera aperture. The camera focal length determines a first angle, the preset object distance is the distance between the calibration plate and the center line, the first spacing is the distance between the edge field of view point and the reference axis of the first camera, the reference axis of the first camera is perpendicular to the center line, and the center line is the line connecting the aperture center of the first camera and the aperture center of the second camera; the second angle is determined according to the second projection spacing, the second spacing, the preset object distance and the camera focal length, the second spacing is the distance between the edge field of view point and the reference axis of the second camera, and the reference axis of the second camera is perpendicular to the center line; the target angle of the binocular camera is determined according to the first angle and the second angle; and the angle of the binocular camera is adjusted to the target angle.

[0100] In the embodiment of the present invention, the electronic device 800 further includes a memory 803. Figure 8 In the embodiment, the bus architecture can include any number of interconnected buses and bridges, specifically linking together various circuits of one or more processors represented by processor 802 and memory represented by memory 803. The bus architecture can also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are all well known in the art and therefore will not be further described herein. The bus interface provides an interface. The transceiver 801 can be multiple components, that is, including a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium. The processor 802 is responsible for managing the bus architecture and general processing, and the memory 803 can store data used by the processor 802 when performing operations.

[0101] The electronic device 800 provided in this embodiment of the present invention can execute the binocular camera calibration method provided in the above method embodiment 1, which will not be described again here to avoid repetition.

[0102] Example 4

[0103] In addition, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the binocular camera calibration method provided in Example 1 is implemented.

[0104] In this embodiment, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0105] The computer-readable storage medium provided in this embodiment can implement the binocular camera calibration method provided in Example 1. To avoid repetition, it will not be described here.

[0106] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not limiting, and thus other examples of the exemplary embodiments may have different values.

[0107] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0108] The above-described embodiments merely illustrate several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that variations and modifications are possible without departing from the scope of the present invention, and such variations and modifications are fully within the scope of protection of the present invention.

Claims

1. A binocular camera calibration method, characterized in that: The binocular camera includes: a first camera and a second camera, and the method includes: Acquire a first image of a calibration plate through the first camera, and acquire a second image of the calibration plate through the second camera, wherein the calibration plate includes edge field points, and the first image and the second image respectively include projections of the edge field points; Determining a first projection distance according to the first image, where the first projection distance is a distance between a projection of the edge field of view point and an aperture center axis of the first camera; Determining a second projection distance based on the second image, where the second projection distance is the distance between the projection of the edge field of view point and the aperture center axis of the second camera; Determining a first angle based on the first projection spacing, the first spacing, a preset object distance, and a camera focal length, wherein the preset object distance is the distance between the calibration plate and a center line, the first spacing is the distance between the edge field of view point and a reference axis of the first camera, the reference axis of the first camera is perpendicular to the center line, and the center line is a line connecting the aperture center of the first camera and the aperture center of the second camera; determining a second angle according to the second projection distance, the second distance, the preset object distance, and the focal length of the camera, wherein the second distance is the distance between the edge field of view point and a reference axis of the second camera, and the reference axis of the second camera is perpendicular to the center line; Determining a target angle of the binocular camera according to the first angle and the second angle; Adjust the angle of the binocular camera to the target angle.

2. The binocular camera calibration method according to claim 1, wherein: The method further comprises: determining a phase difference between the first image and the second image according to the first projection distance and the second projection distance; Determining whether the angle of the binocular camera meets a preset shooting condition according to the phase difference; If not, it is determined that the binocular camera needs to be calibrated.

3. The binocular camera calibration method according to claim 2, wherein: The determining, based on the phase difference, whether the angle of the binocular camera meets a preset shooting condition includes: Determining whether the phase difference falls within a preset error range, and if so, determining whether the angle of the binocular camera meets the preset shooting condition; If not, it is determined that the angle of the binocular camera does not meet the preset shooting condition.

4. The binocular camera calibration method according to claim 1, wherein: The determining the first angle according to the first projection distance, the first distance, the preset object distance and the camera focal length includes: determining a first angle value according to the first distance and the preset object distance; Determine a second angle value according to the first projection distance and the camera focal length; The first angle is determined according to the first angle value and the second angle value.

5. The binocular camera calibration method according to claim 4, characterized in that: The determining the second angle according to the second projection distance, the second distance, the preset object distance and the camera focal length includes: determining a third angle value according to the second distance and the preset object distance; Determine a fourth angle value according to the second projection distance and the camera focal length; The second angle is determined according to the third angle value and the fourth angle value.

6. The binocular camera calibration method according to claim 5, characterized in that: The determining the target angle of the binocular camera according to the first angle and the second angle includes: The sum of the first angle and the second angle is determined as the target angle.

7. The binocular camera calibration method according to any one of claims 1 to 6, characterized in that: The adjusting the angle of the binocular camera to the target angle includes: Using the aperture center axis of the first camera as a reference line, adjust the aperture center axis of the second camera so that the angle between the aperture center axis of the first camera and the aperture center axis of the second camera is the target angle; Alternatively, the aperture center axis of the first camera is adjusted with the aperture center axis of the second camera as a reference line so that the angle between the aperture center axis of the second camera and the aperture center axis of the first camera is the target angle.

8. A binocular camera calibration system, characterized in that: The system comprises: An image acquisition module is configured to acquire a first image of a calibration plate through a first camera, and acquire a second image of the calibration plate through a second camera, wherein the calibration plate includes edge field points, and the first image and the second image each include a projection of the edge field points; a first determining module, configured to determine a first projection distance based on the first image, where the first projection distance is the distance between the projection of the edge field of view point and the aperture center axis of the first camera; a second determining module, configured to determine a second projection distance based on the second image, where the second projection distance is a distance between a projection of the edge field of view point and a central axis of an aperture of the second camera; a first angle determination module, configured to determine the first angle based on the first projection spacing, a first spacing, a preset object distance, and a camera focal length, wherein the preset object distance is the distance between the calibration plate and a center line, the first spacing is the distance between the edge field of view point and a reference axis of the first camera, the reference axis of the first camera is perpendicular to the center line, and the center line is a line connecting the aperture center of the first camera and the aperture center of the second camera; a second angle determination module, configured to determine a second angle based on the second projection spacing, the second spacing, the preset object distance, and the camera focal length, wherein the second spacing is the distance between the edge field of view point and a reference axis of the second camera, and the reference axis of the second camera is perpendicular to the center line; a target angle determination module, configured to determine a target angle of the binocular camera according to the first angle and the second angle; A correction module is used to adjust the angle of the binocular camera to the target angle.

9. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is run on the processor, the binocular camera calibration method according to any one of claims 1 to 7 is executed.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the binocular camera calibration method according to any one of claims 1 to 7 is implemented.

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