Camera calibration system and device

Abstract

The utility model relates to the technical field of equipment calibration discloses a kind of camera calibration system and equipment, and the system includes: environmental pre-examination module and calibration module;Environmental pre-examination module is connected with camera equipment and calibration module respectively;Environmental pre-examination module is used to shoot the preset calibration chart by camera equipment, obtains first shooting result, and in the case where first shooting result is pre-examination pass, calibration signal is output to calibration module;Calibration module is used to shoot calibration chart by camera equipment in the case where calibration signal is received, obtains second shooting result, and second shooting result is used to calibrate camera equipment.

Description

Technical Field

[0001] This utility model relates to the field of equipment calibration technology, and in particular to a camera calibration system and equipment. Background Technology

[0002] In many applications involving dual cameras, such as drone photography, intelligent security monitoring, industrial visual inspection, and mobile device shooting functions, the calibration accuracy of dual cameras plays a crucial role in the final imaging effect and the accuracy of related applications.

[0003] In the traditional dual-camera calibration process, a planar calibration object is used to capture calibration images from different angles. However, this method relies on manual adjustment of the camera's position and angle, which is not only inefficient, but also makes it difficult to guarantee the accuracy and consistency of each calibration due to human factors, resulting in a low accuracy rate for dual-camera calibration. Utility Model Content

[0004] The main purpose of this invention is to provide a camera calibration system and equipment, which aims to solve the technical problem of low accuracy in traditional dual-camera calibration.

[0005] To achieve the above objectives, this utility model provides a camera calibration system, the system comprising: an environmental pre-inspection module and a calibration module; The environmental pre-inspection module is connected to both the camera device and the calibration module. The environmental pre-inspection module is used to take pictures of the preset calibration chart through the camera device, obtain a first shooting result, and output a calibration signal to the calibration module if the first shooting result is a pre-inspection pass. The calibration module is used to take a picture of the calibration chart through the camera device when the calibration signal is received, and obtain a second picture result, which is used to calibrate the camera device.

[0006] This utility model also proposes a camera calibration device, which includes the camera calibration system as described above. Attached Figure Description

[0007] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0008] Figure 1This is a schematic diagram of the modules provided in Embodiment 1 of the camera calibration system of this utility model; Figure 2 This is a schematic diagram of the shooting scene provided in Example 1; Figure 3 A flowchart illustrating the successful pre-detection process provided in Example 1; Figure 4 A diagram illustrating successful calibration provided in Example 1; Figure 5 This is a schematic diagram of the modules provided in Embodiment 2 of the camera calibration system of this utility model; Figure 6 This is a schematic diagram of the modules provided in Embodiment 3 of the camera calibration system of this utility model; Figure 7 A block diagram showing the result of writing data into the camera device as provided in Example 3; Figure 8 This is a flowchart illustrating the results of writing data locally as provided in Example 3; Figure 9 A flowchart illustrating the successful verification result provided in Example 3; Figure 10 This is a flowchart illustrating the implementation of the camera calibration system of this utility model.

[0009] Explanation of icon numbers: 10. Environmental pre-inspection module; 20. Calibration module; 30. Camera module; 40. Verification module; 11. Calibration environment preparation unit; 12. Calibration environment detection unit; 21. Data calibration unit; 22. Data import unit.

[0010] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0011] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0012] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0013] It should be noted that all directional indicators (such as up, down, near, far, etc.) in the embodiments of this utility model are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0014] Furthermore, the use of terms such as "first" and "second" in this utility model is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this utility model.

[0015] This utility model provides a camera calibration system, referring to... Figure 1 , Figure 1 This is a schematic diagram of the modules provided in Embodiment 1 of the camera calibration system of this utility model; based on Figure 1 The first embodiment of the camera calibration system of this utility model is presented.

[0016] It should be noted that in traditional camera calibration processes, a planar calibration object is typically placed directly in the calibration area for calibration. However, this method is easily affected by errors inherent in the calibration area itself, such as the manufacturing precision of the calibration area and deformation under different environments. This can lead to deviations in calibration results, potentially causing ghosting or misalignment in the captured images, and resulting in significant errors in applications such as camera ranging and target recognition, severely impacting camera performance. To address this issue, this invention proposes a novel camera calibration system, comprising: an environmental pre-inspection module 10 and a calibration module 20. The environmental pre-inspection module 10 is connected to both the camera device and the calibration module 20.

[0017] The environmental pre-inspection module 10 is used to take pictures of the preset calibration chart through the camera device, obtain a first shooting result, and output a calibration signal to the calibration module 20 if the first shooting result is a pre-inspection pass.

[0018] Based on the aforementioned camera calibration system, when calibrating and debugging camera equipment, the first step is to connect the camera equipment to the calibration system. Then, the calibration module is used to calibrate and debug the camera equipment. Before calibration, the environmental pre-check module must perform a pre-check of the calibration environment to avoid errors caused by the calibration environment.

[0019] It should be noted that the camera equipment can be any equipment that needs to be calibrated, such as various types of cameras (e.g., dual-camera devices, multi-camera devices, etc.).

[0020] Understandably, calibration charts can be specially designed for camera calibration, and they may contain specific patterns, colors, lines, and other features.

[0021] For example, the calibration chart (also called calibration plate) includes a checkerboard pattern with a white background and black squares, and the optical axis of the camera device is perpendicular to the checkerboard pattern.

[0022] To facilitate understanding of the implementation process of the environmental pre-inspection module, this embodiment and subsequent embodiments use dual-camera calibration as an example for illustration, but this does not limit the solution. (Refer to...) Figure 2 , Figure 2 This is a schematic diagram of the shooting scenario provided in Example 1. The calibration chart has four identical white-background, black-square checkerboard grids. At this time, the environment pre-detection module automatically activates the camera of the imaging device to capture a picture of the calibration environment of the current calibration chart, obtaining a first shooting result. Then, environmental detection is performed on the first shooting result, and the detection items for the calibration environment include: 1. Verify ambient brightness. The ambient lighting in the first image should be uniform, with an average illuminance greater than 600 lux and less than 1000 lux. Average illuminance The formula is as follows: ; in, The luminous flux of a single luminaire. For the number of light fixtures, Space utilization coefficient, A is the maintenance factor, and A is the floor area.

[0023] 2. Verify the field of view. The first shot must be in sharp focus, without overexposure, and the corner points of the checkerboard must be clearly visible. The formula for calculating the diagonal field of view (DFOV) is: ; The diagonal size of the camera imaging sensor is d (in millimeters), and the focal length of the lens is f (in millimeters).

[0024] 3. Grayscale detection. The grayscale difference between the black and white grids in the first image must be greater than 100. The formula for calculating the grayscale value is Gray=0.299R+0.587G+0.114B, where R, G, and B are the pixel values ​​of the red, green, and blue channels, respectively.

[0025] 4. The calibration chart must account for no less than 80% of the total number of images (i.e., the first image capture result).

[0026] 5. The four calibration checkerboard squares must be adjustable in distance from the lens of the camera device to be calibrated and kept horizontal, with an adjustable range of [50cm, 100cm].

[0027] If the above-mentioned environmental brightness, field of view, grayscale, and other test items meet the requirements, refer to Figure 3 , Figure 3 The diagram below shows the successful pre-detection display in Example 1. At this time, the environmental pre-detection module displays a dialog box that says "Pre-detection successful!". After the user clicks OK, a calibration signal is generated to notify the calibration module to start the calibration process.

[0028] The calibration module 20 is used to take a picture of the calibration chart through the camera device when the calibration signal is received, and obtain a second shooting result. The second shooting result is used to calibrate the camera device.

[0029] It should be noted that the second image capture result is the image or video data obtained by the calibration module controlling the camera to capture the calibration chart again after receiving the calibration signal. In this case, the imaging environment of the second image capture result meets the requirements compared to the first image capture result, thus avoiding errors caused by the calibration environment.

[0030] To facilitate understanding of the calibration module's implementation process, an example is provided below. Upon receiving a calibration signal, the calibration module automatically activates the camera on the imaging device to focus and take a picture, adjusting the checkerboard pattern to fill the entire screen, ensuring all corner points are clearly visible, thus obtaining a second image result. Then, the corner point coordinates are extracted from the second image result, and calibration is performed by solving the intrinsic and extrinsic parameters based on Zhang's calibration method. The specific calibration items include: 1. OC optical center calculation: ; Among them, the coordinates of the corner point of the calibration plate in the world coordinate system are ( , , The coordinates of the projection point on the camera's imaging plane are P=( , ), where s is the scaling factor, R is the rotation matrix, and t is the translation vector. It's the camera's internal parameters.

[0031] 2. Calculation of focal length f: ; Where the distance between the two optical centers is b, and for a point P in space, the depth Z of point P (i.e. the distance from the point to the plane where the optical center of the camera is located) has coordinates (X1,Y1) on the imaging plane of camera 1 and (X2,Y2) on the imaging plane of camera 2, and d=X1-X2.

[0032] 3. Calculation of the x, y, and z axes: ; The coordinates in camera 1 are (X1, Y1, Z1), and the coordinates in camera 2 are (X2, Y2, Z2). The rotation matrix R from camera 1 to camera 2 is... 12 Translation vector t 12 .

[0033] If each of the above calibration items is within a certain threshold, the calibration is considered successful; see reference. Figure 4 , Figure 4 The diagram below shows the successful calibration result as provided in Example 1. At this point, the calibration module displays a dialog box saying "Calibration successful!", and after the user clicks "OK", the calibration result is generated (if calibration fails, a dialog box indicating calibration failure is displayed).

[0034] In this embodiment, an environmental pre-check module is pre-set before calibration. This module uses a camera to photograph a preset calibration chart and perform an environmental pre-check. After the pre-check is passed, the calibration module photographs the calibration chart and calibrates the camera. By adding the environmental pre-check module, the calibration environment is automatically detected before calibration, which not only reduces errors in the calibration environment and enables automatic camera adjustment, but also avoids errors caused by manual adjustments. This reduces calibration time costs and improves the accuracy of camera calibration.

[0035] Reference Figure 5 , Figure 5 This is a schematic diagram of the modules provided in Embodiment 2 of the camera calibration system of this utility model.

[0036] Based on the first embodiment described above, and considering the control of the camera device, in this embodiment, the system further includes a camera module 30; The camera module 30 is connected to both the camera device and the environmental pre-detection module 10.

[0037] The environmental pre-detection module 10 is used to send a first shooting signal to the camera module 30 upon receiving a pre-detection signal.

[0038] The camera module 30 is used to take a picture of a preset calibration chart through the camera device when the first shooting signal is received, and to transmit the obtained first shooting result to the environmental pre-inspection module 10.

[0039] It should be noted that the camera module can control the camera device to perform operations such as taking pictures, turning off, retrieving images, deleting images, recording video, shooting JPG images, shooting RAW images, and renaming. The pre-detection signal is the signal that triggers the environment pre-detection module to start working. The first shooting signal is a signal sent by the environment pre-detection module to the camera module, instructing the camera module to control the camera device to shoot the preset calibration chart.

[0040] Since the camera module is connected to both the camera device and the environmental pre-detection module, when the environmental pre-detection module needs to perform environmental detection, the environmental pre-detection module can send a first shooting signal to the camera module, which will then take a picture of the preset calibration chart and transmit the first shooting result back.

[0041] In this embodiment, the camera module solves the problem of cumbersome ADB command operations and manual photo taking in the traditional calibration process, greatly improving the efficiency of the calibration process.

[0042] In one feasible implementation, the environmental pre-inspection module 10 of this embodiment further includes a calibration environment preparation unit 11 and a calibration environment detection unit 12; The calibration environment detection unit 12 is connected to the camera module 30 and the calibration module 20 respectively, and the calibration environment preparation unit 11 is connected to the calibration environment detection unit 12. The calibration environment preparation unit 11 is used to show the user the layout requirements of the calibration chart and output a pre-detection signal to the calibration environment detection unit 12. The calibration environment detection unit 12 is used to send a first shooting signal to the camera module 30 when the pre-detection signal is received.

[0043] It should be noted that the environment pre-test module includes a calibration environment preparation unit and a calibration environment detection unit. The calibration environment preparation unit is used to prompt the user to set up the calibration environment and to show the user the setup requirements of the calibration chart. The setup requirements include: 1. The calibration chart uses a white background with black grid patterns. The four grid patterns captured during calibration should be of the same size.

[0044] 2. The chessboard squares are named chessboard square 1, chessboard square 2, chessboard square 3, and chessboard square 4 in the order of top left, top right, bottom left, and bottom right.

[0045] 3. No rotation operation is required for the four chessboard squares.

[0046] 4. The plane in which the image is taken should be parallel to the plane in which the chessboard is located, with a tilt error not exceeding 5°.

[0047] 5. The optical axis of the camera should be perpendicular to the plane of the checkerboard.

[0048] 6. The spacing d between two adjacent chessboard squares should be 20-30mm, and each chessboard square should have a 5-10mm wide white edge.

[0049] After the calibration chart is arranged in accordance with the above requirements, a pre-detection signal is output to the calibration environment detection unit. Only then does the calibration environment detection unit begin the environment pre-detection operation described in the above embodiment.

[0050] In this embodiment, by preparing the calibration environment through the calibration environment preparation unit, the calibration environment can be standardized, reducing errors and saving pre-inspection time.

[0051] In another feasible implementation, the camera module 30 of this embodiment is further configured to send a start signal to the camera device upon receiving the first shooting signal; The camera device is used to turn on the camera when the start signal is received, and to take a picture of the preset calibration chart through the camera, and transmit the obtained first shooting result to the camera module 30; The camera module 30 is also used to transmit the first shooting result to the calibration environment detection unit 12.

[0052] It should be noted that the activation signal is the signal that triggers the camera device to turn on its camera. After receiving the activation signal, the camera device will turn on its own camera and begin recording.

[0053] This embodiment utilizes a camera module to eliminate the cumbersome ADB command operations and manual photo taking required in traditional calibration processes, significantly improving the efficiency of the calibration process. The calibration environment preparation unit ensures a standardized calibration environment, reducing errors and saving pre-inspection time.

[0054] Reference Figure 6 , Figure 6 This is a schematic diagram of the modules provided in Embodiment 3 of the camera calibration system of this utility model.

[0055] Based on the above embodiments, in this embodiment, the calibration module 20 is also connected to the camera module 30; The calibration module 20 is also used to send a second shooting signal to the camera module 30 when the calibration signal is received; The camera module 30 is further configured to, upon receiving the second shooting signal, take a picture of the calibration chart using the camera device, and transmit the obtained second shooting result to the calibration module 20.

[0056] It should be noted that the second shooting signal is sent from the calibration module to the camera module, instructing the camera module to control the camera device to shoot the preset calibration chart. At this point, the calibration environment meets the requirements, reducing the impact of environmental irregularities.

[0057] Since the camera module is connected to both the camera device and the calibration module, when the calibration module needs to be calibrated, the calibration module can send a second shooting signal to the camera module, which will then take a picture of the preset calibration chart and transmit the second shooting result back.

[0058] In this embodiment, the camera module solves the problem of cumbersome ADB command operations and manual photo taking in the traditional calibration process, greatly improving the efficiency of the calibration process.

[0059] In one feasible implementation, the calibration module 20 of this embodiment further includes a data calibration unit 21 and a data import unit 22; The data calibration unit 21 is connected to the camera module 30, the environmental pre-detection module 10 and the data import unit 22 respectively, and the data import unit 22 is connected to the camera device; The data calibration unit 21 is used to send a second shooting signal to the camera module 30 when the calibration signal is received; The data calibration unit 21 is further configured to calibrate the camera device using the second shooting result upon receiving the second shooting result, and transmit the obtained calibration result to the data import unit 22; The data import unit 22 is used to transmit the calibration result to the camera device upon receiving the calibration result.

[0060] It should be noted that the calibration module includes a data calibration unit and a data import unit. After the data calibration unit calibrates the camera device, it generates calibration data. At this time, refer to... Figure 7 , Figure 7 This is a block diagram showing the result of writing data to the camera device according to Embodiment 3; the data calibration unit transmits the obtained calibration result to the data import unit. Upon receiving the calibration result, the data import unit transmits it to the corresponding register in the EEPROM of the camera device. When the calibration data is successfully written, the calibration module displays a dialog box saying "Writing to EEPROM successful!", and the user clicks "OK" to complete the saving of the calibration data (if saving fails, a dialog box indicating failure is displayed).

[0061] In this embodiment, the calibration module can be saved to the camera device through the data import unit, which improves the efficiency of calibration work.

[0062] In another feasible implementation, the system described in this embodiment further includes a local storage module; The local storage module is connected to the data import unit 22; The data import unit 22 is also used to transmit the calibration result to the local storage module when a local storage signal is received.

[0063] It should be noted that the local storage module is a component used to provide local storage data and is connected to the data import unit.

[0064] The data import unit can not only transfer the calibration results to the corresponding register in the EEPROM of the camera device, but also transfer the calibration data to the local storage module. (Reference) Figure 8 , Figure 8 This is a block diagram showing the results of writing data locally as provided in Example 3. After the calibration data is written to the local storage module, the data import unit displays a dialog box saying "Writing to local storage successful!". After the user clicks OK, the local saving of the calibration data is completed (if saving fails, a dialog box indicating saving failure is displayed).

[0065] In this embodiment, calibration data can be saved to the camera calibration system through the data import unit and the local storage module.

[0066] In another feasible implementation, the system described in this embodiment further includes a verification module 40; The verification module 40 is connected to the data import unit 22 and the camera device, respectively. The verification module 40 is used to obtain the first verification code value of the camera device and determine the second verification code value based on the calibration result; The verification module 40 is further configured to generate a calibration success signal when the first check code value and the second check code value are consistent, and transmit the calibration success signal to the camera device; The camera device is also used to provide a calibration success notification upon receiving the calibration success signal.

[0067] It should be noted that the first checksum value is obtained from the camera device and displays the values ​​of various parameters of the camera device, which represent the current actual calibration status of the camera device.

[0068] Understandably, the second checksum value is a value determined by the verification module based on the calibration results, representing the state that the camera device should theoretically be in after successful calibration.

[0069] For example, the verification module automatically sums the calibration data from the local storage module to generate a second checksum value; then it reads the first checksum value from the camera device's register. The first and second checksum values ​​are then compared; if they match, a "Verification Successful!" dialog box appears (see reference). Figure 9 , Figure 9 The diagram shown in Example 3 illustrates a successful verification result, indicating that the verification was successful. If the verification value is different, the verification failed, and a dialog box displaying "Verification Failed" will appear.

[0070] In this embodiment, the verification module is responsible for verifying whether the calibration data written into the camera device is correct. By comparing the first check code value and the second check code value, the tedious and complicated process of obtaining the check value and then comparing the data through the traditional log and adb commands is solved, which greatly improves work efficiency.

[0071] This embodiment enables the saving of the calibration module to the camera device via a data import unit, improving calibration efficiency. Through the data import unit and local storage module, calibration data can be saved to the camera calibration system. The verification module eliminates the tedious and complex process of traditionally obtaining verification values ​​and comparing data using log and adb commands, thus significantly improving the overall efficiency of camera calibration and debugging.

[0072] To achieve the above objectives, this utility model also proposes a camera calibration device, which is equipped with the camera calibration system described above. The specific structure of this camera calibration device is as described in the above embodiments. Since this camera calibration device adopts all the technical solutions of all the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated upon here.

[0073] For example, to help understand the implementation process of the camera calibration system of this utility model, please refer to... Figure 10 , Figure 10 The following is a flowchart illustrating the implementation of the camera calibration system of this utility model: Before calibration begins, the camera device and camera calibration device need to be connected via USB for communication. Then, the camera on the camera device is turned on to check if it is functioning correctly. If it is, the camera module controls the camera to focus on and take a picture of the preset calibration chart, obtaining a first image result, which is then transmitted to the environmental pre-check module. Upon receiving the first image result, the environmental pre-check module performs a pre-check. If the calibration environment meets the requirements, it outputs a calibration signal to the calibration module. Upon receiving the calibration signal, the calibration module controls the camera device to focus on and take another picture of the calibration chart, obtaining a second image result. The calibration module then calibrates the camera device based on the second image result, generating a calibration result, which is burned into the camera device's EEPROM and simultaneously saved locally. Finally, the verification module sums the locally stored calibration data to generate a second checksum value. It then reads the first checksum value from the camera device's register and compares it with the second checksum value. If the checksum values ​​match, a "Verification successful!" message appears, ending the camera device calibration.

[0074] The aforementioned camera module, environmental pre-inspection module, calibration module, and verification module comprehensively cover the calibration and debugging of camera equipment, improving calibration efficiency and accuracy.

[0075] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0076] The above are merely preferred embodiments of this utility model and do not limit the scope of protection of this utility model. Any equivalent structural or procedural transformations made based on the description and drawings of this utility model, or direct or indirect applications in other related technical fields, are similarly included within the scope of protection of this utility model.

Claims

1. A camera calibration system, characterized in that, The system includes: an environmental pre-inspection module and a calibration module; The environmental pre-inspection module is connected to both the camera device and the calibration module. The environmental pre-inspection module is used to take pictures of the preset calibration chart through the camera device, obtain a first shooting result, and output a calibration signal to the calibration module if the first shooting result is a pre-inspection pass. The calibration module is used to take a picture of the calibration chart through the camera device when the calibration signal is received, and obtain a second picture result, which is used to calibrate the camera device.

2. The system as described in claim 1, characterized in that, The system also includes a camera module; The camera module is connected to both the camera device and the environmental pre-detection module. The environmental pre-detection module is used to send a first shooting signal to the camera module upon receiving a pre-detection signal; The camera module is used to take a picture of a preset calibration chart through the camera device when the first shooting signal is received, and to transmit the obtained first shooting result to the environmental pre-inspection module.

3. The system as described in claim 2, characterized in that, The environmental pre-inspection module also includes a calibration environment preparation unit and a calibration environment detection unit; The calibration environment detection unit is connected to the camera module and the calibration module respectively, and the calibration environment preparation unit is connected to the calibration environment detection unit. The calibration environment preparation unit is used to show the user the layout requirements of the calibration chart and output a pre-detection signal to the calibration environment detection unit. The calibration environment detection unit is used to send a first shooting signal to the camera module upon receiving the pre-detection signal.

4. The system as described in claim 3, characterized in that, The camera module is also configured to send a start signal to the camera device upon receiving the first shooting signal; The camera device is used to turn on the camera upon receiving the start signal, and to take a picture of the preset calibration chart through the camera, and transmit the obtained first shooting result to the camera module; The camera module is also used to transmit the first shooting result to the calibration environment detection unit.

5. The system as described in claim 1, characterized in that, The calibration chart includes a white background with black squares, and the optical axis of the camera device is perpendicular to the checkerboard.

6. The system as described in any one of claims 2 to 4, characterized in that, The calibration module is also connected to the camera module; The calibration module is also used to send a second shooting signal to the camera module upon receiving the calibration signal; The camera module is further configured to, upon receiving the second shooting signal, take a picture of the calibration chart using the camera device, and transmit the obtained second shooting result to the calibration module.

7. The system as described in claim 6, characterized in that, The calibration module also includes a data calibration unit and a data import unit; The data calibration unit is connected to the camera module, the environmental pre-detection module and the data import unit respectively, and the data import unit is connected to the camera device; The data calibration unit is used to send a second shooting signal to the camera module upon receiving the calibration signal; The data calibration unit is further configured to calibrate the camera device using the second shooting result upon receiving the second shooting result, and transmit the obtained calibration result to the data import unit; The data import unit is used to transmit the calibration result to the camera device upon receiving the calibration result.

8. The system as described in claim 7, characterized in that, The system also includes a local storage module; The local storage module is connected to the data import unit; The data import unit is also used to transmit the calibration result to the local storage module upon receiving a local storage signal.

9. The system as described in claim 7, characterized in that, The system also includes a verification module; The verification module is connected to both the data import unit and the camera device. The verification module is used to obtain the first check code value of the camera device and determine the second check code value based on the calibration result; The verification module is further configured to generate a calibration success signal when the first check code value and the second check code value are consistent, and transmit the calibration success signal to the camera device; The camera device is also used to provide a calibration success notification upon receiving the calibration success signal.

10. A camera calibration device, characterized in that, The camera calibration device includes the camera calibration system as described in any one of claims 1 to 9.

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