Monocular vision tracking method, apparatus and non-transitory computer-readable storage medium

A monocular vision tracking device, comprising:

• one or more processors;
• and
• a memory configured for storing one or more programs, wherein
• the one or more programs are executed by the one or more processors to enable the one or more processors to:
• acquire a first camera pose by using a wireless tracker;
• capture calibration board images by using a camera, and select a set of images from the captured calibration board images according to image sharpness and camera pose difference;
• calculate a second camera pose in the camera calibration algorithm according to the selected set of images;
• obtain a conversion parameter between the first camera pose and the second camera pose;
• and
• convert a first capturing pose into a second capturing pose by means of the conversion parameter when a scenario is captured, wherein the first capturing pose is acquired by the wireless tracker, and the second capturing pose corresponds to a pose of the camera,
• wherein a relative position between the wireless tracker and the camera remains unchanged, in processes of acquiring the first camera pose, capturing the calibration board images, and capturing the scenario.

A non-transitory computer-readable storage medium, in which computer programs are stored, wherein the computer programs, when executed by a processor, enable the processor to:

• acquire a first camera pose by using a wireless tracker;
• capture calibration board images by using a camera, and select a set of images from the captured calibration board images according to image sharpness and camera pose difference;
• calculate a second camera pose in the camera calibration algorithm according to the selected set of images;
• obtain a conversion parameter between the first camera pose and the second camera pose;
• and
• convert a first capturing pose into a second capturing pose by means of the conversion parameter when a scenario is captured, wherein the first capturing pose is acquired by the wireless tracker, and the second capturing pose corresponds to a pose of the camera,
• wherein a relative position between the wireless tracker and the camera remains unchanged, in processes of acquiring the first camera pose, capturing the calibration board images, and capturing the scenario.