CN115118953A - Device, system and method for calibrating optical center of vehicle-mounted camera - Google Patents
Device, system and method for calibrating optical center of vehicle-mounted camera Download PDFInfo
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Abstract
The invention discloses a device, a system and a method for calibrating an optical center of a vehicle-mounted camera, wherein the device comprises an operation module, a calibration module and a calibration module, wherein the operation module is used for receiving an operation instruction; the main control module is connected with the operation module and the camera to be calibrated and is used for obtaining a position adjusting instruction according to the operation instruction and sending the position adjusting instruction to the camera to be calibrated so as to adjust the relative position of the optical center identifier and the calibration reference identifier; the storage module is connected with the main control module and is used for storing the original position information of the optical center identification; the main control module is also used for obtaining the position deviation information of the optical center identification and the calibration reference identification according to the position adjusting instruction and the original position information when the optical center identification is adjusted to be within the standard range of the calibration reference identification, and sending the position deviation information to the camera to be calibrated; the power module is connected with the storage module and used for supplying power. The device for calibrating the optical center of the vehicle-mounted camera, provided by the embodiment of the invention, can improve the accuracy of the optical center and is convenient for a user to use.
Description
Technical Field
The invention relates to the technical field of cameras, in particular to a device, a system and a method for calibrating an optical center of a vehicle-mounted camera.
Background
With the development and popularization of active safety technology, the application of the vehicle-mounted camera is more and more extensive. Due to the particularity of the vehicle, the requirement on the camera is very high, for example, in systems such as 360-degree panoramic view and three-dimensional camera ranging, the requirement on the optical consistency of the camera is extremely high, and the offset of the optical center of the camera is required to be nearly zero.
In the related art, the relative position between the photosensitive center of the image sensor and the center of the lens is moved by using a pcba (printed circuit board assembly), the position of the photosensitive center is obtained in real time while the relative position is moved, and when the optical center of the image sensor coincides with the center of the lens, calibration is completed, and the camera body is mounted.
The mode of using the structure to calibrate the optical center of the camera is inconvenient for users, and the error of the calibrated optical center of the camera is larger.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the first purpose of the present invention is to provide a device for calibrating the optical center of a vehicle-mounted camera, which has high accuracy and is convenient for users to use.
The second purpose of the invention is to provide a system for calibrating the optical center of the vehicle-mounted camera.
The third purpose of the invention is to provide a method for calibrating the optical center of the vehicle-mounted camera based on the device for calibrating the optical center of the vehicle-mounted camera.
The invention also provides a method for calibrating the optical center of the vehicle-mounted camera based on the camera to be calibrated.
In order to achieve the above object, an apparatus for calibrating an optical center of a vehicle-mounted camera according to an embodiment of a first aspect of the present invention includes: the operation module is used for receiving an operation instruction; the main control module is connected with the operation module and the camera to be calibrated, and is used for obtaining a position adjusting instruction for adjusting the relative position of an optical center identifier and a calibration reference identifier of an image output by the camera to be calibrated according to the operation instruction, and sending the position adjusting instruction to the camera to be calibrated so as to adjust the relative position of the optical center identifier and the calibration reference identifier; the storage module is connected with the main control module and used for storing the original position information of the optical center identifier; the main control module is further configured to, when the optical center identifier is adjusted to be within a standard range of the calibration reference identifier, obtain position offset information of the optical center identifier and the calibration reference identifier according to the position adjustment instruction and the original position information, and send the position offset information to the camera to be calibrated; and the power supply module is connected with the main control module and used for supplying power.
According to the device for calibrating the optical center of the vehicle-mounted camera, the operation instruction is received through the operation module, the main control module obtains the position adjusting instruction for adjusting the relative position of the optical center identifier of the image output by the camera to be calibrated and the calibration reference identifier according to the operation instruction, and sends the position adjusting instruction to the camera to be calibrated, so that the camera to be calibrated can adjust the relative position of the optical center identifier and the calibration reference identifier according to the position adjusting instruction, when the optical center identifier is adjusted to be within the standard range of the calibration reference identifier, the adjusted position offset information is sent to the camera to be calibrated through the main control module to be stored, namely calibration is completed, after the camera is loaded, the optical center can be adjusted according to the position offset information, and the optical center offset is reduced, when the calibration is performed, the main control module can automatically calibrate the optical center of the camera through software only by operating the operation module, the use is convenient, and compared with manual adjustment, the device provided by the embodiment of the invention has the advantages that the calibration accuracy of the optical center is higher, and the deviation of the calibrated optical center of the camera is reduced.
In some embodiments of the invention, the operation module comprises: the up-down adjusting unit is used for receiving an up-down operation instruction for adjusting the position of the optical center mark up and down; and the left-right adjusting unit is used for receiving a left-right operation instruction for adjusting the position of the optical center mark left and right.
In some embodiments of the present invention, the storage module is further configured to store the position offset information corresponding to the camera to be calibrated.
In some embodiments of the invention, the apparatus further comprises: and the prompting module is connected with the main control module and is used for prompting the progress of the main control module for sending the position deviation information.
In some embodiments of the invention, the apparatus further comprises: and the first trigger module is connected with the main control module and used for receiving a starting instruction for starting the calibration function.
In some embodiments of the invention, the apparatus further comprises: and the second trigger module is connected with the main control module and used for receiving a sending instruction for sending the position deviation information.
In order to achieve the above object, a system for calibrating an optical center of an in-vehicle camera according to an embodiment of a second aspect of the present invention includes: the display device is connected with the camera to be calibrated and used for providing a calibration reference mark and displaying an optical center mark of an image output by the camera to be calibrated; the device for calibrating the optical center of the vehicle-mounted camera in any embodiment of the invention is connected with the camera to be calibrated; and the power supply is respectively connected with the device for calibrating the optical center of the vehicle-mounted camera and the camera to be calibrated.
According to the system for calibrating the optical center of the vehicle-mounted camera, the optical center mark and the calibration reference mark of the image output by the camera to be calibrated can be displayed simultaneously through the display device, whether the optical center mark of the camera to be calibrated is in the standard range of the calibration reference mark can be observed more intuitively, so that whether the camera to be calibrated is qualified can be judged more accurately, the device for calibrating the optical center of the vehicle-mounted camera is adopted, an operator can calibrate the optical center of the camera only by operating the device, the use is convenient, the offset position information of the optical center of the camera is sent to the camera to be calibrated by the device for calibrating the optical center of the vehicle-mounted camera for storage, the image position can be adjusted through software based on the offset information after the camera is loaded, the aim of calibrating the optical center is achieved, and the calibration is relatively manual, by adopting the device of the embodiment, the accuracy of the optical center of the camera to be calibrated can be improved, so that the product performance is improved.
In order to achieve the above object, a method for calibrating an optical center of an onboard camera according to a third aspect of the present invention is applied to the apparatus according to any one of the above embodiments, and the method includes: acquiring original position information of an optical center identifier of an image output by a camera to be calibrated; receiving an operation instruction; obtaining a position adjusting instruction for adjusting the position of the optical center mark according to the operation instruction; sending the position adjusting instruction to the camera to be calibrated so as to adjust the relative position of the optical center identifier and the calibration reference identifier; when the optical center mark is adjusted to be within the standard range of the calibration reference mark, obtaining the position offset information of the optical center mark and the calibration reference mark according to the position adjusting instruction and the original position information; and sending the position deviation information to the camera to be calibrated.
According to the method for calibrating the optical center of the vehicle-mounted camera, based on the device for calibrating the optical center of the vehicle-mounted camera, an operator can adjust the relative position of the mark of the optical center of the camera to be calibrated and the calibration reference mark by operating the device, the use is convenient, when the mark of the optical center is adjusted to be within the standard range of the calibration reference mark, the position deviation information of the mark of the optical center and the calibration reference mark is obtained and sent to the camera to be calibrated for storage, and after the camera is loaded, the optical center can be adjusted according to the position deviation information to reduce the deviation of the optical center.
In some embodiments of the invention, the method further comprises: and prompting the progress of sending the position deviation information.
In order to achieve the above object, a method for calibrating an optical center of a vehicle-mounted camera according to a fourth aspect of the present invention is a method for calibrating a camera to be calibrated, the method including: transmitting the output image containing the optical center identifier to a display device for display; receiving a position adjusting instruction, and adjusting the relative position of the optical center identifier and a calibration reference identifier provided by the display device according to the position adjusting instruction; and receiving the position offset information of the optical center mark and the calibration reference mark and saving the position offset information.
According to the method for calibrating the optical center of the vehicle-mounted camera, the output image of the camera to be calibrated, which contains the optical center identifier, is displayed through the display device, the optical center identifier is adjusted to be within the standard range of the calibration reference identifier according to the position adjusting instruction, the position offset information of the optical center identifier and the calibration reference identifier is stored, and then after the camera is loaded, the optical center of the camera can be automatically adjusted based on the offset position information, the offset of the optical center is reduced, and the calibration accuracy is higher compared with the manual calibration of the optical center.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a block diagram of an apparatus for calibrating an optical center of an in-vehicle camera in accordance with one embodiment of the present invention;
FIG. 2 is a block diagram of operational modules of one embodiment of the present invention;
FIG. 3 is a block diagram of an apparatus for calibrating an optical center of a vehicle camera in accordance with another embodiment of the present invention;
FIG. 4 is a block diagram of an apparatus for calibrating an optical center of an in-vehicle camera in accordance with yet another embodiment of the present invention;
FIG. 5 is a block diagram of a system for calibrating an optical center for an in-vehicle camera in accordance with one embodiment of the present invention;
FIG. 6 is a block diagram of a system for calibrating an optical center for a vehicle camera in accordance with another embodiment of the present invention;
FIG. 7 is a flow chart of a method of calibrating an optical center of an in-vehicle camera according to one embodiment of the invention;
FIG. 8 is a flow chart of a method of calibrating an optical center of a vehicle camera in accordance with another embodiment of the invention;
FIG. 9 is a flow chart of a method of calibrating an optical center of an in-vehicle camera according to one embodiment of the invention.
Reference numerals are as follows:
a system 01 for calibrating an optical center of a vehicle-mounted camera and a camera 02 to be calibrated;
the device comprises a device 10 for calibrating the optical center of the vehicle-mounted camera, a display device 20 and a power supply 30;
the device comprises an operation module 100, a main control module 200, a storage module 300, a power supply module 400, a prompt module 500, a first trigger module 600 and a second trigger module 700;
an up-down adjusting unit 201, and a left-right adjusting unit 202.
Detailed Description
Embodiments of the present invention will be described in detail below, the embodiments described with reference to the drawings being illustrative, and the embodiments of the present invention will be described in detail below.
The method, the device and the system of the embodiment of the invention are applied to the following scenes: the camera to be calibrated is connected with the display device and the device for calibrating the optical center of the vehicle-mounted camera respectively, the display device can provide a calibration reference mark on the display screen, for example, a standard cross mark is displayed in the center of the display screen, an output image of the camera to be calibrated is displayed through the display device, the output image contains an optical center mark, on the display device, when the optical center mark is located in a qualified standard range of the calibration reference mark, for example, when the optical center mark and the calibration reference mark are overlapped or nearly overlapped, the optical center of the camera to be calibrated is considered to have no offset or negligible offset, and conversely, when the optical center mark and the calibration reference mark are relatively far offset, the optical center of the camera to be calibrated is considered to have large offset.
An apparatus for calibrating an optical center of a vehicle-mounted camera according to an embodiment of the present invention is described below with reference to fig. 1 to 4.
Fig. 1 is a block diagram of an apparatus for calibrating an optical center of an in-vehicle camera according to an embodiment of the present invention. As shown in fig. 1, an apparatus 10 for calibrating an optical center of a vehicle-mounted camera according to an embodiment of the present invention includes an operation module 100, a main control module 200, a storage module 300, and a power module 400.
The operation module 100 is configured to receive an operation instruction, and in an embodiment, the operation module 100 may be implemented by a key, a knob, or a touch pad. The power module 400 is connected to the main control module 200 for supplying power.
The main control module 200 is connected to the operation module 100 and the camera 02 to be calibrated, and is configured to obtain a position adjustment instruction for adjusting a relative position between an optical center identifier of an image output by the camera 02 to be calibrated and the calibration reference identifier according to the operation instruction, and send the position adjustment instruction to the camera 02 to be calibrated, so as to adjust a relative position between the optical center identifier of the image output by the camera 02 to be calibrated and the calibration reference identifier.
Specifically, an output image of the camera 02 to be calibrated is displayed through the display device 20, the output image includes an optical center identifier such as a cross identifier, the display device 20 provides a calibration reference identifier, a calibrator can confirm a relative position between the optical center identifier of the camera 02 to be calibrated and the calibration reference identifier through a display screen, the calibrator can send an operation instruction through the operation module 100 when two offsets are large, the main control module 100 receives the operation instruction to generate a position adjustment instruction and sends the position adjustment instruction to the camera 02 to be calibrated, the camera 02 to be calibrated includes a camera chip, and the camera chip adjusts the relative position between the optical center identifier and the calibration reference identifier according to the position adjustment instruction, such as adjusting the optical center identifier of the camera 02 to be calibrated upwards, downwards, leftwards or rightwards, so that the optical center identifier displayed in the display device 20 is adjusted to be within a standard range of the calibration reference identifier I.e. calibrating the camera optical center.
The storage module 300 is connected to the main control module 200, and the storage module 300 stores original position information of the optical center identifier of the camera 02 to be calibrated.
The main control module 200 is further configured to, when the optical center identifier is adjusted to be within the standard range of the calibration reference identifier, regard that the optical center of the camera 02 to be calibrated meets the vehicle-mounted camera standard, obtain the position offset information of the optical center identifier and the calibration reference identifier according to the position adjustment instruction and the original position information, and send the position offset information to the camera 02 to be calibrated. Specifically, the main control module 200 determines position information for adjusting the optical center identifier according to the position adjustment instruction, determines position offset information of the optical center identifier of the camera 02 to be calibrated relative to the calibration reference identifier according to the adjusted position information and the original position information, and burns the position offset information to the camera 02 to be calibrated. And then after the camera 02 to be calibrated is loaded, the optical center can be automatically adjusted based on the position deviation information, so that the deviation of the optical center is reduced.
In an embodiment of the present invention, the main control module 200 includes a main chip, and the main chip may be connected to the operation module 100 and the camera 02 to be calibrated through an SCL signal line and an SDA signal line, and is configured to transmit data information, such as an operation instruction, a position adjustment instruction, and position offset information. The main chip stores a main program, the operation of the main program can convert the operation instruction into a position adjusting instruction, and the position offset information of the optical center identifier and the calibration reference identifier can be obtained and stored according to the position adjusting instruction and the original position information. Specifically, the operator may adaptively adjust the position of the optical center identifier of the camera 02 to be calibrated with reference to the position of the calibration reference identifier, and finally adjust the standard range from the optical center identifier of the camera 02 to be calibrated to the calibration reference identifier, for example, adjust the optical center identifier of the camera 02 to be calibrated to coincide with the calibration reference identifier. In the process of calibrating the optical center identifier, the main control module 200 can also record operation information for adjusting the optical center identifier of the camera 02 to be calibrated, and after the calibration is completed, obtain the position offset information of the optical center identifier and the calibration reference identifier, and send the position offset information to the camera 02 to be calibrated.
In an embodiment of the present invention, the power module 400 may adopt a low dropout regulator power conversion chip, the power conversion chip has a function of adjusting a power supply voltage, and the power module 400 can adjust an external input voltage to supply power to internal modules such as the memory module 300 and the main control module 200.
According to the device 10 for calibrating the optical center of the vehicle-mounted camera, the operation module 100 receives the operation instruction, the main control module 200 obtains the position adjustment instruction for adjusting the relative position of the optical center identifier of the image output by the camera 02 to be calibrated and the calibration reference identifier according to the operation instruction, and sends the position adjustment instruction to the camera 02 to be calibrated, so that the camera 02 to be calibrated can adjust the relative position of the optical center identifier and the calibration reference identifier according to the position adjustment instruction, and when the optical center identifier is adjusted to be within the standard range of the calibration reference identifier, the main control module 200 sends the adjusted position offset information to the camera 02 to be calibrated to be stored, that is, calibration is completed, after the camera is loaded, the optical center can be adjusted according to the position offset information, and the optical center offset is reduced, the device 10 of the embodiment of the invention, during calibration, a calibrator only needs to operate the operation module 100, the main control module 200 can automatically calibrate the optical center of the camera through software, the use is convenient, and compared with manual adjustment, by adopting the device 02 provided by the embodiment of the invention, the calibration accuracy of the optical center is higher, and the deviation of the optical center of the camera after calibration is reduced.
Fig. 2 is a block diagram of an operation module according to an embodiment of the present invention, and in the embodiment of the present invention, as shown in fig. 2, the operation module 100 includes an up-down adjusting unit 201 and a left-right adjusting unit 202. The up-down adjustment unit 201 is used for receiving an operation instruction for adjusting the position of the optical center mark up and down, and the left-right adjustment unit 202 is used for receiving an operation instruction for adjusting the position of the optical center mark left and right. Specifically, each of the up-down adjusting unit 201 and the left-right adjusting unit 202 may be provided as a button or an operation handle or a touch module or the like capable of controlling the moving direction of the optical center index of the camera 02 to be calibrated. For example, at least four buttons are provided, the four buttons respectively have functions of adjusting to the up direction, the down direction, the left direction and the right direction, the up, the down, the left and the right adjustment of the optical center identifier of the camera 02 to be calibrated, which is displayed on the display device 200, relative to the calibration reference identifier are correspondingly performed, in the process of calibrating the optical center identifier of the camera 02 to be calibrated, an operator can adjust the optical center identifier by clicking the four buttons, the method is simple, and the operation is convenient.
In an embodiment of the present invention, the memory module 300 includes a memory card having a memory function, such as an SD card, a TF card, or the like. The storage module 300 is further configured to store the position offset information in correspondence with the camera 02 to be calibrated. Specifically, after determining that the optical center identifier of the camera 02 to be calibrated is adjusted to the optimal position, the main control module 200 sends the position offset information to the storage module 300. All camera data are stored in the storage module 300, and after the storage module 300 receives the position offset information, all camera data can be packaged together and burned into a camera chip to be calibrated. The burned camera data comprises camera output image data, position offset information and other stored camera data. The position deviation information is permanently stored in the camera chip, and then after the camera is loaded, the center of an output image can be automatically adjusted based on the position deviation information, so that the influence of optical center deviation on the output image is reduced.
Fig. 3 is a block diagram of an apparatus for calibrating an optical center of an in-vehicle camera according to another embodiment of the present invention. The device 10 for calibrating the optical center of the vehicle-mounted camera further includes a prompt module 500, and the prompt module 500 is connected to the main control module 200 and is configured to prompt the main control module 200 of the progress of sending the position deviation information.
In the embodiment of the present invention, the main control module 200 sends the position offset information to the camera 02 to be calibrated, that is, after the main control module 200 sends the position offset information to the storage module 300, the storage module 300 packs all the camera data together and burns the camera data into the camera chip of the camera 02 to be calibrated. Since a certain time is required for burning the camera data from the storage module 300 to the camera 02 to be calibrated, the prompting module 500 can prompt the burning progress to determine whether the burning is successful. For example, the prompting module 500 may include a liquid crystal display, and the liquid crystal display may indicate the burning progress of the position deviation position in the form of a progress bar, so as to more intuitively prompt. In the process of burning the data of the camera to the camera chip, a progress bar is displayed on the liquid crystal display screen, the progress bar is updated from 0% to 100% in real time, wherein 0% represents that burning is started, and 100% represents that burning is completed, so that burning progress can be visually known.
In some embodiments of the present invention, the prompt module 500 may also include a buzzer circuit, where a buzzer circuit is connected to the device 10 for calibrating the optical center of the vehicle-mounted camera, and after all the camera data is burned to the camera chip to be calibrated, the main control module 200 controls the buzzer circuit to send a prompt tone to remind an operator that the burning is completed, so as to detect the optical center identifier of the next camera 02 to be calibrated.
Fig. 4 is a block diagram of an apparatus for calibrating an optical center of a vehicle-mounted camera according to still another embodiment of the present invention. The device 10 for calibrating the optical center of the vehicle-mounted camera further includes a first trigger module 600, and the first trigger module 600 is connected to the main control module 200 and is configured to receive a start instruction for starting the calibration function.
For example, after the camera to be calibrated, the calibration device 10 and the display device 20 are connected, a calibrator may trigger the first trigger module 600, the first trigger module 600 receives a start instruction for starting the calibration function and transmits the start instruction to the main control module 200, and the main control module 200 responds to the start instruction to read data of an image output by the camera to obtain original position information of an optical center identifier of the image output by the camera. For example, the first triggering module 600 may be a "start" button capable of receiving a starting instruction, after the calibration camera 02 is connected to the device 10 for calibrating the vehicle-mounted camera optical center, an operator triggers the "start" button, that is, sends the starting instruction for starting the calibration function to the first triggering module 600, and the device 10 for calibrating the camera optical center starts to operate, so as to start the calibration function.
In an embodiment of the present invention, as shown in fig. 4, the apparatus 10 for calibrating an optical center of a vehicle-mounted camera further includes a second triggering module 700. The second triggering module 700 is connected to the main control module 200, and is configured to receive a sending instruction for sending the position offset information.
For example, when observing that the optical center identifier of the camera on the display device 20 is adjusted to be within the standard range of the calibration reference identifier, the calibrator may operate the second trigger module 700, the second trigger module 700 receives a sending instruction for sending the position offset information and transmits the instruction to the main control module 200, and the main control module 200 responds to the instruction to send the position offset information to the camera 02 to be calibrated. For example, the second trigger module 700 may be configured as a "save" button capable of receiving a send instruction. After determining that the optical center identifier of the camera 02 to be calibrated is adjusted to the optimal position, the operator triggers a "save" button, that is, sends a sending instruction of the position offset information to the second triggering module 700, the program in the main control module 200 runs to send the position offset information to the storage module 300, and the storage module 300 then packages and burns all the camera data together into the camera chip to be calibrated, so as to realize the function of sending the position offset information.
In an embodiment, all of the operation module 100, the first trigger module 600 and the second trigger module 700 may be implemented in the form of buttons, but other suitable implementations may also be adopted. In some embodiments of the present invention, the circuits in the operation module 100, the first trigger module 600 and the second trigger module 700 may be integrated and connected to the main control module 200, and an operator may trigger a button in the circuit to implement a function of sending an instruction.
For example, the KEY2 button is set to be a button with an "up" adjustment function; the KEY3 button is a button with a down adjustment function; the KEY4 button is a button with a function of adjusting to "left"; the KEY5 button is a button with a function to adjust to the "right". For another example, the KEY0 button is a button having a function of receiving a start instruction for starting calibration, the KEY1 button is a button having a function of receiving a sending instruction for sending position deviation information, an operator triggers different buttons to send different instructions, when the button is triggered, a branch where the button is located is turned on, and a level signal is sent to the main control module 200, and the main control module 200 recognizes and responds to the level signal, so that functions of starting calibration, adjusting an optical center identifier, and sending position deviation information are realized.
A system for calibrating an optical center of an in-vehicle camera according to an embodiment of the second aspect of the present invention will be described with reference to fig. 5 and 6.
FIG. 5 is a block diagram of a system for calibrating an optical center for an in-vehicle camera in accordance with one embodiment of the present invention. As shown in fig. 5, a system 01 for calibrating an optical center of a vehicle-mounted camera according to an embodiment of the present invention includes a device 10 for calibrating an optical center of a vehicle-mounted camera, a display device 20, and a power supply 30.
The display device 20 is connected to the camera 02 to be calibrated, and is configured to provide a calibration reference identifier and display an optical center identifier of an image output by the camera 02 to be calibrated, where the display device 20 has a preset calibration reference identifier. In an embodiment, the display device 20 may be composed of a common analog display screen, and an operator can directly observe the optical center mark and the calibration reference mark through the display device 20, so as to determine whether the optical center of the camera to be calibrated has a problem.
The device 10 for calibrating the optical center of the vehicle-mounted camera is connected with the camera 02 to be calibrated, and can acquire the optical center identifier of the image output by the camera 02 to be calibrated according to the image output by the camera 02 to be calibrated.
The power supply 30 is respectively connected with the device 10 for calibrating the optical center of the vehicle-mounted camera and the camera 02 to be calibrated. The power supply 30 may be a constant-current voltage-stabilizing switching power supply, and is configured to convert a 220V ac voltage into a 12V dc voltage to supply power to the device 10 for calibrating the camera 02 to be calibrated and calibrating the optical center of the vehicle-mounted camera.
According to the system 01 for calibrating the optical center of the vehicle-mounted camera, provided by the embodiment of the invention, the display device 20 can simultaneously display the optical center mark and the calibration reference mark of the image output by the camera 02 to be calibrated, so that whether the optical center mark of the camera 02 to be calibrated is in the standard range of the calibration reference mark can be observed more intuitively, and whether the camera 02 to be calibrated is qualified can be judged more accurately, and by adopting the device 10 for calibrating the optical center of the vehicle-mounted camera, an operator can calibrate the optical center of the camera by only operating the device 10, the use is convenient, the device 10 for calibrating the optical center of the vehicle-mounted camera sends the offset position information of the optical center of the camera to the camera 02 to be calibrated for storage, and the camera can adjust the image position through software based on the offset position information after being loaded, so as to achieve the purpose of calibrating the optical center, compared with manual calibration, the device 100 of the above embodiment can improve the accuracy of the optical center of the camera 02 to be calibrated, thereby improving the product performance.
Fig. 6 is a block diagram of a system for calibrating an optical center of an in-vehicle camera according to another embodiment of the present invention.
In the embodiment of the present invention, as shown in fig. 6, the power supply 30 is respectively connected to the power module 400 and the camera 02 to be calibrated in the device 10 for calibrating the optical center of the vehicle-mounted camera, and is configured to provide 12V direct current for the camera 02 and the power module 400 to be calibrated. The display device 20 is used for providing a calibration reference mark and displaying an optical center mark of an output image of the camera 02 to be calibrated. In an embodiment, the operator can directly observe the optical center mark and the calibration reference mark through the display device 20, thereby determining whether the optical center of the camera 02 to be calibrated has a problem. When determining that the optical center of the camera 02 to be calibrated is not qualified, an operator can calibrate the optical center of the camera only by operating the device 10, the use is convenient, the device 10 for calibrating the optical center of the vehicle-mounted camera sends the offset position information of the optical center of the camera to the camera 02 to be calibrated for storage, the camera can adjust the image position through software based on the offset position information after loading, the purpose of calibrating the optical center is achieved, compared with manual calibration, the device 100 of the embodiment can improve the accuracy of the optical center of the camera 02 to be calibrated, and therefore the product performance is improved.
A method of calibrating an optical center of an in-vehicle camera according to an embodiment of the third aspect of the present invention is described below with reference to fig. 7 and 9.
FIG. 7 is a flow chart of a method of calibrating an optical center of an in-vehicle camera according to one embodiment of the invention.
The method for calibrating the optical center of the vehicle-mounted camera according to the embodiment of the invention is applied to the apparatus 10 for calibrating the optical center of the vehicle-mounted camera according to any one of the above embodiments, and the method at least comprises steps S1-S6, which are specifically as follows.
And S1, acquiring the original position information of the optical center mark of the output image of the camera to be calibrated.
In the embodiment of the invention, after the storage module is connected with the camera to be calibrated, the camera data stored in the camera chip can be acquired, wherein the camera data comprises the image data output by the camera. The main control module can read data of an image output by a camera in the storage module, an operator sends an instruction to the first trigger module, a main program in the main control module runs, and original position information of an optical center mark of the image output by the camera can be obtained according to the image output by the camera and stored in the storage module.
And S2, receiving an operation instruction.
In the embodiment of the invention, the position of the optical center mark of the image output by the camera is determined to be outside the standard range of the calibration reference mark by directly observing the display device, the camera to be calibrated is a unqualified product, and an operator sends an operation instruction to the operation module to adjust the position of the optical center mark. For example, when the operation module is provided with a calibration button, an operator can click the button to send an operation instruction to the operation module.
S3, converting the operation command into a position adjustment command for adjusting the position of the optical center mark.
In the embodiment of the invention, the operation module transmits the operation instruction to the main control module, and the main program in the main control module runs and can convert the operation instruction into the corresponding position adjustment instruction.
And S4, sending the position adjusting instruction to the camera to be calibrated so as to adjust the relative position of the optical center mark and the calibration reference mark.
In the embodiment of the invention, after the main control module acquires the position adjusting instruction, the position adjusting instruction is transmitted to the camera to be calibrated, the camera to be calibrated responds to the position adjusting instruction, and the program operation in the camera chip can control the movement of the optical center identifier of the image of the camera to be calibrated. The display device can simultaneously display the positions of the optical center mark and the calibration reference mark, and an operator can adaptively adjust the relative positions of the optical center mark and the calibration reference mark by observing the position and the moving track of the optical center mark in the display device.
And S5, when the optical center mark is adjusted to be within the standard range of the calibration reference mark, obtaining the position deviation information of the optical center mark and the calibration reference mark according to the position adjusting instruction and the original position information.
Specifically, an operator determines that the optical center identifier is adjusted to the optimal position by observing the display device, for example, when the optical center identifier coincides with the calibration reference identifier, it is determined that the camera to be calibrated is qualified, and in the whole process, the main control module can automatically record each position adjustment instruction. That is to say, in the process of adjusting the optical center identifier, the optical center identifier moves in response to the position adjusting instruction, and the main control module can acquire the moving track of the optical center identifier according to the position adjusting instruction. And the main control module obtains the position offset information of the optical center identifier and the calibration reference identifier according to the original position information and the position adjusting instruction recorded before the adjustment is started, and the offset information is stored in the main control module.
And S6, sending the position deviation information to the camera to be calibrated.
In the embodiment of the invention, it is determined that the optical center identifier of the camera to be calibrated is adjusted to the optimal position, an operator can send a position offset information sending instruction to the second triggering module, the second triggering module receives the instruction and sends the instruction to the main control module, and the main control module responds to the instruction and sends the position offset information to the storage module. After the storage module receives the position offset information, all camera data can be packaged together and burnt into the camera chip to be calibrated. When the calibrated camera to be calibrated shoots pictures and videos, the camera chip can acquire the calibrated camera output pictures according to the optical center identification and the position deviation information of the pictures.
According to the method for calibrating the optical center of the vehicle-mounted camera, based on the device for calibrating the optical center of the vehicle-mounted camera, an operator can adjust the relative position of the mark of the optical center of the camera to be calibrated and the calibration reference mark by operating the device, the use is convenient, when the mark of the optical center is adjusted to be within the standard range of the calibration reference mark, the position deviation information of the mark of the optical center and the calibration reference mark is obtained and sent to the camera to be calibrated for storage, and after the camera is loaded, the optical center can be adjusted according to the position deviation information to reduce the deviation of the optical center.
Fig. 8 is a flowchart illustrating a method for calibrating an optical center of a vehicle-mounted camera according to another embodiment of the present invention. In the embodiment of the present invention, the method for calibrating the optical center of the vehicle-mounted camera further includes step S7.
S7, prompting the progress of sending the positional deviation information.
In the embodiment of the invention, the prompting module such as a liquid crystal display screen can display the burning progress so as to determine whether burning is successful. Specifically, a progress bar is arranged on the prompt module, when the progress bar shows that the burning is completed 100%, the buzzer sends out a sound of 'dropping' to remind an operator of completing the burning, and the detection of the optical center identifier of the next camera to be calibrated can be carried out.
FIG. 9 is a flow chart of a method of calibrating an optical center of an in-vehicle camera according to one embodiment of the invention.
As shown in fig. 9, the method for calibrating an optical center of a vehicle-mounted camera according to an embodiment of the present invention is used for a camera 02 to be calibrated, and the method includes steps S01-S03, which are described in detail below.
S01, transmitting the output image containing the optical center identifier to a display device for display.
In the embodiment of the invention, the camera to be calibrated is connected with the storage module, and after the storage module acquires the camera data of the camera to be calibrated, the main control module can read the camera data in the storage module, so that the acquired camera outputs image data, and the optical center identification position information of the image output by the camera is acquired according to the image output by the camera. The camera to be calibrated is connected with the display device, and the optical center identification position information of the image output by the camera can be directly displayed in the display device.
And S02, receiving the position adjusting instruction, and adjusting the relative position of the optical center mark and the calibration reference mark provided by the display device according to the position adjusting instruction.
In the embodiment of the invention, the main control module converts the operation instruction into a position adjusting instruction for adjusting the position of the optical center identifier, transmits the position adjusting instruction to the camera to be calibrated, and the camera to be calibrated responds to the instruction and controls the optical center identifier to move so as to adaptively adjust the relative position of the optical center identifier and the calibration reference identifier. The display device can display the using track of the optical center mark in real time. Specifically, each time the camera to be calibrated receives a position adjustment instruction, the optical center identifier displayed in the display device is correspondingly moved by one pixel point to the "up" or the "down" or the "left" or the "right".
And S03, receiving the position offset information of the optical center mark and the calibration reference mark and saving the position offset information.
In the embodiment of the invention, the camera data in the storage module is burnt into the camera to be calibrated, and the camera data in the camera chip to be calibrated is updated, wherein the camera data comprises the position offset information of the optical center identifier and the calibration reference identifier. When the camera to be calibrated shoots the picture or the video again, the camera chip can automatically calibrate the optical center identification of the picture or the video according to the position offset information, so that the calibrated camera is output to output the picture or the video.
According to the method for calibrating the optical center of the vehicle-mounted camera, the output image of the camera to be calibrated, which contains the optical center mark, is displayed through the display device, the optical center mark is adjusted to be within the standard range of the calibration reference mark according to the position adjusting instruction, the position offset information of the optical center mark and the calibration reference mark is stored, and then after the camera is loaded, the optical center of the camera can be automatically adjusted based on the offset position information, so that the offset of the optical center is reduced, and the calibration accuracy is higher compared with the manual calibration of the optical center.
In summary, according to the device, the system, and the method for calibrating the optical center of the vehicle-mounted camera in the embodiments of the present invention, during calibration, a calibrator only needs to operate the operation module 100, and the main control module 200 can automatically calibrate the optical center of the camera through software, so that the use is convenient. The relative position of the optical center mark and the calibration reference mark is adjusted, and when the optical center mark is adjusted to be within the standard range of the calibration reference mark, the adjusted position deviation information is sent to the camera 02 to be calibrated through the main control module 200 to be stored, namely, calibration is completed, and after the camera is loaded, the optical center can be adjusted according to the position deviation information, so that the optical center deviation is reduced.
In the description of the present specification, reference to the description of "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. An apparatus for calibrating an optical center of a vehicle-mounted camera, comprising:
the operation module is used for receiving an operation instruction;
the main control module is connected with the operation module and the camera to be calibrated and is used for obtaining a position adjusting instruction according to the operation instruction and sending the position adjusting instruction to the camera to be calibrated so as to adjust the relative position of the optical center identifier and the calibration reference identifier of the image output by the camera to be calibrated;
the storage module is connected with the main control module and is used for storing the original position information of the optical center identifier;
the main control module is further configured to, when the optical center identifier is adjusted to be within the standard range of the calibration reference identifier, obtain position offset information of the optical center identifier and the calibration reference identifier according to the position adjustment instruction and the original position information, and send the position offset information to the camera to be calibrated;
and the power supply module is connected with the main control module and used for supplying power.
2. The apparatus for calibrating an optical center of a vehicle-mounted camera according to claim 1, wherein the operation module comprises:
the up-down adjusting unit is used for receiving an up-down operation instruction for adjusting the position of the optical center mark up and down;
and the left-right adjusting unit is used for receiving a left-right operation instruction for adjusting the position of the optical center mark left and right.
3. The apparatus for calibrating an optical center of a vehicle-mounted camera according to claim 1, wherein the storage module is further configured to store the position offset information corresponding to the camera to be calibrated.
4. The apparatus for calibrating an optical center of a vehicle camera according to claim 1, further comprising:
and the prompting module is connected with the main control module and is used for prompting the progress of the main control module for sending the position deviation information.
5. The apparatus for calibrating an optical center of a vehicle-mounted camera according to claim 1, further comprising:
and the first trigger module is connected with the main control module and used for receiving a starting instruction for starting the calibration function.
6. The apparatus for calibrating an optical center of a vehicle camera according to claim 1, further comprising:
and the second trigger module is connected with the main control module and used for receiving a sending instruction for sending the position deviation information.
7. A system for calibrating an optical center of a vehicle-mounted camera, comprising:
the display device is connected with the camera to be calibrated and used for providing a calibration reference mark and displaying an optical center mark of an image output by the camera to be calibrated;
the device for calibrating the optical center of a vehicle-mounted camera according to any one of claims 1 to 6, which is connected with the camera to be calibrated;
and the power supply is respectively connected with the device for calibrating the optical center of the vehicle-mounted camera and the camera to be calibrated.
8. A method of calibrating an optical center of a vehicle camera, for use with the apparatus of any one of claims 1-5, the method comprising:
acquiring original position information of an optical center identifier of an image output by a camera to be calibrated;
receiving an operation instruction;
obtaining a position adjusting instruction for adjusting the position of the optical center mark according to the operation instruction;
sending the position adjusting instruction to the camera to be calibrated so as to adjust the relative position of the optical center identifier and the calibration reference identifier;
when the optical center mark is adjusted to be within the standard range of the calibration reference mark, obtaining the position offset information of the optical center mark and the calibration reference mark according to the position adjusting instruction and the original position information;
and sending the position deviation information to the camera to be calibrated.
9. The method of calibrating an in-vehicle camera optical center of claim 8, further comprising: and prompting the progress of sending the position deviation information.
10. A method for calibrating an optical center of a vehicle-mounted camera, which is used for the camera to be calibrated, comprises the following steps:
transmitting the output image containing the optical center identifier to a display device for display;
receiving a position adjusting instruction, and adjusting the relative position of the optical center mark and a calibration reference mark provided by the display device according to the position adjusting instruction;
and receiving the position offset information of the optical center mark and the calibration reference mark and saving the position offset information.
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| CN202110289549.7A CN115118953A (en) | 2021-03-17 | 2021-03-17 | Device, system and method for calibrating optical center of vehicle-mounted camera |
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| CN202110289549.7A CN115118953A (en) | 2021-03-17 | 2021-03-17 | Device, system and method for calibrating optical center of vehicle-mounted camera |
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| US20100245576A1 (en) * | 2009-03-31 | 2010-09-30 | Aisin Seiki Kabushiki Kaisha | Calibrating apparatus for on-board camera of vehicle |
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