CN103196678A - Real-time revise device and method of input picture of four-wheel position finder based on digital signal processor (DSP) - Google Patents

Abstract

The invention discloses a real-time revise device and a method of an input picture of a four-wheel position finder based on a digital signal processor (DSP). The real-time revise device of the input picture of the four-wheel position finder based on the DSP comprises a picture synchronous processor, a DSP, a storage module, a logic controller, and an output frame buffer. By adding a revise picture mapping table in the storage module, the DSP can revise picture data errors caused by deformation of a camera lens in a real-time mode. The real-time revise device and the method of the input picture of the four-wheel position finder based on the DSP have the advantages of greatly improving measuring precision of the four-wheel position finder, guaranteeing accuracy of wheel alignment, and increasing security of vehicle driving.

Description

Four-wheel position finder input picture real time correction device and method based on DSP

Technical field

The present invention relates to the vehicular four wheels field of locating technology, particularly, relate to a kind of four-wheel position finder input picture real time correction device and method based on DSP.

Background technology

Vehicle four-wheel position finder is for detection of the automotive wheel positional parameter, and compare with former factory design parameter, instruct the user that wheel alignment parameter is adjusted accordingly, make it meet former designing requirement, to reach desirable running car performance, namely handle fine measuring instrument light, that driving stability reliable, minimizing tire eccentric wear decreases.

PSD claims photoelectrical position sensor again, and its principle of work is: when a certain position of the sensitive surface of PSD exists under the situation of illumination, its output current has respective change, thereby can obtain the illumination position.There is comparatively serious data deviation in the view data of gathering based on the four-wheel position finder of DSP at present, reason is to fail to consider the deformation problems of camera lens, this has caused the testing result of four-wheel position finder to exist than mistake, accurate location to wheel affects greatly, and then has influenced the security that vehicle travels.

Summary of the invention

The technical problem to be solved in the present invention is to overcome above-mentioned defective, and a kind of four-wheel position finder input picture real time correction device and method based on DSP is provided.These apparatus and method can be proofreaied and correct based on the four-wheel position finder input picture of DSP in real time because of the data error that the camera lens distortion causes, and have improved the measuring accuracy of four-wheel position finder greatly, have guaranteed the accuracy of wheel alignment, have increased the security that vehicle travels.

Technical scheme of the present invention is: a kind of four-wheel position finder input picture real time correction device based on DSP, it is characterized in that: described device comprises: image synchronization processor, dsp processor, memory module, logic controller, output frame buffer memory, described image synchronization processor, dsp processor, output frame buffer memory link to each other successively, described memory module links to each other with described dsp processor, and described logic controller links to each other with described image synchronization processor, dsp processor, output frame buffer memory respectively; Described image synchronization processor comprises frame buffer memory, and described image synchronization processor leaves view data in the described frame buffer memory under the control of described logic controller; The image synchronization processor is connected with dsp processor, and dsp processor reads in view data from described frame buffer memory under the control of described logic controller, and described view data is left in the described memory module; Described memory module comprises flash memory, SDRAM, and wherein flash memory is deposited program code and the correcting image mapping table of dsp processor, and SDRAM deposits the view data that dsp processor receives; The output frame buffer memory receives and is temporary by view data after the correction of dsp processor transmission, and wherein: described correcting image mapping table adopts following model formation:

u＝fx·x″+cx，

v＝fy·y″+cy；

"=x ' (1+k in this formula: x ₁R ²+ k ₂R ⁴)+2p ₁X ' y '+p ₂(r ²+ 2x ' ²);

y″＝y′·(1+k ₁·r ²+k ₂·r ⁴)+2·p ₂·x′·y′+p ₁·(r ²+2y′ ²)；

r ²＝x′ ²+y′ ²；

x′＝x/z；y′＝y/z；

$\left[\begin{array}{c}x\\ y\\ z\end{array}\right]=R\·\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]+t;$

Wherein: R represents the rotation matrix in the coordinate system transfer process, t represents the translation matrix in the coordinate system transfer process, X, Y, Z are a little the world coordinatess of being taken, u, v are the coordinate of spot projection at the plane of delineation that be taken, be unit with the pixel, fx, fy are to be the focal length of unit with the pixel, and cx, cy are the reference points of the described plane of delineation, k1 and k2 are the radial shape variable coefficients of camera lens, and p1 and p2 are the tangential deformation coefficients of camera lens.

In addition, the present invention relates to a kind of real-time method of proofreading and correct based on the four-wheel position finder input picture of DSP of said apparatus that adopts, it is characterized in that: said method comprising the steps of:

(1) logic controller is opened frame buffer memory, make view data be deposited into frame buffer memory, after each frame buffer memory is filled with a two field picture, open frame buffer memory output digital image signal by logic controller, then read in data image signal synchronously by dsp processor, dsp processor is stored into data image signal among the SDRAM then;

(2) the dsp processor correcting image mapping table that will be pre-stored in the flash memory is read in the dsp processor;

(3) dsp processor after the corresponding pixel of taking-up carries out corresponding calculating from SDRAM successively, sends to output frame buffer memory with described pixel according to the parameter in the correcting image mapping table;

(4) after dsp processor in the step (3) sends to the output frame buffer memory according to the parameter in the correcting image mapping table with all corresponding pixels, be circulated to step (1) and begin to gather a new two field picture, the while logic controller sends to daemon software with content stored in the output frame buffer memory and is further processed.

Beneficial effect of the present invention: this image real time correction device that has the correcting image mapping table by use, the four-wheel position finder input picture that can proofread and correct in real time based on DSP is out of shape the data error that causes because of camera lens, improved the measuring accuracy of four-wheel position finder greatly, guarantee the accuracy of wheel alignment, increased the security that vehicle travels.

Description of drawings

Fig. 1 is the composition structural representation of apparatus of the present invention.

Embodiment

A kind of four-wheel position finder input picture real time correction device based on DSP, it is characterized in that: described device comprises: image synchronization processor 1, dsp processor 2, memory module 3, logic controller 4, output frame buffer memory 5, described image synchronization processor, dsp processor, output frame buffer memory link to each other successively, described memory module links to each other with described dsp processor, and described logic controller links to each other with described image synchronization processor, dsp processor, output frame buffer memory respectively; Described image synchronization processor comprises frame buffer memory, and described image synchronization processor leaves view data in the described frame buffer memory under the control of described logic controller; The image synchronization processor is connected with dsp processor, and dsp processor reads in view data from described frame buffer memory under the control of described logic controller, and described view data is left in the described memory module; Described memory module comprises flash memory, SDRAM, and wherein flash memory is deposited program code and the correcting image mapping table of dsp processor, and SDRAM deposits the view data that dsp processor receives; The output frame buffer memory receives and is temporary by view data after the correction of dsp processor transmission, and wherein: described correcting image mapping table adopts following model formation:

u＝fx·x″+cx，

v＝fy·y″+cy；

"=x ' (1+k in this formula: x ₁R ²+ k ₂R ⁴)+2p ₁X ' y '+p ₂(r ²+ 2x ' ²);

y″＝y′·(1+k ₁·r ²+k ₂·r ⁴)+2·p ₂·x′·y′+p ₁·(r ²+2y′ ²)；

r ²＝x′ ²+y′ ²；

x′＝x/z；y′＝y/z；

$\left[\begin{array}{c}x\\ y\\ z\end{array}\right]=R\·\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]+t;$

Wherein: R represents the rotation matrix in the coordinate system transfer process, t represents the translation matrix in the coordinate system transfer process, X, Y, Z are a little the world coordinatess of being taken, u, v are the coordinate of spot projection at the plane of delineation that be taken, be unit with the pixel, fx, fy are to be the focal length of unit with the pixel, and cx, cy are the reference points of the described plane of delineation, k1 and k2 are the radial shape variable coefficients of camera lens, and p1 and p2 are the tangential deformation coefficients of camera lens.

A kind of real-time method of proofreading and correct based on the four-wheel position finder input picture of DSP of said apparatus that adopts is characterized in that: said method comprising the steps of:

(1) logic controller is opened frame buffer memory, make view data be deposited into frame buffer memory, after each frame buffer memory is filled with a two field picture, open frame buffer memory output digital image signal by logic controller, then read in data image signal synchronously by dsp processor, dsp processor is stored into data image signal among the SDRAM then;

(2) the dsp processor correcting image mapping table that will be pre-stored in the flash memory is read in the dsp processor;

(3) dsp processor after the corresponding pixel of taking-up carries out corresponding calculating from SDRAM successively, sends to output frame buffer memory with described pixel according to the parameter in the correcting image mapping table;

(4) after dsp processor in the step (3) sends to the output frame buffer memory according to the parameter in the correcting image mapping table with all corresponding pixels, be circulated to step (1) and begin to gather a new two field picture, the while logic controller sends to daemon software with content stored in the output frame buffer memory and is further processed.

Advantage of the present invention is: this image real time correction device that has the correcting image mapping table by use, the four-wheel position finder input picture that can proofread and correct in real time based on DSP is out of shape the data error that causes because of camera lens, improved the measuring accuracy of four-wheel position finder greatly, guarantee the accuracy of wheel alignment, increased the security that vehicle travels.

Above-described embodiment only is for example of the present invention clearly is described, and is not to be restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here need not also can't give all embodiments exhaustive.And these belong to apparent variation or the change that spirit of the present invention extended out and still are among protection scope of the present invention.

Claims (2)

1. four-wheel position finder input picture real time correction device based on DSP, it is characterized in that: described device comprises: image synchronization processor, dsp processor, memory module, logic controller, output frame buffer memory, described image synchronization processor, dsp processor, output frame buffer memory link to each other successively, described memory module links to each other with described dsp processor, and described logic controller links to each other with described image synchronization processor, dsp processor, output frame buffer memory respectively; Described image synchronization processor comprises frame buffer memory, and described image synchronization processor leaves view data in the described frame buffer memory under the control of described logic controller; The image synchronization processor is connected with dsp processor, and dsp processor reads in view data from described frame buffer memory under the control of described logic controller, and described view data is left in the described memory module; Described memory module comprises flash memory, SDRAM, and wherein flash memory is deposited program code and the correcting image mapping table of dsp processor, and SDRAM deposits the view data that dsp processor receives; The output frame buffer memory receives and is temporary by view data after the correction of dsp processor transmission, and wherein: described correcting image mapping table adopts following model formation:

u＝fx·x″+cx，

v＝fy·y″+cy；

"=x ' (1+k in this formula: x ₁R ²+ k ₂R ⁴)+2p ₁X ' y '+p ₂(r ²+ 2x ' ²);

y″＝y′·(1+k ₁·r ²+k ₂·r ⁴)+2·p ₂·x′·y′+p ₁·(r ²+2y′ ²)；

r ²＝x′ ²+y′ ²；

x′＝x/z；y′＝y/z；

$\left[\begin{array}{c}x\\ y\\ z\end{array}\right]=R\·\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]+t;$

Wherein: R represents the rotation matrix in the coordinate system transfer process, t represents the translation matrix in the coordinate system transfer process, X, Y, Z are a little the world coordinatess of being taken, u, v are the coordinate of spot projection at the plane of delineation that be taken, be unit with the pixel, fx, fy are to be the focal length of unit with the pixel, and cx, cy are the reference points of the described plane of delineation, k1 and k2 are the radial shape variable coefficients of camera lens, and p1 and p2 are the tangential deformation coefficients of camera lens.

2. one kind is adopted device as claimed in claim 1 correction in real time to it is characterized in that: said method comprising the steps of based on the method for the four-wheel position finder input picture of DSP:

(1) logic controller is opened frame buffer memory, make view data be deposited into frame buffer memory, after each frame buffer memory is filled with a two field picture, open frame buffer memory output digital image signal by logic controller, then read in data image signal synchronously by dsp processor, dsp processor is stored into data image signal among the SDRAM then;

(2) the dsp processor correcting image mapping table that will be pre-stored in the flash memory is read in the dsp processor;

(3) dsp processor after the corresponding pixel of taking-up carries out corresponding calculating from SDRAM successively, sends to output frame buffer memory with described pixel according to the parameter in the correcting image mapping table;

(4) after dsp processor in the step (3) sends to the output frame buffer memory according to the parameter in the correcting image mapping table with all corresponding pixels, be circulated to step (1) and begin to gather a new two field picture, the while logic controller sends to daemon software with content stored in the output frame buffer memory and is further processed.

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