CN104715486B - One kind emulation stand camera marking method and real-time machine - Google Patents
One kind emulation stand camera marking method and real-time machine Download PDFInfo
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Abstract
The application provides a kind of emulation stand camera marking method and real-time machine, and scaling reference and the imaging of addition, the first corresponding relation established between its any point and virtual video camera plane of delineation coordinate are gathered by the virtual video camera of foundation；The imaging is gathered by real camera, the second corresponding relation established between imaging point and real camera plane of delineation coordinate of the described any point of scaling reference in the imaging of virtual video camera；Two corresponding relations are solved, obtain the 3rd corresponding relation between described any point of scaling reference and real camera plane of delineation coordinate, export to FAS systems, FAS systems are made to obtain the corresponding relation between the test scene data that real camera plane of delineation coordinate and real-time machine provide, virtual video camera is eliminated to existing parameter differences and spatial correlation between real camera, solves the problems, such as that real-time machine can not provide accurate test scene data for FAS systems.
Description
Technical field
The present invention relates to technical field of automation, more particularly to a kind of emulation stand camera marking method and real-time machine.
Background technology
In recent years, with the fast development of machine vision imaging and image processing techniques and increasingly ripe, regarded based on monocular
The driver assistance system of feel is more and more applied in high-end vehicles.One of them important system is to contain certainly
Adapt to cruise, the multiple functions such as automatic emergency brake forward sight accessory system (Fronview Assistance Systems,
FAS).Within the research and development phase of system, it usually needs the function logic and performance of FAS systems are carried out on emulation stand checking and
Test.
Therefore, it is necessary to be realized on real-time machine with the virtual video camera for providing camera angles for scenes such as people, car, roads
Emulation, to provide test object for production debugging.And as electronic control unit input video source real camera then
Need to gather the traffic environment that virtual video camera provides, test scene is provided for unit under test.But due to virtual video camera and
Real camera has respective inner parameter, and has the relativeness in space between virtual video camera and real camera again,
So the simulating scenes seen of real camera and the scene that real-time machine provides are not quite identical, will be absorbed to real camera
The simulating scenes of real-time machine bring influence, and accurate test scene data can not be provided for FAS systems.
The content of the invention
In view of this, the invention provides one kind emulation stand camera marking method and real-time machine, to solve existing skill
Because of parameter differences and spatial correlation existing between virtual video camera and real camera in art, caused real-time machine without
The problem of method provides accurate test scene data for FAS systems.
To achieve these goals, technical scheme provided in an embodiment of the present invention is as follows：
One kind emulation stand camera marking method, it is described imitative applied to the real-time machine that performance test is carried out to FAS systems
True stand camera marking method includes：
Add scaling reference；
Virtual video camera is established, the scaling reference is gathered by the virtual video camera and is imaged, establish the demarcation
The first corresponding relation between any point of reference substance and the virtual video camera plane of delineation coordinate；
Real camera gathers the imaging of the virtual video camera, and the described any point for establishing the scaling reference exists
The second corresponding relation between imaging point and the real camera plane of delineation coordinate in the imaging of the virtual video camera；
First corresponding relation and the second corresponding relation are solved, obtain the described any of the scaling reference
A little the 3rd corresponding relation between the real camera plane of delineation coordinate；
3rd corresponding relation is exported to the FAS systems.
Preferably, first corresponding relation is：
[uv,vv,1]T=Av[xv,yv,1]T；
Zvc[xv,yv,1]T=Bv[Xvc,Yvc,Zvc]T；
Wherein, [Xw,Yw,Zw] for the scaling reference any point world coordinates, [Xvc,Yvc,Zvc] it is described
The point of scaling reference corresponding coordinate, [x in virtual video camera coordinate systemv,yv, 1] be the scaling reference the point
Corresponding coordinate, [u in image coordinate systemv,vv, 1] for the scaling reference the point in pixel coordinate system corresponding seat
Mark；
αvAnd βvThe respectively horizontal and vertical focal length of virtual video camera, alpha_cvIncline for the reference axis of virtual video camera
Oblique coefficient, uv0And vv0For the photocentre of virtual video camera；RvAnd TvBetween respectively described scaling reference and virtual video camera
Spin matrix and translation matrix.
Preferably, second corresponding relation is：
[ur,vr,1]T=Ar[xr,yr,1]T；
Zrc[xr,yr,1]T=Br[Xrc,Yrc,Zrc]T；
Wherein, [Xrc,Yrc,Zrc] for the scaling reference any point in true camera coordinates system corresponding to
Coordinate, [xr,yr, 1] for the scaling reference the point in image coordinate system corresponding coordinate, [ur,vr, 1] and it is the mark
Determine the point of the reference substance corresponding coordinate in pixel coordinate system；
αr,βrThe respectively horizontal and vertical focal length of real camera, alpha_crTilted for the reference axis of real camera
Coefficient, ur0,vr0For the photocentre of real camera；RrAnd TrRespectively scaling reference in the imaging of display plane with truly taking the photograph
Spin matrix and translation matrix between camera.
Preferably, method is minimum used by being solved to first corresponding relation and second corresponding relation
Square law.
Preferably, the 3rd corresponding relation is：
Preferably, the machine in real time is exported the 3rd corresponding relation to the FAS systems by CAN lines.
A kind of real-time machine, performance is carried out to FAS systems using any of the above-described described emulation stand camera marking method
Test.
The emulation stand camera marking method that the application provides, by adding scaling reference, by the void established
Intend scaling reference described in camera acquisition and be imaged, establish any point of the scaling reference and the virtual video camera
The first corresponding relation between plane of delineation coordinate；The imaging of the virtual video camera is gathered by real camera again, establishes institute
State imaging point of the described any point of scaling reference in the imaging of the virtual video camera and the real camera figure
The second corresponding relation between image plane coordinate；Then first corresponding relation and the second corresponding relation are solved, obtained
The 3rd corresponding relation between described any point of the scaling reference and the real camera plane of delineation coordinate,
And export to the FAS systems, the FAS systems is obtained what the real camera plane of delineation coordinate provided with real-time machine
Corresponding relation between test scene data, virtual video camera is eliminated to existing parameter differences and sky between real camera
Between relativeness, solve the problems, such as therefore caused by real time machine accurate test scene data can not be provided for FAS systems.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 is a kind of emulation stand camera marking method flow chart that the embodiment of the present application provides.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
The invention provides one kind emulate stand camera marking method, with solve in the prior art because virtual video camera with
Existing parameter differences and spatial correlation between real camera, caused real-time machine can not provide standard for FAS systems
The problem of true test scene data.
Specifically, the emulation stand camera marking method, the real-time of performance test is carried out applied to FAS systems
Machine；As shown in figure 1, the emulation stand camera marking method includes：
S101, addition scaling reference；
In specific practical application, the chequered with black and white gridiron pattern of one 5 × 7 can be added, each gridiron pattern is the length of side
For 30mm square；It can also be imaged on simulating scenes display.
S102, virtual video camera is established, gathered the scaling reference by the virtual video camera and be imaged, described in foundation
The first corresponding relation between any point of scaling reference and the virtual video camera plane of delineation coordinate；
Specifically, in actual applications, while virtual vehicle can be established, and the virtual vehicle is set according to truth
Size, the virtual video camera is installed to the central upper of the virtual vehicle windshield, and according to true shooting
The machine angle of visual field sets the virtual video camera field range, switches to virtual video camera to regard on the simulating scenes display
Angle, adjust the 2/3 of the screen that gridiron pattern putting position makes its area account for the simulating scenes display；Then the mark is established
Determine the first corresponding relation between any point of reference substance and the virtual video camera plane of delineation coordinate.
S103, real camera gather the imaging of the virtual video camera, establish the described any of the scaling reference
A little the second couple between the imaging point in the imaging of the virtual video camera and the real camera plane of delineation coordinate
It should be related to；
First, the real camera position is adjusted, the real camera is placed into and shown apart from the simulating scenes
Show at device screen d, and make its optical axis perpendicular to the simulating scenes display.Wherein, d values are：
D=(d1+d2)/2
d1=w/ (2*tan (Th/2))
d2=h/ (2*tan (Tv/2))
Wherein, w and h is respectively virtual video camera visual field width over the display and height, ThAnd TvRespectively truly take the photograph
The horizontal field of view angle and vertical field of view angle of camera.
Then second corresponding relation is established.
S104, first corresponding relation and the second corresponding relation are solved, obtain the institute of the scaling reference
State the 3rd corresponding relation between any point and the real camera plane of delineation coordinate；
Two corresponding relations that step S102 is obtained with step S103 are solved, and finally give the scaling reference
Described any point and the real camera plane of delineation coordinate between the 3rd corresponding relation.
S105, the 3rd corresponding relation exported to the FAS systems.
The FAS systems are tested according to the 3rd corresponding relation, can effectively eliminate the institute in simulating scenes
State the influence for the simulating scenes that the internal and external parameter of virtual video camera is seen to the real camera.
The emulation stand camera marking method that the application provides, obtains the FAS systems by above-mentioned steps
Corresponding relation between the test scene data that the real camera plane of delineation coordinate and real-time machine provide, eliminate virtual
Video camera to existing parameter differences and spatial correlation between real camera, caused by solving therefore in real time machine without
The problem of method provides accurate test scene data for FAS systems.
Another embodiment of the present invention additionally provides another emulation stand camera marking method, as shown in figure 1, bag
Include：
S101, addition scaling reference；
S102, establish virtual vehicle and virtual video camera, by the virtual video camera gather the scaling reference and into
Picture, first established between described any point of the scaling reference and the virtual video camera plane of delineation coordinate are corresponding
Relation；
S103, real camera gather the imaging of the virtual video camera, establish the described any of the scaling reference
A little the second couple between the imaging point in the imaging of the virtual video camera and the real camera plane of delineation coordinate
It should be related to；
S104, above-mentioned two corresponding relation is solved, obtain described any point and the institute of the scaling reference
State the 3rd corresponding relation between real camera plane of delineation coordinate；
S105, the 3rd corresponding relation exported to the FAS systems.
Preferably, first corresponding relation is：
[uv,vv,1]T=Av[xv,yv,1]T；
Zvc[xv,yv,1]T=Bv[Xvc,Yvc,Zvc]T；
Wherein, [Xw,Yw,Zw] for the scaling reference any point world coordinates, [Xvc,Yvc,Zvc] it is described
The point of scaling reference corresponding coordinate, [x in virtual video camera coordinate systemv,yv, 1] be the scaling reference the point
Corresponding coordinate, [u in image coordinate systemv,vv, 1] for the scaling reference the point in pixel coordinate system corresponding seat
Mark；
αvAnd βvThe respectively horizontal and vertical focal length of virtual video camera, alpha_cvIncline for the reference axis of virtual video camera
Oblique coefficient, uv0And vv0For the photocentre of virtual video camera；RvAnd TvRespectively between Virtual Calibration reference substance and virtual video camera
Spin matrix and translation matrix.
Wherein, image coordinate system represents the coordinate points in a physical world, in virtual video camera (or true shooting
Machine) after imaging, coordinate system that the two dimensional surface that is formed on video camera internal sensor is formed；And pixel coordinate system represents display
The two-dimensional coordinate system that plane where device is formed.
Preferably, second corresponding relation is：
[ur,vr,1]T=Ar[xr,yr,1]T；
Zrc[xr,yr,1]T=Br[Xrc,Yrc,Zrc]T；
Wherein, [Xrc,Yrc,Zrc] for the scaling reference any point in true camera coordinates system corresponding to
Coordinate, [xr,yr, 1] for the scaling reference the point in image coordinate system corresponding coordinate, [ur,vr, 1] and it is the mark
Determine the point of the reference substance corresponding coordinate in pixel coordinate system；
αr, βrThe respectively horizontal and vertical focal length of real camera, alpha_crTilted for the reference axis of real camera
Coefficient, ur0,vr0For the photocentre of real camera；RrAnd TrRespectively scaling reference in the imaging of display plane with truly taking the photograph
Spin matrix and translation matrix between camera.
Preferably, method is minimum used by being solved to first corresponding relation and second corresponding relation
Square law.
Preferably, the 3rd corresponding relation is：
Above formula can also be rewritten as：
ZrcZvc[xr,yr,1]T=M [Xw,Yw,Zw]T；Wherein,
Include unknown quantity in M：αr、βr、alpha_cr、ur0、vr0、Rr、Tr、αv、βv、alpha_cv、uv0、vv0RvTv, because
Any point for the scaling reference is the point in gridiron pattern plane, so, eliminate ZrcZvc, Rr、RvIt is 2 × 2 respectively
Matrix, Tr、TvIt is 2 × 1 matrix respectively, therefore includes 22 unknown quantitys in M altogether.
And each solution formula represents the coordinate points on a gridiron pattern and coordinate points in real camera image plane
Corresponding relation, two equatioies can be written, it is therefore desirable at least 11 coordinate points.Projection matrix M is obtained according to least square, so as to
Try to achieve the virtual video camera and the real camera parameters.
Preferably, the machine in real time is exported the 3rd corresponding relation to the FAS systems by CAN lines.
The estimation of distance and angle can be improved to the FAS systems by being exported the 3rd corresponding relation by CAN lines
Precision, improve each active and passive functions.
Another embodiment of the present invention additionally provides a kind of real-time machine, and the machine in real time is using described in any of the above-described embodiment
Emulate stand camera marking method and performance test is carried out to FAS systems.
Specific operation principle is same as the previously described embodiments, and here is omitted.
Each embodiment is described by the way of progressive in the present invention, and what each embodiment stressed is and other realities
Apply the difference of example, between each embodiment identical similar portion mutually referring to.For device disclosed in embodiment
Speech, because it is corresponded to the method disclosed in Example, so description is fairly simple, related part is referring to method part illustration
.
It the above is only the preferred embodiment of the present invention, make skilled artisans appreciate that or realizing of the invention.It is right
A variety of modifications of these embodiments will be apparent to one skilled in the art, as defined herein general former
Reason can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, the present invention will not
Be intended to be limited to the embodiments shown herein, and be to fit to it is consistent with principles disclosed herein and features of novelty most
Wide scope.
Claims (6)
1. one kind emulation stand camera marking method, it is characterised in that carry out the real-time of performance test applied to FAS systems
Machine, the emulation stand camera marking method include：
Add scaling reference；
Virtual video camera is established, the scaling reference is gathered by the virtual video camera and is imaged, establishes the demarcation reference
The first corresponding relation between any point of thing and the virtual video camera plane of delineation coordinate；
Real camera gathers the imaging of the virtual video camera, establishes described any point of the scaling reference described
The second corresponding relation between imaging point and the real camera plane of delineation coordinate in the imaging of virtual video camera；
First corresponding relation and the second corresponding relation are solved, obtain described any point of the scaling reference
With the 3rd corresponding relation between the real camera plane of delineation coordinate；
3rd corresponding relation is exported to the FAS systems；
3rd corresponding relation is：
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Examine the spin matrix and translation matrix between thing and virtual video camera, RrAnd TrRespectively scaling reference is in display plane
Spin matrix and translation matrix between imaging and real camera；
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Number, uv0And vv0For the photocentre of virtual video camera；RvAnd TvRotation between respectively described scaling reference and virtual video camera
Matrix and translation matrix；
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Spin matrix and translation matrix between machine.
2. emulation stand camera marking method according to claim 1, it is characterised in that first corresponding relation
For：
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<mi>Y</mi>
<mi>w</mi>
</msub>
<mo>,</mo>
<msub>
<mi>Z</mi>
<mi>w</mi>
</msub>
<mo>&rsqb;</mo>
</mrow>
<mi>T</mi>
</msup>
<mo>;</mo>
</mrow>
Zvc[xv,yv,1]T=Bv[Xvc,Yvc,Zvc]T；
Wherein, [Xw,Yw,Zw] for the scaling reference any point world coordinates, [Xvc,Yvc,Zvc] it is the demarcation
The point of reference substance corresponding coordinate, [x in virtual video camera coordinate systemv,yv, 1] scheming for the point of the scaling reference
As corresponding coordinate in coordinate system, [uv,vv, 1] for the scaling reference the point in pixel coordinate system corresponding coordinate.
3. emulation stand camera marking method according to claim 2, it is characterised in that second corresponding relation
For：
[ur,vr,1]T=Ar[xr,yr,1]T；
<mrow>
<msup>
<mrow>
<mo>&lsqb;</mo>
<msub>
<mi>X</mi>
<mrow>
<mi>r</mi>
<mi>c</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>Y</mi>
<mrow>
<mi>r</mi>
<mi>c</mi>
</mrow>
</msub>
<mo>,</mo>
<msub>
<mi>Z</mi>
<mrow>
<mi>r</mi>
<mi>c</mi>
</mrow>
</msub>
<mo>&rsqb;</mo>
</mrow>
<mi>T</mi>
</msup>
<mo>=</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>R</mi>
<mi>r</mi>
</msub>
</mtd>
<mtd>
<msub>
<mi>T</mi>
<mi>r</mi>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>1</mn>
</mtd>
</mtr>
</mtable>
</mfenced>
<msup>
<mrow>
<mo>&lsqb;</mo>
<msub>
<mi>x</mi>
<mi>v</mi>
</msub>
<mo>,</mo>
<msub>
<mi>y</mi>
<mi>v</mi>
</msub>
<mo>,</mo>
<mn>1</mn>
<mo>&rsqb;</mo>
</mrow>
<mi>T</mi>
</msup>
<mo>;</mo>
</mrow>
Zrc[xr,yr,1]T=Br[Xrc,Yrc,Zrc]T；
Wherein, [Xrc,Yrc,Zrc] for the scaling reference any point in true camera coordinates system corresponding coordinate,
[xr,yr, 1] for the scaling reference the point in image coordinate system corresponding coordinate, [ur,vr, 1] join for the demarcation
Examine the point of the thing corresponding coordinate in pixel coordinate system.
4. emulation stand camera marking method according to claim 3, it is characterised in that to first corresponding relation
Method is least square method used by being solved with second corresponding relation.
5. emulation stand camera marking method according to claim 1, it is characterised in that the machine in real time passes through CAN
Line exports the 3rd corresponding relation to the FAS systems.
6. a kind of real-time machine, it is characterised in that using any described emulation stand camera marking method of claim 1 to 5
Performance test is carried out to FAS systems.
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