CN107133911A - A kind of reverse image display methods and device - Google Patents
A kind of reverse image display methods and device Download PDFInfo
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
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Abstract
The invention discloses a kind of reverse image display methods and device.Methods described includes：Obtain the original road conditions image that the backup camera of the big angle of visual field is shot；Pixel position mapping table is obtained, the mapping table preserves the corresponding relation in the coordinate and the original road conditions image of each pixel between the coordinate of each pixel in display road conditions image；Using the corresponding relation, mapping processing is carried out to each pixel of the original road conditions image, the display road conditions image is obtained, and the display road conditions image is shown by vehicle mounted multimedia.In this way, can both increase the field range that reverse image is shown, road conditions pattern distortion can be effectively solved again.
Description
Technical field
The present invention relates to image processing field, in particular it relates to a kind of reverse image display methods and device.
Background technology
Reverse image is a kind of vision-aided system for aiding in driver to move backward.During reversing, positioned at the tailstock
Backup camera can shoot the road conditions image of rear view of vehicle, and by clapped road conditions image transmitting to console,
Driver is showed by vehicle mounted multimedia.So, driver can be just sitting in driver's cabin, observe car
The road conditions at rear, convenient reversing.
At present, in order to prevent clapped road conditions image from larger distortion occur, field of view angle is generally selected less
Camera causes reverse image to there is larger blind area in actual use as backup camera, i.e.
The visual field shown to driver is relatively limited.
The content of the invention
It is an object of the invention to provide a kind of reverse image display methods and device, it can both increase reverse image
The field range of display, can effectively solve road conditions pattern distortion again.
The embodiments of the invention provide a kind of method that reverse image is shown, methods described includes：
Obtain the original road conditions image that the backup camera of the big angle of visual field is shot；
Pixel position mapping table is obtained, the mapping table preserves each pixel in display road conditions image
Coordinate and the original road conditions image in each pixel coordinate between corresponding relation；
Using the corresponding relation, mapping processing is carried out to each pixel of the original road conditions image,
The display road conditions image is obtained, and the display road conditions image is shown by vehicle mounted multimedia.
Alternatively, acquisition pixel position mapping table, including：
The configuration parameter of each grid in the display road conditions image is obtained, the configuration parameter includes the net
The apex coordinate and the coordinate difference on each summit on four summits of lattice, the grid include preset number
Pixel；The coordinate difference is the apex coordinate and the original road conditions image in the display road conditions image
In corresponding pixel point coordinates difference；
Using the configuration parameter, the coordinate difference for each pixel that grid includes is determined；
Using the pixel point coordinates and the coordinate difference of the pixel in the display road conditions image, calculate
The corresponding pixel point coordinates into the original road conditions image, and the picture set up in the display road conditions image
Corresponding relation between vegetarian refreshments coordinate and corresponding pixel point coordinates in the original road conditions image, obtains institute
State mapping table.
Alternatively, at least four calibration points are set in the shooting visual field of the backup camera, then obtained
The mode of the coordinate difference is：
The original uncalibrated image that the backup camera is shot is obtained, the original uncalibrated image includes described
At least four calibration points；
The original coordinates of each calibration point are determined from the original uncalibrated image, and are utilized described original
The distortion factor of coordinate and the backup camera, obtains coordinate after the correction of each calibration point；
Obtain displaing coordinate of each calibration point in display uncalibrated image, and using the displaing coordinate and
Coordinate after the correction, sets up visual angle effect model；
Using the visual angle effect model, four summits of each grid in the display uncalibrated image are obtained
Correction after apex coordinate；
Using the distortion factor of apex coordinate and the backup camera after the correction, obtain described original
Pixel point coordinates corresponding with apex coordinate after the correction in uncalibrated image；
Utilize the apex coordinate in the display uncalibrated image and corresponding picture in the original uncalibrated image
Vegetarian refreshments coordinate, calculating obtains the coordinate difference.
Alternatively, calibration point is represented by predetermined pattern, the predetermined pattern is included in sphere of movements for the elephants arrangement
Four rectangles, there are between adjacent rectangle different colours, and two rectangles on diagonal have it is identical
Color, then original coordinates that each calibration point is determined from the original uncalibrated image, including：
The predetermined pattern is identified from the original uncalibrated image；
Two rectangles on diagonal are determined from the predetermined pattern, and two rectangular distances are nearest
Two summits center, be defined as the original coordinates of the calibration point.
Alternatively, methods described also includes：
The coordinate difference is updated in such a way：Adjust the original of calibration point in the original uncalibrated image
Coordinate, and/or, adjust the displaing coordinate of calibration point in the display uncalibrated image.
Alternatively, the display road conditions image is divided into three parts：On the left of tailstock rear visual angle figure, the tailstock
Visual angle figure and tailstock right side perspective figure, then
The original uncalibrated image includes eight calibration points, and the position distribution of eight calibration points is：
Eight calibration points constitute two the first parallelogram and one trapezoidal, described trapezoidal positioned at described two
Between individual first parallelogram, it is described it is trapezoidal it is following apart from the tailstock recently, and, institute parallel with the tailstock
Trapezoidal lower edge lengths are stated for tailstock width, the trapezoidal lower edge lengths are less than the trapezoidal upper length of side
Degree；
The display uncalibrated image includes eight calibration points, and the position distribution of eight calibration points is：
Eight calibration points constitute two the second parallelogram and a rectangle, and the rectangle is located at described two
Between individual second parallelogram, the rectangle it is following apart from the tailstock recently, and, institute parallel with the tailstock
It is acute angle that the side of rectangle, which is stated, with the following angle of second parallelogram.
The embodiments of the invention provide a kind of reverse image display device, described device includes：
Original road conditions image acquisition unit, for obtaining the original road that the backup camera of the big angle of visual field is shot
Condition image；
Mapping table acquiring unit, for obtaining pixel position mapping table, the mapping table preserves display
In road conditions image in the coordinate of each pixel and the original road conditions image each pixel coordinate it
Between corresponding relation；
Map processing unit, for utilizing the corresponding relation, to each picture of the original road conditions image
Vegetarian refreshments carries out mapping processing, obtains the display road conditions image, and show described show by vehicle mounted multimedia
Show road conditions image.
Alternatively, the mapping table acquiring unit includes：
Configuration parameter acquiring unit, the configuration parameter for obtaining each grid in the display road conditions image,
The configuration parameter includes the apex coordinate and the coordinate difference on each summit on four summits of the grid, institute
Stating grid includes the pixel of preset number；The coordinate difference is sat for the summit in the display road conditions image
The difference of corresponding pixel point coordinates in mark and the original road conditions image；
Coordinate difference determining unit, for utilizing the configuration parameter, determines each pixel that grid includes
The coordinate difference of point；
Corresponding relation sets up unit, for utilizing the pixel point coordinates in the display road conditions image and being somebody's turn to do
The coordinate difference of pixel, calculating obtains corresponding pixel point coordinates in the original road conditions image, and sets up
Pixel point coordinates pixel corresponding with the original road conditions image in the display road conditions image is sat
Corresponding relation between mark, obtains the mapping table.
Alternatively, at least four calibration points are set in the shooting visual field of the backup camera, then it is described
Coordinate difference determining unit includes：
Original uncalibrated image acquiring unit, for obtaining the original uncalibrated image that the backup camera is shot,
The original uncalibrated image includes at least four calibration point；
Original coordinates determining unit, the original for determining each calibration point from the original uncalibrated image
Beginning coordinate, and using the original coordinates and the distortion factor of the backup camera, obtain each demarcation
Coordinate after the correction of point；
Transformation model sets up unit, for obtaining displaing coordinate of each calibration point in display uncalibrated image,
And using coordinate after the displaing coordinate and the correction, set up visual angle effect model；
Apex coordinate obtaining unit after correction, for utilizing the visual angle effect model, obtains the display
Apex coordinate after the correction on four summits of each grid in uncalibrated image；
Pixel coordinate obtaining unit, for utilizing apex coordinate and the backup camera after the correction
Distortion factor, obtain pixel corresponding with apex coordinate after the correction in the original uncalibrated image and sit
Mark；
Coordinate difference computing unit, for using it is described display uncalibrated image in apex coordinate with it is described original
Corresponding pixel point coordinates in uncalibrated image, calculating obtains the coordinate difference.
Alternatively, calibration point is represented by predetermined pattern, the predetermined pattern is included in sphere of movements for the elephants arrangement
Four rectangles, there are between adjacent rectangle different colours, and two rectangles on diagonal have it is identical
Color, then the original coordinates determining unit include：
Pattern recognition unit, for identifying the predetermined pattern from the original uncalibrated image；
Original coordinates determination subelement, for determining two squares on diagonal from the predetermined pattern
Shape, and by the center on two nearest summits of two rectangular distances, it is defined as the original of the calibration point
Beginning coordinate.
Alternatively, described device also includes：
Updating block, for updating the coordinate difference in such a way：Adjust the original uncalibrated image
The original coordinates of middle calibration point, and/or, adjust the displaing coordinate of calibration point in the display uncalibrated image.
In technical solution of the present invention, obtain original by being shot installed in the big angle of visual field backup camera of the tailstock
Road conditions image, realizes the covering to a wide range of road conditions of the tailstock；Then recycle and preserve pixel coordinate pair
The mapping table that should be related to, the pixel in original road conditions image is mapped in display road conditions image, will be had
The original road conditions image of distortion is converted into distortionless display road conditions image；Finally by vehicle mounted multimedia to
Driver shows the distortionless display road conditions image.In this way, can both increase the visual field that reverse image is shown
Scope, can effectively solve road conditions pattern distortion again.
Other features and advantages of the present invention will be described in detail in subsequent embodiment part.
Brief description of the drawings
Accompanying drawing is, for providing a further understanding of the present invention, and to constitute a part for specification, with
Following embodiment is used to explain the present invention together, but is not construed as limiting the invention.
In accompanying drawing：
Fig. 1 is the flow chart of reverse image display methods of the present invention；
Fig. 2 is a kind of schematic diagram of original road conditions image in the present invention；
Fig. 3 is a kind of schematic diagram that road conditions image is shown in the present invention；
Fig. 4 is the flow chart of acquisition pixel position mapping table in the present invention；
Fig. 5 is a kind of schematic diagram of grid in the present invention；
Fig. 6 is the flow chart of acquisition coordinate difference in the present invention；
Fig. 7 is the flow chart of the original coordinates of determination calibration point in the present invention；
Fig. 8 is a kind of schematic diagram of predetermined pattern in the present invention；
Fig. 9 is a kind of schematic diagram of original uncalibrated image in the present invention；
Figure 10 is a kind of schematic diagram that uncalibrated image is shown in the present invention；
Figure 11 is the structural representation of reverse image display device of the present invention.
Embodiment
The embodiment of the present invention is described in detail below in conjunction with accompanying drawing.It should be appreciated that
Embodiment described herein is merely to illustrate and explain the present invention, and is not intended to limit the invention.
In order to show the wider visual field to driver, reduce reversing blind area as far as possible, big visual field can be selected
The camera at angle is used as backup camera.But, because image depth is big, it may result in shot image
There is Severe distortion, the use to driver brings great inconvenience, reduces Consumer's Experience.Based on this,
The present invention provides a kind of reverse image displaying scheme, can both increase the field range that reverse image is shown, again
Road conditions pattern distortion can effectively be solved.
The present invention program is illustrated with reference to specific example.
Referring to Fig. 1, the flow chart of reverse image display methods of the present invention is shown, can be included：
S101, obtains the original road conditions image that the backup camera of the big angle of visual field is shot.
For example, the big angle of visual field in the present invention program can be understood as the angle of visual field not less than 180 °,
It can for example select fish eye lens as backup camera, realize the covering to a wide range of road conditions of the tailstock.
Backup camera is arranged on the centre position of the tailstock, the usually tailstock, and the embodiment of the present invention is to reversing
Camera can not be limited in the specific installation site of the tailstock.
So that backup camera is fish eye lens as an example.During reversing, it can be shot by fish eye lens after vehicle
The road conditions of side, and the fish eye images clapped are defined as to the original road conditions image in the present invention.The original road
Condition image generally has certain distortion, for details, reference can be made to schematic diagram shown in Fig. 2.
S102, obtains pixel position mapping table, and the mapping table is preserved each in display road conditions image
Corresponding relation in the coordinate of pixel and the original road conditions image between the coordinate of each pixel.
S103, using the corresponding relation, maps each pixel of the original road conditions image
Processing, obtains the display road conditions image, and show the display road conditions image by vehicle mounted multimedia.
Get after original road conditions image, it is possible to use represent the mapping table of pixel coordinate corresponding relation,
The original road conditions image for having distortion is converted into distortionless display road conditions image, and by vehicle mounted multimedia,
Display road conditions image shows are checked to driver, convenient reversing.In this way, increase of the present invention just can be realized
The reversing visual field, and solve the purpose of pattern distortion.It should be noted that in the present invention program without abnormal
Change can be understood as image fault degree clearly can accurately view vehicle less than preset value, i.e. driver
The road conditions at rear.For Fig. 2 examples cited, the display road conditions image being converted to using the present invention program
Schematic diagram shown in Fig. 3 can be presented as.
Alternatively, when to original road conditions image progress pixel conversion shown in Fig. 2, it is contemplated that lower section
Meaning that tailstock image is shown for road conditions is simultaneously little, therefore can be before pixel conversion, to original road conditions
Image is pre-processed, and part tailstock image cutting-out is fallen.Scope is cut out mainly to be demarcated by calibration process
The influence of point set location, for details, reference can be made to and introduced at FIG. 10 below, wouldn't be described in detail herein.
Number in view of pixel contained by original road conditions image and display road conditions image may not
Together, pretreatment for example above, it is possible to cause the pixel number that original road conditions image includes less than aobvious
Show the pixel number that road conditions image includes.For example, the pixel number that original road conditions image includes
For 720 × 480, the pixel number that display road conditions image includes is 1000 × 600, in order to ensure display
Each pixel in road conditions image can find corresponding pixel in original road conditions image, this
Invention can use back mapping mode, will show that the pixel in road conditions image is mapped to original road conditions
In image.
Specifically, if the pixel in display road conditions image is mapped to the integer picture in original road conditions image
Vegetarian refreshments, for example, the pixel (2,2) in display road conditions image is mapped to the integer picture in original road conditions image
The color value of (1,1), then can be defined as the color value of (2,2) by vegetarian refreshments (1,1), complete reflecting for pixel
Penetrate.If the pixel in display road conditions image is mapped to the fractional pixel point in original road conditions image, example
Such as, the pixel (4,4) in display road conditions image is mapped to the fractional pixel point in original road conditions image
(2.3,3.1), then can utilize the integer pixel point on fractional pixel point periphery, determine fractional pixel point
Color value, such as in this example, can first with the integer pixel point (2,3) in original road conditions image, (2,4),
The color of (3,3) and (3,4) is worth to the color value of (2.3,3.1), then the color value of (2.3,3.1) is defined as (4,4)
Color value, complete a pixel mapping.As a kind of example, it can be calculated by bilinear interpolation
Method, the color value of fractional pixel point is determined using the integer pixel point on periphery.
As a kind of example, the present invention program can be performed by the controller of vehicle, realize that the big angle of visual field is fallen
The undistorted displaying of car image.Specifically, for S102 obtains pixel position mapping table, control
Device processed can directly receive the mapping table of host computer transmission, and be stored in local；Or, in order to subtract as far as possible
Few data volume interacted between controller and host computer, controller can also be obtained according to scheme shown in FIG. 4 below
Mapping table is taken, and is stored in local.It is to be appreciated that after mapping table is stored in locally by controller,
If mapping table does not update, when carrying out reverse image display next time, controller can delay from local
Deposit middle reading mapping table.
Referring to Fig. 4, the flow chart that pixel position mapping table is obtained in the present invention is shown, can be included：
S201, obtains the configuration parameter of each grid in the display road conditions image, the configuration parameter bag
The apex coordinate and the coordinate difference on each summit on four summits of the grid are included, the grid includes default
The pixel of number；The coordinate difference is the apex coordinate in the display road conditions image and the original road
The difference of corresponding pixel point coordinates in condition image.
Mesh segmentation processing can be done to display road conditions image, display road conditions image is divided into multiple grids,
And each grid includes the pixel of preset number, in this way, can be with DIALOGUES between controller and host computer
The configuration parameter of lattice, then the correspondence for calculating each pixel using the configuration parameter of grid by controller are closed
System, in this way, can both reduce the data volume interacted between controller and host computer as far as possible, can be reduced as far as possible again
The amount of calculation of controller.
Specifically, the configuration parameter of grid can include：It is the apex coordinate on four summits of grid, each
The coordinate difference on summit.For example, for for a grid vertex A in display road conditions image, top
Point coordinates is (XA,YA), the corresponding coordinate differences of summit A be (△ XA,△YA), if summit A maps
Coordinate to the pixel a in original road conditions image, and pixel a is (Xa,Ya), then, and △ XARepresent
Be XAWith XaDifference, △ YAThat represent is YAWith YaDifference.It is used as a kind of example, Ke Yitong
The configuration parameter that calibration process shown in Fig. 6 obtains grid is crossed, wouldn't be described in detail herein.
It should be noted that in the present invention program, the configuration parameter of grid can be stored in a table；
Or, it can also be stored in two tables：One table is used to preserve apex coordinate, and another table is used to protect
Deposit apex coordinate poor；Furthermore, can also be stored in three tables：First table is used to preserve apex coordinate,
The table can be defined as Map_reseauPoint, and the X-coordinate that second table is used to preserve summit is poor, should
Table can be defined as Map_diffX, and the Y-coordinate that the 3rd table is used to preserve summit is poor, and the table can be determined
Justice is Map_diffY.The embodiment of the present invention can be not specifically limited to the preservation form of configuration parameter, only
Ensure mutually corresponding between apex coordinate, coordinate difference.
In addition, it should also be noted that, carry out mesh generation when, if the grid being partitioned into is smaller,
The possibility that distorting occurs in image in grid is smaller, the display effect of the display road conditions image being converted to compared with
Good, the configuration parameter of transmission is more；If the grid being partitioned into is larger, image distorts in grid
Possibility become big, influence the display effect of display road conditions image being converted to.It is used as a kind of preferred side
Case, the grid being partitioned into can include 10 × 10 pixels.
S202, using the configuration parameter, determines the coordinate difference for each pixel that grid includes.
After the configuration parameter for obtaining grid, the coordinate difference for each pixel that grid includes just can be calculated.
As a kind of example, the coordinate difference of pixel in grid by bilinear interpolation algorithm, can be calculated.
Referring to Fig. 5 examples cited, four summits of grid are respectively A1、A2、A3And A4, each summit
Corresponding coordinate difference is respectively △ A1、△A2、△A3With △ A4.For the pixel in the grid
Point A5For, it is possible to use summit A1And A3Corresponding coordinate difference, calculates A5Corresponding first sits
Mark difference △ A51；Utilize summit A2And A4Corresponding coordinate difference, calculates A5Corresponding second coordinate difference
△A52；Then by △ A51With △ A52Average be defined as A5Corresponding coordinate difference △ A5。
Calculate △ A51When, can be first in A1And A3Line on determine A5Subpoint b, then
According to A1Distance, A to b3To b distance, A is determined respectively1、A3Calculating △ A51When
Weighted value q1、q3, q1+q3=1, generally, the nearlyer weighted value of distance is bigger.In this example, △ A51=q1*
△A1+q3*△A3。
Calculate △ A52When, can be first in A2And A4Line on determine A5Subpoint c, then
According to A2Distance, A to c4To c distance, A is determined respectively2、A4Calculating △ A52When
Weighted value q2、q4, q2+q4=1, generally, the nearlyer weighted value of distance is bigger.In this example, △ A52=q2*
△A2+q4*△A4。
, can be if the present invention program is by △ A in actual application51With △ A52Average be defined as △ A5；
Or, can also be by △ A51It is defined as △ A5；Or, can also be by △ A52It is defined as △ A5；Or,
The coordinate difference of each pixel in grid can also be determined using other schemes, the embodiment of the present invention can to this
It is not specifically limited.
S203, using the pixel point coordinates and the coordinate difference of the pixel in the display road conditions image,
Calculating obtains corresponding pixel point coordinates in the original road conditions image, and sets up the display road conditions image
In pixel point coordinates and corresponding pixel point coordinates in the original road conditions image between corresponding relation,
Obtain the mapping table.
According to the scheme introduced at S202, the coordinate difference of each pixel in grid can be obtained, also
It is to say, can obtains showing the coordinate of each pixel in road conditions image, (X can be designated asIt is aobvious,YIt is aobvious), and
The corresponding coordinate difference of each pixel, can be designated as (△ X, △ Y), in this way, utilizing coordinate (XIt is aobvious,YIt is aobvious) with sitting
Poor (△ X, the △ Y) sum of mark, just can calculate and obtain (XIt is aobvious,YIt is aobvious) it is mapped to the pixel in original road conditions image
Coordinate (XIt is former,YIt is former), and then just can set up (XIt is aobvious,YIt is aobvious) and (XIt is former,YIt is former) between corresponding relation, obtain
Mapping table in the present invention.
In the present invention program, the configuration parameter of grid can be obtained by calibration process.Specifically, can be with
At least four calibration points are set in the shooting visual field of backup camera, that is, rear view of vehicle lay to
Few four calibration points, are used when shooting original uncalibrated image for backup camera.
Referring to Fig. 6, the flow chart that coordinate difference is obtained in the present invention is shown, can be included：
S301, obtains the original uncalibrated image that the backup camera is shot, the original uncalibrated image bag
Include at least four calibration point.
S302, determines the original coordinates of each calibration point, and utilize institute from the original uncalibrated image
The distortion factor of original coordinates and the backup camera is stated, coordinate after the correction of each calibration point is obtained.
S303, obtains displaing coordinate of each calibration point in display uncalibrated image, and utilize the display
Coordinate after coordinate and the correction, sets up visual angle effect model.
After S301 shoots and obtains original uncalibrated image, processing procedure can be divided into following two parts：
Part I includes S302~S303, and Part II includes S304~S306.
In Part I, it is mainly used in utilizing preset calibrations point, according to forward conversion, it is established that visual angle turns
Mold changing type.
Forward conversion in the present invention from original uncalibrated image it is to be understood that be transformed into display uncalibrated image.
Following steps can be presented as：
(1) original uncalibrated image is corrected through forward direction, can obtain correcting uncalibrated image.
After determining original coordinates of the calibration point in original uncalibrated image, it is possible to use backup camera
Distortion factor, positive correction is carried out to original coordinates, each calibration point is obtained in correction uncalibrated image
Correction after coordinate.
Generally, backup camera is equipped with respective distortion factor, when carrying out positive correction, Ke Yixian
The distance between center point coordinate of original coordinates and original uncalibrated image is calculated, then determines the distance
Corresponding distortion factor, and then distortion factor is utilized, calculate coordinate after the corresponding correction of original coordinates.
(2) correction uncalibrated image can obtain showing uncalibrated image through visual angle effect.
, can basis in order to set up the visual angle effect model between correction uncalibrated image and display uncalibrated image
Desired display effect, the preset displaing coordinate of each calibration point, and root are determined in display uncalibrated image
According to coordinate and displaing coordinate after the correction of calibration point, conversion coefficient is calculated, it is established that visual angle effect model.
Visual angle effect model can be presented as：
Wherein, (X, Y) is coordinate after the correction of calibration point, and (x, y) is the displaing coordinate of calibration point, C1~C8
For conversion coefficient.
S304, using the visual angle effect model, obtains four of each grid in the display uncalibrated image
Apex coordinate after the correction on individual summit.
S305, using the distortion factor of apex coordinate and the backup camera after the correction, obtains institute
State pixel point coordinates corresponding with apex coordinate after the correction in original uncalibrated image.
S306, it is corresponding with the original uncalibrated image using the apex coordinate in the display uncalibrated image
Pixel point coordinates, calculating obtain the coordinate difference.
In Part II, it is mainly used in utilizing visual angle effect model, according to reverse conversion, obtains each net
The coordinate difference of lattice vertex correspondence.
Reverse conversion in the present invention from display uncalibrated image it is to be understood that be transformed into original uncalibrated image.
Following steps can be presented as：
(1) display uncalibrated image can obtain correcting uncalibrated image through visual angle effect.
Mesh segmentation processing is done to display uncalibrated image, display uncalibrated image is divided into multiple grids.Tool
Body, display uncalibrated image uses identical model split grid with display road conditions image.
Complete after mesh generation, top of four summits of each grid in display uncalibrated image can be recorded
Point coordinates, and visual angle effect model is utilized, four summits for obtaining each grid are calculated in correction calibration maps
Apex coordinate after correction as in.
(2) correction uncalibrated image can obtain original uncalibrated image through reverse correction.
When reversely being corrected, the center of correction apex coordinate and correction uncalibrated image can be first calculated
The distance between point coordinates, then determine this apart from corresponding distortion factor, and then utilize distortion factor,
Calculate pixel point coordinates corresponding with apex coordinate after correction in original uncalibrated image.
(3) corresponding pixel in the apex coordinate, original uncalibrated image shown in uncalibrated image is utilized
Coordinate, just can calculate the coordinate difference for obtaining the summit.
To sum up, it is first, former using controllable calibration point in the coordinate difference in obtaining grid configuration parameter
Beginning coordinate and controllable calibration point displaing coordinate, create visual angle effect model；Secondly, visual angle effect is utilized
Model, the coordinate difference on the summit for each grid that computation partition goes out.Controllable in the present invention can be understood as
It can be pre-configured with, and accommodation can be carried out according to actual displayed effect, specifically adjust process
Reference can be made to hereafter introducing, it wouldn't be described in detail herein.
Alternatively, processing procedure shown in Fig. 6 can be performed by host computer, or, can also be by controller
Perform, the present invention can be not specifically limited to this.
Alternatively, S302 determines the original coordinates of calibration point from original uncalibrated image, can by with
The original coordinates of family manually determined calibration point, or, can also be automatic true according to flow chart shown in Fig. 7
Calibrate the original coordinates of fixed point.As a kind of example, demarcation can be represented by predetermined pattern shown in Fig. 8
Point, the predetermined pattern includes having difference between four rectangles arranged in sphere of movements for the elephants, adjacent rectangle
Color, and two rectangles on diagonal have same color.
Referring to Fig. 7, the flow chart for the original coordinates that calibration point is determined in the present invention is shown, can be included：
S401, the predetermined pattern is identified from the original uncalibrated image.
Get after original uncalibrated image, predetermined pattern place can be first determined from original uncalibrated image
Region, and then in the region image carry out binary conversion treatment.It is for instance possible to use average two-value
Change method, calculates the color threshold of image in the region, and identify shown in Fig. 8 in advance using the color threshold
If pattern.
Furthermore, it is contemplated that laying the region of calibration point, i.e. rear view of vehicle there may be other chaff interferences, lead
Cause the color threshold calculated relatively low, as a kind of preferred scheme, can increase on the basis of color threshold
Plus a color displacement amount α, then carry out predetermined pattern identification.Specifically, can be true with reference to practical application
Determine α value, be used as a kind of preferred scheme, α=20.
S402, determines two rectangles on diagonal from the predetermined pattern, and by two rectangles away from
From the center on two nearest summits, it is defined as the original coordinates of the calibration point.
Connected domain calculating is carried out to the image after binary conversion treatment, determined from predetermined pattern on diagonal
Two rectangles, for Fig. 8 example showns, that is, determine two white rectangles, then search two whites
Rectangle, finds two closest summits d and e, and the center of two summit lines is defined as into mark
Position is pinpointed, the original coordinates of calibration point are obtained.It should be noted that by closest two
The center on summit is defined as the original coordinates of calibration point, pattern distortion pair can be avoided to determine mark as far as possible
The influence that original coordinates are produced is pinpointed, is improved present invention determine that the accuracy of calibration point original coordinates.Certainly,
In the case where pattern distortion is not serious, also the center of summit f and g line can be defined as mark
The original coordinates of fixed point, the embodiment of the present invention can be not specifically limited to this.
Alternatively, in order that the display effect of display road conditions image more meets the use habit of driver, carry
High Consumer's Experience, can observe the custom of tailstock road conditions with drive simulating person, and display road conditions image is divided into
Three parts：Tailstock rear visual angle figure, tailstock left side perspective figure and tailstock right side perspective figure, represent to drive respectively
The person of sailing from the tailstock to from dead astern road conditions, from the tailstock to the left from road conditions, from the tailstock to the right from road conditions
When scene.
When showing that road conditions image is divided into three parts, original uncalibrated image and display uncalibrated image can also be drawn
It is divided into three parts.
The schematic diagram of original uncalibrated image shown in Figure 9, original uncalibrated image includes eight calibration points
1~8, wherein, Part I include calibration point 1,2,5 and 6, Part II include calibration point 2,3,
6 and 7, Part III includes calibration point 3,4,7 and 8.Specifically, the position distribution of eight calibration points
It can be presented as：Eight calibration points constitute two the first parallelogram and one trapezoidal, described trapezoidal
Between described two first parallelogram, it is described it is trapezoidal it is following apart from the tailstock recently, and and car
Tail is parallel, and the trapezoidal lower edge lengths are tailstock width, and the trapezoidal lower edge lengths are less than the ladder
The upper edge lengths of shape.
In the present invention, calibration point 6 and 7 constitute it is trapezoidal following, generally, between calibration point 6 and 7
Distance is tailstock width.The position of calibration point 5 can be adjusted, changes the distance between calibration point 5 and 6；
And/or, the distance between the position of calibration point 8, calibration point 7 and 8 can be adjusted.As a kind of example,
Between the distance between the distance between calibration point 5 and 6, calibration point 6 and 7, calibration point 7 and 8
Distance, three can be equidistant.
The schematic diagram of display uncalibrated image shown in Figure 10, display uncalibrated image includes eight demarcation
Point 1 '~8 ', wherein, Part I includes calibration point 1 ', 2 ', 5 ' and 6 ', and Part II includes demarcation
Point 2 ', 3 ', 6 ' and 7 ', Part III includes calibration point 3 ', 4 ', 7 ' and 8 '.Specifically, eight marks
The position distribution of fixed point can be presented as：Eight calibration points constitute two the second parallelogram and one
Rectangle, the rectangle be located at described two second parallelogram between, the rectangle it is following apart from car
Tail is nearest, and parallel with the tailstock, the side of the rectangle and the following folder of second parallelogram
Angle is acute angle.
In the present invention, calibration point 2 ' and 6 ', 3 ' and 7 ' is located on two cut-off rules, calibration point 6 ' and 7 '
The following of rectangle is constituted, calibration point 5 ' and 6 ', 7 ' and 8 ' constitutes the following of the second parallelogram.It is logical
Often, the distance between calibration point 6 ' and 7 ' is tailstock width, and calibration point 6 ' and 7 ' is close proximity to display
The bottom of uncalibrated image.By the position for adjusting calibration point 6 ' and 7 ', thus it is possible to vary tailstock figure during pretreatment
Picture cuts out scope, and the tailstock image that calibration point 6 ' and 7 ' retains after image base, pretreatment is just
It is fewer.
With reference to Fig. 9 and Figure 10 example showns, it is possible to use the original coordinates of calibration point 1,2,5 and 6,
And the displaing coordinate of calibration point 1 ', 2 ', 5 ' and 6 ', the visual angle effect model 1 of Part I is determined,
And then the configuration parameter for the grid that Part I is marked off is obtained using the model 1.Similarly, can be with profit
With the displaing coordinate of the original coordinates of calibration point 2,3,6 and 7, and calibration point 2 ', 3 ', 6 ' and 7 ',
The visual angle effect model 2 of Part II is determined, and then Part II is obtained using the model 2 and is marked off
Grid configuration parameter.The original coordinates of calibration point 3,4,7 and 8, and demarcation can also be utilized
The displaing coordinate of point 3 ', 4 ', 7 ' and 8 ', determines the visual angle effect model 3, Jin Erli of Part III
The configuration parameter for the grid that Part III is marked off is obtained with the model 3.Specifically, it is determined that visual angle effect
Mode, mode of apex coordinate difference of model etc., may refer to introduce at figure 6 above, herein not
Repeat again.It should be noted that mutual corresponding part between original uncalibrated image and display uncalibrated image,
Using identical mesh generation mode, i.e. sizing grid is identical, or can be understood as the picture that grid includes
Vegetarian refreshments number is identical.Between three parts that original uncalibrated image or display uncalibrated image are marked off, grid is big
It is small can be with identical；Or sizing grid also can be different, the embodiment of the present invention can be not specifically limited to this.
It will show that road conditions image is divided into the scheme of three parts above, be a kind of specific example of the present invention,
It is to be appreciated that may also be combined with practical application request segmentation shows road conditions view, regard is carried out to driver more
Angle reverse image displaying, the embodiment of the present invention can be not specifically limited to this.Generally, in calibration process,
The each part marked off includes at least four calibration points, in order to calculate turning in visual angle effect model
Change coefficient.
Alternatively, position of the calibration point in original uncalibrated image, the position in display uncalibrated image,
It can influence to show that the final of road conditions image shows effect, therefore, it can adjust original uncalibrated image acceptance of the bid
The original coordinates of fixed point, and/or, adjustment shows the displaing coordinate of calibration point in uncalibrated image, to update
The apex coordinate of the grid calculated based on original coordinates and displaing coordinate is poor, and then updates guarantor in mapping table
The pixel point correspondence deposited, realizes and changes the final purpose for showing effect for showing road conditions image.
Shown by changing shown in Fig. 3 road conditions image tailstock left side perspective figure show effect exemplified by, if making
Scenery is presented the state of carrying, the i.e. position close to the right side scenery of cut-off rule and is basically unchanged in figure, away from segmentation
The position of the left side scenery of line is moved to the upper left corner, can be adjusted as follows：Calibration point 1 and 5 is moved to left,
And/or, move up calibration point 1 ' and 5 '.
Corresponding with method shown in Fig. 1, the embodiment of the present invention also provides a kind of reverse image display device
500, schematic diagram shown in Figure 11, described device may include：
Original road conditions image acquisition unit 501, for obtaining the original that the backup camera of the big angle of visual field is shot
Beginning road conditions image；
Mapping table acquiring unit 502, for obtaining pixel position mapping table, the mapping table is preserved
Show the seat of the coordinate of each pixel and each pixel in the original road conditions image in road conditions image
Corresponding relation between mark；
Map processing unit 503, for utilizing the corresponding relation, to the every of the original road conditions image
Individual pixel carries out mapping processing, obtains the display road conditions image, and show institute by vehicle mounted multimedia
State display road conditions image.
Alternatively, the mapping table acquiring unit includes：
Configuration parameter acquiring unit, the configuration parameter for obtaining each grid in the display road conditions image,
The configuration parameter includes the apex coordinate and the coordinate difference on each summit on four summits of the grid, institute
Stating grid includes the pixel of preset number；The coordinate difference is sat for the summit in the display road conditions image
The difference of corresponding pixel point coordinates in mark and the original road conditions image；
Coordinate difference determining unit, for utilizing the configuration parameter, determines each pixel that grid includes
The coordinate difference of point；
Corresponding relation sets up unit, for utilizing the pixel point coordinates in the display road conditions image and being somebody's turn to do
The coordinate difference of pixel, calculating obtains corresponding pixel point coordinates in the original road conditions image, and sets up
Pixel point coordinates pixel corresponding with the original road conditions image in the display road conditions image is sat
Corresponding relation between mark, obtains the mapping table.
Alternatively, at least four calibration points are set in the shooting visual field of the backup camera, then it is described
Coordinate difference determining unit includes：
Original uncalibrated image acquiring unit, for obtaining the original uncalibrated image that the backup camera is shot,
The original uncalibrated image includes at least four calibration point；
Original coordinates determining unit, the original for determining each calibration point from the original uncalibrated image
Beginning coordinate, and using the original coordinates and the distortion factor of the backup camera, obtain each demarcation
Coordinate after the correction of point；
Transformation model sets up unit, for obtaining displaing coordinate of each calibration point in display uncalibrated image,
And using coordinate after the displaing coordinate and the correction, set up visual angle effect model；
Apex coordinate obtaining unit after correction, for utilizing the visual angle effect model, obtains the display
Apex coordinate after the correction on four summits of each grid in uncalibrated image；
Pixel coordinate obtaining unit, for utilizing apex coordinate and the backup camera after the correction
Distortion factor, obtain pixel corresponding with apex coordinate after the correction in the original uncalibrated image and sit
Mark；
Coordinate difference computing unit, for using it is described display uncalibrated image in apex coordinate with it is described original
Corresponding pixel point coordinates in uncalibrated image, calculating obtains the coordinate difference.
Alternatively, calibration point is represented by predetermined pattern, the predetermined pattern is included in sphere of movements for the elephants arrangement
Four rectangles, there are between adjacent rectangle different colours, and two rectangles on diagonal have it is identical
Color, then the original coordinates determining unit include：
Pattern recognition unit, for identifying the predetermined pattern from the original uncalibrated image；
Original coordinates determination subelement, for determining two squares on diagonal from the predetermined pattern
Shape, and by the center on two nearest summits of two rectangular distances, it is defined as the original of the calibration point
Beginning coordinate.
Alternatively, described device also includes：
Updating block, for updating the coordinate difference in such a way：Adjust the original uncalibrated image
The original coordinates of middle calibration point, and/or, adjust the displaing coordinate of calibration point in the display uncalibrated image.
Alternatively, the display road conditions image that the map processing unit is obtained is divided into three parts：Car
Tail rear visual angle figure, tailstock left side perspective figure and tailstock right side perspective figure, then
The original uncalibrated image includes eight calibration points, and the position distribution of eight calibration points is：
Eight calibration points constitute two the first parallelogram and one trapezoidal, described trapezoidal positioned at described two
Between individual first parallelogram, it is described it is trapezoidal it is following apart from the tailstock recently, and, institute parallel with the tailstock
Trapezoidal lower edge lengths are stated for tailstock width, the trapezoidal lower edge lengths are less than the trapezoidal upper length of side
Degree；
The display uncalibrated image includes eight calibration points, and the position distribution of eight calibration points is：
Eight calibration points constitute two the second parallelogram and a rectangle, and the rectangle is located at described two
Between individual second parallelogram, the rectangle it is following apart from the tailstock recently, and, institute parallel with the tailstock
It is acute angle that the side of rectangle, which is stated, with the following angle of second parallelogram.
The preferred embodiment of the present invention is described in detail above in association with accompanying drawing, still, the present invention is not limited
Detail in above-mentioned embodiment, can be to the present invention in the range of the technology design of the present invention
Technical scheme carry out a variety of simple variants, these simple variants belong to protection scope of the present invention.
It is further to note that each particular technique feature described in above-mentioned embodiment,
In the case of reconcilable, it can be combined by any suitable means, in order to avoid unnecessary
Repeat, the present invention no longer separately illustrates to various possible combinations.
In addition, various embodiments of the present invention can be combined randomly, as long as its
Without prejudice to the thought of the present invention, it should equally be considered as content disclosed in this invention.
Claims (11)
1. a kind of reverse image display methods, it is characterised in that methods described includes：
Obtain the original road conditions image that the backup camera of the big angle of visual field is shot；
Pixel position mapping table is obtained, the mapping table preserves each pixel in display road conditions image
Coordinate and the original road conditions image in each pixel coordinate between corresponding relation；
Using the corresponding relation, mapping processing is carried out to each pixel of the original road conditions image,
The display road conditions image is obtained, and the display road conditions image is shown by vehicle mounted multimedia.
2. according to the method described in claim 1, it is characterised in that the acquisition pixel position is reflected
Firing table, including：
The configuration parameter of each grid in the display road conditions image is obtained, the configuration parameter includes the net
The apex coordinate and the coordinate difference on each summit on four summits of lattice, the grid include preset number
Pixel；The coordinate difference is the apex coordinate and the original road conditions image in the display road conditions image
In corresponding pixel point coordinates difference；
Using the configuration parameter, the coordinate difference for each pixel that grid includes is determined；
Using the pixel point coordinates and the coordinate difference of the pixel in the display road conditions image, calculate
The corresponding pixel point coordinates into the original road conditions image, and the picture set up in the display road conditions image
Corresponding relation between vegetarian refreshments coordinate and corresponding pixel point coordinates in the original road conditions image, obtains institute
State mapping table.
3. method according to claim 2, it is characterised in that in the bat of the backup camera
At least four calibration points of setting in the visual field are taken the photograph, then the mode for obtaining the coordinate difference is：
The original uncalibrated image that the backup camera is shot is obtained, the original uncalibrated image includes described
At least four calibration points；
The original coordinates of each calibration point are determined from the original uncalibrated image, and are utilized described original
The distortion factor of coordinate and the backup camera, obtains coordinate after the correction of each calibration point；
Obtain displaing coordinate of each calibration point in display uncalibrated image, and using the displaing coordinate and
Coordinate after the correction, sets up visual angle effect model；
Using the visual angle effect model, four summits of each grid in the display uncalibrated image are obtained
Correction after apex coordinate；
Using the distortion factor of apex coordinate and the backup camera after the correction, obtain described original
Pixel point coordinates corresponding with apex coordinate after the correction in uncalibrated image；
Utilize the apex coordinate in the display uncalibrated image and corresponding picture in the original uncalibrated image
Vegetarian refreshments coordinate, calculating obtains the coordinate difference.
4. method according to claim 3, it is characterised in that demarcation is represented by predetermined pattern
Point, the predetermined pattern includes having difference between four rectangles arranged in sphere of movements for the elephants, adjacent rectangle
Color, and two rectangles on diagonal have same color, then it is described from the original uncalibrated image
The original coordinates of each calibration point are determined, including：
The predetermined pattern is identified from the original uncalibrated image；
Two rectangles on diagonal are determined from the predetermined pattern, and two rectangular distances are nearest
Two summits center, be defined as the original coordinates of the calibration point.
5. method according to claim 3, it is characterised in that methods described also includes：
The coordinate difference is updated in such a way：Adjust the original of calibration point in the original uncalibrated image
Coordinate, and/or, adjust the displaing coordinate of calibration point in the display uncalibrated image.
6. method according to claim 3, it is characterised in that the display road conditions image is divided
For three parts：Tailstock rear visual angle figure, tailstock left side perspective figure and tailstock right side perspective figure, then
The original uncalibrated image includes eight calibration points, and the position distribution of eight calibration points is：
Eight calibration points constitute two the first parallelogram and one trapezoidal, described trapezoidal positioned at described two
Between individual first parallelogram, it is described it is trapezoidal it is following apart from the tailstock recently, and, institute parallel with the tailstock
Trapezoidal lower edge lengths are stated for tailstock width, the trapezoidal lower edge lengths are less than the trapezoidal upper length of side
Degree；
The display uncalibrated image includes eight calibration points, and the position distribution of eight calibration points is：
Eight calibration points constitute two the second parallelogram and a rectangle, and the rectangle is located at described two
Between individual second parallelogram, the rectangle it is following apart from the tailstock recently, and, institute parallel with the tailstock
It is acute angle that the side of rectangle, which is stated, with the following angle of second parallelogram.
7. a kind of reverse image display device, it is characterised in that described device includes：
Original road conditions image acquisition unit, for obtaining the original road that the backup camera of the big angle of visual field is shot
Condition image；
Mapping table acquiring unit, for obtaining pixel position mapping table, the mapping table preserves display
In road conditions image in the coordinate of each pixel and the original road conditions image each pixel coordinate it
Between corresponding relation；
Map processing unit, for utilizing the corresponding relation, to each picture of the original road conditions image
Vegetarian refreshments carries out mapping processing, obtains the display road conditions image, and show described show by vehicle mounted multimedia
Show road conditions image.
8. device according to claim 7, it is characterised in that the mapping table acquiring unit bag
Include：
Configuration parameter acquiring unit, the configuration parameter for obtaining each grid in the display road conditions image,
The configuration parameter includes the apex coordinate and the coordinate difference on each summit on four summits of the grid, institute
Stating grid includes the pixel of preset number；The coordinate difference is sat for the summit in the display road conditions image
The difference of corresponding pixel point coordinates in mark and the original road conditions image；
Coordinate difference determining unit, for utilizing the configuration parameter, determines each pixel that grid includes
The coordinate difference of point；
Corresponding relation sets up unit, for utilizing the pixel point coordinates in the display road conditions image and being somebody's turn to do
The coordinate difference of pixel, calculating obtains corresponding pixel point coordinates in the original road conditions image, and sets up
Pixel point coordinates pixel corresponding with the original road conditions image in the display road conditions image is sat
Corresponding relation between mark, obtains the mapping table.
9. device according to claim 8, it is characterised in that in the bat of the backup camera
At least four calibration points of setting in the visual field are taken the photograph, then the coordinate difference determining unit includes：
Original uncalibrated image acquiring unit, for obtaining the original uncalibrated image that the backup camera is shot,
The original uncalibrated image includes at least four calibration point；
Original coordinates determining unit, the original for determining each calibration point from the original uncalibrated image
Beginning coordinate, and using the original coordinates and the distortion factor of the backup camera, obtain each demarcation
Coordinate after the correction of point；
Transformation model sets up unit, for obtaining displaing coordinate of each calibration point in display uncalibrated image,
And using coordinate after the displaing coordinate and the correction, set up visual angle effect model；
Apex coordinate obtaining unit after correction, for utilizing the visual angle effect model, obtains the display
Apex coordinate after the correction on four summits of each grid in uncalibrated image；
Pixel coordinate obtaining unit, for utilizing apex coordinate and the backup camera after the correction
Distortion factor, obtain pixel corresponding with apex coordinate after the correction in the original uncalibrated image and sit
Mark；
Coordinate difference computing unit, for using it is described display uncalibrated image in apex coordinate with it is described original
Corresponding pixel point coordinates in uncalibrated image, calculating obtains the coordinate difference.
10. device according to claim 9, it is characterised in that demarcation is represented by predetermined pattern
Point, the predetermined pattern includes having difference between four rectangles arranged in sphere of movements for the elephants, adjacent rectangle
Color, and two rectangles on diagonal have same color, then the original coordinates determining unit includes：
Pattern recognition unit, for identifying the predetermined pattern from the original uncalibrated image；
Original coordinates determination subelement, for determining two squares on diagonal from the predetermined pattern
Shape, and by the center on two nearest summits of two rectangular distances, it is defined as the original of the calibration point
Beginning coordinate.
11. device according to claim 9, it is characterised in that described device also includes：
Updating block, for updating the coordinate difference in such a way：Adjust the original uncalibrated image
The original coordinates of middle calibration point, and/or, adjust the displaing coordinate of calibration point in the display uncalibrated image.
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