CN109353276B - Vehicle-mounted camera angle calibration method and calibration device - Google Patents
Vehicle-mounted camera angle calibration method and calibration device Download PDFInfo
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- CN109353276B CN109353276B CN201811110482.0A CN201811110482A CN109353276B CN 109353276 B CN109353276 B CN 109353276B CN 201811110482 A CN201811110482 A CN 201811110482A CN 109353276 B CN109353276 B CN 109353276B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
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Abstract
The invention discloses a vehicle-mounted camera angle calibration method and a calibration device, wherein the calibration method comprises the following steps: at least one transverse marking line and/or at least one longitudinal marking line are arranged on a display screen for inputting video signals of a camera, the transverse marking line divides the display screen into a vehicle body area and a vehicle outer area, and the longitudinal marking line divides the display screen into a ground area and an overground area; and adjusting the camera angle of the camera so as to enable the ground displayed on the display screen to be correspondingly placed in the ground area formed by the segmentation of the at least one transverse marking line, and/or enable the vehicle body displayed on the display screen to be correspondingly placed in the vehicle body area formed by the segmentation of the at least one longitudinal marking line. The method can assist the user to finish the calibration of the angle of the vehicle-mounted camera by self, solves the problem that the calibration of the angle of the camera cannot be adjusted at any time by self, greatly simplifies the complexity of the calibration of the angle of the camera, reduces the calibration cost and shortens the time consumed for calibrating the camera.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle safety, in particular to a vehicle-mounted camera angle calibration method and a vehicle-mounted camera angle calibration device.
Background
Nowadays, the use amount of automobiles is sharply increased, and the attention of people on the driving safety is gradually increased.
The blind areas exist in the visual fields of the right side, the rear part and the like of the automobile by a driver, so that the driving safety is reduced, the reason is the reason, most of the visual fields are limited due to the fact that the optical rearview mirrors are adopted by the existing automobile, and therefore more blind areas are generated.
In order to increase safety and eliminate blind areas of automobiles, people mount electronic rearview mirrors on automobiles, collect pictures of the blind areas through cameras and display the pictures on a display screen, so that drivers can obtain the visual fields of the blind areas. The auxiliary driving equipment for the electronic rearview mirror is basically a product facing common consumers, namely, the auxiliary driving equipment is not pre-installed in a factory of a vehicle, and is purchased additionally by a user according to self requirements, calibration of the camera angle in the electronic rearview mirror can be completed manually only by professional staff through experience, adjustment cannot be completed by the common user, calibration and installation of the camera angle are generally completed to a mounting point specified by a dealer, the professional staff complete the calibration and installation by using professional equipment, and a large amount of time is consumed for the user.
Disclosure of Invention
The invention provides a vehicle-mounted camera angle calibration method and a vehicle-mounted camera angle calibration device, which are used for assisting a user to finish the calibration of the vehicle-mounted camera angle.
In a first aspect, an embodiment of the present invention provides a method for calibrating an angle of a vehicle-mounted camera, including:
the method comprises the steps that at least one transverse marking line and/or at least one longitudinal marking line are arranged on a display screen for inputting video signals of a camera, the transverse marking line divides the display screen into a ground area and an overground area, and the longitudinal marking line divides the display screen into a vehicle body area and an outer vehicle area;
and adjusting the camera angle of the camera so as to enable the ground displayed on the display screen to be correspondingly placed in the ground area formed by the segmentation of the at least one transverse marking line, and/or enable the vehicle body displayed on the display screen to be correspondingly placed in the vehicle body area formed by the segmentation of the at least one longitudinal marking line.
Optionally, the setting at least one transverse marking line and/or at least one longitudinal marking line on the display screen of the camera video signal input, the transverse marking line dividing the display screen into a ground area and an overground area, the longitudinal marking line dividing the display screen into a vehicle body area and an outside vehicle area, includes:
the display screen for controlling the video signal input of the camera fixedly displays at least one transverse marking line and/or at least one longitudinal marking line, the transverse marking line divides the display screen into a ground area and an overground area, and the longitudinal marking line divides the display screen into a vehicle body area and a vehicle outer area.
Optionally, the setting at least one transverse marking line and/or at least one longitudinal marking line on the display screen of the camera video signal input, the transverse marking line dividing the display screen into a ground area and an overground area, the longitudinal marking line dividing the display screen into a vehicle body area and an outside vehicle area, includes:
provide a vehicle-mounted camera angle calibration pad pasting, vehicle-mounted camera angle calibration pad pasting includes: a transparent film body; the transparent film body is provided with at least one transverse marking line and/or at least one longitudinal marking line; the transverse marking line divides the transparent film body into a ground area and an overground area, and the longitudinal marking line divides the transparent film body into a vehicle body area and a vehicle outer area;
and attaching the vehicle-mounted camera angle calibration film to a display screen for inputting camera video signals.
Optionally, the at least one transverse marking line and/or at least one longitudinal marking line comprises: a transverse marking line and/or a longitudinal marking line;
the display screen is divided into a ground area and an overground area by the transverse marking line, and the area of the overground area accounts for one fourth to one half of the area of the display screen; the display screen is divided into a vehicle body area and a vehicle outer area by the longitudinal marking line, and the area of the vehicle body area accounts for one fourth to one half of the area of the display screen.
Optionally, the at least one transverse marking line and/or at least one longitudinal marking line comprises: two transverse marking lines and/or two longitudinal marking lines; the two transverse marking lines are symmetrical about a center line of the display screen in the longitudinal direction; the two longitudinal marking lines are symmetrical about a center line of the display screen in the transverse direction;
the two transverse marking lines divide the display screen into a ground area and an overground area respectively, and the area of the overground area accounts for one quarter to one half of the area of the display screen; the two longitudinal marking lines respectively divide the display screen into a vehicle body area and a vehicle outer area, and the area of the vehicle body area accounts for one fourth to one half of the area of the display screen.
Optionally, the area of the vehicle body area accounts for one third of the area of the display screen, and the area of the ground area accounts for one third of the area of the display screen.
Optionally, the at least one transverse marking line and/or at least one longitudinal marking line comprises:
a first transverse marking and a second transverse marking, the first transverse marking and the second transverse marking being located on the same side of a longitudinal centerline of the display screen, the first transverse marking dividing the display screen into a first ground area and a first aboveground area, the second transverse marking dividing the display screen into a second ground area and a second aboveground area;
and/or a first longitudinal marking line and a second longitudinal marking line, wherein the first longitudinal marking line and the second longitudinal marking line are positioned on the same side of a center line of the display screen in the transverse direction, the first longitudinal marking line divides the display screen into a first vehicle body area and a first vehicle outer area, and the second longitudinal marking line divides the display screen into a second vehicle body area and a second vehicle outer area.
Optionally, the transverse marking lines extend to two longitudinal edges of the display screen, and the longitudinal marking lines extend to two transverse edges of the display screen.
Optionally, at least one transverse marking line and/or at least one longitudinal marking line are/is arranged on the display screen for inputting the video signal of the camera, the transverse marking line divides the display screen into a ground area and an overground area, and the longitudinal marking line divides the display screen into a vehicle body area and a vehicle outer area; further comprising:
and correspondingly arranging a vehicle body mark and a ground mark on the vehicle body area and the ground area.
In a second aspect, an embodiment of the present invention further provides a device for calibrating an angle of a vehicle-mounted camera, including:
the marking line setting module is connected with a display screen for inputting the video signal of the camera, and is used for fixedly displaying at least one transverse marking line and/or at least one longitudinal marking line on the display screen; the transverse marking line divides the display screen into a ground area and an overground area, and the longitudinal marking line divides the display screen into a vehicle body area and a vehicle outer area;
the camera shooting angle adjusting module is used for adjusting the camera shooting angle of the camera so as to enable the ground displayed on the display screen to be correspondingly placed in the ground area formed by the at least one transverse marking line in a dividing mode and/or enable the vehicle body displayed on the display screen to be correspondingly placed in the vehicle body area formed by the at least one longitudinal marking line in a dividing mode.
The invention sets at least one transverse marking line and/or at least one longitudinal marking line on the display screen for inputting the video signal of the camera, wherein the transverse marking line divides the display screen into a vehicle body area and a vehicle outer area, and the longitudinal marking line divides the display screen into a ground area and an overground area; the vehicle-mounted camera angle calibration method and the calibration device provided by the invention have the advantages that the camera angle calibration complexity is greatly simplified, the calibration cost is reduced, and the time consumed for calibrating the camera is shortened.
Drawings
Fig. 1 is a flowchart of a method for calibrating an angle of a vehicle-mounted camera according to an embodiment of the present invention;
fig. 2 is a schematic view of a display structure of a display screen according to an embodiment of the present invention;
FIG. 3 is a flowchart of another method for calibrating an angle of a vehicle-mounted camera according to an embodiment of the present invention;
fig. 4 is a flowchart of another vehicle-mounted camera angle calibration method according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a display structure of another display screen provided in an embodiment of the present invention;
FIG. 6 is a schematic diagram of a display structure of another display screen according to an embodiment of the present invention;
fig. 7 is a flowchart of another camera angle calibration method according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a display structure of another display screen provided in an embodiment of the present invention;
FIG. 9 is a schematic diagram of a display structure of another display screen provided in an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a vehicle-mounted camera angle calibration device according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a flowchart of a vehicle-mounted camera angle calibration method according to an embodiment of the present invention, fig. 2 is a schematic view of a display structure of a display screen according to an embodiment of the present invention, and with reference to fig. 1 and fig. 2, the vehicle-mounted camera angle calibration method includes:
s110, at least one transverse marking line 12 and/or at least one longitudinal marking line 13 are/is arranged on a display screen 11 for inputting video signals of a camera, the transverse marking line 12 divides the display screen 11 into a ground area and an overground area, and the longitudinal marking line 13 divides the display screen 11 into a vehicle body area and a vehicle outer area;
wherein each transverse marking line 12 can divide the display screen 11 into a ground area and a ground area, and each longitudinal marking line 13 divides the display screen 11 into a vehicle body area and a vehicle exterior area. The transverse calibration line 12 is used for calibrating a pitch angle of the vehicle-mounted camera, the longitudinal calibration line 13 is used for calibrating a horizontal angle of the vehicle-mounted camera, each transverse marking line 12 or each longitudinal marking line 13 can be used as an angle calibration line of a certain position camera correspondingly, for example, two longitudinal calibration lines 13 on the left and right as shown in fig. 2, the longitudinal calibration line 13 on the left can be used as a horizontal angle calibration line of a right rear-view camera correspondingly, and the longitudinal calibration line 13 on the right can be used as a horizontal angle calibration line of a left rear-view camera correspondingly. The transverse marking lines 12 and the longitudinal marking lines 13 can be accurately arranged according to the observation requirements and scientific design of the blind areas outside the automobile.
S120, adjusting the camera shooting angle of the camera so that the ground displayed on the display screen 11 is correspondingly placed in the ground area formed by the segmentation of the at least one transverse marking line 12, and/or the vehicle body displayed on the display screen 11 is correspondingly placed in the vehicle body area formed by the segmentation of the at least one longitudinal marking line 13.
During the adjustment process, video information collected by the camera, such as ground and ground visual fields or vehicle body and vehicle exterior visual fields, can change along with the change of the angle of the camera, wherein the pitch angle of the camera determines the proportion of the ground and ground visual fields, and the horizontal angle of the camera determines the proportion of the vehicle body and vehicle exterior visual fields. In the step, in the actual adjusting process, the horizon and the body line of the vehicle body in the display screen image can be respectively placed on the transverse marking line and the longitudinal marking line.
The vehicle-mounted camera angle calibration method provided by the embodiment of the invention is characterized in that at least one transverse marking line and/or at least one longitudinal marking line are/is arranged on a display screen for inputting video signals of a camera, the transverse marking line divides the display screen into a ground area and an overground area, and the longitudinal marking line divides the display screen into a vehicle body area and a vehicle outer area; the camera angle of the camera is adjusted, so that a vehicle body displayed on the display screen is correspondingly placed in a vehicle body area formed by dividing at least one longitudinal marking line, and/or the ground displayed on the display screen is correspondingly placed in a ground area formed by dividing at least one transverse marking line, and the calibration of the angle of the vehicle-mounted camera can be automatically completed, and the problem that the calibration of the angle of the camera can only be completed by a professional through experience and cannot be automatically adjusted at any time is solved.
For setting at least one transverse marking line and/or at least one longitudinal marking line on a display screen for inputting video signals of a camera, the embodiment of the present invention provides two different embodiments, fig. 3 is a flowchart of another vehicle-mounted camera angle calibration method provided by the embodiment of the present invention, and referring to fig. 3, the calibration method includes:
s210, controlling a display screen for inputting video signals of the camera to fixedly display at least one transverse marking line and/or at least one longitudinal marking line, wherein the transverse marking line divides the display screen into a ground area and an overground area, and the longitudinal marking line divides the display screen into a vehicle body area and a vehicle outer area;
the display screen capable of inputting the camera video signals can fixedly display specific patterns on the screen through the control device or the driving device, the specific patterns are not changed along with the movement of videos corresponding to the camera video signals, the display screen can be automatically divided into areas through the fixed display marking lines at the moment, the marking lines are actively displayed through the display screen, a user can be conveniently and conveniently assisted in camera angle calibration, and the calibration steps are easy to realize and simpler. The function of the fixed display marking line can be provided with a switch structure, when a user needs to perform camera angle calibration, the marking line display switch is turned on, and when the angle calibration is not needed, the marking line is prevented from shielding the image display of the display screen, and the marking line display switch structure can be selected by a person skilled in the art and is not described herein in detail.
S220, adjusting the camera shooting angle of the camera so that the ground displayed on the display screen is correspondingly placed in the ground area formed by the segmentation of the at least one transverse marking line, and/or the vehicle body displayed on the display screen is correspondingly placed in the vehicle body area formed by the segmentation of the at least one longitudinal marking line.
Fig. 4 is a flowchart of another vehicle-mounted camera angle calibration method provided in an embodiment of the present invention, and referring to fig. 4, the calibration method includes:
s311, provide a vehicle-mounted camera angle and mark pad pasting, vehicle-mounted camera angle and mark pad pasting includes: a transparent film body; the transparent film body is provided with at least one transverse marking line and/or at least one longitudinal marking line; the transverse marking lines divide the transparent film body into a ground area and an overground area, and the longitudinal marking lines divide the transparent film body into a vehicle body area and a vehicle outer area;
s312, attaching the vehicle-mounted camera angle calibration film to a display screen for inputting camera video signals;
the angle calibration film is attached to the display screen through the peripheral device, the transverse marking lines and the longitudinal marking lines are set, the design cost of the display screen can be reduced, and meanwhile, a user can be effectively assisted to calibrate the angle of the vehicle-mounted camera at any time.
S320, adjusting the camera shooting angle of the camera so that the ground displayed on the display screen is correspondingly placed in the ground area formed by the segmentation of the at least one transverse marking line, and/or the vehicle body displayed on the display screen is correspondingly placed in the vehicle body area formed by the segmentation of the at least one longitudinal marking line.
Specifically, in the step of setting at least one transverse marking line and/or at least one longitudinal marking line on a display screen for inputting a video signal of a camera, there are various forms of setting positions and setting modes of the transverse marking line and the longitudinal marking line, fig. 5 is a schematic view of a display structure of another display screen provided by an embodiment of the present invention, and referring to fig. 5, optionally, at least one transverse marking line and/or at least one longitudinal marking line includes: a transverse marking line 12 and/or a longitudinal marking line 13; a transverse marking line 12 divides the display screen 11 into a ground area and an overground area, and the area of the overground area accounts for one fourth to one half of the area of the display screen 11; a longitudinal marking line 13 divides the display screen 11 into a vehicle body area and an outer vehicle area, and the area of the vehicle body area accounts for one fourth to one half of the area of the display screen 11.
The horizontal marking line and the longitudinal marking line are respectively provided with one camera which can mainly calibrate a pitch angle and a horizontal angle for a certain position, and a calibration object is mainly limited to a certain specific position, so that the observation of the display screen is not influenced by setting excessive marking lines, and the image of the display screen is prevented from being shielded. The area of the ground area and the area of the vehicle body area occupy one fourth to one half of the area of the transparent film body, so that the pictures collected by the camera calibrated according to the film can meet the observation requirements, and more visual fields of the vehicle body, the outside of the vehicle, the ground and the ground can be observed.
With continued reference to fig. 2, at least one transverse marking line and/or at least one longitudinal marking line may be provided including: two transverse marking lines 12 and/or two longitudinal marking lines 13; the two lateral marking lines 12 are symmetrical with respect to a center line of the display screen 11 in the longitudinal direction; the two longitudinal mark lines 13 are symmetrical with respect to a center line of the display screen 11 in the lateral direction; the display screen 11 is divided into a ground area and an overground area by two transverse marking lines 12 respectively, and the area of the overground area accounts for one quarter to one half of the area of the display screen 11; the two longitudinal marking lines 13 divide the display screen 11 into a vehicle body area and a vehicle exterior area respectively, and the area of the vehicle body area accounts for one fourth to one half of the area of the display screen 11.
The angle calibration can be carried out on the cameras positioned on the left side and the right side of the vehicle in sequence by arranging the two longitudinal marking lines 13 on the display screen, and the calibration of the pitch angle of the cameras can be carried out similarly when the display screen is hung upside down for displaying by the two transverse marking lines 12 for calibrating the cameras.
When the display screen is arranged to fixedly display the mark line, furthermore, the area of the vehicle body area can be set to occupy one third of the area of the display screen, and the area of the ground area can occupy one third of the area of the display screen. According to the photographic three-component mapping method, the transverse marking lines and the longitudinal marking lines can be arranged at the three-component line of the display screen, the area of the corresponding vehicle body area and the ground area is one third of the area of the display screen, the proportion of the vehicle body to the vehicle exterior image and the proportion of the ground to the ground are moderate in the image displayed by the camera corresponding to the display screen calibrated according to the marking lines, the information acquisition of different areas in the blind area by a user can be well met, and the driving safety can be favorably ensured.
The embodiment of the present invention further provides a calibration method, fig. 6 is a schematic view of a display structure of another display screen provided in the embodiment of the present invention, and referring to fig. 6, when a mark line is set in the display screen, the setting of at least one transverse mark line and/or at least one longitudinal mark line may include: a first transverse marking line 121 and a second transverse marking line 122, the first transverse marking line 121 and the second transverse marking line 122 being located on the same side of the center line of the display screen 11 in the longitudinal direction, the first transverse marking line 121 dividing the display screen 11 into a first ground area and a first aboveground area, the second transverse marking line 122 dividing the display screen 11 into a second ground area and a second aboveground area; and/or a first longitudinal marking line 131 and a second longitudinal marking line 132, wherein the first longitudinal marking line 131 and the second longitudinal marking line 132 are positioned on the same side of the center line of the display screen 11 in the transverse direction, the first longitudinal marking line 131 divides the display screen 11 into a first vehicle body area and a first vehicle outer area, and the second longitudinal marking line 132 divides the display screen 11 into a second vehicle body area and a second vehicle outer area.
The display screen 11 is divided into a vehicle body area and a vehicle exterior area by the first longitudinal marking line 131 and the second longitudinal marking line 132, the area of the vehicle body area is different due to the different positions of the first longitudinal marking line 131 and the second longitudinal marking line 132, taking the display screen display structure shown in fig. 6 as an example, the first longitudinal marking line 131 can be disposed at a left quarter of the display screen 11, and the second longitudinal marking line 132 can be disposed at a left third of the transparent film pasting body 11, that is, both are disposed at the left side of the center line, at this time, when the camera angle of the camera is adjusted, the vehicle body line displayed on the display screen needs to be correspondingly disposed in an area between the first longitudinal marking line 131 and the second longitudinal marking line 132 on the display screen 11, and at this time, the area proportion of the vehicle body area in the image of the camera is one quarter to one third of the display screen. Similarly, the first transverse marking 121 and the second transverse marking 122 may be disposed at the upper quarter and the upper third of the center line, respectively. Correspondingly, when adjusting the angle of the camera, the horizon displayed on the display screen needs to be correspondingly placed in the area between the first transverse marking line 121 and the second transverse marking line 122 on the display screen 11. By adopting the calibration film, the area ranges of the vehicle body area and the ground area can be given, and the user can adjust the calibration film within the area ranges according to the driving habits, so that the observation requirements of different users are met.
Alternatively, referring to fig. 2, 5 and 6, the lateral marking lines 12 may extend to both longitudinal edges of the display screen, and the longitudinal marking lines 13 may extend to both lateral edges of the display screen 11.
Fig. 7 is a flowchart of another camera angle calibration method according to an embodiment of the present invention, and fig. 8 is a schematic view of a display structure of another display screen according to an embodiment of the present invention, and with reference to fig. 7 and fig. 8, the calibration method includes:
s410, arranging at least one transverse marking line and/or at least one longitudinal marking line on a display screen for inputting video signals of a camera, wherein the transverse marking line divides the display screen into a ground area and an overground area, and the longitudinal marking line divides the display screen into a vehicle body area and a vehicle outer area;
s420, correspondingly setting a vehicle body mark and a ground mark on the vehicle body area and the ground area respectively;
s430, adjusting the camera shooting angle of the camera, and correspondingly placing the ground displayed on the display screen in a ground area formed by dividing at least one transverse marking line, and/or correspondingly placing the vehicle body displayed on the display screen in a vehicle body area formed by dividing at least one longitudinal marking line.
The vehicle body mark and the ground mark corresponding to the vehicle body area and the ground area are arranged on the display screen, so that a user who uses the method for calibrating the angle can be helped to know the calibration method more conveniently and calibrate the angle more quickly.
Referring to fig. 9, in a step of the camera angle calibration method according to the embodiment of the present invention, when a mark line is set in the display screen, at least one horizontal mark line and/or at least one vertical mark line may be set on the display screen to which a video signal of the camera is input, where the horizontal mark line belongs to a scale line preset to be equally divided in the vertical direction of the display screen, and the vertical mark line is a scale line preset to be equally divided in the horizontal direction of the display screen.
The equally divided scale lines can be trisected, quartered, sextant and the like, and by setting the equally divided lines, accurate scales can be provided, so that the user can be assisted to calibrate the angle of the camera according to the observation habit of the user. It should be noted that the positions of the scale lines in the drawing are not limited to be arranged along the edge of the display screen 11, and may also be arranged at a certain position in the middle of the display screen 11, and those skilled in the art can select and design the scale lines according to actual situations, and details are not described here.
An embodiment of the present invention further provides a vehicle-mounted camera angle calibration device, fig. 10 is a schematic structural diagram of the vehicle-mounted camera angle calibration device provided in the embodiment of the present invention, and referring to fig. 10, the vehicle-mounted camera angle calibration device 21 includes: the marking line setting module 22 is connected with the display screen 11 for inputting the video signal of the camera, and the marking line setting module 22 is used for fixedly displaying at least one transverse marking line 12 and/or at least one longitudinal marking line 13 on the display screen 11; the transverse marking line 12 divides the display screen 11 into a ground area and an overground area, and the longitudinal marking line divides the display screen into a vehicle body area and a vehicle outer area; the camera angle adjusting module 23 is configured to adjust a camera angle of the camera, so that the ground displayed on the display screen 11 is correspondingly placed in the ground area formed by dividing the at least one transverse mark line, and/or the vehicle body displayed on the display screen 11 is correspondingly placed in the vehicle body area formed by dividing the at least one longitudinal mark line.
The vehicle-mounted camera angle calibration device 21 may be integrated into a main control module of the display screen, for example, a program module for fixing and displaying a mark line is added in the main control module, and is used to drive the display screen to fix and display the mark line. The mark line setting module 22 is used for fixing and displaying mark lines on the display screen, and the camera angle adjusting module 23 can be connected with a motor, and drives the camera to adjust the angle through a driving motor.
According to the angle calibration device for the vehicle-mounted camera, provided by the embodiment of the invention, the display screen 11 for inputting video signals of the camera is controlled to fixedly display at least one transverse marking line and/or at least one longitudinal marking line; the horizontal marking line divides the display screen into a ground area and an overground area, the vertical marking line divides the display screen into a vehicle body area and a vehicle outer area, the display screen can be divided into areas, the vehicle body area and the ground area are calibrated, a user adjusts the angle of the camera to correspondingly place the vehicle body and the ground in the camera video in the vehicle body area and the ground area, the calibration of the angle of the vehicle-mounted camera can be completed by the user, the problem that the calibration of the angle of the camera can only be completed by a professional through experience and can not be automatically adjusted at any time is solved, the complexity of the calibration of the angle of the camera is greatly simplified, the calibration cost is reduced, and the time consumed for calibrating the camera is shortened.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (11)
1. A vehicle-mounted camera angle calibration method is characterized by comprising the following steps:
at least one transverse marking line and at least one longitudinal marking line or at least one longitudinal marking line are arranged on a display screen for inputting video signals of a camera, the transverse marking line divides the display screen into a ground area and an overground area, and the longitudinal marking line divides the display screen longitudinally into a vehicle body area and a vehicle outer area;
adjusting the camera angle of a camera so that the ground displayed on the display screen is correspondingly placed in the ground area formed by the segmentation of the at least one transverse marking line, and the vehicle body displayed on the display screen is correspondingly placed in the vehicle body area formed by the segmentation of the at least one longitudinal marking line; or correspondingly placing the vehicle body displayed on the display screen in a vehicle body area formed by dividing the at least one longitudinal marking line.
2. The calibration method according to claim 1, wherein at least one transverse marking line and at least one longitudinal marking line or at least one longitudinal marking line are provided on the display screen to which the video signal of the camera is inputted, the transverse marking line divides the display screen into a ground area and an overground area, and the longitudinal marking line divides the display screen into a vehicle body area and an outside vehicle area, and the calibration method comprises the following steps:
the display screen for controlling the video signal input of the camera fixedly displays at least one transverse marking line and at least one longitudinal marking line or at least one longitudinal marking line, the transverse marking line divides the display screen into a ground area and an overground area, and the longitudinal marking line divides the display screen longitudinally into a vehicle body area and a vehicle outer area.
3. The calibration method according to claim 1, wherein at least one transverse marking line and at least one longitudinal marking line or at least one longitudinal marking line are provided on the display screen to which the video signal of the camera is inputted, the transverse marking line divides the display screen into a ground area and an overground area, the longitudinal marking line divides the display screen longitudinally into a vehicle body area and an outside vehicle area, and the calibration method comprises the following steps:
provide a vehicle-mounted camera angle calibration pad pasting, vehicle-mounted camera angle calibration pad pasting includes: a transparent film body; the transparent film body is provided with at least one transverse marking line and at least one longitudinal marking line or at least one longitudinal marking line; the transverse marking line divides the transparent film body into a ground area and an overground area, and the longitudinal marking line divides the transparent film body into a vehicle body area and a vehicle outer area;
and attaching the vehicle-mounted camera angle calibration film to a display screen for inputting camera video signals.
4. The calibration method according to any one of claims 2 or 3, wherein the at least one transverse marking line and the at least one longitudinal marking line, or the at least one longitudinal marking line, comprises: a transverse marking line and a longitudinal marking line, or a longitudinal marking line;
the display screen is divided into a ground area and an overground area by the transverse marking line, and the area of the overground area accounts for one fourth to one half of the area of the display screen; the display screen is divided into a vehicle body area and a vehicle outer area by the longitudinal marking line, and the area of the vehicle body area accounts for one fourth to one half of the area of the display screen.
5. The calibration method according to any one of claims 2 or 3, wherein the at least one transverse marking line and the at least one longitudinal marking line, or the at least one longitudinal marking line, comprises: two transverse marking lines and/or two longitudinal marking lines; the two transverse marking lines are symmetrical about a center line of the display screen in the longitudinal direction; the two longitudinal marking lines are symmetrical about a center line of the display screen in the transverse direction;
the two transverse marking lines divide the display screen into a ground area and an overground area respectively, and the area of the overground area accounts for one quarter to one half of the area of the display screen; the two longitudinal marking lines respectively divide the display screen into a vehicle body area and a vehicle outer area, and the area of the vehicle body area accounts for one fourth to one half of the area of the display screen.
6. The calibration method according to claim 5, wherein the area of the vehicle body area accounts for one third of the area of the display screen, and the area of the ground area accounts for one third of the area of the display screen.
7. The calibration method according to any one of claims 2 or 3, wherein the at least one transverse marking line and the at least one longitudinal marking line comprise:
a first transverse marking and a second transverse marking, the first transverse marking and the second transverse marking being located on the same side of a longitudinal centerline of the display screen, the first transverse marking dividing the display screen into a first ground area and a first aboveground area, the second transverse marking dividing the display screen into a second ground area and a second aboveground area;
the at least one longitudinal marking line comprises: the display screen comprises a first longitudinal marking line and a second longitudinal marking line, wherein the first longitudinal marking line and the second longitudinal marking line are positioned on the same side of a center line of the display screen in the transverse direction, the first longitudinal marking line divides the display screen into a first vehicle body area and a first vehicle outer area, and the second longitudinal marking line divides the display screen into a second vehicle body area and a second vehicle outer area.
8. The calibration method according to any one of claims 2 or 3, wherein the transverse marking lines extend to two longitudinal edges of the display screen, and the longitudinal marking lines extend to two transverse edges of the display screen.
9. The calibration method according to claim 1, wherein at least one transverse marking line and/or at least one longitudinal marking line are/is arranged on a display screen for inputting the video signal of the camera, the transverse marking line divides the display screen into a ground area and an overground area, and the longitudinal marking line divides the display screen into a vehicle body area and an outside vehicle area; further comprising:
and correspondingly arranging a vehicle body mark and a ground mark on the vehicle body area and the ground area.
10. The calibration method according to claim 1, wherein at least one transverse marking line and at least one longitudinal marking line are provided on a display screen to which the video signal of the camera is input, or at least one longitudinal marking line, the transverse marking line belongs to a preset equal division scale line of the display screen in the longitudinal direction, and the longitudinal marking line is a preset equal division scale line of the display screen in the transverse direction.
11. The utility model provides a vehicle-mounted camera angle calibration device which characterized in that includes:
the marking line setting module is connected with a display screen for inputting the video signal of the camera, and is used for fixedly displaying at least one transverse marking line and at least one longitudinal marking line or at least one longitudinal marking line on the display screen; the transverse marking line divides the display screen into a ground area and an overground area, and the longitudinal marking line divides the display screen longitudinally into a vehicle body area and a vehicle outer area;
the camera angle adjusting module is used for adjusting the camera angle of the camera so as to enable the ground displayed on the display screen to be correspondingly placed in the ground area formed by the at least one transverse marking line in a split mode and enable the vehicle body displayed on the display screen to be correspondingly placed in the vehicle body area formed by the at least one longitudinal marking line in a split mode; or correspondingly placing the vehicle body displayed on the display screen in a vehicle body area formed by dividing the at least one longitudinal marking line.
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