CN111127365B - HUD distortion correction method based on cubic spline curve fitting - Google Patents
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Abstract
The invention discloses a HUD distortion correction method based on cubic spline curve fitting, which comprises the following steps of S1: acquiring a first reference image and a corresponding first projection image; s2: acquiring coordinates of pixel points in a first reference image and a first projection image; s3: comparing the coordinates of the pixel points in the first projection image with the coordinates of the corresponding pixel points in the first reference image to obtain a mapping relation; s4: and carrying out reverse distortion on the first reference image according to the mapping relation, thereby obtaining a second projection image. According to the method, the spline curve function is used for reading the coordinates of the pixel points of the first projection image for three times, and then the coordinates of the corresponding pixel points in the reference image are compared, so that the mapping relation of the pixel points between the coordinates and the corresponding pixel points is obtained, and the accuracy of reference image correction is improved; and the display effect of the second projection image is the same as that of the reference image by the mode of reversely distorting the reference image, so that the display effect is favorable for a driver to check.
Description
Technical Field
The invention relates to the technical field of automobile projection, in particular to a HUD distortion correction method based on cubic spline curve fitting.
Background
When the automobile runs at a high speed, the automobile often turns greatly due to slight shaking, so that a driver needs to pay attention to the running state of the automobile and the condition of a road surface all the time, and the driver is required to be unable to always look down at the data of an automobile instrument panel. In order to solve this problem, some automobiles now use a HUD (Head Up Display), and data on an instrument panel is projected and displayed on a windshield for a driver to look at in a plane, so that a low Head look-Up action is omitted.
However, since the windshield is a curved surface, the data displayed by projection is distorted and irregular, which is not convenient for the driver to watch, and the projected image needs to be corrected. The existing correction method is to establish a quadratic polynomial through the multi-coordinate corresponding relation between a plurality of distorted images and a reference image, solve coefficients of the quadratic polynomial, and therefore obtain positions of points at any positions in the distorted images in the reference image, further establish warp corrected data and conduct projection. The method establishes a quadratic polynomial by collecting a plurality of points in the distorted image, and when the distortion degree of the distorted image is great, coordinate conversion can not be accurately carried out on each pixel point in the distorted image, so that the obtained projection image is irregular and influences the watching of a driver.
Disclosure of Invention
Aiming at the problem of inaccurate distortion image correction in the prior art, the invention provides the HUD distortion correction method based on cubic spline curve fitting, which is characterized in that a coordinate system is established for a distortion image, coordinates of reference points are acquired to obtain a cubic curve fitting function, and then coordinate mapping is carried out on the cubic curve fitting function and the reference images, so that the conversion relation between pixel coordinates in the distortion image and pixel coordinates of the reference images is obtained, the acquired distortion image can be horizontally displayed on a display screen, the correction accuracy of the distortion image is improved, and the distortion image is convenient to watch.
In order to achieve the above object, the present invention provides the following technical solutions:
HUD distortion correction method based on cubic spline curve fitting comprises the following steps:
s1: acquiring a first reference image of an actual display screen and a corresponding first projection image on a virtual projection display screen;
s2: respectively establishing a coordinate system for the first reference image and the first projection image, and acquiring coordinates of pixel points in the first reference image and the first projection image;
s3: comparing the coordinates of the pixel points in the first projection image with the coordinates of the corresponding pixel points in the first reference image to obtain a mapping relation;
s4: and carrying out reverse distortion on the first reference image according to the mapping relation, thereby obtaining a second projection image.
Preferably, in the step S1, the actual display screen is a HUD screen, and the virtual projection display screen is a front windshield of an automobile.
Preferably, the step S2 specifically includes the following steps:
s2-1: establishing a coordinate system by taking the upper left corner of the first projection image as an origin, randomly dividing the first projection image into m rows, selecting n reference points in each row, connecting the reference points in each row to form a curve, wherein m and n are positive integers;
s2-2: respectively reading coordinate values of each row of reference points in the first projection image, and fitting coordinate values to obtain a cubic curve function:
Y＝a k +b k (X-x k )+c k (X-x k ) 2 +d k (X-x k ) 3 (1)
in the formula (1), X represents the abscissa of any pixel point in the first projection image, Y represents the ordinate of any pixel point in the first projection image, and X k Represents the abscissa, y, of the kth reference point k Represents the ordinate of the kth reference point, a k 、b k 、c k 、d k Representing the coefficients.
Preferably, the coordinates of the pixel points in the first projection image and the coordinates of the pixel points in the first reference image are compared by a bilinear interpolation method, so that a mapping relation is obtained.
Preferably, in the step S4, the first reference image is reversely distorted according to the mapping relationship to obtain an intermediate image, and then the intermediate image is projected onto a virtual projection display screen to obtain a second projection image.
In summary, due to the adoption of the technical scheme, compared with the prior art, the invention has at least the following beneficial effects:
according to the method, the distorted projection image is divided into different areas, curve functions of the different areas are obtained respectively, so that coordinates of pixel points are read, and the coordinates of the corresponding pixel points in the reference image are compared, so that a mapping relation of the pixel points between the two is obtained, and the accuracy of reference image correction is improved; and the display effect of the second projection image is the same as that of the reference image by means of reverse distortion of the reference image, the edge of the second projection image is smooth and parallel to eyes of a driver, and the observation of the driver on data in the projection image is facilitated.
Description of the drawings:
fig. 1 is a flowchart of a HUD distortion correction method based on cubic spline curve fitting according to an exemplary embodiment of the present invention.
Fig. 2A is a schematic lattice diagram of a first reference image according to an exemplary embodiment of the present invention.
Fig. 2B is a schematic lattice diagram of a first projection image according to an exemplary embodiment of the present invention.
Fig. 3A is a schematic lattice diagram of an intermediate image according to an exemplary embodiment of the present invention.
Fig. 3B is a schematic lattice diagram of a corrected second projection image according to an exemplary embodiment of the present invention.
Fig. 4 is a schematic diagram illustrating a scale of any pixel point in the corrected second projection image according to an exemplary embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to examples and embodiments. It should not be construed that the scope of the above subject matter of the present invention is limited to the following embodiments, and all techniques realized based on the present invention are within the scope of the present invention.
In the description of the present invention, it should be understood that the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
The invention provides a HUD distortion correction method based on cubic spline curve fitting, which is shown in figure 1 and specifically comprises the following steps:
s1: a first reference image and a displayed first projection image are acquired.
In this embodiment, the HUD (Head Up Display) is applied to the automobile, and the instrument parameters (such as speed, direction, rotation speed, etc.) of the automobile are displayed on the HUD screen for the driver to view, so the image on the HUD screen is a reference image, typically a rectangular image. For the convenience of viewing by a driver, the reference image can be projected and displayed on the windshield, and the uncorrected image displayed on the windshield is a distorted image due to the bending rate of the windshield, the image of the distorted image is irregular, the edge of the distorted image can be considered to be uneven and curved, so that the viewing by the driver can be greatly influenced, the projected image needs to be corrected, the projected image is a normal rectangular image, and the edge is flat and smooth so as to be convenient for the driver to view, and the driving experience is improved. In this embodiment, the reference image and the displayed projection image may be acquired by existing image acquisition software.
S2: and respectively establishing a coordinate system for the first reference image and the first projection image, and acquiring coordinates of pixel points in the first reference image and the first projection image.
Fig. 2B is a schematic coordinate diagram of the first projection image in this embodiment, and an (X, Y) coordinate system is established with the upper left point of the first projection image as the origin.
S2-1: because the first projection image is irregular, the projection image can be divided into m layers, namely n reference points are selected from different layers of the first projection image, the selected reference points can be connected to form a curve, and the curve meets two conditions: a. the end point of the curve is a free boundary; b. the curve reaches a second order continuum at the node.
S2-2: and reading the coordinates of the reference points, and fitting to obtain a cubic curve function.
In this embodiment, after the reference point is selected from the first projection image, the coordinates of the reference point are read from the established coordinate system, thereby obtaining the reference point coordinate setx ij An abscissa representing the ith row and jth column reference points, y ij And (3) representing the ordinate of the ith row and the jth column of reference points, selecting the reference points of any transverse row (such as the ith row), and further obtaining a free boundary cubic curve function through fitting construction:
Y＝a m +b m (X-x im )+c m (X-x im ) 2 +d m (X-x im ) 3 ,m＝0,1,…,j-1 (1)
in the formula (1), Y represents the ordinate of any pixel point, X represents the abscissa of any pixel point, and X im An abscissa indicating the ith row and mth column reference points, a m 、b m 、c m 、d m Representing coefficients, the coefficients can be calculated from a scientific calculation library (such as GSL). After the curve function is obtained, the ordinate of the pixel point of any row in the transverse direction on the curve can be obtained by substituting the abscissa x into the coordinate.
Similarly, selecting a reference point of any longitudinal column (for example, the jth column), and further obtaining a free boundary cubic curve function through fitting construction:
X＝a n +b n (Y-x nj )+c n (Y-x nj ) 2 +d n (Y-x nj ) 3 ,n＝0,1,…,i-1 (2)
in the formula (1), X represents the abscissa of any pixel point, Y represents the abscissa of any pixel point, and X nj An abscissa indicating an nth row and an jth column reference point, a n 、b n 、c n 、d n Representing coefficients, the functions can be calculated by a scientific calculation library (such as GSL)In (a) and (b) are provided. After the curve function is obtained, the abscissa of any column of pixel points in the longitudinal direction on the curve can be obtained by substituting the ordinate y into the coordinate.
According to the newly obtained points, a cubic curve function can be built again, and then the coordinates of all the points in the display area are obtained.
In the prior art, the reference points in the projection image are obtained by establishing a coordinate system, but when the coordinates of the reference points are obtained, the reference points are randomly selected from the whole projection image, and fitting is performed to obtain a quadratic curve function, namely Y=a+bX+cX 2 However, when the projection image is severely distorted, the pixel points in the projection image are arranged in a staggered manner, namely, the reference points selected in the whole projection image are not representative, and the coordinates of the pixel points obtained by the fitted quadratic curve calculation are inaccurate, so that the correction precision of the image is reduced; the method comprises the steps of dividing the whole projection image into different rows, and respectively solving the cubic curve function to obtain the coordinates of the pixel points, so that when the distortion of the projection image is serious, the change of the pixel points in a small range (namely each divided row) is tiny, the coordinates of the pixel points in the whole distorted projection image can be obtained by reading the coordinates of the pixel points in the small range and then combining the coordinates, the reading precision of the pixel points is improved, the correction precision of the image is further improved, and the edge of the corrected image is smoother and more complete, so that the observation of a driver is more facilitated.
S3: and comparing the coordinates of the pixel points in the first projection image with the coordinates of the pixel points in the first reference image to obtain a mapping relation.
In this embodiment, fig. 2A is a first reference image bitmap of the first projection image corresponding to the first reference image displayed on the HUD screen, and a coordinate system (X ', Y') is also established on the reference image, and the coordinates (X 'of the pixel point can be directly obtained from the coordinate system (X', Y ') of the reference image because the first reference image is regular' i ,y′ i (ii) represents the spatial coordinates of the i-th point in the reference image pixel points, and the coordinates of any pixel point in the first projection image can be obtained from the S2, so that the two points are compared (bilinear interpolation can be adopted)The calculation method of the value is the prior art, and is not the key point of the invention), the mapping relation between the reference image and the pixel points of the projection image can be obtained, namely, the mapping relation between each pixel point in the two images is in one-to-one correspondence and is not repeated.
For example, in the first projection image, the coordinates of one pixel point are (2, 4), and the coordinates of the pixel point corresponding to the reference image are (0.5 ); coordinates of one of the pixels are (5, 7), and coordinates of a pixel corresponding to the first reference image are (4, 6).
S4: and the first reference image of the HUD screen can be adjusted according to the mapping relation, so that the edge of the displayed second projection image is smooth and complete.
In this embodiment, according to the mapping relationship obtained in step S3, the displayed projection image may be in the form of a reference image, for example, a rectangle, by using a reverse distortion manner, so as to be more convenient for the driver to observe. For example, the display effect of the first reference image on the HUD screen is generally rectangular and the image is in a horizontal state, so that in order to make the display effect of the projection image of the first reference image projected onto the windshield the same as the first reference image, the first reference image needs to be subjected to reverse distortion according to the mapping relationship obtained in the step S3 to obtain an intermediate image, as shown in fig. 3A; the automobile system projects the intermediate image onto the windshield, so that a second projection image can be obtained, as shown in fig. 3B, the display effect of the second projection image is identical to that of the first reference image, the edge of the second projection image is smooth and complete, the data can be observed by a driver conveniently, the second projection image is parallel to eyes of the driver, the data of the head-up observation instrument can be observed by the driver in high-speed running of the automobile conveniently, and therefore, the safety is improved without using a low head for observation.
The method comprises the steps of firstly comparing a first reference image actually displayed by an automobile HUD screen with a corresponding projection image, so as to obtain a mapping relation of pixel points; in order to ensure that the projected image is not distorted, namely, the display picture of the projected image is required to be consistent with the display picture of the reference image, the background of the automobile system is required to firstly carry out reverse distortion treatment on the first reference image of the HUD screen to obtain an intermediate image, and then the intermediate image is projected onto a windshield to obtain a second projected image, so that the display effect of the second projected image is the same as that of the first reference image, namely, the edge of the second projected image is smooth and complete and is parallel to eyes of a driver.
In this example, the way of reverse distortion is:
in order to make the format of the second projection image and the format of the first reference image identical, for the convenience of the driver, the area (for example, rectangle) of the second projection image may be divided under the coordinate system in the first projection image, so that some pixels in the first projection image are not in the area of the second projection image, and are calculated as overlapping pixels of the first projection image and the second projection image.
As shown in fig. 4, the area of the second projection image is ABCD (origin of coordinate system is point D), and any pixel point P in the second projection image area is selected to obtain the relative coordinate (P X ，P Y ) And the coordinates of the end point A, B, C, D can also be read, respectively (A) X ，A Y )、(B X ，B Y )、(C X ，C Y )、(D X ，D Y ) The relative horizontal-vertical position ratio of P in the second projection image is e and f respectively,the coordinates of any pixel point P in the second projection image in the first projection image can be obtained according to the proportion, and the coordinates in the first projection image and the coordinates in the first reference image are in one-to-one correspondence, so that the first reference image can be subjected to inverse distortion correction to obtain the second projection image.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples of carrying out the invention and that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (4)
1. HUD distortion correction method based on cubic spline curve fitting is characterized by comprising the following steps:
s1: acquiring a first reference image of an actual display screen and a corresponding first projection image on a virtual projection display screen;
s2: respectively establishing a coordinate system for the first reference image and the first projection image, and acquiring coordinates of pixel points in the first reference image and the first projection image;
the step S2 specifically comprises the following steps:
s2-1: establishing a coordinate system by taking the upper left corner of the first projection image as an origin, dividing the first projection image into m layers, selecting n reference points in different layers of the first projection image, wherein n is a positive integer, thereby obtaining a reference point setx ij An abscissa representing the ith row and jth column reference points, y ij An ordinate representing the ith row and jth column reference points;
the selected reference points are connected to form a curve, and the curve meets two conditions: a. the end point of the curve is a free boundary; b. the curve reaches second-order continuity at the node;
s2-2: respectively reading coordinate values of each row of reference points in the first projection image, and obtaining a cubic spline curve function by fitting the coordinate values:
Y＝a k +b k (X-x k )+c k (X-x k ) 2 +d k (X-x k ) 3 (1)
in the formula (1), X represents the abscissa of any pixel point in the first projection image, Y represents the ordinate of any pixel point in the first projection image, and X k Represents the abscissa, y, of the kth reference point k Represents the ordinate of the kth reference point, a k 、b k 、c k 、d k Representing the coefficients;
s2-3: constructing a cubic curve function again according to any pixel point on the cubic spline curve function, and further obtaining coordinates of all points in a display area;
s3: comparing the coordinates of the pixel points in the first projection image with the coordinates of the corresponding pixel points in the first reference image to obtain a mapping relation;
s4: and carrying out reverse distortion on the first reference image according to the mapping relation, thereby obtaining a second projection image.
2. The HUD distortion correcting method based on cubic spline curve fitting according to claim 1, wherein in S1, the actual display screen is a HUD screen, and the virtual projection display screen is a front windshield of an automobile.
3. The HUD distortion correcting method based on cubic spline curve fitting according to claim 1, wherein the mapping relation is obtained by comparing coordinates of the pixel points in the first projection image with coordinates of the pixel points in the first reference image by a bilinear interpolation method.
4. The HUD distortion correcting method based on cubic spline curve fitting according to claim 1, wherein in S4, the first reference image is reversely distorted according to the mapping relationship to obtain an intermediate image, and the intermediate image is projected onto a virtual projection display screen to obtain a second projection image.
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| CN112381739A (en) * | 2020-11-23 | 2021-02-19 | 天津经纬恒润科技有限公司 | Imaging distortion correction method and device of AR-HUD system |
| CN112584114B (en) * | 2020-12-04 | 2023-03-24 | 浙江水晶光电科技股份有限公司 | Head-up display and image correction method thereof |
| CN114648447A (en) * | 2020-12-17 | 2022-06-21 | 华为技术有限公司 | Tone mapping method and device |
| CN114019686A (en) * | 2021-11-23 | 2022-02-08 | 芜湖汽车前瞻技术研究院有限公司 | Virtual image display method, device, equipment and medium of head-up display |
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