CN112584114B - Head-up display and image correction method thereof - Google Patents
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Abstract
A head-up display and an image correction method thereof relate to the technical field of head-up display. The image correction method of the head-up display comprises the following steps: acquiring a standard projection image of the head-up display and an initial projection image after the standard projection image is projected; converting the position of the central origin of the initial projection image in the initial projection image into the position in the standard projection image; calculating the scaling of the initial projection image relative to the standard projection image according to the standard projection image and the initial projection image; converting the coordinates of each characteristic point of the initial projection image into coordinates in the standard projection image according to the scaling; acquiring a distortion relational expression of the initial projection image relative to the standard projection image; and correcting the standard projection image according to the distortion relational expression to obtain a corrected image. The image correction method of the head-up display can correct the display image of the head-up display and can improve the universality of the head-up display.
Description
Technical Field
The invention relates to the technical field of head-up display, in particular to a head-up display and an image correction method thereof.
Background
Head Up Display (HUD), also called Head Up Display, is widely used in the field of automobiles. HUD utilizes optical reflection principle, through imaging device, with the information formation of image on the windshield in driver's place ahead of the information that shows such as the speed of a vehicle, navigation of driver driving in-process, make the driver need not turn round, the head is low just can look up vehicle information, concentrates on the condition of observing the road surface with more energy to improve driving safety.
At present, due to the curved surface characteristic of the windshield, the image is observed as a distorted image by human eyes. In the prior art, in order to solve the problem of image distortion, thereby making the human eye can acquire more clear image information, the principle of HUD and windshield looks adaptation of different curvatures is adopted usually, however, the current mode that is used for improving HUD display effect will lead to the commonality of on-vehicle HUD to reduce, and is unfavorable for HUD system's application and popularization.
Disclosure of Invention
The invention aims to provide a head-up display and an image correction method thereof, which can correct a display image of the head-up display and can improve the universality of the head-up display.
The embodiment of the invention is realized by the following steps:
in one aspect of the present invention, an image correction method for a head-up display is provided, where the image correction method for a head-up display includes: acquiring a standard projection image of the head-up display and an initial projection image projected by the standard projection image; converting the position of the central origin of the initial projection image in the initial projection image into the position in the standard projection image; calculating the scaling of the initial projection image relative to the standard projection image according to the standard projection image and the initial projection image; converting the coordinates of each characteristic point of the initial projection image into coordinates in the standard projection image according to the scaling; acquiring a distortion relational expression of the initial projection image relative to the standard projection image; and correcting the standard projection image according to the distortion relational expression to obtain a corrected image. The image correction method of the head-up display can correct the display image of the head-up display and can improve the universality of the head-up display.
Optionally, calculating a distortion parameter of the initial projection image from the standard projection image and the initial projection image includes: converting the position of the central origin of the initial projection image in the initial projection image to a position in the standard projection image, including: acquiring the position of the central origin of the standard projection image in the standard projection image; acquiring the position of the central origin of the initial projection image in the initial projection image; and moving the position of the central origin of the initial projection image in the initial projection image to be matched with the position of the central origin of the standard projection image in the standard projection image.
Optionally, calculating a scaling of the initial projection image relative to the standard projection image from the standard projection image and the initial projection image comprises: acquiring coordinates of a preset relevant point group in the standard projection image and coordinates in the initial projection image; and calculating the scaling of the initial projection image relative to the standard projection image according to the coordinates of the preset relevant point group in the standard projection image and the initial projection image respectively.
Optionally, the preset related point group includes a horizontal preset related point group and a vertical preset related point group, the horizontal preset related point group includes two feature points with the same X coordinate, and the vertical preset related point group includes two feature points with the same Y coordinate.
Optionally, calculating a scaling of the initial projection image with respect to the standard projection image according to coordinates of the preset relevant point group in the standard projection image and the initial projection image, respectively, includes: calculating a horizontal scaling of the initial projection image; the vertical scale of the initial projection image is calculated.
Optionally, calculating a horizontal scale of the initial projection image comprises: calculating the difference of the horizontal coordinates of the two horizontal preset relevant points in the standard projection image; calculating the difference between the horizontal coordinates of the two horizontal preset related points in the initial projection image; and calculating the horizontal scaling according to the difference of the abscissas of the two horizontal preset relevant points in the standard projection image and the difference of the abscissas of the two horizontal preset relevant points in the initial projection image.
Optionally, calculating the horizontal scaling according to the difference between the abscissas of the two horizontally preset relevant points in the standard projection image and the difference between the abscissas of the two horizontally preset relevant points in the initial projection image includes: and dividing the difference between the abscissa of the two horizontal preset relevant points in the initial projection image and the difference between the abscissas of the two horizontal preset relevant points in the standard projection image to obtain the horizontal scaling.
Optionally, calculating the vertical scale of the initial projection image comprises: calculating the difference of the vertical coordinates of the two vertical preset relevant points in the standard projection image; calculating the difference of the vertical coordinates of the two vertical preset relevant points in the initial projection image; and calculating the vertical scaling according to the difference of the vertical coordinates of the two vertical preset relevant points in the standard projection image and the difference of the vertical coordinates of the two vertical preset relevant points in the initial projection image.
Optionally, calculating the vertical scaling according to a difference between the ordinate of the two vertically preset correlation points in the standard projection image and a difference between the ordinate of the two vertically preset correlation points in the initial projection image includes: and dividing the difference between the vertical coordinates of the two vertical preset relevant points in the initial projection image and the difference between the vertical coordinates of the two vertical preset relevant points in the standard projection image to obtain the vertical scaling.
Optionally, converting the coordinates of the feature points of the initial projection image into coordinates in the standard projection image according to the scaling ratio includes: performing mathematical operation on the abscissa of each characteristic point in the initial projection image and the horizontal scaling to obtain the abscissa of each characteristic point in the initial projection image in the standard projection image; performing mathematical operation on the vertical coordinate and the vertical scaling of each characteristic point in the initial projection image to obtain the vertical coordinate of each characteristic point in the initial projection image in the standard projection image; and obtaining the coordinates of each characteristic point in the initial projection image in the standard projection image according to the abscissa of each characteristic point in the initial projection image in the standard projection image and the ordinate of each characteristic point in the initial projection image in the standard projection image.
Optionally, acquiring a distortion relation of the initial projection image relative to the standard projection image further includes: respectively performing curve fitting on the abscissa of the preset characteristic point in the initial projection image by adopting a first quadratic polynomial, and performing curve fitting on the ordinate of the preset characteristic point in the initial projection image by adopting a second quadratic polynomial; solving each coefficient in the first quadratic polynomial and each coefficient in the second quadratic polynomial according to least square fitting; and substituting each coefficient in the first quadratic polynomial into the first quadratic polynomial to obtain a first distortion relational expression, and substituting each coefficient in the second quadratic polynomial into the second quadratic polynomial to obtain a second distortion relational expression, wherein the distortion relational expressions comprise the first distortion relational expression and the second distortion relational expression.
Optionally, the correcting the standard projection image according to the distortion relation to obtain a corrected image includes: substituting the abscissa of each characteristic point of the standard projection image into the first distortion relational expression to obtain the abscissa of each characteristic point of the corrected image; substituting the vertical coordinates of each characteristic point of the standard projection image into the second distortion relational expression to obtain the vertical coordinates of each characteristic point of the corrected image; and obtaining a corrected image according to the abscissa of each characteristic point of the corrected image and the ordinate of each characteristic point of the corrected image.
In another aspect of the present invention, there is provided a head up display including: the first acquisition module is used for acquiring a standard projection image of the head-up display and an initial projection image projected by the standard projection image; the first conversion module is used for converting the position of the central origin of the initial projection image in the initial projection image into the position in the standard projection image; the calculation module is used for calculating the scaling of the initial projection image relative to the standard projection image according to the standard projection image and the initial projection image; the second conversion module is used for converting the coordinates of each characteristic point of the initial projection image into the coordinates in the standard projection image according to the scaling; the second acquisition module is used for acquiring a distortion relational expression of the initial projection image relative to the standard projection image; and the correction module is used for correcting the standard projection image according to the distortion relational expression so as to obtain a corrected image.
The beneficial effects of the invention include:
the embodiment provides an image correction method of a head-up display, which comprises the following steps: acquiring a standard projection image of the head-up display and an initial projection image after the standard projection image is projected; converting the position of the central origin of the initial projection image in the initial projection image into the position in the standard projection image; calculating the scaling of the initial projection image relative to the standard projection image according to the standard projection image and the initial projection image; converting the coordinates of each characteristic point of the initial projection image into coordinates in the standard projection image according to the scaling; acquiring a distortion relational expression of the initial projection image relative to the standard projection image; and correcting the standard projection image according to the distortion relational expression to obtain a corrected image. Therefore, the user can perform projection display after acquiring the corrected image, and the corrected image is compensated and corrected before projection display, so that the projection image finally acquired by the user can be correspondingly compensated for each feature point by adopting the distortion relational expression by adopting the image correction method provided by the embodiment, and the image distortion is avoided. The image correction method for the head-up display provided by the embodiment can prevent the distortion of a visual image viewed by a user from affecting user experience due to the curved surface characteristic of the front windshield after an image source of the head-up display irradiates on the front windshield to a certain extent, and does not need the user to correspondingly set the front windshield or other hardware matched with the front windshield according to different head-up displays, so that the image correction method for the head-up display provided by the embodiment can also improve the universality of the head-up display to a certain extent.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a flowchart illustrating an image correction method for a head-up display according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a standard projection image provided by an embodiment of the present invention;
FIG. 3 is a second flowchart illustrating an image correction method for a head-up display according to an embodiment of the present invention;
FIG. 4 is a third flowchart illustrating an image correction method for a head-up display according to an embodiment of the present invention;
FIG. 5 is a fourth flowchart illustrating an image correction method for a head-up display according to an embodiment of the present invention;
FIG. 6 is a fifth flowchart illustrating an image correction method for a head-up display according to an embodiment of the present invention;
FIG. 7 is a sixth flowchart illustrating an image correction method for a head-up display according to an embodiment of the present invention;
fig. 8 is a seventh flowchart illustrating an image correction method for a head-up display according to an embodiment of the invention;
fig. 9 is an eighth schematic flowchart illustrating an image correction method for a head-up display according to an embodiment of the present invention;
FIG. 10 is a ninth flowchart illustrating an image correction method for a head-up display according to an embodiment of the present invention;
FIG. 11 is a schematic illustration of an initial projected image after projection of a standard projected image in accordance with an embodiment of the present invention;
fig. 12 is a schematic diagram of a projected corrected image obtained by the image correction method for the head-up display according to this embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that the present product is conventionally placed in use, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1, the present embodiment provides an image correction method for a head-up display, which is used to correct a display image of the head-up display, so as to prevent a distortion of a visual image viewed by a user due to a curved surface characteristic of a front windshield from affecting user experience after an image source of the head-up display is irradiated onto the front windshield. The image correction method of the head-up display comprises the following steps:
s100, acquiring a standard projection image of the head-up display and an initial projection image projected by the standard projection image.
In other words, if the image acquired by the user is not distorted, the display image acquired by the user should be the same as the standard projection image. The initial projection image is a display image actually acquired by the user before image correction, that is, a distorted projection image.
The standard projection image may be acquired from an image source of the head-up display, and the initial projection image may be acquired by an external device, for example, a camera may be used to capture the projection image imaged onto the front windshield to acquire the initial projection image.
In the present embodiment, for convenience of subsequent calculation analysis, the standard projection image may be simulated by using an M × N origin map, for example, a 33 × 13 origin map may be used, as shown in fig. 2. Of course, the arrangement of the original point map can be determined by the skilled person. Referring to fig. 11, fig. 11 is an initial projection image (not corrected at this time) obtained after projection display of the standard projection image of fig. 2.
And S200, converting the position of the central origin of the initial projection image in the initial projection image into the position in the standard projection image.
The main purpose of this step is to adjust the position of the image center origin of the initial projection image in the initial projection image to coincide with the position of the center origin of the standard projection image in the standard projection image. In short, for example, if the center origin in the standard projection image is the center-most of the standard projection image, then the center origin of the initial projection image is also adjusted to the center-most of the initial projection image; alternatively, the central origin in the standard projection image is in the lower left corner of the standard projection image, then the central origin of the initial projection image is also adjusted to the lower left corner of the initial projection image. After adjustment, the two images should be able to coincide, with the center origins of the two coinciding.
Note that the meaning of adjusting the center origin here is to keep the origin positions of the coordinate system of the standard projection image and the coordinate system of the initial projection image in agreement. It should be understood that the center origin is adjusted to be uniform here, and all the feature points of the initial projection image should be moved at a uniform position centered on the center origin of the initial projection image, and should not be understood as an independent position movement of the center origin.
And S300, calculating the scaling of the initial projection image relative to the standard projection image according to the standard projection image and the initial projection image.
It should be noted that the scaling is adjusted so that the unit lengths of the coordinate axes of the initial projection image and the standard projection image are kept consistent with each other on the basis that the coordinate origin points of the two images are unified in step S200, so that the two coordinate systems of the standard projection image and the initial projection image can be unified, thereby providing a basic condition for obtaining the subsequent distortion relational expression.
And S400, converting the coordinates of each characteristic point of the initial projection image into the coordinates in the standard projection image according to the scaling.
That is, the coordinates of each feature point of the initial projection image are corrected according to the scaling calculated in step S300, so that the initial projection image and the standard projection image are in the same coordinate system (that is, both are in the coordinate system of the standard projection image). The coordinate system of the initial projection image is adjusted to the coordinate system of the standard projection image, so that subsequent correction of the standard projection image can be facilitated.
S500, acquiring a distortion relational expression of the initial projection image relative to the standard projection image.
That is, when the coordinates are uniform, for example, the coordinates of each feature point in the initial projection image and the coordinates of each feature point in the standard projection image may be compared to obtain a corresponding distortion relational expression.
It should be noted that when comparing two feature points to calculate distortion, it should be guaranteed that the same feature point is used for comparison, illustratively, feature point No. 1 in the standard projection image and feature point No. 1 in the initial projection image. Here, although the feature point No. 1 is in the initial projection image, the coordinates of the initial projection image are already corrected and coincide with those of the standard projection image, and therefore, comparison can be performed.
S600, correcting the standard projection image according to the distortion relational expression to obtain a corrected image.
The distortion relation is obtained when the initial projection image is distorted relative to the standard projection image, and the standard projection image can be correspondingly compensated according to the distortion relation, so that the corrected standard projection image can enable a user to obtain an undistorted image after projection display. In this way, after the corrected image is used for projection display, an undistorted image can be obtained after the image is finally obtained by a user, so that the user can obtain more accurate vehicle-related information.
In other embodiments, the distortion relational expression of each feature point in the initial projection image with respect to each feature point corresponding to the standard projection image may be calculated separately, so that all the feature points in the standard projection image are corrected correspondingly according to the distortion relational expression corresponding to each feature point, and thus, the possibility of distortion occurring after projection display of the obtained corrected image is further reduced, and the distortion prevention effect is better.
However, in order to reduce the processing pressure of the head-up display device or increase the speed of acquiring the distortion relation, in this embodiment, a method of selecting a specific feature point as a representative to calculate the distortion relation may be adopted, which will be described below by taking the specific feature point as an example to calculate the distortion relation, and a method of correspondingly calculating all feature points to obtain the distortion relation of each feature point and correspondingly compensating and correcting the distortion relation may be obtained, and this embodiment is not described again.
In summary, the present embodiment provides an image correction method for a head-up display, including: acquiring a standard projection image of the head-up display and an initial projection image projected by the standard projection image; converting the position of the central origin of the initial projection image in the initial projection image into the position in the standard projection image; calculating the scaling of the initial projection image relative to the standard projection image according to the standard projection image and the initial projection image; converting the coordinates of each characteristic point of the initial projection image into coordinates in the standard projection image according to the scaling; acquiring a distortion relational expression of the initial projection image relative to the standard projection image; and correcting the standard projection image according to the distortion relational expression to obtain a corrected image. Therefore, the user can perform projection display after acquiring the corrected image, and the corrected image is compensated and corrected before projection display, so that the projection image finally acquired by the user can be correspondingly compensated for each feature point by adopting the distortion relational expression by adopting the image correction method provided by the embodiment, and the image distortion is avoided. The image correction method for the head-up display provided by the embodiment can prevent the distortion of a visual image viewed by a user from affecting user experience due to the curved surface characteristic of the front windshield after an image source of the head-up display irradiates on the front windshield to a certain extent, and does not need the user to correspondingly set the front windshield or other hardware matched with the front windshield according to different head-up displays, so that the image correction method for the head-up display provided by the embodiment can also improve the universality of the head-up display to a certain extent.
Referring to fig. 12, fig. 12 is a display image obtained by a user after projection display of a corrected image obtained by using the image correction method provided in this embodiment. By contrast, the image in fig. 12 has substantially no distortion compared with that in fig. 2, and it can be seen that the image distortion phenomenon of the projection display is obviously improved after the standard projection image is corrected by using the correction method of the embodiment.
Optionally, referring to fig. 3, in the step S200, converting the position of the central origin of the initial projection image in the initial projection image into the position in the standard projection image includes:
s210, acquiring the position of the center origin of the standard projection image in the standard projection image.
For example, the position of the center origin of the standard projection image in the standard projection image may be acquired with reference to the frame of the standard projection image. Referring to fig. 2, the position of the center origin with respect to the zero point can be obtained by using the upper left corner of the frame of the standard projection image as the zero point, thereby obtaining the position of the center origin of the standard projection image in the standard projection image. It should be noted that the zero point position selected here should coincide with the zero point position selected when the position of the center origin of the initial projection image is subsequently acquired.
And S220, acquiring the position of the central origin of the initial projection image in the initial projection image. The selecting method is synchronized to step S210, and will not be described herein.
And S230, moving the position of the center origin of the initial projection image in the initial projection image to be matched with the position of the center origin of the standard projection image in the standard projection image.
For example, if the horizontal distance from the center origin of the standard projection image to the selected reference point is 2 and the vertical distance is 3, the position of the center origin of the initial projection image should be moved to the horizontal distance from the selected reference point by 2 and the vertical distance by 3.
It should be noted that the position shift here should be a shift to the center origin of the initial projection image, and not just a shift of a single origin position, but a uniform translation of all feature points of the entire initial projection image centered on the center origin.
Referring to fig. 4, optionally, the step S300 of calculating the scaling ratio of the initial projection image to the standard projection image according to the standard projection image and the initial projection image includes:
and S310, acquiring coordinates of the preset relevant point group in the standard projection image and coordinates in the initial projection image.
The preset correlation point group is a preset sampling point, and it should be noted that the preset correlation points should be the same group of preset correlation point group in the standard projection image and in the initial projection image. Of course, it should be understood that when the preset correlated point groups include a plurality of groups, each group of preset correlated point groups should also have a one-to-one correspondence in the standard projection image and in the initial projection image.
Taking an example that the standard projection image selects an M × N original point diagram as an example, each feature point in the original point diagram can be numbered, and then any one group in the original point diagram is selected as a preset related point group of the standard projection image and the number is registered; and correspondingly acquiring preset feature points with the same number as the registered preset related point group of the standard projection image as the preset related points of the initial projection image.
And S320, calculating the scaling of the initial projection image relative to the standard projection image according to the coordinates of the preset relevant point group in the standard projection image and the initial projection image respectively.
The scaling of the initial projection image relative to the standard projection image in each coordinate axis direction is obtained through analysis and calculation according to the relation between the coordinates of the preset relevant point group in the standard projection image and the coordinates of the preset relevant point group in the initial projection image.
In this embodiment, optionally, the preset related point group includes a horizontal preset related point group and a vertical preset related point group, the horizontal preset related point group includes two feature points with the same X coordinate, and the vertical preset related point group includes two feature points with the same Y coordinate.
It should be noted that the horizontal preset correlation point group and the vertical preset correlation point group may directly select the feature point on the X axis and the feature point on the Y axis, respectively. For example, the feature points on the left and right sides of the origin (i.e., the center origin) are selected as horizontal preset correlation points, and the feature points on the upper and lower sides of the origin are selected as vertical preset correlation points, which is also convenient for determining the preset correlation points.
It should be understood that the two feature points of the horizontal preset correlation point group and the two feature points of the vertical preset correlation point group are also in one-to-one correspondence with the standard projection image and the initial projection image. In short, if the No. 3 and No. 5 feature points in the standard projection image are selected as the two feature points of the horizontal preset related point group, after the standard projection image is projected and displayed, the No. 3 and No. 5 feature points also correspond to the two feature points of the horizontal preset related point group which become the initial projection image.
Referring to fig. 5 in combination, optionally, in step S320, calculating a scaling ratio of the initial projection image to the standard projection image according to the coordinates of the preset relevant point group in the standard projection image and the initial projection image respectively includes:
s321, calculating the horizontal scaling of the initial projection image.
And S322, calculating the vertical scaling of the initial projection image.
The position change condition of the coordinates of each characteristic point of the initial projection image relative to the coordinates of each characteristic point in the standard projection image can be obtained by respectively calculating the horizontal scaling and the vertical scaling of the initial projection image. The horizontal scaling and the vertical scaling are the scaling described above. The two scaling ratios are obtained to facilitate the targeted overall compensation of each feature point in the initial projection image, so that each feature point in the initial projection image and each feature point of the standard projection image are in the same coordinate system.
In order to calculate the horizontal scaling ratio, referring to fig. 6 again, optionally, the step S321 of calculating the horizontal scaling ratio of the initial projection image includes:
s3211, calculating the difference between the abscissas of the two horizontal preset relevant points in the standard projection image. This makes it possible to acquire the distance in the horizontal direction of two preset relevant points in the standard projection image.
S3212, calculating the difference between the abscissa of the two horizontal preset relevant points in the initial projection image. This allows the distance in the horizontal direction of two preset relevant points in the initial projection image to be obtained.
In this way, the corresponding values of the distances between the abscissas of the same two feature points in the standard projection image and in the initial projection image, respectively, can be obtained.
S3213, calculating a horizontal scaling ratio according to a difference between abscissas of the two horizontal preset related points in the standard projection image and a difference between abscissas of the two horizontal preset related points in the initial projection image.
By embodying the distance value of the distance between the abscissas of the same two feature points in the standard projection image and embodying the distance between the abscissas of the same two feature points in the initial projection image, the coordinate system scaling relationship of the standard projection image and the initial projection image in the horizontal direction can be obtained.
Illustratively, in this embodiment, the step S3213 of calculating the horizontal scaling according to the difference between the abscissas of the two horizontally preset relevant points in the standard projection image and the difference between the abscissas of the two horizontally preset relevant points in the initial projection image includes:
and dividing the difference between the abscissas of the two horizontal preset relevant points in the initial projection image and the difference between the abscissas of the two horizontal preset relevant points in the standard projection image to obtain the horizontal scaling.
Thus, the horizontal scaling may be calculated by the difference between the abscissas of the two horizontally pre-determined correlation points in the first coordinate system and the difference between the abscissas of the two horizontally pre-determined correlation points in the second coordinate system. For example, if the difference between the abscissa of two feature points in the standard projection image is 4, and the difference between the abscissas of the same two feature points in the initial projection image becomes 2, it means that the abscissa of the standard projection image is two times larger than the abscissa of the initial projection image, and the horizontal distortion of the abscissa of the standard projection image in the horizontal direction is 1/2, that is, the horizontal distortion parameter of the initial projection image with respect to the standard projection image is 1/2.
Similarly, referring to fig. 7, optionally, the step S322 of calculating the vertical scaling of the initial projection image may include the following steps:
s3221, calculating a difference between vertical coordinates of the two vertically preset relevant points in the standard projection image.
S3222, calculating a difference between vertical coordinates of the two vertically preset relevant points in the initial projection image.
S3223, calculating a vertical scaling according to the difference between the vertical coordinates of the two vertical preset relevant points in the standard projection image and the difference between the vertical coordinates of the two vertical preset relevant points in the initial projection image.
Optionally, in step S3223, calculating a vertical scaling according to a difference between vertical coordinates of the two vertically preset relevant points in the standard projection image and a difference between vertical coordinates of the two vertically preset relevant points in the initial projection image, includes:
and dividing the difference between the vertical coordinates of the two vertical preset relevant points in the initial projection image and the difference between the vertical coordinates of the two vertical preset relevant points in the standard projection image to obtain the vertical scaling.
In this way, the vertical scaling can be calculated from the difference between the ordinates of the two vertically preset correlated points in the standard projection image and the difference between the ordinates of the two vertically preset correlated points in the initial projection image. Since the principles of the determination of the vertical scaling and the determination of the horizontal scaling are the same, they are not described in detail here.
Referring to fig. 8, in this embodiment, the step S400 of converting the coordinates of each feature point of the initial projection image into coordinates in the standard projection image according to the scaling ratio includes the following steps:
s410, performing mathematical operation on the abscissa of each feature point in the initial projection image and the horizontal scaling to obtain the abscissa of each feature point in the initial projection image in the standard projection image.
If the horizontal scaling is a reduction ratio of the initial projection image with respect to the standard projection image, the abscissa of each feature point in the initial projection image should be divided by the horizontal scaling. For example, if the horizontal scaling of the initial projection image is 1/2 (i.e. the initial projection image is reduced by one time compared to the abscissa of the standard projection image, and is enlarged by 1/2 times for example), the abscissa of the initial projection image may be divided by the horizontal scaling 1/2, and the abscissa of the initial projection image is increased by one time based on the original abscissa, so that the initial projection image has the same abscissa reference as the standard image.
Similarly, if the horizontal scaling of the initial projection image is 2 (i.e., the initial projection image is reduced by one time with respect to the abscissa of the standard projection image, and the example of the reduction by 2 times is given), the horizontal scaling 2 may be multiplied by the abscissa of the initial projection image, and at this time, the abscissa of the initial projection image may be increased by one time based on the original abscissa, so that the initial projection image has the same abscissa reference as the standard image. The two modes have the same principle, and only the scaling is considered for different angles, so that the corresponding mathematical operation modes are different.
And S420, performing mathematical operation on the vertical coordinate and the vertical scaling of each characteristic point in the initial projection image to obtain the vertical coordinate of each characteristic point in the initial projection image in the standard projection image. Here, the specific mathematical operation manner for obtaining the corrected ordinate of each feature point may refer to the explanation about the corrected abscissa of each feature point, and the principles of the two are the same, which is not described herein again.
And S430, obtaining the coordinates of the characteristic points in the initial projection image in the standard projection image according to the abscissa of the characteristic points in the initial projection image in the standard projection image and the ordinate of the characteristic points in the initial projection image in the standard projection image.
The coordinates of each feature point of the corrected image can be obtained from the corrected abscissa and corrected ordinate, and thus, the coordinates of all the feature points of the initial projection image are converted into the coordinates in the standard projection image (that is, the coordinates of the initial projection image are converted into the coordinates of the standard projection image).
Since a local part of the front windshield can be regarded as a quadratic screen, in order to improve the distortion phenomenon of the initial projection image, in this embodiment, a quadratic polynomial fitting method is used to correct each feature point of the standard projection image, so that the standard projection image can project an image whose display position is no longer distorted after correction, please refer to fig. 9, optionally, the step S500 of obtaining the distortion relational expression of the initial projection image with respect to the standard projection image includes the following steps:
and S510, respectively performing curve fitting on the abscissa of the preset feature point in the initial projection image by adopting a first quadratic polynomial, and performing curve fitting on the ordinate of the preset feature point in the initial projection image by adopting a second quadratic polynomial.
It should be noted that the first quadratic polynomial is used to fit the abscissa of the initial projection image, and the second quadratic polynomial is used to fit the ordinate of the initial projection image.
For example: (x, y) represents the coordinates of the standard image, and (x 1, y 1) represents the coordinates of the initial projection image, wherein the coordinates of the initial projection image are the coordinates in the coordinate system corresponding to the standard projection image (i.e., the coordinate system in which the initial projection image and the standard projection image are located is the same). The standard projection image coordinates and the initial projection image coordinates need to satisfy the following formula:
a first quadratic polynomial: x1= a 0 +a 1 ×x+a 2 ×x 2 +a 3 ×y+a 4 ×x×y+a 5 ×y 2
Second order polynomial: y1= b 0 +b 1 ×x+b 2 ×x 2 +b 3 ×y+b 4 ×x×y+b 5 ×y 2
It should be understood that fitting using a quadratic polynomial is only an example of the embodiment, and in other embodiments, other higher-order functions may be used to fit to obtain the distortion relation.
And S520, solving each coefficient in the first quadratic polynomial and each coefficient in the second quadratic polynomial according to least square fitting.
S530, substituting each coefficient in the first quadratic polynomial into the first quadratic polynomial to obtain a first distortion relational expression, and substituting each coefficient in the second quadratic polynomial into the second quadratic polynomial to obtain a second distortion relational expression, wherein the distortion relational expressions comprise the first distortion relational expression and the second distortion relational expression.
Wherein the first distortion relation and the second distortion relation jointly form the distortion relation of the preamble.
Optionally, referring to fig. 10, in the step S600, the correcting the standard projection image according to the distortion relation to obtain a corrected image includes:
s610, substituting the abscissa of each characteristic point of the standard projection image into the first distortion relational expression to obtain the abscissa of each characteristic point of the corrected image. And substituting the coordinates of the standard projection image to perform compensation correction on each characteristic point of the standard projection image so as to obtain a final corrected image.
In the case of the abscissa compensation, the abscissa of the standard projection image can be compensated using the quadratic polynomial obtained as described above for compensating the abscissa. During compensation, the abscissa of each feature point of the standard projection image is substituted into the abscissa quadratic polynomial (the abscissa of the standard projection image replaces X in the formula), so as to obtain a corrected abscissa (i.e. X1 in the formula), and the ordinate is the same and is not described in detail below.
And S620, substituting the vertical coordinates of the characteristic points of the standard projection image into the second distortion relational expression to obtain the vertical coordinates of the characteristic points of the corrected image.
And S630, obtaining a corrected image according to the abscissa of each characteristic point of the corrected image and the ordinate of each characteristic point of the corrected image. Therefore, the corrected image can effectively solve the problem that the head-up display generates distortion after being projected and displayed in the prior art.
In another aspect of the present invention, a head-up display is further provided, where the head-up display includes a first obtaining module, a first converting module, a calculating module, a second converting module, a second obtaining module, and a correcting module, where the first obtaining module is configured to obtain a standard projection image of the head-up display and an initial projection image projected by the standard projection image; the first conversion module is used for converting the position of the central origin of the initial projection image in the initial projection image into the position in the standard projection image; the calculation module is used for calculating the scaling of the initial projection image relative to the standard projection image according to the standard projection image and the initial projection image; the second conversion module is used for converting the coordinates of each characteristic point of the initial projection image into coordinates in the standard projection image according to the scaling; the second acquisition module is used for acquiring a distortion relational expression of the initial projection image relative to the standard projection image; and the correction module is used for correcting the standard projection image according to the distortion relational expression so as to obtain a corrected image.
The above-mentioned apparatus is used for executing the image correction method provided by the foregoing embodiment, and the implementation principle and technical effects are similar, which are not described herein again.
These above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), etc. For another example, when one of the above modules is implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to perform some steps of the methods according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a portable hard disk, a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other media capable of storing program codes.
The above description is only an alternative embodiment of the present invention and is not intended to limit the present invention, and various modifications and variations of the present invention may occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and the invention is not described in any way for the possible combinations in order to avoid unnecessary repetition.
Claims (11)
1. An image correction method for a head-up display, comprising:
acquiring a standard projection image of a head-up display and an initial projection image projected by the standard projection image;
converting a position of a central origin of the initial projection image in the initial projection image to a position in the standard projection image;
calculating a scaling of the initial projection image relative to the standard projection image from the standard projection image and the initial projection image;
converting the coordinates of each feature point of the initial projection image into coordinates in the standard projection image according to the scaling;
acquiring a distortion relational expression of the initial projection image relative to the standard projection image;
correcting the standard projection image according to the distortion relational expression to obtain a corrected image;
the calculating a scaling of the initial projection image relative to the standard projection image from the standard projection image and the initial projection image includes:
acquiring coordinates of a preset relevant point group in the standard projection image and coordinates in the initial projection image;
calculating the scaling of the initial projection image relative to the standard projection image according to the coordinates of the preset relevant point group in the standard projection image and the initial projection image respectively;
the preset related point group comprises a horizontal preset related point group and a vertical preset related point group, the horizontal preset related point group comprises two feature points with the same X coordinate, and the vertical preset related point group comprises two feature points with the same Y coordinate.
2. The image correction method for a heads-up display according to claim 1, characterized in that said converting the position of the center origin of the initial projection image in the initial projection image to the position in the standard projection image comprises:
acquiring the position of the central origin of the standard projection image in the standard projection image;
acquiring the position of the central origin of the initial projection image in the initial projection image;
and moving the position of the center origin of the initial projection image in the initial projection image to be matched with the position of the center origin of the standard projection image in the standard projection image.
3. The method of claim 1, wherein the calculating a scaling ratio of the initial projection image to the standard projection image according to the coordinates of the preset associated point groups in the standard projection image and the initial projection image respectively comprises:
calculating a horizontal scale of the initial projection image;
a vertical scale of the initial projection image is calculated.
4. The method of claim 3, wherein the calculating the horizontal scaling of the initial projection image comprises:
calculating the difference between the abscissa of the two horizontal preset relevant points in the standard projection image;
calculating the difference between the horizontal coordinates of the two horizontal preset relevant points in the initial projection image;
and calculating the horizontal scaling according to the difference of the abscissas of the two horizontal preset relevant points in the standard projection image and the difference of the abscissas of the two horizontal preset relevant points in the initial projection image.
5. The method of claim 4, wherein the calculating a horizontal scaling ratio according to the difference between the abscissas of the two preset horizontal correlation points in the standard projection image and the difference between the abscissas of the two preset horizontal correlation points in the initial projection image comprises:
and dividing the difference between the abscissas of the two horizontal preset relevant points in the initial projection image and the difference between the abscissas of the two horizontal preset relevant points in the standard projection image to obtain the horizontal scaling.
6. The method of claim 3 or 4, wherein the calculating the vertical scale of the initial projection image comprises:
calculating the difference between the vertical coordinates of the two vertical preset relevant points in the standard projection image;
calculating the difference between the vertical coordinates of the two vertical preset relevant points in the initial projection image;
and calculating the vertical scaling according to the difference between the vertical coordinates of the two vertical preset relevant points in the standard projection image and the difference between the vertical coordinates of the two vertical preset relevant points in the initial projection image.
7. The method of claim 6, wherein the calculating a vertical scaling ratio according to a difference between the ordinates of the two vertically preset correlation points in the standard projection image and a difference between the ordinates of the two vertically preset correlation points in the initial projection image comprises:
and dividing the difference between the vertical coordinates of the two vertical preset relevant points in the initial projection image and the difference between the vertical coordinates of the two vertical preset relevant points in the standard projection image to obtain the vertical scaling.
8. The image correction method for a heads-up display according to claim 3, characterized in that said converting coordinates of each feature point of the initial projection image into coordinates in the standard projection image according to the scaling ratio comprises:
performing mathematical operation on the abscissa of each feature point in the initial projection image and the horizontal scaling to obtain the abscissa of each feature point in the initial projection image in the standard projection image;
performing mathematical operation on the vertical coordinate of each feature point in the initial projection image and the vertical scaling to obtain the vertical coordinate of each feature point in the initial projection image in the standard projection image;
and obtaining the coordinates of each feature point in the initial projection image in the standard projection image according to the abscissa of each feature point in the initial projection image in the standard projection image and the ordinate of each feature point in the initial projection image in the standard projection image.
9. The method of claim 1, wherein obtaining a distortion relationship of the initial projection image relative to the standard projection image further comprises:
respectively performing curve fitting on the abscissa of the preset characteristic point in the initial projection image by adopting a first quadratic polynomial, and performing curve fitting on the ordinate of the preset characteristic point in the initial projection image by adopting a second quadratic polynomial;
solving each coefficient in the first quadratic polynomial and each coefficient in the second quadratic polynomial according to least square fitting;
and substituting each coefficient in the first quadratic polynomial into the first quadratic polynomial to obtain a first distortion relational expression, and substituting each coefficient in the second quadratic polynomial into the second quadratic polynomial to obtain a second distortion relational expression, wherein the distortion relational expressions comprise the first distortion relational expression and the second distortion relational expression.
10. The method of claim 9, wherein the correcting the standard projection image according to the distortion relation to obtain a corrected image comprises:
substituting the abscissa of each characteristic point of the standard projection image into the first distortion relational expression to obtain the abscissa of each characteristic point of the corrected image;
substituting the vertical coordinates of the characteristic points of the standard projection image into the second distortion relational expression to obtain the vertical coordinates of the characteristic points of the corrected image;
and obtaining the corrected image according to the abscissa of each characteristic point of the corrected image and the ordinate of each characteristic point of the corrected image.
11. A heads-up display, comprising:
the first acquisition module is used for acquiring a standard projection image of the head-up display and an initial projection image projected by the standard projection image;
a first conversion module for converting a position of a central origin of the initial projection image in the initial projection image into a position in the standard projection image;
a calculation module for calculating a scaling of the initial projection image with respect to the standard projection image from the standard projection image and the initial projection image;
the second conversion module is used for converting the coordinates of each characteristic point of the initial projection image into the coordinates in the standard projection image according to the scaling;
the second acquisition module is used for acquiring a distortion relational expression of the initial projection image relative to the standard projection image;
the correction module is used for correcting the standard projection image according to the distortion relational expression to obtain a corrected image;
the calculation module is further to:
acquiring coordinates of a preset relevant point group in the standard projection image and coordinates in the initial projection image;
calculating the scaling of the initial projection image relative to the standard projection image according to the coordinates of the preset relevant point group in the standard projection image and the initial projection image respectively;
the preset related point group comprises a horizontal preset related point group and a vertical preset related point group, the horizontal preset related point group comprises two feature points with the same X coordinate, and the vertical preset related point group comprises two feature points with the same Y coordinate.
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