CN112785652A - Panoramic calibration method and device - Google Patents
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- CN112785652A CN112785652A CN202011556788.6A CN202011556788A CN112785652A CN 112785652 A CN112785652 A CN 112785652A CN 202011556788 A CN202011556788 A CN 202011556788A CN 112785652 A CN112785652 A CN 112785652A
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Abstract
The embodiment of the invention provides a panoramic calibration method and a panoramic calibration device, which are applied to terminal equipment, wherein the terminal equipment is connected with a plurality of cameras, and the method comprises the following steps: when the terminal equipment is in an automatic calibration state, controlling the camera to shoot an original image, wherein the original image comprises at least one linear object; splicing the original images to obtain a panoramic image, wherein the panoramic image comprises a plurality of splicing areas; calculating a first display error of the linear object in each splicing region; when the first display error meets a first preset condition, calculating a target correction parameter according to the first display error; and carrying out panoramic calibration according to the target correction parameters. By adopting the embodiment, the dependence of the traditional calibration method on the field is eliminated, and the calibration time is shortened.
Description
Technical Field
The invention relates to the technical field of vehicle-mounted vehicles, in particular to a panoramic calibration method and a panoramic calibration device.
Background
With the development of vehicle intellectualization, the configuration rate of a vehicle-mounted panoramic all-round looking system on a vehicle is higher and higher, 4-8 wide-angle cameras capable of covering all view field ranges around the vehicle are erected around the vehicle, a plurality of paths of video images collected at the same time are processed into a vehicle body overlooking image of 360 degrees around the vehicle, and finally the image is displayed on a screen of a center console, so that a driver can clearly check whether obstacles exist around the vehicle and know the relative direction and distance of the obstacles, and the driver can know the surrounding state of the vehicle and can check the surrounding obstacles of the vehicle when the driver drives the vehicle. Not only is visually very intuitive, but also there are no monitoring blind spots.
In order to obtain the overlook images with consistent splicing, all the existing panoramic looking-around systems need to perform a static calibration generation link during production. According to the calibration method, firstly, a wheel guide rail needs to be arranged on a site with the length and the width of 10 meters, then checkerboard drawings are arranged at the positions of the front camera, the rear camera, the left camera and the right camera, and the arrangement forms of manufacturers are different; but the calibration site needs good light and cannot reflect light. When calibration is carried out, a vehicle needs to be parked in the guide rail, a diagnosis device is needed or a panoramic looking-around system is triggered on a large central control screen to enter the calibration, and the time for calibration is different from 6 to 200 seconds.
In addition, after the vehicle leaves the factory, if the position of the camera is changed by dismounting, the camera needs to be calibrated again, at the moment, a place with good open light is also needed, and two checkerboard calibration cloth in front and at the back need to be arranged around the vehicle for calibration again. Therefore, the existing calibration method is high in site building cost, the production rhythm is influenced due to the long calibration time, the calibration needs to be carried out again after maintenance to obtain pictures which are consistent in splicing, and time and labor are consumed.
Disclosure of Invention
In view of the above problems, embodiments of the present invention are proposed to provide a panoramic calibration method and a corresponding panoramic calibration apparatus, which overcome or at least partially solve the above problems.
In order to solve the above problems, an embodiment of the present invention discloses a panoramic calibration method, which is applied to a terminal device, wherein the terminal device is connected with a plurality of cameras, and the method includes:
when the terminal equipment is in an automatic calibration state, controlling the camera to shoot an original image, wherein the original image comprises at least one linear object;
splicing the original images to obtain a panoramic image, wherein the panoramic image comprises a plurality of splicing areas;
calculating a first display error of the linear object in each splicing region;
when the first display error meets a first preset condition, calculating a target correction parameter according to the first display error;
and carrying out panoramic calibration according to the target correction parameters.
Optionally, before the step of controlling the camera to capture an original image when the terminal device is in the automatic calibration state, where the original image includes at least one linear object, the method further includes:
acquiring a current motion working condition;
when the terminal equipment is in an automatic calibration movement working condition, determining that the terminal equipment is in an automatic calibration state, wherein the automatic calibration movement working condition comprises the following steps: the terminal equipment is in at least one of a preset motion state, the motion speed is lower than the preset speed, the motion deviation angle is smaller than the preset angle, the distance from the linear line is smaller than the preset distance, and the automatic calibration switch is in an on state.
Optionally, the original image further includes a camera identifier, and the step of splicing the original images to obtain a panoramic image includes:
determining a target straight-line object from the original image;
matching the target linear object with the camera identification to obtain a splicing serial number;
and splicing the original images by adopting the splicing sequence number to obtain a panoramic image.
Optionally, the method further comprises:
and when the first display error meets a second preset condition, carrying out panoramic calibration by adopting the original correction parameters.
Optionally, the method further comprises:
calculating a second display error of the splicing area according to the first display error;
and when the second display error meets a third preset condition, carrying out panoramic calibration by adopting the original correction parameters.
Optionally, the target correction parameter includes a graphic deformation amount, and the step of performing panoramic calibration according to the target correction parameter includes:
calculating a correction direction and a correction offset according to the figure deformation amount;
and carrying out panoramic calibration by adopting the correction direction and the correction offset.
Optionally, a length of a line segment corresponding to the linear object is 50 meters to 60 meters, and the linear object is a solid line or a dashed line.
The embodiment of the invention also discloses a panoramic calibration device, which is applied to terminal equipment, wherein the terminal equipment is connected with a plurality of cameras, and the device comprises:
the shooting module is used for controlling the camera to shoot an original image when the terminal equipment is in an automatic calibration state, wherein the original image comprises at least one linear object;
the splicing module is used for splicing the original images to obtain a panoramic image, and the panoramic image comprises a plurality of splicing areas;
the first calculation module is used for calculating a first display error of the linear object in each splicing area;
the first correction module is used for calculating a target correction parameter according to the first display error when the first display error meets a first preset condition;
and the calibration module is used for carrying out panoramic calibration according to the target correction parameters.
The embodiment of the invention also discloses a vehicle comprising:
one or more processors; and
one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the vehicle to perform one or more methods as described above.
Embodiments of the invention also disclose one or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause the processors to perform one or more of the methods described above.
The embodiment of the invention has the following advantages:
according to the embodiment of the invention, when the terminal equipment is in an automatic calibration state, the camera is controlled to shoot an original image, wherein the original image comprises at least one linear object; splicing the original images to obtain a panoramic image, wherein the panoramic image comprises a plurality of splicing areas; calculating a first display error of the linear object in each splicing region; when the first display error meets a first preset condition, calculating a target correction parameter according to the first display error; and carrying out panoramic calibration according to the target correction parameters. By adopting the embodiment, the dependence of the traditional calibration method on the field is eliminated, and the calibration time is shortened.
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FIG. 1 is a flow chart of the steps of an embodiment of a panoramic calibration method of the present invention;
fig. 2 is a block diagram of a panoramic calibration apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Referring to fig. 1, a flowchart illustrating steps of an embodiment of a panoramic calibration method according to the present invention is shown, where the method is applied to a terminal device, and the terminal device is connected to a plurality of cameras.
It should be noted that the camera connected to the terminal device may be a camera in a vehicle-mounted panoramic all-around system of a vehicle, and the camera may be at least one of a common high-definition panoramic camera and an infrared panoramic camera. The installation position of the camera can be installed at the forefront, the roof, the tail, the left and right vehicle doors and the like of the vehicle air inlet grid, and a person skilled in the art can select the installation position according to actual requirements, which is not limited by the embodiment of the invention.
The method may specifically comprise the steps of:
when the panoramic all-round looking system of the vehicle needs to be calibrated, a user drives the vehicle to a place with two parallel straight lines, including various places with artificially set straight lines or a road with two parallel straight lines. The implementation of the present invention will be described taking as an example a vehicle traveling on a road having two parallel straight lines.
When the terminal equipment is in an automatic calibration state, the terminal equipment detects the working condition of the camera and controls the camera to shoot an original image comprising a straight line object on at least one road surface. When detecting that the working condition of the camera is a fault state or the camera cannot shoot an image comprising a straight line object on at least one road surface, the terminal equipment can send out a warning to remind a user.
Optionally, before the step of controlling the camera to capture an original image when the terminal device is in the automatic calibration state, where the original image includes at least one linear object, the method further includes:
step S1, acquiring the current motion working condition;
and when the terminal equipment is in a motion state, acquiring the current motion working condition.
Step S2, when the terminal device is in the automatic calibration movement condition, determining that the terminal device is in the automatic calibration state, wherein the automatic calibration movement condition comprises: the terminal equipment is in at least one of a preset motion state, the motion speed is lower than the preset speed, the motion deviation angle is smaller than the preset angle, the distance from the linear line is smaller than the preset distance, and the automatic calibration switch is in an on state.
And when the terminal equipment meets at least one condition of being in a preset motion state, the motion speed being lower than the preset speed, the motion deviation angle being smaller than the preset angle, the distance from the linear distance being smaller than the preset distance and the automatic calibration switch being in an on state, determining that the terminal equipment is in an automatic calibration state and the vehicle can be dynamically calibrated in the motion state.
For example, when an automatic calibration switch of the terminal device is in an on state, the movement speed is less than 30 kilometers per hour, the movement deviation angle is less than 2 degrees, and the distance from the linear object to the outer edge of the terminal device is less than 1.5 meters, it is determined that the terminal device is in an automatic calibration state.
102, splicing the original images to obtain a panoramic image, wherein the panoramic image comprises a plurality of spliced areas;
the terminal equipment splices original images shot by a plurality of cameras to obtain a panoramic image, every two original images are spliced, the joint of the two original images is a splicing area, and after the two original images are spliced into a complete panoramic image, the panoramic image comprises a plurality of splicing areas.
Optionally, the original image further includes a camera identifier, and the step of splicing the original images to obtain a panoramic image includes:
step S1021, determining a target straight-line object from the original image;
and determining a linear object according to which the panoramic image is spliced from the original image, wherein the linear object is a target linear object. When the cameras are installed on two sides of the vehicle, the target linear objects determined by the original images shot by the cameras on the same side are the same straight line on the road, and the target linear objects of the original images shot by the cameras on two sides can be the straight lines on two sides of the vehicle.
Step S1022, matching the target linear object with the camera identification to obtain a splicing serial number;
after a target linear object in the original image during splicing is determined, matching a camera identification with the target linear object, wherein the camera identification is 1, and the shot is the most front section of the target linear object; after complete matching, each original image obtains a unique splicing serial number. The splicing sequence number represents the specific position of the panoramic image after the original images are spliced into the panoramic image.
And S1023, splicing the original images by adopting the splicing sequence number to obtain a panoramic image.
And after the splicing sequence number is obtained, splicing the original images according to a splicing sequence from top to bottom and from left to right to obtain the panoramic image. Those skilled in the art can select other splicing sequences according to actual requirements, and the embodiment of the present invention does not limit this.
103, calculating a first display error of the linear object in each splicing area;
and calculating a first display error of the linear object in each splicing region in the panoramic image, wherein the first display error represents the relative deviation between two images at the joint of the two images in a single splicing region. The first display error may be a difference value of display deviations of the linear object in the first original image relative to the linear object in the second original image in the stitching region.
Alternatively, the first display error may be calculated by:
the method comprises the steps of obtaining the distance from the centerline of a straight line object in a first original image to the outer edge of terminal equipment as a first distance, obtaining the distance from the centerline of the straight line object in a second original image to the outer edge of the terminal equipment as a second distance, making a difference value between the first distance and the second distance, and taking the absolute value of the difference value as a first display error. For example, the distance from the centerline of the straight-line object in the first original image to the outer edge of the terminal device is 58 centimeters, the distance from the centerline of the straight-line object in the second original image to the outer edge of the terminal device is 50 centimeters, the difference between the first distance and the second distance is 8, and the absolute value of 8 is taken as 8, so that the first display error is 8 centimeters.
104, when the first display error meets a first preset condition, calculating a target correction parameter according to the first display error;
the linear object has a line width of 10 to 15 centimeters; when the first display error of the single splicing region is greater than or equal to one half and less than or equal to one time of the line width, it can be determined that the first display error satisfies a first preset condition, for example, the line width is 10 cm, and when the first display error is 8 cm, the first display error is determined to satisfy the first preset condition because 5 is less than or equal to 8 is less than or equal to 10. For example, in order to only correct the first display error to a single digit, a person skilled in the art may select a suitable error precision according to actual needs, and the embodiment of the present invention is not limited thereto.
And the terminal equipment calculates target correction parameters according to the first display errors. The terminal equipment can store the target correction parameters to form a correction history record for reference of maintenance personnel or developers.
And 105, carrying out panoramic calibration according to the target correction parameters.
And correcting the panoramic image according to the target correction parameters to finish the calibration of the panoramic looking-around system.
Optionally, the target correction parameter includes a graphic deformation amount, and the step of performing panoramic calibration according to the target correction parameter includes:
step S1051, calculating a correction direction and a correction offset according to the figure deformation amount;
and calculating at least one of the mean value, the variance, the energy, the entropy and the correlation coefficient of the graph deformation to calculate the correction direction and the correction offset between the original images in the splicing region.
And step 1052, performing panoramic calibration by adopting the correction direction and the correction offset.
After the correction direction and the correction offset of the quality inspection of the original image in the splicing region are obtained, at least one of stretching and translating the original image according to the correction direction and the correction offset, so that the images in the splicing region are coherent; and correcting the image of each splicing area in the panoramic image to finish the calibration of the panoramic looking-around system.
Optionally, the method further comprises:
and step S3, when the first display error meets a second preset condition, carrying out panoramic calibration by adopting the original correction parameters.
When the terminal equipment leaves a factory, a plurality of cameras in the panoramic all-around system finish a first correction process during production and assembly, and the correction parameters at the moment are original correction parameters; the terminal equipment can store the original correction parameters after finishing the first correction process; the manufacturer can also upload the original correction parameters to the cloud end, and when the original correction parameters need to be used, the terminal equipment can download the original correction parameters from the cloud end. When the first display error of the single tile area is greater than one time of the line width, it may be determined that the first display error satisfies the second preset condition, for example, when the line width is 10 cm and the first display error is 11 cm, the first display error is determined to satisfy the second preset condition because 11 > 10. For example, in order to only correct the first display error to a single digit, a person skilled in the art may select a suitable error precision according to actual needs, and the embodiment of the present invention is not limited thereto.
The original correction parameters comprise an original correction direction and an original correction offset, and the original image is stretched and translated according to the original correction direction and the original correction offset to enable images in the splicing region to be coherent; and correcting the image of each splicing area in the panoramic image to finish the calibration of the panoramic looking-around system.
Optionally, the method further comprises:
step S4, calculating a second display error of the splicing region according to the first display error;
calculating the total error of all splicing areas in the panoramic image as a second display error according to the first display error; and the second display error represents the total display error in all the splicing areas in the panoramic image. The second display error may be a sum of all the first display errors within the panoramic image.
Alternatively, the second display error may be calculated by:
and acquiring first display errors of all splicing areas in the panoramic image, and adding the first display errors of all the splicing areas to obtain a second display error. For example: the panoramic image is provided with two splicing areas, wherein the first display error of the first splicing area is 6 cm, and the first display error of the first splicing area is 7 cm; the second display error is equal to 13 cm.
And step S5, when the second display error meets a third preset condition, carrying out panoramic calibration by using the original correction parameters.
When the second display error is greater than the product of the number of the splicing regions and the line width of the linear object, it may be determined that the second display error satisfies a third preset condition, for example, when the line width is 10 centimeters, the number of the splicing regions is 4, and the second display error is 42 centimeters, since 42 is greater than 4 × 10, it is determined that the second display error satisfies the third preset condition. For example, in order to only correct the first display error to a single digit, a person skilled in the art may select a suitable error precision according to actual needs, and the embodiment of the present invention is not limited thereto.
The original correction parameters comprise an original correction direction and an original correction offset, and the original image is stretched and translated according to the original correction direction and the original correction offset to enable images in the splicing region to be coherent; and correcting the image of each splicing area in the panoramic image to finish the calibration of the panoramic looking-around system.
Optionally, a length of a line segment corresponding to the linear object is 50 meters to 60 meters, and the linear object is a solid line or a dashed line.
The terminal equipment can finish panoramic calibration only by driving once in a straight line field with the length of 50-60 meters, the straight line can also be a solid line or a dotted line, and the colors of the straight line include but are not limited to yellow, white and orange; compared with the traditional calibration method, the time consumption is small, and the additional arrangement of a specific calibration site is not needed for calibration, so that the operability of panoramic calibration is greatly increased.
According to the embodiment of the invention, when the terminal equipment is in an automatic calibration state, the camera is controlled to shoot an original image, wherein the original image comprises at least one linear object; splicing the original images to obtain a panoramic image, wherein the panoramic image comprises a plurality of splicing areas; calculating a first display error of the linear object in each splicing region; when the first display error meets a first preset condition, calculating a target correction parameter according to the first display error; and carrying out panoramic calibration according to the target correction parameters. The full-automatic splicing calibration is completed in the calibration process, the output and spliced panoramic picture gets rid of the dependence of the traditional calibration method on the field, and the calibration time is shortened. After the panoramic all-round looking system is maintained, the vehicle can be calibrated in the running process on the road without manual recalibration, and the maintenance time and the labor are saved.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 2, a block diagram of a structure of an embodiment of a panoramic calibration apparatus of the present invention is shown, and is applied to a terminal device, where the terminal device is connected to multiple cameras, and the apparatus may specifically include the following modules:
a shooting module 201, configured to control the camera to shoot an original image when the terminal device is in an automatic calibration state, where the original image includes at least one linear object;
a stitching module 202, configured to stitch the original images to obtain a panoramic image, where the panoramic image includes a plurality of stitching areas;
the first calculation module 203 is configured to calculate a first display error of the linear object in each splicing region;
a first correction module 204, configured to calculate a target correction parameter according to the first display error when the first display error meets a first preset condition;
and a calibration module 205, configured to perform panoramic calibration according to the target correction parameter.
Optionally, the apparatus further comprises:
the acquisition module is used for acquiring the current motion working condition;
the state determination module is used for determining that the terminal equipment is in an automatic calibration state when the terminal equipment is in an automatic calibration movement working condition, and the automatic calibration movement working condition comprises the following steps: the terminal equipment is in at least one of a preset motion state, the motion speed is lower than the preset speed, the motion deviation angle is smaller than the preset angle, the distance from the linear line is smaller than the preset distance, and the automatic calibration switch is in an on state.
Optionally, the original image further includes a camera identifier, and the stitching module 202 includes:
the target determining submodule is used for determining a target straight-line object from the original image;
the matching submodule is used for matching the target linear object with the camera identification to obtain a splicing serial number;
and the splicing submodule is used for splicing the original images by adopting the splicing sequence number to obtain a panoramic image.
Optionally, the apparatus further comprises:
and the second correction module is used for carrying out panoramic calibration by adopting the original correction parameters when the first display error meets a second preset condition.
Optionally, the apparatus further comprises:
the second calculation module is used for calculating a second display error of the splicing area according to the first display error;
and the third correction module is used for carrying out panoramic calibration by adopting the original correction parameters when the second display error meets a third preset condition.
Optionally, the target correction parameter includes a pattern deformation amount, and the calibration module 205 includes:
the correction calculation submodule is used for calculating a correction direction and a correction offset according to the figure deformation amount;
and the calibration and correction submodule is used for carrying out panoramic calibration by adopting the correction direction and the correction offset.
Optionally, a length of a line segment corresponding to the linear object is 50 meters to 60 meters, and the linear object is a solid line or a dashed line.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
An embodiment of the present invention further provides a vehicle, including:
one or more processors; and
one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the vehicle to perform one or more methods as described above.
Embodiments of the invention also provide one or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause the processors to perform one or more methods as described above.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The panoramic calibration method and the panoramic calibration device provided by the invention are described in detail, and the principle and the implementation mode of the invention are explained by applying specific examples, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A panoramic calibration method is applied to terminal equipment, wherein the terminal equipment is connected with a plurality of cameras, and the method comprises the following steps:
when the terminal equipment is in an automatic calibration state, controlling the camera to shoot an original image, wherein the original image comprises at least one linear object;
splicing the original images to obtain a panoramic image, wherein the panoramic image comprises a plurality of splicing areas;
calculating a first display error of the linear object in each splicing region;
when the first display error meets a first preset condition, calculating a target correction parameter according to the first display error;
and carrying out panoramic calibration according to the target correction parameters.
2. The method according to claim 1, wherein before the step of controlling the camera to capture an original image when the terminal device is in the automatic calibration state, the original image comprising at least one linear object, the method further comprises:
acquiring a current motion working condition;
when the terminal equipment is in an automatic calibration movement working condition, determining that the terminal equipment is in an automatic calibration state, wherein the automatic calibration movement working condition comprises the following steps: the terminal equipment is in at least one of a preset motion state, the motion speed is lower than the preset speed, the motion deviation angle is smaller than the preset angle, the distance from the linear line is smaller than the preset distance, and the automatic calibration switch is in an on state.
3. The method according to claim 1 or 2, wherein the original image further comprises a camera identifier, and the step of stitching the original image to obtain the panoramic image comprises:
determining a target straight-line object from the original image;
matching the target linear object with the camera identification to obtain a splicing serial number;
and splicing the original images by adopting the splicing sequence number to obtain a panoramic image.
4. The method of claim 1, further comprising:
and when the first display error meets a second preset condition, carrying out panoramic calibration by adopting the original correction parameters.
5. The method of claim 4, further comprising:
calculating a second display error of the splicing area according to the first display error;
and when the second display error meets a third preset condition, carrying out panoramic calibration by adopting the original correction parameters.
6. The method of claim 1, wherein the target calibration parameters include a pattern distortion, and the step of performing panoramic calibration according to the target calibration parameters includes:
calculating a correction direction and a correction offset according to the figure deformation amount;
and carrying out panoramic calibration by adopting the correction direction and the correction offset.
7. The method of claim 1, wherein the linear object has a corresponding line segment length of 50-60 m, and the linear object is a solid line or a dashed line.
8. The utility model provides a panorama calibration device which characterized in that is applied to terminal equipment, terminal equipment is connected with a plurality of cameras, the device includes:
the shooting module is used for controlling the camera to shoot an original image when the terminal equipment is in an automatic calibration state, wherein the original image comprises at least one linear object;
the splicing module is used for splicing the original images to obtain a panoramic image, and the panoramic image comprises a plurality of splicing areas;
the first calculation module is used for calculating a first display error of the linear object in each splicing area;
the first correction module is used for calculating a target correction parameter according to the first display error when the first display error meets a first preset condition;
and the calibration module is used for carrying out panoramic calibration according to the target correction parameters.
9. A vehicle, characterized by comprising:
one or more processors; and
one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the vehicle to perform the method of one or more of claims 1-7.
10. One or more machine readable media having instructions stored thereon that, when executed by one or more processors, cause the processors to perform the method of one or more of claims 1-7.
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