CN112884844B - Method and device for calibrating panoramic image system and computer readable storage medium - Google Patents
Method and device for calibrating panoramic image system and computer readable storage medium Download PDFInfo
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- CN112884844B CN112884844B CN202110041319.9A CN202110041319A CN112884844B CN 112884844 B CN112884844 B CN 112884844B CN 202110041319 A CN202110041319 A CN 202110041319A CN 112884844 B CN112884844 B CN 112884844B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
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Abstract
The embodiment of the invention provides a method and a device for calibrating a panoramic image system and a computer readable storage medium, wherein the method comprises the following steps: reading video images of corresponding lateral directions of the motor vehicle, which are acquired by the camera devices arranged in all lateral directions of the motor vehicle parked in the image calibration area, and outputting the video images to the human-computer interaction interface for displaying; automatically identifying and determining each automatic simulated location identity; acquiring an external instruction, determining each manual simulation positioning identifier according to the external instruction, and determining each manual simulation positioning identifier and each automatic simulation positioning identifier in the corresponding side video image without the manual simulation positioning identifier as a target simulation positioning identifier; and sequentially splicing the video images according to the position corresponding relation of the target simulation positioning marks respectively corresponding to the same standard positioning mark in the two adjacent lateral video images to form a target panoramic video image. The embodiment can still effectively calibrate when the camera device has installation errors or automatic calibration fails.
Description
Technical Field
The embodiment of the invention relates to the technical field of motor vehicle panoramic image systems, in particular to a method and a device for calibrating a panoramic image system and a computer readable storage medium.
Background
In all motor vehicle panoramic image systems (AVM systems), four images of the front, the rear, the left and the right of a motor vehicle are spliced to finally form a panoramic aerial view of the motor vehicle. In order to realize effective splicing of the four images, image calibration needs to be carried out firstly in the research and development process of the motor vehicle panoramic image system. After a motor vehicle is parked in an image calibration area provided with calibration cloth, video images of four paths of the motor vehicle, namely the front path, the rear path, the left path and the right path, are respectively collected through a vehicle-mounted camera of the motor vehicle, then various image processing is carried out on the video images through an image processor, simulation calibration points which correspond to actual calibration points of the image calibration area in the video images of all the side edges one to one are automatically identified and determined, and then the video images of all the side edges are spliced to form a panoramic video image of the motor vehicle according to the position corresponding relation of all the simulation calibration points in the video images of all the side edges. However, when there is an error in the installation of the vehicle-mounted camera of the motor vehicle or when the light around the motor vehicle is poor and uneven, the panoramic video image is calibrated by automatically identifying the analog calibration point, which may cause calibration failure, and even if the calibration is successful, the obtained panoramic video image is also prone to ghost images and faults.
Disclosure of Invention
The technical problem to be solved by the embodiments of the present invention is to provide a calibration method for a panoramic image system, which can still perform effective calibration when there is an installation error or automatic calibration failure in a camera device.
A further technical problem to be solved in the embodiments of the present invention is to provide a calibration device for a panoramic image system, which can still perform effective calibration when there is an installation error or an automatic calibration failure in a camera device.
A further object of embodiments of the present invention is to provide a computer-readable storage medium, which can still perform effective calibration when there is an installation error or an automatic calibration failure in a camera device.
In order to solve the above technical problem, an embodiment of the present invention provides the following technical solutions: a calibration method of a panoramic image system comprises the following steps:
reading video images of corresponding lateral directions of the motor vehicle, which are acquired by the camera devices arranged in all lateral directions of the motor vehicle parked in the image calibration area, and outputting the video images to a human-computer interaction interface for displaying, wherein the image calibration area is provided with a plurality of standard positioning marks, and each standard positioning mark is at least shot in two adjacent lateral video images;
automatically identifying and determining each manual simulation positioning mark in each lateral video image, which corresponds to each standard positioning mark in the corresponding lateral range in the image calibration area one by one;
acquiring an external instruction input through the human-computer interaction interface, determining each manual simulation positioning identifier in the video image in the preset lateral direction, which corresponds to each standard positioning identifier in the corresponding lateral range in the image calibration area in a one-to-one manner according to the external instruction, and determining each manual simulation positioning identifier and each automatic simulation positioning identifier in the corresponding lateral video image without the manual simulation positioning identifier as a target simulation positioning identifier; and
and sequentially splicing each lateral video image with the adjacent lateral video images respectively according to the position corresponding relation of the target simulation positioning marks respectively corresponding to the same standard positioning mark in the two adjacent lateral video images to form a target panoramic video image of the motor vehicle.
Further, after each automatic simulation positioning identification is determined, the position corresponding relation of the automatic simulation positioning identification corresponding to each automatic simulation positioning identification in two adjacent lateral video images according to the same standard positioning identification is firstly determined, each lateral video image is sequentially spliced with the adjacent lateral video images to form a preliminary panoramic video image of the motor vehicle, the preliminary panoramic video image is output to a human-computer interaction interface to be displayed, and then the external instruction is obtained.
Furthermore, firstly, the video images displayed with each side direction correspondingly generate reference points corresponding to each standard positioning mark one by one, and then each reference point is correspondingly moved according to the external instruction so as to correspondingly move each reference point to the position of each standard positioning mark in the video images of each side edge, thereby determining each manual simulation calibration point.
Further, the external instruction is obtained for multiple times, and the reference point is correspondingly moved by one pixel point every time the external instruction is obtained.
Furthermore, before moving each reference point, an amplification instruction input through the human-computer interaction interface is acquired, and image amplification is performed on a specified area in a video image currently displayed on the human-computer interaction interface according to the amplification instruction.
On the other hand, in order to solve the above further technical problem, an embodiment of the present invention provides the following technical solutions: a calibration device of a panoramic image system is connected with a shooting device and a human-computer interaction interface respectively, wherein the shooting device is used for shooting and providing video images of the corresponding lateral directions of a motor vehicle, the calibration device of the panoramic image system comprises a processor, a memory and a computer program which is stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, the calibration method of the panoramic image system is realized.
In another aspect, to solve the above further technical problem, an embodiment of the present invention provides the following technical solutions: a computer-readable storage medium, comprising a stored computer program, wherein when the computer program runs, the computer-readable storage medium is controlled to execute a calibration method of a panoramic image system according to any one of the above descriptions.
After the technical scheme is adopted, the embodiment of the invention at least has the following beneficial effects: the method comprises the steps of firstly reading video images of corresponding lateral directions of the motor vehicle, which are acquired by all laterally arranged camera devices of the motor vehicle parked in an image calibration area, outputting the video images to a human-computer interaction interface for displaying, then determining an automatic simulation positioning mark in an automatic identification mode, then determining a manual simulation positioning mark by an external instruction input through the human-computer interaction interface, assisting automatic identification, determining the manual simulation positioning mark and the automatic simulation positioning mark in the video images of which the manual simulation positioning mark is not determined as target simulation positioning marks, combining the manual simulation positioning mark and the automatic simulation positioning mark, and finally sequentially splicing each lateral video image and the adjacent lateral video images respectively according to the position corresponding relation of the corresponding target simulation positioning marks in the two adjacent lateral video images of the same standard positioning mark to form a target panoramic video image of the motor vehicle.
Drawings
Fig. 1 is a flowchart illustrating steps of an alternative embodiment of a calibration method of a panoramic image system according to the present invention.
Fig. 2 is a schematic interface diagram of a human-computer interaction interface before movement of a reference point according to an alternative embodiment of the calibration method of the panoramic image system of the present invention.
Fig. 3 is an interface schematic diagram of a panoramic video image when a reference point of a human-computer interaction interface of an optional embodiment of the calibration method of the panoramic image system of the present invention is moved to a standard positioning mark and calibration is completed.
Fig. 4 is a schematic block diagram of an alternative embodiment of a calibration apparatus of a panoramic image system according to the present invention.
Fig. 5 is a functional block diagram of an alternative embodiment of the calibration apparatus of the panoramic image system according to the present invention.
Detailed Description
The present application will now be described in further detail with reference to the accompanying drawings and specific examples. It should be understood that the following illustrative embodiments and description are only intended to explain the present invention, and are not intended to limit the present invention, and that the embodiments and features of the embodiments may be combined with each other in the present application without conflict.
As shown in fig. 1 to 3, an alternative embodiment of the present invention provides a calibration method of a panoramic image system, including the following steps:
s1: reading video images of corresponding lateral directions of the motor vehicle, which are acquired by the camera devices 3 arranged in the lateral directions of the motor vehicle parked in the image calibration area, and outputting the video images to the human-computer interaction interface 5 for displaying, wherein the image calibration area is provided with a plurality of standard positioning marks, and each standard positioning mark (four corners of each black large block in the figures 2 and 3) is at least shot in the video images of two adjacent lateral directions;
s2: automatically identifying and determining each automatic analog positioning mark in each lateral video image, which corresponds to each standard positioning mark in the corresponding lateral range in the image calibration area one by one;
s3: acquiring an external instruction input through the human-computer interaction interface 5, determining each manual simulation positioning identifier in the video image in the preset lateral direction, which corresponds to each standard positioning identifier in the corresponding lateral range in the image calibration area in a one-to-one manner according to the external instruction, and determining each manual simulation positioning identifier and each automatic simulation positioning identifier in the corresponding lateral video image without the manual simulation positioning identifier as a target simulation positioning identifier; and
s4: and sequentially splicing each lateral video image with the adjacent lateral video images respectively according to the position corresponding relation of the target simulation positioning marks respectively corresponding to the same standard positioning mark in the two adjacent lateral video images to form a target panoramic video image of the motor vehicle.
The embodiment of the invention firstly reads the video images of the corresponding lateral directions of the motor vehicle collected by the camera device 3 arranged at each lateral direction of the motor vehicle parked in the image calibration area and outputs the video images to the man-machine interaction interface 5 for displaying, then adopts the automatic identification mode to determine the automatic simulation positioning mark, then adopts the external instruction input by the man-machine interaction interface 5 to determine the manual simulation positioning mark by adopting the external instruction input by people, assists the automatic identification, determines the manual simulation positioning mark and the automatic simulation positioning mark in the video images of which the manual simulation positioning mark is not determined as the target simulation positioning mark, combines the manual simulation positioning mark and the automatic simulation positioning mark, and finally splices each lateral video image and the adjacent lateral video image in sequence according to the position corresponding relation of the corresponding target simulation positioning mark in two adjacent lateral video images of the same standard positioning mark to form the target video image of the motor vehicle.
In an optional embodiment of the present invention, after each automatic positioning simulation marker is determined, the position corresponding relationship of the automatic positioning simulation marker respectively corresponding to the same standard positioning simulation marker in two adjacent lateral video images is firstly determined, each lateral video image is sequentially spliced with the adjacent lateral video image to form a preliminary panoramic video image of the motor vehicle, and the preliminary panoramic video image is output to the human-computer interaction interface 5 for displaying and then the external instruction is obtained. In this embodiment, after each automatic analog positioning identifier is determined, the video images are sequentially spliced by using the automatic analog positioning identifiers to form a preliminary panoramic video image of the motor vehicle, and the preliminary panoramic video image is displayed on the human-computer interaction interface 5 for reference of an operator.
In yet another alternative embodiment of the present invention, the reference points (such as the small white blocks in fig. 2 and 3) corresponding to the standard positioning marks are generated in the video images displayed with the side directions, and then the reference points are moved correspondingly according to the external instruction to move the reference points to the positions of the standard positioning marks in the video images of the side sides correspondingly to determine the manual simulation calibration points. In this embodiment, the reference points are generated first, and when an external command is specifically input, each reference point can be manually moved by using a corresponding movement command (such as a key, a mouse, and a touch screen input) until the reference point is judged to move to the position of the standard positioning mark, so that it is ensured that the manual simulation calibration point can be effectively determined.
In yet another optional embodiment of the present invention, the external command is obtained multiple times, and the reference point is moved by one pixel point for each time of obtaining the external command. In the embodiment, one pixel point is correspondingly moved by correspondingly acquiring the reference point once, so that the moving accuracy of the reference point is improved, and the reference point is ensured to accurately correspond to the position of the standard positioning mark.
In an optional embodiment of the present invention, before moving each reference point, an enlargement instruction input via the human-computer interaction interface 5 is obtained, and an image enlargement is performed on a designated area in a video image currently displayed by the human-computer interaction interface according to the enlargement instruction. In this embodiment, the accurate correspondence of the reference point to the position of the standard positioning identifier is ensured by obtaining the enlargement instruction and enlarging the image of the designated area in the video image because the display area through the human-computer interaction interface is effective.
On the other hand, as shown in fig. 4, an embodiment of the present invention provides a calibration apparatus 1 of a panoramic image system, which is respectively connected to a shooting apparatus 3 for shooting and providing a video image of a corresponding lateral side of a motor vehicle and a human-computer interaction interface 5, where the calibration apparatus 1 of the panoramic image system includes a processor 10, a memory 12, and a computer program stored in the memory 12 and configured to be executed by the processor 10, and when the processor 10 executes the computer program, the calibration method of the panoramic image system as described in any one of the above is implemented.
Illustratively, the computer program may be partitioned into one or more modules/units that are stored in the memory 12 and executed by the processor 10 to implement the present invention. The one or more modules/units may be a series of instruction segments of a computer program capable of performing specific functions, and the instruction segments are used for describing the execution process of the computer program in the calibration apparatus 1 of the panoramic image system. For example, the computer program may be divided into functional modules in the calibration apparatus 1 of the panoramic image system shown in fig. 5, wherein the image reading module 21, the automatic identifier determining module 22, the target identifier determining module 23, and the image stitching module 24 respectively perform the steps S1 to S4.
The calibration device 1 of the panoramic image system can be a desktop computer, a notebook computer, a palm computer, a cloud server and other computing equipment. The calibration apparatus 1 of the panoramic image system may include, but is not limited to, a processor 10 and a memory 12. It will be understood by those skilled in the art that the schematic diagram is merely an example of the calibration apparatus 1 of the panoramic image system, and does not constitute a limitation to the calibration apparatus 1 of the panoramic image system, and may include more or less components than those shown in the drawings, or combine some components, or different components, for example, the calibration apparatus 1 of the panoramic image system may further include an input/output device, a network access device, a bus, and the like.
The Processor 10 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. The processor 10 is a control center of the calibration apparatus 1 of the panoramic image system, and various interfaces and lines are used to connect the various parts of the calibration apparatus 1 of the whole panoramic image system.
The memory 12 may be used to store the computer program and/or the module, and the processor 10 implements various functions of the calibration apparatus 1 of the panoramic image system by running or executing the computer program and/or the module stored in the memory 12 and calling the data stored in the memory 12. The memory 12 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a pattern recognition function, a pattern stacking function, etc.), and the like; the storage data area may store data (such as graphic data, etc.) created according to the use of the control device, etc. Further, the memory 12 may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The functions described in the embodiments of the present invention may be stored in a storage medium readable by a computing device if they are implemented in the form of software functional modules or units and sold or used as independent products. Based on such understanding, all or part of the flow in the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by the processor 10, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
In another aspect, an embodiment of the present invention provides a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program, and when the computer program runs, a device in which the computer-readable storage medium is located is controlled to execute the method for calibrating a panoramic image system according to any one of the foregoing descriptions.
In the present specification, the embodiments are described in a progressive manner, and each embodiment focuses on differences from other embodiments, and the same or similar parts between the embodiments are referred to each other.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (6)
1. A calibration method of a panoramic image system is characterized by comprising the following steps:
reading video images of corresponding lateral directions of the motor vehicle, which are acquired by the camera devices arranged in all lateral directions of the motor vehicle parked in the image calibration area, and outputting the video images to a human-computer interaction interface for displaying, wherein the image calibration area is provided with a plurality of standard positioning marks, and each standard positioning mark is at least shot in two adjacent lateral video images;
automatically identifying and determining each automatic analog positioning mark in each lateral video image, which corresponds to each standard positioning mark in the corresponding lateral range in the image calibration area one by one;
acquiring an external instruction input through the human-computer interaction interface, correspondingly generating reference points corresponding to the standard positioning marks in a one-to-one manner in the video images with the preset lateral directions, correspondingly moving the reference points according to the external instruction to correspondingly move the reference points to the positions of the standard positioning marks in the video images with the preset lateral directions so as to determine the manual simulation positioning marks corresponding to the standard positioning marks in the corresponding lateral direction range in the image calibration area in the video images with the preset lateral directions, and determining the automatic simulation positioning marks in the corresponding lateral video images without the manual simulation positioning marks as target simulation positioning marks; and
and sequentially splicing each lateral video image with the adjacent lateral video images respectively according to the position corresponding relation of the target simulation positioning marks respectively corresponding to the same standard positioning mark in the two adjacent lateral video images to form a target panoramic video image of the motor vehicle.
2. The calibration method of the panoramic image system according to claim 1, wherein after each automatic positioning simulation mark is determined, the video images in each lateral direction are sequentially spliced with the video images in the adjacent lateral directions according to the position corresponding relationship of the automatic positioning simulation marks respectively corresponding to the same standard positioning mark in the two video images in the adjacent lateral directions to form a preliminary panoramic video image of the motor vehicle, and the preliminary panoramic video image is output to a human-computer interaction interface to be displayed, and then the external command is obtained.
3. The method for calibrating a panoramic image system according to claim 1, wherein the external command is acquired a plurality of times, and the reference point is moved by one pixel point for each external command acquired.
4. The method for calibrating a panoramic image system according to claim 1, wherein an enlargement command input via the human-computer interface is obtained before each reference point is moved, and an image of a designated area in a video image currently displayed on the human-computer interface is enlarged according to the enlargement command.
5. A calibration device of a panoramic image system, which is connected to a shooting device for shooting and providing video images of corresponding lateral directions of a motor vehicle and a human-computer interaction interface respectively, wherein the calibration device of the panoramic image system comprises a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, and the processor implements the calibration method of the panoramic image system according to any one of claims 1 to 4 when executing the computer program.
6. A computer-readable storage medium, comprising a stored computer program, wherein when the computer program runs, the computer-readable storage medium is controlled to implement a calibration method of the panoramic image system according to any one of claims 1 to 4.
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