CN113194246A - Image display method and device of mobile equipment - Google Patents
Image display method and device of mobile equipment Download PDFInfo
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- CN113194246A CN113194246A CN202110360157.5A CN202110360157A CN113194246A CN 113194246 A CN113194246 A CN 113194246A CN 202110360157 A CN202110360157 A CN 202110360157A CN 113194246 A CN113194246 A CN 113194246A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/69—Control of means for changing angle of the field of view, e.g. optical zoom objectives or electronic zooming
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
- G01P3/38—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light using photographic means
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/63—Control of cameras or camera modules by using electronic viewfinders
- H04N23/631—Graphical user interfaces [GUI] specially adapted for controlling image capture or setting capture parameters
- H04N23/632—Graphical user interfaces [GUI] specially adapted for controlling image capture or setting capture parameters for displaying or modifying preview images prior to image capturing, e.g. variety of image resolutions or capturing parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
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Abstract
The invention discloses an image display method of mobile equipment, belonging to the technical field of image processing and display, comprising the following steps: acquiring the real-time speed of the mobile equipment and the actual field angle of a picture shot by a camera device moving synchronously with the mobile equipment; calculating an ideal field angle of the image display device of the mobile equipment for displaying the shot picture according to the real-time speed; calculating a variation parameter of the actual field angle according to the ideal field angle; and adjusting the shot picture according to the change parameters so as to display in the image display device. The invention also discloses an image display device of the mobile equipment. The image display method of the mobile equipment provided by the invention can realize that the field angle of the picture displayed by the display device of the mobile equipment is adaptively changed along with the moving speed of the equipment, thereby automatically adjusting the display picture of the equipment to be more matched with a human eye vision perception system.
Description
Technical Field
The invention belongs to the technical field of image processing and display, and particularly relates to an image display method and device of mobile equipment.
Background
At present, the intelligent degree of car driver assistance system is higher and higher, can realize including functions such as lane line skew detection, preceding car sudden braking detection, sight blind area detection, has strengthened the security that the vehicle travel. Generally speaking, an intelligent driving assistance system for an automobile comprises a sensor data acquisition device at the front end and a video display device at the rear end, wherein the video display device is directly provided for a driver in the automobile to watch, and the judgment of the driver on road conditions is directly influenced by the quality of a display effect. For a driver, the video display effect needs to be matched with a human eye vision perception system as much as possible, the more matched human eyes are more comfortable to observe, but the display mode of the current automobile auxiliary driving system is not well matched with the human eye vision perception system, certain discomfort is brought to the driving of the driver, and the accurate judgment of the road condition by the driver is not facilitated.
Disclosure of Invention
In order to solve the problems in the prior art, embodiments of the present invention provide an image display method and apparatus for a mobile device. The technical scheme is as follows:
the invention provides an image display method of mobile equipment, which comprises the following steps:
acquiring the real-time speed of the mobile equipment and the actual field angle of a picture shot by a camera device moving synchronously with the mobile equipment;
calculating an ideal field angle of the image display device of the mobile equipment for displaying the shot picture according to the real-time speed;
calculating a variation parameter of the actual field angle according to the ideal field angle;
and adjusting the shot picture according to the change parameters so as to display in the image display device.
In some embodiments, said obtaining the real-time speed of the mobile device comprises:
acquiring a real-time video stream shot by the camera device;
calculating the real-time horizontal moving speed of pixel points in the first frame image according to the first frame image and the second frame image in the real-time video stream;
calculating the real-time speed of the mobile equipment according to the real-time horizontal moving speed of the pixel points and the corresponding relation between the prestored horizontal moving speed of the pixel points and the moving speed of the mobile equipment;
and the first frame image and the second frame image are front and back two frames of images in the real-time video stream.
In some embodiments, the calculating a real-time horizontal movement speed of a pixel point in a first frame image according to the first frame image and a second frame image in the real-time video stream includes:
intercepting a first image block and a second image block with the same size at the corresponding positions of the first frame image and the second frame image respectively;
intercepting a first image pixel column group and a second image pixel column group with the same size at corresponding positions of the first image block and the second image block respectively;
acquiring an image pixel column group which is most matched with the first image pixel column group in the second image block, and recording the image pixel column group as a preset image pixel column group;
and the pixel displacement generated in the horizontal direction by the preset image pixel column group and the second image pixel column group is the real-time horizontal moving speed of the pixel points in the first frame image.
In some embodiments, the truncating first and second image blocks with the same size at corresponding positions of the first frame image and the second frame image respectively includes:
and intercepting the first image block and the second image block with the same size at the corresponding positions of the edges on the same side of the first frame image and the second frame image respectively.
In some embodiments, the obtaining an image pixel column group in the second image block that is most matched with the first image pixel column group, which is recorded as a preset image pixel column group, includes:
adopting a sliding window with the size consistent with that of the first image pixel column group, sliding along the second image block by a specific step length, and acquiring one or more image pixel column groups with the size consistent with that of the first image pixel column group;
calculating the similarity of the first image pixel column group and an image pixel column group in the one or more image pixel column groups;
and the image pixel column group with the highest similarity to the first image pixel column group in the one or more image pixel column groups is the preset image pixel column group.
In some embodiments, the correspondence between the horizontal moving speed of the pixel point and the moving speed of the mobile device is determined by the following method:
acquiring horizontal moving speeds of pixel points at preset target positions in pictures shot by a camera device moving synchronously with the mobile equipment when the mobile equipment moves at different speeds;
and establishing a corresponding relation between the horizontal moving speed of the pixel points and the moving speed of the mobile equipment.
In some embodiments, said calculating an ideal field angle at which an image display device of the mobile device displays the captured picture according to the real-time speed comprises:
when the mobile equipment moves at a preset speed, acquiring one or more display images of the image display device of the mobile equipment under one or more visual angles;
and in the one or more display images, the angle of view corresponding to the display image which is most matched with the human eye perception system is the ideal angle of view.
In some embodiments, the variation parameter of the actual field angle includes: the digital variable magnification and/or the optical variable magnification of the actual field angle.
In some embodiments, the method is applied to a vehicle driving assistance system, comprising:
acquiring the real-time speed of the vehicle and the actual field angle of a picture shot by a camera device moving synchronously with the vehicle;
calculating the ideal field angle of the shot picture displayed by an image display device of the vehicle according to the real-time speed;
calculating a variation parameter of the actual field angle according to the ideal field angle;
and adjusting the shot picture according to the change parameters so as to display in the image display device.
The present invention also provides an image display apparatus of a mobile device, comprising:
the data acquisition module is used for acquiring the real-time speed of the mobile equipment and the actual field angle of a picture shot by a camera device moving synchronously with the mobile equipment;
an analysis processing module to,
calculating an ideal field angle of the image display device of the mobile equipment for displaying the shot picture according to the real-time speed;
calculating a variation parameter of the actual field angle according to the ideal field angle;
and adjusting the shot picture according to the change parameters so as to display in the image display device.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
the invention can realize that the field angle of the picture displayed by the display device of the mobile equipment is adaptively changed along with the moving speed of the equipment, thereby automatically adjusting the display picture of the equipment to be more matched with the human visual perception system.
Furthermore, the invention also provides an estimation method of the real-time speed of the mobile equipment based on image processing, which can realize simple and quick estimation of the real-time speed of the movement of the mobile equipment according to the display image of the display device of the mobile equipment without any sensor.
Furthermore, the invention is applied to the vehicle auxiliary driving system, can automatically adjust the display picture of the rear video of the vehicle auxiliary driving system, so that the display picture is more consistent with the human eye vision perception system, is convenient for the driver to observe and judge the road condition, and improves the driving safety of the vehicle while enhancing the driving comfort.
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The above features and advantages of the present disclosure will be better understood upon reading the detailed description of embodiments of the disclosure in conjunction with the following drawings. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 shows a schematic diagram of an embodiment of an image display method of a mobile device of the present invention;
fig. 2 is a schematic diagram illustrating a method of calculating a real-time horizontal moving speed of a pixel point in an embodiment of an image display method of a mobile device according to the present invention;
FIG. 3 is a schematic diagram illustrating a relationship between an image viewing angle and a vehicle movement speed on an in-vehicle display screen in an embodiment of a vehicle driving assistance system to which the image display method of the mobile device of the present invention is applied;
fig. 4 shows a block diagram of an embodiment of an image display apparatus of a mobile device of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages 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 accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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 the descriptions of the present invention in terms of "left", "right", lower, etc. directions are defined based on the relationship of the orientation or position shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device described must be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention. The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the present invention, "plurality" or several means two or more unless specifically limited otherwise.
In the description of the present invention, it should be noted that, unless otherwise explicitly stated or limited, such mechanical terms as "mounted," "disposed," and the like are to be construed broadly and include, for example, fixed connections, detachable connections, or integral connections; the connection can be mechanical connection, electrical connection or communication connection; 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.
The invention adjusts the angle of view of the picture shot by the camera device which moves synchronously with the equipment by establishing the corresponding relation between the angle of view of the image displayed by the image display device of the mobile equipment and the real-time moving speed of the equipment, thereby realizing the self-adaptive change of the angle of view of the display picture along with the real-time moving speed of the equipment and leading the angle of view to be more consistent with a human eye vision perception system; meanwhile, the invention also provides an estimation method of the real-time speed of the mobile equipment based on image processing, which simply and quickly estimates the real-time speed of the mobile equipment according to the display image of the display device of the equipment.
The method specifically comprises the following steps:
s1: acquiring the real-time speed of the mobile equipment and the actual field angle of a picture shot by a camera device moving synchronously with the equipment;
s2: calculating the ideal view angle of the image display device of the equipment for displaying the shot picture according to the real-time speed;
s3: calculating a variation parameter of an actual field angle according to the ideal field angle;
s4: and adjusting the shot picture according to the change parameters so as to display the shot picture in the image display device.
The following describes an image display method of a mobile device according to an embodiment of the present invention in detail with reference to specific embodiments and accompanying drawings.
Example 1
Fig. 1 is a schematic diagram illustrating an embodiment of an image display method of a mobile device according to the present invention, and the following is a detailed description of the method steps of the embodiment, in conjunction with fig. 1.
S1: acquiring real-time speed V of mobile equipment and actual field angle rho of picture shot by camera device moving synchronously with the equipment1。
Preferably, in S1, acquiring the real-time speed of the mobile device S11 includes:
s111: acquiring a real-time video stream shot by a camera device which moves synchronously with the equipment;
s112: calculating the real-time horizontal moving speed S of a pixel point in a first frame image according to the first frame image and a second frame image in the shot real-time video stream;
s113: calculating the real-time speed V of the equipment according to the real-time horizontal moving speed S of the pixel point and the corresponding relation between the prestored horizontal moving speed of the pixel point and the moving speed of the mobile equipment;
the first frame image and the second frame image are front and back two frames of images in the shot real-time video stream.
Fig. 2 is a schematic diagram illustrating a method for calculating a real-time horizontal moving speed of a pixel in an embodiment of an image display method of a mobile device according to the present invention, which is shown in fig. 2.
Specifically, when the mobile equipment moves, a real-time video stream shot by a camera device moving synchronously with the mobile equipment is acquired, the acquired video stream data is marked, and the first frame image, the second frame image, the … frame image and the nth frame image are sequentially marked as I1、 I2、……、In(assuming that the image resolution is m x n, where m represents the number of columns and n represents the number of rows), more specifically, the camera device, which here moves in synchronism with the mobile device, may be mounted on the external front and/or back end of the device. Alternatively, according to I1、I2Calculation of I1Real-time horizontal moving speed S of upper pixel point1And according to the real-time horizontal moving speed S1And calculating the real-time speed V of the equipment according to the pre-acquired corresponding relation between S and V. For convenience of discussion, the expressions "method for obtaining the real-time speed V of the mobile device" here and below are all taken as an example of the first frame image and the second frame image, and it is noted that the embodiment mentioned aboveThe "method for obtaining the real-time speed V of the mobile device" may be applied to any two frames of the real-time video stream, for example, according to In-1、InCalculation of In-1Real-time horizontal moving speed S of upper pixel pointn-1(as shown in fig. 2) and according to the real-time horizontal moving speed Sn-1The real-time speed V of the device is calculated.
In S112, the method further includes:
intercepting a first image block and a second image block with the same size at corresponding positions of a first frame image and a second frame image respectively;
intercepting a first image pixel column group and a second image pixel column group with the same size at corresponding positions of the first image block and the second image block respectively;
acquiring an image pixel column group which is most matched with the first image pixel column group in the second image block, and recording the image pixel column group as a preset image pixel column group;
the pixel displacement generated in the horizontal direction by the preset image pixel column group and the second image pixel column group is the real-time horizontal moving speed of the pixel points in the first frame image.
Specifically, P consecutive pixel columns of the image are respectively cut at corresponding positions of the first frame image and the second frame image to form new image blocks with the same size, and the new image blocks are marked as first image blocks P1The second image block P2(for I)3、I4、…、In-1、InLike other frame images, the method can respectively intercept continuous P columns of image pixel columns and form new image blocks with consistent sizes, and the new image blocks are respectively marked as P3、P4、…、Pn-1、Pn) Wherein, the value range of p can be (0.1m, 0.2m), if the moving speed of the device is faster, the value of p can be larger, otherwise, the value of p is smaller; in image block P1、P2At the corresponding position, T columns of images are intercepted to form a first image pixel column group T with the same size1And a second image pixel column group T2(for I)3、I4、…、In-1、InImage block P on other frame images3、P4、…、Pn-1、PnSimilarly, it is also possible to respectively intercept the pixel column group T of the continuous T columns of image3、T4、…、 Tn-1、Tn) (ii) a Comparison T1、T2And obtain T2Upper and T1The most matched image pixel column group is marked as a preset image pixel column group TxThen T isxAnd T2The pixel displacement generated in the horizontal direction is the real-time horizontal moving speed S of the pixel point in the first frame image1(for I)2、I3、…、In-1、InAnd (5) waiting for other image frames, and respectively calculating the real-time horizontal moving speed S of the pixel points in each image frame2、S3、…、Sn-1、Sn) The value range of t may be (1/4P, 1/3P), where P is the number of columns of the image block P, and if the image resolution is higher, the value of t may be smaller, and otherwise, the value of t may be larger.
In S112, preferably, the first and second image blocks with the same size are respectively cut at corresponding positions of the same side edge of the first frame image and the second frame image.
Specifically, in the process of moving the device, the image content shot by the camera in real time gradually disappears from the center to the edge, and the content of the left and right edge portions of the field of view of the picture shot by the camera can be regarded as fixed and static targets in the environment, such as building vegetation and the like, that is, the content of the target of the left and right edge portions of the field of view of the picture shot by the camera does not have relative motion with the ground, so that the moving speed of the target content of the left and right edge portions of the field of view of the picture relative to the device is closest to the real-time speed of the device by taking the mobile device as a reference object, and the real-time speed of the device can be measured by calculating the speed of the translational disappearance of the target content of the left and right edge portions of the field of the picture shot by the camera. In summary, the real-time horizontal moving speed of the pixel points in the picture taken by the camera device moving synchronously with the mobile device can be used to measure the real-time moving speed of the mobile device, and since the moving speed of the target content at the left and right edges of the visual field of the taken picture relative to the mobile device is the closest to the real-time moving speed of the mobile device, the real-time moving speed of the pixel points at the edges of the taken picture is more preferableIt is more accurate to measure the real-time speed of the device movement. More specifically, P columns are continuously cut from the leftmost first column of the first frame image and the second frame image to form image blocks P with the same size1、P2(ii) a In image block P1、P2The rightmost first column of the image block is cut to form a first image pixel column group T with the same size1And a second image pixel column group T2(ii) a Comparison T1、T2And obtain T2Upper and T1The most matched image pixel column group is marked as a preset image pixel column group TxThen T isxAnd T2The pixel displacement generated in the horizontal direction is the real-time horizontal moving speed of the pixel point in the first frame image, and further the real-time moving speed of the equipment is measured. Similarly, the image blocks may also be captured from the rightmost sides of the first frame image and the second frame image, which is not described herein again.
In S112, further, acquiring an image pixel column group in the second image block that is most matched with the first image pixel column group, and recording the image pixel column group as a preset image pixel column group, including:
adopting a sliding window with the size consistent with that of the first image pixel column group, sliding along the second image block by a specific step length, and acquiring one or more image pixel column groups with the size consistent with that of the first image pixel column group;
calculating the similarity O between the first image pixel column group and the image pixel column group in the one or more image pixel column groups;
in the one or more image pixel column groups, the image pixel column group with the highest similarity O with the first image pixel column group is a preset image pixel column group.
Specifically, since the frame rate of the external camera of the mobile device is real-time for human eyes, the target content of the edge portion of the picture taken by the camera can be considered to be continuously gradually changed, that is, the edge portions of the two frames of images before and after the camera have completely or approximately consistent portions, so that the horizontal pixel displacement amount generated between the consistent or approximately consistent image blocks in the edge portions of the two frames of images before and after the camera can be considered as the real-time horizontal moving speed of the pixel points in the image of the previous frameAnd (4) degree. As described above, for the first and second frame images, the image block P is obtained1、P2And an image pixel column group T thereon1、T2After, T2Upper and T1The most similar image block is T1The most matched image pixel column group is marked as a preset image pixel column group Tx. In this regard, T may be obtained by way of a sliding windowxSpecifically, the sum T is used1Windows of uniform size and with a certain step length q at T2Performing up-sliding comparison, and calculating image pixel column groups T and T acquired after each sliding window1To obtain the image pixel column group T with the highest similarityx(Preset group of image pixels) due to T1And T2Is an image pixel column group with corresponding position and consistent size, so TxAnd T2The pixel displacement generated in the horizontal direction is the first image block P1Real-time horizontal movement speed of, i.e. I1Real-time horizontal moving speed of middle pixel point, more specifically, due to T1And T2The image pixel column groups with corresponding positions and consistent sizes are obtained, so the highest similarity O is obtainedxImage pixel column group Tx(Preset group of image pixels), T1The number of pixels sliding in the horizontal direction is TxAnd T2The amount of pixel displacement generated in the horizontal direction, i.e. I1Real-time horizontal moving speed of the middle pixel point. The step length q of the sliding window can be adjusted according to the approximate speed of the movement of the device: if the device moves slowly, the value of the step length q is small, and if the device moves quickly, the value of the step length q is adjusted to be large appropriately, so that the calculation cost and time are saved, the best matching image pixel column group (preset image pixel column group) can be obtained quickly, in addition, preferably, the value of the step length q can be thick firstly and then thin, namely, the value of the step length q is large at first, rough search is carried out, and the value of the step length q is reduced when the similarity reaches a certain threshold value, so that accurate search is carried out.
Further, T can be calculated1The mean square error MSE, the peak signal-to-noise ratio PSNR, the structural similarity SSIM and the like of the image pixel column group T in the one or more image pixel column groupsThe method measures the similarity O of the two after each sliding window. It is noted that T is calculated in this embodiment1The method of similarity with the image pixel column group T in the aforementioned one or more image pixel column groups is not limited to the above-listed method.
Specifically, for the image T, K with the resolution m × n, the mean square error MSE, the peak signal-to-noise ratio PSNR, and the structural similarity SSIM are defined as follows:
SSIM＝l(T，K)α*c(T，K)β*s(T，K)γ
the MAXTRepresenting the maximum possible pixel value of the image T (MAX assuming that the pixel values here are represented by B-bit binaryT＝2B-1); preferably, α, β, γ are set to a constant of 1 or such that α + β + γ is 1. Further, l (T, K), c (T, K), s (T, K) are:
wherein, muTAnd muKRespectively, the mean value of pixels, σ, of image T, KT 2And sigmak 2Respectively, the variance, σ, of the pixels of the image T, KTσKIs the pixel covariance of the image T, K, a1、a2、a3Is arbitrarily small constant to avoid the denominator of the above formula being 0 (preferably, a)3＝a2/2)。
More specifically, the above T1The smaller the mean square error between T and T, the higher the similarity between T and T (similarly, the lower the peak signal-to-noise ratio between T and/or the greater the structural similarity between T and T).
In S112, preferably, the method includes:
acquiring the horizontal moving speed of a pixel point at a preset target position in a picture shot by a camera device which moves synchronously with mobile equipment when the equipment moves at different speeds;
and establishing a corresponding relation between the horizontal moving speed of the pixel points and the moving speed of the mobile equipment.
Specifically, as described above, there is a corresponding relationship between the horizontal movement speed of the pixel point in the picture taken by the camera device moving synchronously with the mobile device and the movement speed of the device, and along with the movement of the device, the movement speed of the target content in the picture taken by the camera device from the center of the field of view to the edge is gradually increased, and the movement speed of the target content closer to the edge of the picture is closer to the movement speed of the device, so that the corresponding relationship between the real-time horizontal movement speed S of the pixel point in the picture taken and the real-time movement speed V of the device can be obtained through multiple tests. Calibrating the real-time horizontal moving speed S of the pixel points, optionally selecting a target position from pictures shot by a camera device moving synchronously with the mobile equipment, acquiring the horizontal moving speed corresponding to the pixel points at the preset target position when the equipment moves at different speeds, and/or enabling the equipment to move at a fixed speed, acquiring the respective horizontal moving speed of pixel points at a plurality of positions in the pictures shot, and establishing the corresponding relation between the horizontal moving speed S of the pixel points of the pictures shot and the moving speed V of the equipment through a plurality of tests. It should be noted that the establishment of the corresponding relationship between S and V in the present embodiment is not limited to the aforementioned exemplary method, and any method for establishing the corresponding relationship between S and V is within the scope of the present embodiment.
S2: and calculating the ideal viewing angle of the image display device of the equipment for displaying the shot picture according to the real-time speed.
Preferably, when the mobile device moves at a preset speed, one or more display images of the image display device of the device at one or more angles of view are acquired;
and in the one or more display images, the angle of view corresponding to the display image which is most matched with the human eye perception system is the ideal angle of view.
In particular, the field angle ρ for displaying images by the device display apparatus is realizedyAs the moving speed of the device is adaptively adjusted, it is necessary to establish the moving speed V of the device and the viewing angle ρ of the image displayed by the display device thereofyThe relationship between them. Optionally, the display image field angle ρ is continuously adjusted while the device is moving at a preset speedySo as to acquire one or more display images of the image display device of the apparatus at one or more numerical viewing angles, and among the acquired display images, the viewing angle corresponding to the display image that best matches the human eye perception system is the ideal viewing angle ρ2Thereafter, the moving speed of the device is adjusted to obtain the ideal field angle ρ corresponding to different moving speeds of the device2That is, the empirical parameters most matched with the human visual perception system are obtained through a plurality of tests, and then the ideal field angle rho of the image displayed by the equipment display device is established2Corresponding to the device moving speed V. It is to be noted that the device display apparatus in the present embodiment displays an image with the desired field angle ρ2The acquisition of (b) is not limited to the aforementioned exemplary method, and any method of acquiring the above-described ideal angle of view ρ2All methods of (2) are within the scope of the present embodiment.
S3: calculating a variation parameter of the actual field angle corresponding to the moving speed of the mobile equipment according to the ideal field angle;
s4: and adjusting the shot picture according to the acquired change parameters so as to display the shot picture in the image display device.
Preferably, the variation parameter of the actual angle of view includes: the digital magnification variation and/or the optical magnification variation of the actual field angle.
Specifically, for a display device with a resolution of m × n: when the moving speed of the equipment is zero, the display device displays the image content of the picture shot by the camera device which moves synchronously with the equipment under the full field angle; as the moving speed increases, the field angle at which the display device displays the photographed picture is linearly adjusted by a digital/optical variable magnification manner, so that picture contents with the same resolution but more concentrated field of view are presented on the display device.
Example 2
The method provided by the invention is applied to a vehicle driving assisting system and comprises the following steps:
acquiring the real-time speed of a vehicle and the actual field angle of a picture shot by a camera device moving synchronously with the vehicle;
calculating an ideal viewing angle of the image display device of the vehicle for displaying the shot picture according to the real-time speed;
calculating a variation parameter of an actual field angle according to the ideal field angle;
and adjusting the shot picture according to the acquired change parameters so as to display the shot picture in the vehicle image display device.
In particular, the amount of the solvent to be used,
marking the acquired video stream data, and sequentially marking the first frame image, the second frame image, the … frame image and the nth frame image as I1、I2、……、In(let the image resolution be m x n, where m represents the number of columns and n represents the number of rows); continuously cutting P columns of image pixel columns from the leftmost first column of the first frame image and the second frame image respectively to form image blocks P with the same size1、P2(for the same reason, for I3、I4、…、In-1、InAnd (5) intercepting continuous P columns of image pixel columns of other frame images respectively, and forming new image blocks with consistent sizes to be marked as P respectively3、P4、…、Pn-1、 Pn) (ii) a In image block P1、P2The rightmost first column of the image block is cut to form a first image pixel column group T with the same size1And a second image pixel column group T2(for the same reason, for I3、I4、…、In-1、InImage block P on other frame images3、P4、…、Pn-1、PnSimilarly, it is also possible to respectively intercept the pixel column group T of the continuous T columns of image3、T4、…、Tn-1、Tn). From right to left, will T1And the second image block P2Performing sliding window comparison and calculating similarity, and performing sliding window comparison on the second image block P2To obtain a first image pixel column group T1Most similar image pixel column group Tx1At this time, the first image block P can be calculated1The motion speed of (1) is the horizontal movement speed of the pixel point of the first frame image, and is marked as S1(similarly, the second image pixel column group T is arranged from right to left2And a third image block P of a third frame image3Performing sliding window comparison on the third image block P3To obtain a pixel column group T of the second image2Most similar image pixel column group Tx2Calculating to obtain a second image block P2The motion speed of (1) is the horizontal movement speed of the pixel point of the second frame image, and is marked as S2And so on, for the nth frame image InBy the method, the (n-1) th image block P can be calculatedn-1Speed of movement Sn-1). In practice, when the vehicle is a right-handed vehicle such as china, usa, the right edge of each frame image can be selected for performing the truncation calculation, and when the vehicle is a left-handed vehicle such as japan and uk, the right edge of each frame image can be selected for performing the truncation calculation, so that the calculation result is more reasonable. Furthermore, as the vehicle travels, the moving speed of the target content in the picture taken by the camera device (such as the camera outside the vehicle) synchronized with the vehicle is gradually increased from the center of the view field to the edge, and the moving speed of the target content closer to the edge of the picture is closer to the real-time speed of the equipment moving, so that the pixel point is establishedThe corresponding relationship between the horizontal moving speed S and the real-time speed V of the vehicle can be obtained through a plurality of tests, for example, the vehicle is made to run at a fixed speed and the respective horizontal moving speeds of the pixel points at a plurality of positions in the photographed image are collected, and then, for example, the horizontal moving speed corresponding to the pixel point at the preset target position in the photographed image is collected when the vehicle runs at different speeds, so as to establish the corresponding relationship.
Of course, the real-time speed of the vehicle running can also be directly obtained through a vehicle-mounted speed measuring device such as a sensor, a radar and the like.
In order to adaptively decrease or increase the field angle of the image presented on the in-vehicle display screen as the vehicle speed gradually increases or decreases, it is necessary to establish a correspondence between the real-time speed V of the vehicle and the ideal field angle on the display screen. Optionally, data are acquired through experiments, and the field angle of an image displayed on a display screen in the vehicle is continuously adjusted at a fixed vehicle speed to obtain experience parameters most consistent with the human eye visual perception system: that is, for a display screen with fixed resolution, when the vehicle speed is zero, the display screen displays the full-field-angle image content of the picture shot by the camera outside the vehicle, and the field angle of the display image displayed on the display screen is linearly adjusted in a digital or optical zooming manner along with the acceleration/deceleration of the vehicle, so that the content with the same resolution and more concentrated field of view is presented on the display screen.
Fig. 3 is a schematic diagram illustrating a relationship between an image viewing angle and a vehicle movement speed when the image display method of the mobile device of the present invention is applied to an embodiment of a vehicle driving assistance system. Therefore, in the process of high-speed running of the vehicle, the actual field angle of the picture shot by the camera outside the vehicle is adjusted, so that the content of the central field of view of the image displayed on the display screen in the vehicle is more prominent, the attention of a user is improved, and more details are obtained.
Example 3
Fig. 4 shows a block diagram of an embodiment of an image display apparatus of a mobile device according to the present invention, and the following is a detailed description of the embodiment in conjunction with fig. 4.
The present invention provides an image display apparatus of a mobile device, comprising:
a data acquisition module 10, configured to acquire a real-time speed of the mobile device and an actual field angle of a picture taken by a camera device moving synchronously with the mobile device;
an analysis processing module 20 for,
calculating the ideal viewing angle of the image display device of the equipment for displaying the shot picture according to the real-time speed;
calculating a variation parameter of an actual field angle according to the ideal field angle;
and adjusting the shot picture according to the acquired change parameters so as to display the shot picture in the image display device.
Preferably, the data acquisition module 10 is particularly adapted to,
acquiring a real-time video stream shot by the camera device;
calculating the real-time horizontal moving speed S of a pixel point in a first frame image according to the first frame image and a second frame image in the shot real-time video stream;
calculating the real-time moving speed V of the equipment according to the real-time horizontal moving speed S of the pixel point and the corresponding relation between the prestored horizontal moving speed of the pixel point and the moving speed of the mobile equipment;
the first frame image and the second frame image are front and back two frames of images in the shot real-time video stream.
Further, the data acquisition module 10 is also specifically configured to,
intercepting a first image block and a second image block with the same size at corresponding positions of a first frame image and a second frame image respectively;
intercepting a first image pixel column group and a second image pixel column group with the same size at corresponding positions of the first image block and the second image block respectively;
acquiring an image pixel column group which is most matched with the first image pixel column group in the second image block, and recording the image pixel column group as a preset image pixel column group;
the pixel displacement generated in the horizontal direction by the preset image pixel column group and the second image pixel column group is the real-time horizontal moving speed of the pixel points in the first frame image.
Furthermore, the data acquisition module 10 is also particularly adapted to,
adopting a sliding window with the size consistent with that of the first image pixel column group, sliding along the second image block by a specific step length, and acquiring one or more image pixel column groups with the size consistent with that of the first image pixel column group;
calculating the similarity between the first image pixel column group and the image pixel column group in the one or more image pixel column groups;
and in the one or more image pixel column groups, the image pixel column group with the highest similarity to the first image pixel column group is a preset image pixel column group.
Preferably, the data acquisition module 10 is also particularly adapted to,
acquiring the horizontal moving speed of a pixel point at a preset target position in a picture shot by a camera device which moves synchronously with mobile equipment when the equipment moves at different speeds;
and establishing a corresponding relation between the horizontal moving speed of the pixel points and the moving speed of the mobile equipment.
Preferably, the analysis processing module 20 is particularly adapted to,
when the mobile equipment moves at a preset speed, acquiring one or more display images of an image display device of the equipment under one or more visual angles;
and in the one or more display images, the angle of view corresponding to the display image which is most matched with the human eye perception system is the ideal angle of view.
Further, the analysis processing module 20 is specifically configured to,
and calculating a variation parameter of the actual field angle corresponding to the moving speed of the mobile equipment according to the ideal field angle, and adjusting the shot picture according to the acquired variation parameter so as to display the shot picture in an image display device.
Wherein the variation parameter of the actual angle of view includes: the digital magnification variation and/or the optical magnification variation of the actual field angle.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
the invention can realize that the field angle of the picture displayed by the display device of the mobile equipment is adaptively changed along with the moving speed of the equipment, thereby automatically adjusting the display picture of the equipment to be more matched with the human visual perception system.
Furthermore, the invention also provides an estimation method of the real-time speed of the mobile equipment based on image processing, which can realize simple and quick estimation of the real-time speed of the movement of the mobile equipment according to the display image of the display device of the mobile equipment without any sensor.
Furthermore, the invention is applied to the vehicle auxiliary driving system, can automatically adjust the display picture of the rear video of the vehicle auxiliary driving system, so that the display picture is more consistent with the human eye vision perception system, is convenient for the driver to observe and judge the road condition, enhances the driving comfort level and simultaneously improves the driving safety of the vehicle
All the above-mentioned optional technical solutions can be combined arbitrarily to form the optional embodiments of the present invention, and are not described herein again.
While preferred embodiments of the present application have been described, additional variations and modifications in those 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 the preferred embodiment and all changes and modifications that fall within the true scope of the embodiments of the present application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Those not described in detail in this specification are within the skill of the art.
Claims (10)
1. An image display method of a mobile device, comprising:
acquiring the real-time speed of the mobile equipment and the actual field angle of a picture shot by a camera device moving synchronously with the mobile equipment;
calculating an ideal field angle of the image display device of the mobile equipment for displaying the shot picture according to the real-time speed;
calculating a variation parameter of the actual field angle according to the ideal field angle;
and adjusting the shot picture according to the change parameters so as to display in the image display device.
2. The image display method of the mobile device according to claim 1, wherein said obtaining the real-time speed of the mobile device comprises:
acquiring a real-time video stream shot by the camera device;
calculating the real-time horizontal moving speed of pixel points in the first frame image according to the first frame image and the second frame image in the real-time video stream;
calculating the real-time speed of the mobile equipment according to the real-time horizontal moving speed of the pixel points and the corresponding relation between the prestored horizontal moving speed of the pixel points and the moving speed of the mobile equipment;
and the first frame image and the second frame image are front and back two frames of images in the real-time video stream.
3. The image display method of claim 2, wherein the calculating a real-time horizontal movement speed of a pixel point in a first frame image according to the first frame image and a second frame image in the real-time video stream comprises:
intercepting a first image block and a second image block with the same size at the corresponding positions of the first frame image and the second frame image respectively;
intercepting a first image pixel column group and a second image pixel column group with the same size at corresponding positions of the first image block and the second image block respectively;
acquiring an image pixel column group which is most matched with the first image pixel column group in the second image block, and recording the image pixel column group as a preset image pixel column group;
and the pixel displacement generated in the horizontal direction by the preset image pixel column group and the second image pixel column group is the real-time horizontal moving speed of the pixel points in the first frame image.
4. The image display method of the mobile device according to claim 3, wherein said truncating the first and second image blocks with the same size at the corresponding positions of the first and second frame images comprises:
and intercepting the first image block and the second image block with the same size at the corresponding positions of the edges on the same side of the first frame image and the second frame image respectively.
5. The image display method of claim 3, wherein the obtaining an image pixel column group in the second image block that is most matched with the first image pixel column group as a preset image pixel column group comprises:
adopting a sliding window with the size consistent with that of the first image pixel column group, sliding along the second image block by a specific step length, and acquiring one or more image pixel column groups with the size consistent with that of the first image pixel column group;
calculating the similarity of the first image pixel column group and an image pixel column group in the one or more image pixel column groups;
and the image pixel column group with the highest similarity to the first image pixel column group in the one or more image pixel column groups is the preset image pixel column group.
6. The image display method of claim 2, wherein the correspondence between the horizontal movement speed of the pixel point and the movement speed of the mobile device is determined by:
acquiring horizontal moving speeds of pixel points at preset target positions in pictures shot by a camera device moving synchronously with the mobile equipment when the mobile equipment moves at different speeds;
and establishing a corresponding relation between the horizontal moving speed of the pixel points and the moving speed of the mobile equipment.
7. The image display method of the mobile device according to claim 1, wherein said calculating an ideal viewing angle of the image display apparatus of the mobile device for displaying the captured picture according to the real-time velocity comprises:
when the mobile equipment moves at a preset speed, acquiring one or more display images of the image display device of the mobile equipment under one or more visual angles;
and in the one or more display images, the angle of view corresponding to the display image which is most matched with the human eye perception system is the ideal angle of view.
8. The image display method of a mobile device according to claim 1, wherein the variation parameter of the actual angle of view includes: the digital variable magnification and/or the optical variable magnification of the actual field angle.
9. The image display method of the mobile device according to claim 1, wherein the method is applied to a vehicle-assisted driving system, and comprises:
acquiring the real-time speed of the vehicle and the actual field angle of a picture shot by a camera device moving synchronously with the vehicle;
calculating the ideal field angle of the shot picture displayed by an image display device of the vehicle according to the real-time speed;
calculating a variation parameter of the actual field angle according to the ideal field angle;
and adjusting the shot picture according to the change parameters so as to display in the image display device.
10. An image display apparatus of a mobile device, comprising:
the data acquisition module is used for acquiring the real-time speed of the mobile equipment and the actual field angle of a picture shot by a camera device moving synchronously with the mobile equipment;
an analysis processing module to,
calculating an ideal field angle of the image display device of the mobile equipment for displaying the shot picture according to the real-time speed;
calculating a variation parameter of the actual field angle according to the ideal field angle;
and adjusting the shot picture according to the change parameters so as to display in the image display device.
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