CN113873189A - Data processing method, device, storage medium and equipment - Google Patents
Data processing method, device, storage medium and equipment Download PDFInfo
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- CN113873189A CN113873189A CN202111472645.1A CN202111472645A CN113873189A CN 113873189 A CN113873189 A CN 113873189A CN 202111472645 A CN202111472645 A CN 202111472645A CN 113873189 A CN113873189 A CN 113873189A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/76—Television signal recording
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/04—Synchronising
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
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Abstract
The invention provides a data processing method, a data processing device, a storage medium and a device, wherein the method comprises the following steps: when a camera is connected to any USB interface, a soft link and an equipment name are created for the camera, and the topic name of the camera is configured according to the soft link name; creating a first folder named by the current system time under a corresponding storage address according to the soft link of the camera, and creating a second folder named by the equipment name of the camera under the first folder; the method comprises the steps of obtaining original data shot by a camera according to the topic name of the camera, converting the original data into corresponding image data, storing the image data in a second folder corresponding to the camera, and naming the image data by using a current ROS timestamp. According to the invention, the camera mounting rule is redefined, so that the synchronization of the image data and the timestamp of the vehicle information is ensured, and the timestamp does not need to be compared in the subsequent labeling process, thereby greatly facilitating the subsequent data set manufacturing.
Description
Technical Field
The present invention relates to the field of data processing technologies, and in particular, to a data processing method, an apparatus, a storage medium, and a device.
Background
In the field of automatic driving, developing functions such as sensing, planning, etc. using machine learning requires a large number of data sets. These data sets contain image data captured by the camera and vehicle information (e.g., chassis information, positioning information, or other sensor information). Currently, it is generally necessary to label vehicle information into images captured by the camera at corresponding times to form a data set that can be used for subsequent machine learning.
However, the timestamp of the tool used for image acquisition is not synchronous with the timestamp of the vehicle information (typically, ROS timestamp), so that manual comparison is required when the vehicle information is marked, which causes great troubles to the subsequent process of making a data set.
Meanwhile, at present, original data acquired by a camera is directly stored, and the camera data is converted into a picture or video form before marking, but the original data occupies a very large storage space and needs to store a large storage space.
Disclosure of Invention
Based on this, the present invention provides a data processing method, an apparatus, a storage medium and a device, which aim to solve at least one technical problem in the background art.
A data processing method according to an embodiment of the present invention includes:
when a camera is detected to be connected to any USB interface, a soft link and an equipment name are created for the camera, and the topic name of the camera is configured according to the soft link name;
when the camera is detected to start a shooting process, creating a first folder named by the current system time under a corresponding storage address according to the soft link of the camera, and creating a second folder named by the equipment name of the camera under the first folder;
acquiring original data shot by the camera according to the topic name of the camera, converting the original data into corresponding image data, storing the image data in the second folder corresponding to the camera, and naming the image data by using the current ROS timestamp.
In addition, the data processing method according to the above embodiment of the present invention may further have the following additional technical features:
further, when it is detected that a camera is connected to any one of the USB interfaces, the step of creating a device name for the camera includes:
controlling the camera to shoot at least one group of target original data, and converting the target original data into corresponding image data to obtain at least one piece of target image data;
determining parameter information of the camera according to the at least one piece of target image data;
and creating an equipment name for the camera according to the identification number of the USB interface and the parameter information of the camera.
Further, the step of storing the image data in the second folder corresponding to the camera and naming the image data with the current ROS timestamp further includes:
determining a corresponding preset marking importance level of the camera according to the parameter information of the camera;
determining a corresponding preset self-checking time interval of the camera according to the marking importance level;
judging whether the image data stored in the second folder corresponding to the camera has discontinuous timestamps every other self-checking time interval;
and if the name of the stamp is not continuous, sending alarm information containing the equipment name of the camera.
Further, the parameter information includes one or more of a focal length, a mounting position, and a resolution.
Further, after the step of storing the image data in the second folder corresponding to the camera and naming the image data with the current ROS timestamp, the method further includes:
when the camera is detected to stop the shooting process, extracting each second folder from the first folder;
and respectively packaging each extracted second folder to obtain an image data packet shot by each camera at this time.
Further, after the step of separately packaging each extracted second folder to obtain an image data packet shot by each camera this time, the method further includes:
and acquiring an ROS time stamp interval of image data in the image data packet, and naming the image data packet by using the equipment name of the camera and the ROS time stamp interval.
Further, when it is detected that the camera starts a shooting process, the step of creating a first folder named by the current system time under a corresponding storage address according to the soft link of the camera includes:
when the camera is detected to start a shooting process, judging whether a plug-in hard disk is identified;
if so, creating a first folder named by the current system time under a corresponding storage address of the plug-in hard disk according to the soft link of the camera;
and if not, creating a first folder named by the current system time under the corresponding storage address of the local working space according to the soft link of the camera.
A data processing apparatus according to an embodiment of the present invention, the apparatus including:
the camera configuration module is used for creating a soft link and an equipment name for the camera when detecting that any USB interface is accessed with the camera, and configuring the topic name of the camera according to the soft link name;
the file folder creating module is used for creating a first file folder named by the current system time under a corresponding storage address according to the soft link of the camera when the camera is detected to start a shooting process, and creating a second file folder named by the equipment name of the camera under the first file folder;
and the data storage module is used for acquiring original data shot by the camera according to the topic name of the camera, converting the original data into corresponding image data, storing the image data in the second folder corresponding to the camera, and naming the image data by using the current ROS timestamp.
The invention also proposes a computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, implements the data processing method described above.
The invention also proposes a data processing device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the above-mentioned data processing method when executing the program.
Compared with the prior art: the camera mounting rule is redefined, so that original data shot by a camera is converted into picture data and then stored in a corresponding folder, and an ROS tool which is the same as vehicle information acquisition is used during camera data acquisition, so that an ROS timestamp which is synchronous with the vehicle information is adopted to name the image data, the synchronization of the timestamps of the image data and the vehicle information is ensured, and the timestamps do not need to be compared during subsequent labeling, and the subsequent data set manufacturing is greatly facilitated; meanwhile, the original data collected by the storage camera is converted into image data and then stored, so that the storage space occupied by the data can be greatly reduced.
Drawings
FIG. 1 is a flow chart of a data processing method in a first embodiment of the present invention;
FIG. 2 is a flow chart of a data processing method in a second embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a data processing apparatus according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a data processing apparatus in a fourth embodiment of the present invention.
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Several embodiments of the invention are presented in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Example one
Referring to fig. 1, a data processing method according to a first embodiment of the present invention is shown, which can be applied to a data processing device, where the data processing device can be implemented by software and/or hardware, and the method specifically includes steps S01-S03.
And step S01, when detecting that any USB interface is connected with a camera, creating a soft link and a device name for the camera, and configuring the topic name of the camera according to the soft link name.
In particular, most of the cameras on the vehicle are connected with the vehicle-mounted controller and the vehicle-mounted power grid through the vehicle-mounted USB interface. When a technician inserts a data line of the camera into the vehicle-mounted USB interface, the vehicle-mounted controller receives an electric signal, so that the fact that the camera is accessed is determined, a soft link and an equipment name are randomly created for the camera, and the topic name of the camera is configured according to the soft link name.
The soft link of the camera defines a data storage address of the camera, creates a device name of the camera to distinguish different cameras conveniently, and the topic name of the camera is used for defining a topic issued by the camera during data communication, and the topic of the camera is original data output by the camera. And subsequently, original data output by the camera can be obtained by subscribing the topic of the camera.
In specific implementation, the soft link, the device name and the topic name of the camera can be orderly created according to preset rules. For example, the data storage addresses corresponding to different USB interfaces may be preset, so that the soft link of the camera can be determined, and in addition, the topic name of the camera may be created according to the identification number of the USB interface, the installation position of the camera, the role of the camera, and/or the camera number, and the topic of the camera may be created by the soft link name alone or by the soft link name and the device name. By way of example and not limitation, for example, the following are the mounting rules actually created by the present embodiment for a certain camera:
KERNELS=="0000:07:00.0", SUBSYSTEM=="video4linux", MODE="0666", SYMLINK+="camera/lanemark"
the kernel is an identification number of the USB interface, corresponds to the USB interface one to one, the subsystem is a name of the camera device, the mode is a mount authority, the symlink is a created soft link, and may be named by a camera mounting position, a function, a focal length, and the like, and named for a published camera topic according to the soft link, such as "/sensor/camera/lanemark".
Step S02, when the camera is detected to start the shooting process, creating a first folder named by the current system time under the corresponding storage address according to the soft link of the camera, and creating a second folder named by the device name of the camera under the first folder.
Generally, the vehicle-mounted camera triggers when the vehicle performs a specific action, for example, the reverse image camera triggers when the vehicle is engaged in the R gear. Therefore, when it is detected that the vehicle performs a specific action, it can be determined that the start-up photographing process of the corresponding camera is detected. At this time, a first folder named by the current system time is created under the soft link address of the camera, a second folder named by the device name of the camera is created under the first folder, and then, the image data shot in the shooting process of the camera is stored in the second folder.
Step S03, acquiring original data shot by the camera according to the topic name of the camera, converting the original data into corresponding image data, storing the image data in the second folder corresponding to the camera, and naming the image data by the current ROS timestamp.
In specific implementation, during the whole shooting process of the camera, the OpenCV can be used to convert the raw data output by the camera in real time into corresponding image data (i.e., a picture), and after the raw data is converted into the corresponding image data, the current timestamp of the ROS tool is acquired, and the image data is named with the current ROS timestamp, so that the image data stored in the second folder is named with the ROS timestamp and is synchronized with the timestamp corresponding to the vehicle information.
In summary, in the data processing method in the above embodiment of the present invention, the camera mounting rule is redefined, so that the original data captured by the camera is converted into the image data, and then stored in the corresponding folder, and meanwhile, the ROS tool same as the vehicle information is used for capturing the camera data, and the ROS timestamp synchronized with the vehicle information is used for naming the image data, so as to ensure that the timestamps of the image data and the vehicle information are synchronized, and the timestamps do not need to be compared again during subsequent labeling, which greatly facilitates the subsequent data set production; meanwhile, the original data collected by the storage camera is converted into image data and then stored, so that the storage space occupied by the data can be greatly reduced.
Example two
Referring to fig. 2, a data processing method according to a second embodiment of the present invention is shown, which can be applied to a data processing device, where the data processing device can be implemented by software and/or hardware, and the method specifically includes steps S11 to S19.
And step S11, when detecting that any USB interface is connected with a camera, creating a soft link and a device name for the camera, and configuring the topic name of the camera according to the soft link name.
And step S12, when the camera is detected to start the shooting process, judging whether the plug-in hard disk is identified.
When the external hard disk is identified, the step S13 is executed, and when the external hard disk is not identified, the step S14 is executed.
And step S13, creating a first folder named by the current system time under the corresponding storage address of the plug-in hard disk according to the soft link of the camera.
And step S14, creating a first folder named by the current system time under the corresponding storage address of the local working space according to the soft link of the camera.
It should be noted that, because the collection process of the automatic driving data set is mostly in the process of vehicle real-time test before the vehicle leaves the factory, that is, in the process of vehicle real-time test, the camera data and the vehicle information are collected and then labeled to form the data set, and then the automatic driving model is optimized through the data set, thereby continuously optimizing the automatic driving vehicle.
Therefore, when the vehicle is inserted with the external hard disk, the next camera data and vehicle information are generally collected into the external hard disk directly by a representative user, and then the first folder named by the current system time is directly created under the soft link address of the camera of the external hard disk, so that the subsequent image data is directly stored into the external hard disk, and secondary export from the vehicle-mounted memory is avoided. Otherwise, a first folder named by the current system time is created under the soft link address of the camera of the local workspace, so as to be stored in the vehicle-mounted memory firstly.
Step S15, a second folder named by the device name of the camera is created under the first folder.
Step S16, acquiring original data shot by the camera according to the topic name of the camera, converting the original data into corresponding image data, storing the image data in the second folder corresponding to the camera, and naming the image data by the current ROS timestamp.
In specific implementation, during the whole shooting process of the camera, the OpenCV can be used to convert the raw data output by the camera in real time into corresponding image data (i.e., a picture), and after the raw data is converted into the corresponding image data, the current timestamp of the ROS tool is acquired, and the image data is named with the current ROS timestamp, so that the image data stored in the second folder is named with the ROS timestamp and is synchronized with the timestamp corresponding to the vehicle information.
Step S17, when it is detected that the camera stops the shooting process, extracting each second folder from the first folders.
And step S18, respectively packaging each extracted second folder to obtain an image data packet shot by each camera this time.
Specifically, when it is detected that the camera stops the shooting process, on behalf of the camera ending the shooting process, the image data shot by each camera is automatically packed, that is, the image data shot by each camera is packed (e.g., decompressed into a data packet) in a second folder corresponding to the storage of the camera, so as to obtain an image data packet shot by the camera this time, and the data packet is separately stored for subsequent data set production.
And step S19, acquiring an ROS time stamp interval of image data in the image data packet, and naming the image data packet by the equipment name of the camera and the ROS time stamp interval.
Before the second folder is packaged, the two pieces of image data with the earliest and latest ROS timestamps in the second folder can be obtained, the ROS timestamp interval of the image data stored in the second folder is determined according to the ROS timestamps of the two pieces of image data with the earliest and latest images, and the image data packet is named according to the equipment name of the camera (namely the original name of the second folder) and the ROS timestamp interval, so that the image data corresponding to the needed timestamp can be searched for quickly in the following process, and the data set can be manufactured in the following process.
In addition, in some optional cases of this embodiment, when it is detected that a camera is connected to any USB interface, the step of creating a device name for the camera may specifically include:
controlling the camera to shoot at least one group of target original data, and converting the target original data into corresponding image data to obtain at least one piece of target image data;
determining parameter information of the camera according to the at least one piece of target image data;
and creating an equipment name for the camera according to the identification number of the USB interface and the parameter information of the camera.
Wherein the parameter information includes one or more of a focal length, a mounting position, and a resolution.
That is to say, when creating an equipment name for a newly accessed camera, first enabling the camera to shoot at least one set of target raw data, then converting the at least one set of target raw data into corresponding image data by using OpenCV to obtain at least one frame of target image data, then performing parameter identification on the at least one frame of target image to identify information such as focal length and resolution of the camera, and identifying specific elements existing in the target image based on an image identification technology to further determine an installation position of the camera, for example, when identifying elements such as a wiper and an engine cover existing in the target image, the camera is determined to be a vehicle recorder camera, and when identifying elements such as a ground, a rear bumper and the like existing in the target image, the camera is determined to be a reverse image camera, and when identifying that the target image has elements such as a ground, a rear bumper and the like, And when elements such as a front bumper, a front grille and the like exist, the camera is judged to be a front camera. And then, combining the identification number of the USB interface and the parameter information of the camera, creating an equipment name for the camera, so that the identification number of the USB interface and the parameter information of the camera are also contained in the name of the subsequently formed image data packet, more information can be provided for subsequent labeling, and technicians do not need to manually identify some information of the camera.
As another optional real-time mode, because the camera parameters configured for the same vehicle type are basically consistent, the corresponding relationship between the camera and the USB interface can be specified in advance, that is, a technician can access the camera to the corresponding USB interface, for example, USB-1 is correspondingly connected to a reverse image camera, and USB-2 is correspondingly connected to a vehicle data recorder camera, so that the corresponding camera can be automatically identified according to the identification number of the USB interface, and then the parameter information of each camera is pre-stored in advance, so that the parameter information of the camera can be directly obtained after the corresponding camera is identified according to the identification number of the USB interface.
Further, after the step of storing the image data in the second folder corresponding to the camera and naming the image data with the current ROS timestamp, the method may further include:
determining a corresponding preset marking importance level of the camera according to the parameter information of the camera;
determining a corresponding preset self-checking time interval of the camera according to the marking importance level;
judging whether the image data stored in the second folder corresponding to the camera has discontinuous timestamps every other self-checking time interval;
and if the name of the stamp is not continuous, sending alarm information containing the equipment name of the camera.
It should be understood that different cameras have different importance degrees for the automatic driving learning, for example, the importance degrees of the front camera and the rear camera (i.e. the reverse image camera) are much higher than that of the vehicle data recorder camera, so that when the image data of the cameras is collected, for the cameras with the higher importance degrees, every frame of image in the shooting process should be collected as much as possible.
Therefore, in the embodiment, according to the importance of the cameras in the automatic driving learning, a labeling importance level is preset for each camera, association is established with the parameter information of the cameras, and each labeling importance level is also preset for a self-checking time interval. The camera with higher labeling importance level corresponds to shorter self-checking time interval, namely more frequent self-checking. The specific self-checking process is as follows: in the shooting process of the camera, whether the timestamp of the image data stored in the second folder corresponding to the camera is discontinuous is judged at intervals of self-checking time (such as 1 minute), under normal conditions, because the images shot by the camera are continuous, the timestamp of the image data correspondingly stored in the second folder also should be continuous, the continuous means that the time intervals of two adjacent frame images are equal, when the condition that the timestamps are discontinuous exists, one or more frames of images may be omitted in the middle (for example, the images may be caused by poor contact, camera failure, USB failure and the like), an alarm message (such as a voice alarm) containing the device name of the camera is sent out to inform a technical staff of the parameter information of the camera and the identification number of the USB interface connected to the camera, so that the technical staff can timely eliminate the failure, avoiding doing useless work.
It should be noted that the technical features and technical solutions in the above embodiments can be freely combined without conflict, and the combined new technical solution still falls within the expected scope of the embodiments of the present invention.
EXAMPLE III
Another aspect of the present invention further provides a data processing apparatus, referring to fig. 3, which shows a data processing apparatus according to a third embodiment of the present invention, the data processing apparatus includes:
the camera configuration module 11 is configured to create a soft link and an equipment name for a camera when detecting that a camera is connected to any USB interface, and configure a topic name of the camera according to the soft link name;
a folder creation module 12, configured to, when it is detected that the camera starts a shooting process, create a first folder named by the current system time under a corresponding storage address according to a soft link of the camera, and create a second folder named by the device name of the camera under the first folder;
and the data storage module 13 is configured to obtain original data shot by the camera according to the topic name of the camera, convert the original data into corresponding image data, store the image data in the second folder corresponding to the camera, and name the image data with the current ROS timestamp.
Further, in some optional embodiments of the present invention, the camera configuration module 11 includes:
the image acquisition unit is used for controlling the camera to shoot at least one group of target original data and converting the target original data into corresponding image data to obtain at least one piece of target image data;
the information determining unit is used for determining the parameter information of the camera according to the at least one piece of target image data;
and the equipment name creating unit is used for creating an equipment name for the camera according to the identification number of the USB interface and the parameter information of the camera.
Further, in some optional embodiments of the invention, the data processing apparatus further comprises:
the grade determining module is used for determining the corresponding preset marking importance grade of the camera according to the parameter information of the camera;
the time determining module is used for determining a preset self-checking time interval corresponding to the camera according to the marking importance level;
the timestamp judgment module is used for judging whether the timestamp of the image data stored in the second folder corresponding to the camera is discontinuous every self-checking time interval;
and the abnormity alarm module is used for sending alarm information containing the equipment name of the camera if the name of the stamp is not continuous.
Further, in some alternative embodiments of the present invention, the parameter information includes one or more of a focal length, a mounting position, and a resolution.
Further, in some optional embodiments of the invention, the data processing apparatus further comprises:
the folder extraction module is used for extracting each second folder from the first folder when the camera is detected to stop the shooting process;
and the folder packing module is used for packing each extracted second folder respectively so as to obtain the image data packet shot by each camera this time.
Further, in some optional embodiments of the invention, the data processing apparatus further comprises:
and the data packet naming module is used for acquiring an ROS time stamp interval of image data in the image data packet and naming the image data packet by using the equipment name of the camera and the ROS time stamp interval.
Further, in some optional embodiments of the present invention, the folder creation module 12 is further configured to determine whether to identify a plug-in hard disk when detecting that the camera starts a shooting process; if so, creating a first folder named by the current system time under a corresponding storage address of the plug-in hard disk according to the soft link of the camera; and if not, creating a first folder named by the current system time under the corresponding storage address of the local working space according to the soft link of the camera.
The functions or operation steps of the modules and units when executed are substantially the same as those of the method embodiments, and are not described herein again.
In summary, in the data processing apparatus in the above embodiment of the present invention, the mounting rule of the camera is redefined, so that the original data captured by the camera is converted into the image data, and then the image data is stored in the corresponding folder, and meanwhile, the ROS tool same as that used for vehicle information acquisition is used for camera data acquisition, and the ROS timestamp synchronized with the vehicle information is used for naming the image data, so as to ensure that the timestamps of the image data and the vehicle information are synchronized, and the timestamps do not need to be compared when labeling subsequently, which greatly facilitates the subsequent data set production; meanwhile, the original data collected by the storage camera is converted into image data and then stored, so that the storage space occupied by the data can be greatly reduced.
Example four
Referring to fig. 4, a data processing apparatus according to a fourth embodiment of the present invention is shown, which includes a memory 20, a processor 10, and a computer program 30 stored in the memory and executable on the processor, and when the computer program 30 is executed by the processor 10, the data processing method is implemented.
The data processing device may be a vehicle-mounted controller, such as an Electronic Control Unit (ECU), which is also called a "traveling computer" or a "vehicle-mounted computer". And the data processing equipment is connected with the vehicle-mounted camera through the USB interface. The processor 10 may be, in some embodiments, a Central Processing Unit (CPU), a controller, a microcontroller, a microprocessor or other data Processing chip for executing program code stored in the memory 20 or Processing data, such as executing access restriction programs.
The memory 20 includes at least one type of readable storage medium, which includes a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, and the like. The memory 20 may in some embodiments be an internal storage unit of the data processing device, for example a hard disk of the data processing device. The memory 20 may also be an external storage device of the data processing apparatus in other embodiments, such as a plug-in hard disk provided on the data processing apparatus, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 20 may also include both an internal storage unit and an external storage device of the data processing apparatus. The memory 20 may be used not only to store application software installed in the data processing apparatus and various kinds of data, but also to temporarily store data that has been output or will be output.
It should be noted that the architecture shown in fig. 4 does not constitute a limitation of the data processing apparatus, which may in other embodiments comprise fewer or more components than shown, or some components may be combined, or a different arrangement of components.
In summary, in the data processing apparatus in the above embodiment of the present invention, the camera mounting rule is redefined, so that the original data captured by the camera is converted into the image data, and then the image data is stored in the corresponding folder, and meanwhile, the ROS tool same as that used for vehicle information acquisition is used for camera data acquisition, and the ROS timestamp synchronized with the vehicle information is used for naming the image data, so as to ensure that the timestamps of the image data and the vehicle information are synchronized, and the timestamps do not need to be compared again in the subsequent labeling process, which greatly facilitates the subsequent data set production; meanwhile, the original data collected by the storage camera is converted into image data and then stored, so that the storage space occupied by the data can be greatly reduced.
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the data processing method as described above.
Those of skill in the art will understand that the logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be viewed as implementing logical functions, can be embodied in any computer-readable storage medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable storage medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable storage medium may even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method of data processing, the method comprising:
when a camera is detected to be connected to any USB interface, a soft link and an equipment name are created for the camera, and the topic name of the camera is configured according to the soft link name;
when the camera is detected to start a shooting process, creating a first folder named by the current system time under a corresponding storage address according to the soft link of the camera, and creating a second folder named by the equipment name of the camera under the first folder;
acquiring original data shot by the camera according to the topic name of the camera, converting the original data into corresponding image data, storing the image data in the second folder corresponding to the camera, and naming the image data by using the current ROS timestamp.
2. The data processing method according to claim 1, wherein when detecting that a camera is connected to any one USB interface, the step of creating a device name for the camera comprises:
controlling the camera to shoot at least one group of target original data, and converting the target original data into corresponding image data to obtain at least one piece of target image data;
determining parameter information of the camera according to the at least one piece of target image data;
and creating an equipment name for the camera according to the identification number of the USB interface and the parameter information of the camera.
3. The data processing method of claim 2, wherein the step of storing the image data in the second folder corresponding to the camera and naming the image data with the current ROS timestamp further comprises:
determining a corresponding preset marking importance level of the camera according to the parameter information of the camera;
determining a corresponding preset self-checking time interval of the camera according to the marking importance level;
judging whether the image data stored in the second folder corresponding to the camera has discontinuous timestamps every other self-checking time interval;
and if the name of the stamp is not continuous, sending alarm information containing the equipment name of the camera.
4. The data processing method of claim 2, wherein the parameter information includes one or more of a focal length, a mounting position, and a resolution.
5. The data processing method according to any one of claims 1 to 4, further comprising, after the step of storing the image data in the second folder corresponding to the camera and naming the image data with the current ROS timestamp:
when the camera is detected to stop the shooting process, extracting each second folder from the first folder;
and respectively packaging each extracted second folder to obtain an image data packet shot by each camera at this time.
6. The data processing method according to claim 5, further comprising, after the step of separately packaging each extracted second folder to obtain an image data package captured this time by each camera:
and acquiring an ROS time stamp interval of image data in the image data packet, and naming the image data packet by using the equipment name of the camera and the ROS time stamp interval.
7. The data processing method according to claim 1, wherein when it is detected that the camera starts a shooting process, the step of creating a first folder named by the current system time under a corresponding storage address according to the soft link of the camera comprises:
when the camera is detected to start a shooting process, judging whether a plug-in hard disk is identified;
if so, creating a first folder named by the current system time under a corresponding storage address of the plug-in hard disk according to the soft link of the camera;
and if not, creating a first folder named by the current system time under the corresponding storage address of the local working space according to the soft link of the camera.
8. A data processing apparatus, characterized in that the apparatus comprises:
the camera configuration module is used for creating a soft link and an equipment name for the camera when detecting that any USB interface is accessed with the camera, and configuring the topic name of the camera according to the soft link name;
the file folder creating module is used for creating a first file folder named by the current system time under a corresponding storage address according to the soft link of the camera when the camera is detected to start a shooting process, and creating a second file folder named by the equipment name of the camera under the first file folder;
and the data storage module is used for acquiring original data shot by the camera according to the topic name of the camera, converting the original data into corresponding image data, storing the image data in the second folder corresponding to the camera, and naming the image data by using the current ROS timestamp.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the data processing method of any one of claims 1 to 7.
10. A data processing device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the data processing method as claimed in any one of claims 1 to 7 when executing the program.
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