CN114079768B

CN114079768B - Image definition testing method and device

Info

Publication number: CN114079768B
Application number: CN202110152595.2A
Authority: CN
Inventors: 杨斯曼; 汪燕青; 章晓凌
Original assignee: Hangzhou Haikang Auto Software Co ltd
Current assignee: Hangzhou Haikang Auto Software Co ltd
Priority date: 2020-08-18
Filing date: 2021-02-03
Publication date: 2023-12-05
Anticipated expiration: 2041-02-03
Also published as: CN113450257B; CN113450257A; CN113489972A; CN114079768A

Abstract

The embodiment of the application provides a method and a device for testing the definition of an image, wherein the scheme comprises the following steps: acquiring a panoramic image and a plurality of single-view images acquired by a panoramic all-around system, wherein the panoramic image is an image obtained by splicing the plurality of single-view images, and each single-view image comprises a picture card positioned at a test point; and carrying out definition analysis on the graphics card included in each single-view image to obtain single-view definition corresponding to each test point, and carrying out definition analysis on the graphics card included in the panoramic image to obtain panoramic definition corresponding to each test point. By applying the technical scheme provided by the embodiment of the application, the definition level of the panoramic image is objectively described.

Description

Image definition testing method and device

Technical Field

The application relates to the technical field of vehicle-mounted panoramic all-around systems, in particular to a method and a device for testing image definition.

Background

The panoramic looking around technology refers to that panoramic images are obtained by splicing images acquired by a plurality of cameras, and the panoramic images can naturally display the situation around the vehicle. The panoramic looking-around system based on the panoramic looking-around technology comprises a plurality of cameras such as a front camera, a rear camera, a side camera and the like. The definition of the panoramic image is an important index of the imaging quality of the panoramic looking-around system. However, it is not currently possible to objectively describe the sharpness level of panoramic images as well as monoscopic images.

Disclosure of Invention

The embodiment of the application aims to provide a method and a device for testing the definition of an image, which are used for objectively describing the definition level of a panoramic image and a single-view image. The specific technical scheme is as follows:

in a first aspect, an embodiment of the present application provides a method for testing sharpness of an image, including:

acquiring panoramic images and a plurality of single-view images acquired by a panoramic all-around system, wherein the panoramic images are images obtained by splicing the plurality of single-view images, and each single-view image comprises a picture card positioned at a test point;

and carrying out definition analysis on the image card included in each single-view image to obtain single-view definition corresponding to each test point, and carrying out definition analysis on the image card included in the panoramic image to obtain panoramic definition corresponding to each test point.

Optionally, the panoramic looking-around system is installed on a vehicle, and the step of performing definition analysis on the graphics card included in each single-view image to obtain single-view definition corresponding to each test point, and performing definition analysis on the graphics card included in the panoramic image to obtain panoramic definition corresponding to each test point includes:

carrying out definition analysis on the graphics card included in each single-view image to obtain a first single-view definition corresponding to each test point along the vehicle length direction of the vehicle and a second single-view definition corresponding to each test point along the vehicle width direction of the vehicle;

And carrying out definition analysis on the graphics card included in the panoramic image to obtain a first panoramic definition corresponding to each test point along the vehicle length direction of the vehicle and a second panoramic definition corresponding to each test point along the vehicle width direction of the vehicle.

Optionally, the image card is divided into four blocks by a first straight line and a second straight line passing through the center of the image card, the four blocks are alternately distributed according to black blocks and white blocks, an included angle between the first straight line and a first side of the image card is in a preset angle range, an included angle between the second straight line and a second side of the image card is in the preset angle range, the first side is perpendicular to the second side, and the first side is parallel to the vehicle length direction of the vehicle.

Optionally, the step of performing a definition analysis on the graphics card included in each single-view image to obtain a first single-view definition corresponding to each test point along the vehicle length direction of the vehicle and a second single-view definition corresponding to each test point along the vehicle width direction of the vehicle includes:

performing definition analysis on at least one horizontal test frame included in each single-view image to obtain first single-view definition corresponding to each test point along the vehicle length direction of the vehicle, wherein the horizontal test frames are positioned at the alternating positions of the black blocks and the white blocks on two sides of the second straight line on the graphic card;

Performing definition analysis on at least one vertical test frame included in each single-view image to obtain second single-view definition corresponding to each test point along the vehicle width direction of the vehicle, wherein the vertical test frames are positioned at the alternating positions of the black blocks and the white blocks on two sides of the first straight line on the graphic card;

the step of performing definition analysis on the graphics card included in the panoramic image to obtain a first panoramic definition corresponding to each test point along the vehicle length direction of the vehicle and a second panoramic definition corresponding to each test point along the vehicle width direction of the vehicle includes:

performing definition analysis on at least one horizontal test frame included in the panoramic image to obtain a first panoramic definition corresponding to each test point along the vehicle length direction of the vehicle;

and performing definition analysis on at least one vertical test frame included in the panoramic image to obtain second panoramic definition corresponding to each test point along the vehicle width direction of the vehicle.

Optionally, the length and width of the graphics card are greater than or equal to preset lengths, and in the single-view image and the panoramic image, the length and width of the horizontal test frame and the vertical test frame are both greater than or equal to preset pixels;

In the single-view image and the panoramic image, the center of the vertical test frame is located on the second straight line, two sides of the vertical test frame are parallel to the first side, the center of the horizontal test frame is located on the first straight line, and two sides of the horizontal test frame are parallel to the second side.

Optionally, each test point is located on a reference line which is a preset distance from the body of the vehicle.

Optionally, the distance between every two adjacent test points is the same, the number of the test points is not less than a first number along the length direction of the vehicle, the number of the test points is not less than a second number along the width direction of the vehicle, and the test points are arranged at the vertexes of the datum lines, wherein the first number is greater than the second number.

Optionally, the projection of the center of the graphic card on the ground coincides with the test point, and one edge of the graphic card is parallel to the datum line.

Optionally, one edge of the graphic card is located on the ground between the reference line and the body of the vehicle and is parallel to the reference line.

Optionally, the graphics cards are placed on each test point sequentially or simultaneously;

When the panoramic image is a two-dimensional panoramic image, the graphic card is horizontally placed on the ground; when the panoramic image is a three-dimensional panoramic image, the image card is vertically placed on the ground, and the distortion coefficient of the image card in the panoramic image is lower than a preset distortion threshold.

Optionally, the plane of the graphics card is perpendicular to the optical axis of the camera included in the panoramic looking-around system.

Optionally, the graphic card is mounted on a movable test bench.

Optionally, the test bench includes movable support, altitude mixture control ware and angle regulator, the altitude mixture control ware is installed on the movable support and for the altitude mixture control of ground, the angle regulator is installed on the movable support and for the inclination of ground is adjustable, the picture card with altitude mixture control ware and angle regulator fixed connection.

Optionally, the method further comprises:

and if the panoramic definition corresponding to each test point is greater than or equal to a preset minimum panoramic definition threshold, determining that the panoramic definition requirement is met.

Optionally, the method further comprises:

and if the number of the standard test points along the vehicle length direction of the vehicle exceeds a preset proportion threshold value of the total number of the test points along the vehicle length direction of the vehicle, and the number of the standard test points along the vehicle width direction of the vehicle exceeds a preset proportion threshold value of the total number of the test points along the vehicle width direction of the vehicle, the panoramic definition requirement is met, and the panoramic definition corresponding to the standard test points is larger than a preset standard definition threshold value.

Optionally, the method further comprises:

and if the single-view definition corresponding to each test point is larger than or equal to a preset minimum single-view definition threshold, determining that the single-view definition requirement is met.

Optionally, the method further comprises:

for each camera included in the panoramic all-around system, acquiring the width of the visual field range of the camera as the visual field width and the standard width in the visual field range of the camera, wherein the standard width is the width of the visual field range with panoramic definition higher than a preset reference definition threshold; calculating the ratio of the standard width to the view field width to obtain a clear ratio; and if the definition ratio is greater than or equal to a preset definition threshold, determining to meet the panoramic definition requirement.

Optionally, the step of obtaining the width of the field of view of the camera as the field of view width and the standard width of the field of view of the camera includes:

drawing a panoramic definition curve based on the panoramic definition corresponding to each test point in the visual field range of each camera, wherein the ordinate of the panoramic definition curve is the panoramic definition, and the abscissa of the panoramic definition curve is the position of the test point; taking the width of the abscissa between the endpoints at two sides of the panoramic definition curve as the width of the visual field of the camera; taking the abscissa width between the first intersection point and the second intersection point as the standard width in the visual field range of the camera;

And the first intersection point and the second intersection point are points on the panoramic definition curve, wherein the panoramic definition is the preset reference definition threshold value.

Optionally, the method further comprises:

determining a definition loss value corresponding to each test point based on the single-view definition and the panoramic definition corresponding to each test point; and if the definition loss value corresponding to each test point is smaller than or equal to a preset loss threshold value, determining to meet the definition requirement.

Optionally, the step of determining the sharpness loss value corresponding to each test point based on the single-view sharpness and the panoramic sharpness corresponding to each test point includes:

for each testA point, determining the definition loss value S corresponding to the test point by using the following formula _{Loss of} ：

S _{Loss of} ＝(Q ₁ -Q ₂ )/Q ₁ ；

Wherein Q is ₁ Representing the single vision definition corresponding to the test point, Q ₂ And representing the panoramic definition corresponding to the test point.

In a second aspect, an embodiment of the present application provides an apparatus for testing sharpness of an image, including:

the panoramic view system comprises an acquisition unit, a test point acquisition unit and a test point acquisition unit, wherein the acquisition unit is used for acquiring a panoramic image and a plurality of single-view images acquired by the panoramic view system, the panoramic image is an image obtained by splicing the plurality of single-view images, and each single-view image comprises a picture card positioned at the test point;

The analysis unit is used for carrying out definition analysis on the image card included in each single-view image to obtain single-view definition corresponding to each test point, and carrying out definition analysis on the image card included in the panoramic image to obtain panoramic definition corresponding to each test point.

Optionally, the panorama looking around system is installed on a vehicle, and the analysis unit is specifically configured to:

Optionally, the analysis unit is specifically configured to:

Optionally, the distances between two adjacent test points are the same, the number of the test points is not less than a first number along the vehicle length direction of the vehicle, the number of the test points is not less than a second number along the vehicle width direction of the vehicle, and the test points are arranged at the vertexes of the datum lines, wherein the first number is greater than the second number.

Optionally, the graphic card is mounted on a movable test bench.

Optionally, the analysis unit is further configured to:

Optionally, the analysis unit is specifically configured to:

Optionally, the analysis unit is further configured to:

Optionally, the analysis unit is specifically configured to:

for each test point, determining the definition loss value S corresponding to the test point by using the following formula _{Loss of} ：

S _{Loss of} ＝(Q ₁ -Q ₂ )/Q ₁ ；

In the technical scheme provided by the embodiment of the application, a panoramic image and a plurality of single-view images acquired by a panoramic looking-around system are acquired, wherein the panoramic image is an image obtained by splicing the plurality of single-view images, and each single-view image comprises a picture card positioned at a test point; and carrying out definition analysis on the image card included in each single-view image to obtain single-view definition corresponding to each test point, and carrying out definition analysis on the image card included in the panoramic image to obtain panoramic definition corresponding to each test point, thereby objectively describing the definition level of the panoramic image and the single-view image.

Of course, it is not necessary for any one product or method of practicing the application to achieve all of the advantages set forth above at the same time.

Drawings

In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are necessary for the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application and that other embodiments may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic view of a field of view of a camera according to an embodiment of the present application;

FIG. 2 is a schematic diagram of an apparatus arrangement provided by an embodiment of the present application;

FIG. 3 is a schematic diagram of an SFR test chart card according to an embodiment of the present application;

FIG. 4 is a schematic flow chart of a method for testing image sharpness according to an embodiment of the present application;

FIG. 5 is a schematic diagram of a test point deployment provided by an embodiment of the present application;

FIG. 6 is another schematic diagram of a test point deployment provided by an embodiment of the present application;

FIG. 7 is a schematic diagram of a card deployment provided by an embodiment of the present application;

FIG. 8 is a schematic diagram of a graphics card according to an embodiment of the present application;

FIG. 9 is a schematic diagram of a test frame on a card according to an embodiment of the present application;

FIG. 10 is a schematic diagram of a single test frame according to an embodiment of the present application;

FIG. 11 is a schematic diagram of a test bench according to an embodiment of the application;

FIG. 12 is a schematic view of a panoramic sharpness curve provided by an embodiment of the present application;

fig. 13 is a schematic diagram of a positional relationship between an optical axis of a camera and a graphic card according to an embodiment of the present application;

fig. 14 is a schematic structural diagram of an image sharpness testing apparatus according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

For ease of understanding, the words appearing in the embodiments of the application are explained below.

Panoramic all-around system (Around View Monitor System, AVMS): the image type driving auxiliary system consists of an electronic control unit (Electronic Control Unit, ECU) and a plurality of cameras. And the ECU performs distortion reduction, visual angle conversion, image stitching and other treatments on the images acquired by each camera according to the parameters such as the installation angle of the cameras around the car body, lens distortion and the like, and converts the images into a real-time panoramic aerial view looking down around the car body from a certain point in the air.

In the embodiment of the present application, the number of cameras included in the panoramic looking-around system may be 4, 6, 8, etc., which is not particularly limited. The panoramic looking around system will be described below as including 4 cameras. The panorama looking around system includes 4 cameras and divides into front view camera, back view camera, left view camera and right view camera. The 4 trapezoidal areas shown in fig. 1 are the visual fields of the 4 cameras, wherein the area a1 is the visual field of the front view camera, the area a2 is the visual field of the rear view camera, the area a3 is the visual field of the left view camera, and the area a4 is the visual field of the right view camera.

Spatial frequency response (Special Frequency Response, SFR): is a multi-value metric that measures contrast loss as a function of spatial frequency. The magnitude of the SFR value represents the sharpness of the image.

Modulation transfer function (Modulation Transfer Function, MTF): is a reference value. The MTF50P value refers to the SFR value after the peak energy is reduced to half the original value.

Camera calibration (Camera Calibration, CC): the method is a basis for obtaining the panoramic image by splicing the single-view images, and is divided into internal parameter calibration and external parameter calibration. The internal reference calibration is used for acquiring the focal length, the main optical axis, the distortion coefficient and the like of the camera. The external parameter calibration is used for generating key data required by single-view image stitching. In general, the external parameter calibration is an essential link of the production flow of the panoramic all-around system.

Operation mode B1: the test sample piece (i.e. the camera) is normally electrically connected, and all functions normally run, and external display equipment is required.

Test point: is the place where the graphics card is placed on the ground.

In the embodiment of the application, the image collected by each camera may be referred to as a single-view image collected by the panoramic all-around system, and the real-time panoramic aerial view may be referred to as a panoramic image collected by the panoramic all-around system.

In order to objectively describe the definition level of a panoramic image and a single-view image acquired by a panoramic all-around system, the embodiment of the application provides a definition testing method of an image. The image definition testing method can be used for performing definition testing on images collected by panoramic all-around systems installed on various vehicles. The vehicle provided with the panoramic looking around system can be various operating vehicles, such as passenger cars, trucks, saloons and the like, and further such as M1, M2, M3, N1, N2, N3, O and the like. Wherein M1, M2, M3, N1, N2, N3 and O represent vehicle types.

In the embodiment of the application, before the definition test is performed on the image, the plurality of cameras included in the panoramic all-around system can be calibrated in advance. After calibration, the pitch angles of the cameras are the same, and the single-view images acquired by the cameras are spliced to obtain the panoramic image. The panoramic looking around system after the calibration is completed can adapt to the scenes such as indoor and outdoor sunny days, outdoor rainy days, outdoor sunny night, outdoor rainy night and the like.

In the embodiment of the application, the field for testing the definition of the image is a real vehicle closed field, and the test definition of the real vehicle closed field meets the preset requirement. For example, the preset requirements may include the following:

a11 In the panoramic visible range of the panoramic looking-around system, the ground flatness deviation should not exceed 5mm when measured by using a 2 meter guiding rule;

b12 The ground is neutral gray or gray black matt material;

c13 In a normal illumination scene test, illumination in a field is uniform, and illumination deviation at each place is not more than 10%;

d14 In a low-light scene, the in-field illuminance is controlled within (2±0.2) lux (lx).

In one embodiment, in a venue where images are subjected to sharpness testing, lighting conditions may be deployed in accordance with the relevant specifications for lighting in ISO 12233:2000.

The preset requirements can be set according to actual requirements. For example, the preset requirements may further include the following:

a21 Before the start of the sharpness test, the installation and the setting of the panoramic looking-around system are carried out according to the related description provided by the panoramic looking-around manufacturer; after the definition test begins, sensor installation and system settings are not allowed to change;

b22 A distinction is made between testing in the unloaded state of the vehicle and testing in the fully loaded state.

In the embodiment of the application, each camera can be subjected to a definition test before being installed on the panoramic looking-around system, namely, the image acquired by each camera meets the definition requirement before being installed on the panoramic looking-around system.

According to the device layout diagram shown in fig. 2, devices such as cameras, test cards and the like are arranged. Wherein the camera is a device under test (Device Under Test, DUT). The test chart card is shown in fig. 3. The camera independent of the panoramic looking around system is tested in the working mode B1 according to the following steps, and the test results meet the requirements of the table 1:

a11 The distance between the camera and the test chart card is adjusted, so that the length of the square edge on the test chart card in the image is not less than 10 pixels;

b12 Adjusting the camera to enable the included angle between the edges of the square on the test chart card at the central view field of the camera and the corresponding direction of the square to be about 5 degrees;

c13 Adjusting the camera so that the optical axis of the camera is orthogonal to the plane of the image card, and analyzing an MTF50P value at the central view field of the camera by using image processing software;

d14 The square on the test chart card is positioned at 70% of the field of view of the camera by horizontally or vertically rotating the camera, and the length of the edge of the square on the test chart card is not less than 10 pixels;

e15 Image analysis software is used to analyze the MTF50P value at 70% field of view of the camera. Units: LW/PH

TABLE 1

For the standard definition camera, when the image is subjected to sharpness test, the MTF50P value of the national television standards committee (National Television Standards Committee, NTSC) color gamut and the MTF50P value of the PAL (Phase Alteration Line, PAL) color coding are obtained respectively. For a high-definition camera, when the image is subjected to definition test, MTF50P values of 100 ten thousand-level pixels and MTF50P values of 200 ten thousand-level pixels are respectively obtained.

Based on the panoramic looking-around system and the real vehicle closed field, as shown in fig. 4, the image definition testing method provided by the embodiment of the application comprises the following steps:

Step S41, a panoramic image and a plurality of single-view images acquired by a panoramic all-around system are acquired, wherein the panoramic image is an image obtained by splicing the plurality of single-view images, and each single-view image comprises a picture card positioned at a test point;

and S42, performing definition analysis on the graphics card included in each single-view image to obtain single-view definition corresponding to each test point, and performing definition analysis on the graphics card included in the panoramic image to obtain panoramic definition corresponding to each test point.

In step S41 described above, the panoramic all-around system is mounted on the vehicle. Vehicles with panoramic looking around systems are parked in a field with uniform ambient illumination, such as the real vehicle enclosed field described above. Multiple test points may be provided on the field.

In the embodiment of the application, the test points and the graphics card can meet the requirements:

a21 Each test point is located on a reference line that is a preset distance from the body of the vehicle. The preset distance can be set according to actual requirements. For example, the preset distance can be adjusted within 0 meters (m) to 10m, and the preset distance can be 1m, 1.5m, 2m, 3m, 4m and the like.

For example, as shown in fig. 5, the field of view of a camera includes 10 test points (1) (2) (3) (4) (5) (6) (7) (8) (9) located on the reference line L ₁ On the datum line L ₁ The distance between the vehicle body and the vehicle body is 1m, namely the preset distance is 1m.

As another example, as shown in fig. 6, 16 test points, A, B, C, D, E, F, G, H, I, J, K, L, M, N, O and P, respectively, are provided around the vehicle body. The 16 test points are respectively located on a reference line at a distance d from the vehicle body.

The sharpness in the image is different for points at different distances and angles. In the embodiment of the application, the distances between all the test points and the vehicle body are the same, so that the definition of the panoramic looking-around image can be quantitatively analyzed conveniently.

b22 The distance between every two adjacent test points is the same, the number of the test points is not less than a first number along the length direction of the vehicle, the number of the test points is not less than a second number along the width direction of the vehicle, and the test points are arranged at the vertexes of the datum lines, wherein the first number is greater than the second number.

The vehicle length direction can be the direction from the vehicle head to the vehicle tail or the direction from the vehicle tail to the vehicle head. The vehicle width direction may be a direction from the left side to the right side of the vehicle body, or a direction from the right side to the left side of the vehicle body. The first number and the second number may be sized according to actual requirements. For example, the first number is 7 and the second number is 3. As shown in fig. 6, the A, B, C, D, E, F, G7 test points are disposed along one side of the vehicle length direction, and the I, J, K, L, M, N, O7 test points are disposed along the other side of the vehicle length direction; the 3 test points G, H, I are disposed along one side of the vehicle width direction, and the 3 test points O, P, A are disposed along the other side of the vehicle width direction. Wherein A, I, G, O the 4 test points are located at the peak of the reference line.

In an alternative embodiment, the first number and the second number are at least 3, i.e. the number of test points included in the field of view of each camera is at least 3.

For example, as shown in fig. 1, the 4 test points (1) (3) (5) (7) are located at the center positions of the visual fields of the front view camera, the rear view camera, the left view camera and the right view camera, respectively, and the 4 test points (2) (4) (6) (8) are located at the splice positions of the adjacent two cameras, respectively. The center position of the field of view of the camera can be understood as the center position of the image acquired by the camera. At this time, 3 test points are included in the field of view of each camera. The splice positions of the 4 test points (2), (4), (6) and (8) are the vertexes of the datum line.

In the embodiment of the application, the vertex of the datum line is positioned at the splicing position of the two adjacent cameras. The test points are arranged at the vertexes of the datum lines, so that the definition of the spliced position in the panoramic image can be more clearly tested, and the definition of the panoramic image obtained after splicing can be accurately evaluated.

c23 The projection of the center of the card on the ground coincides with the test point and one edge of the card is parallel to the reference line as shown in fig. 6 and 7.

d24 One edge of the card is located on the ground between the reference line and the body of the vehicle and parallel to the reference line. As shown in fig. 6 and 7, the edge l of the card is located on the ground between the reference line and the body of the vehicle, and is parallel to the reference line.

e25 The first straight line and the second straight line passing through the center of the graphic card are divided into four blocks, the four blocks are alternately distributed according to black blocks and white blocks, an included angle between the first straight line and the first edge of the graphic card is in a preset angle range, an included angle between the second straight line and the second edge of the graphic card is in a preset angle range, the first edge is perpendicular to the second edge, and the first edge is parallel to the vehicle length direction of the vehicle.

The structure of the card is shown in fig. 8. In FIG. 8, line l ₁ A first straight line, straight line l ₂ Is a second straight line. Straight line l ₁ And straight line l ₂ The card is divided into four blocks. The preset angle range can be set according to actual requirements. For example, the preset angle range may be 0 ° to 10 °. In order to ensure accurate testing, the graphics card requires a matte and smooth surface.

f26 The length and the width of the graphic card are larger than or equal to the preset length; in the single-view image and the panoramic image, the length and the width of the horizontal test frame and the vertical test frame are larger than or equal to preset pixels. The horizontal test frame is positioned at the alternating positions of the black blocks and the white blocks at the two sides of the second straight line on the graphic card, and the vertical test frame is positioned at the alternating positions of the black blocks and the white blocks at the two sides of the first straight line on the graphic card. As shown in fig. 9, vertical test frames 1 and 3, and horizontal test frames 2 and 4.

In the embodiment of the application, the test frame is ensured to select a long enough bevel edge as far as possible while avoiding the edge of the picture card and the joint of the black blocks, as shown in fig. 9. Here, the oblique side is a part of the first straight line or the second straight line.

In an alternative embodiment, in the monoscopic image and the panoramic image, the center of the vertical test frame is located on the second straight line, and the two sides of the vertical test frame are parallel to the first side, and the center of the horizontal test frame is located on the first straight line, and the two sides of the horizontal test frame are parallel to the second side. As shown in fig. 10.

The preset length can be set according to actual requirements. For example, the preset length may be 2m, 3m, etc. The preset pixels can be set according to actual requirements. For example, the preset pixels may be 10 pixels, 20 pixels, or the like. When the preset pixels are 20 pixels, the test frames (including the horizontal test frame and the vertical test frame) are larger than or equal to 20 pixels by 20 pixels.

In the embodiment of the application, when the panoramic image is a two-dimensional panoramic image, the graphic card can be horizontally placed on the ground; when the panoramic image is a three-dimensional panoramic image, the image card can be vertically placed on the ground, and the distortion coefficient of the image card in the panoramic image is lower than a preset distortion threshold.

The graphic card can be vertically placed on the ground, and the graphic card can be understood to be non-horizontally placed on the ground. Specifically, the method can be expressed as follows: the side of the card on the ground is closer to the vehicle than the side of the card away from the ground, as shown in fig. 7.

In an alternative embodiment, to minimize the distortion coefficient of the image card in the panoramic image, the plane of the image card is perpendicular to the optical axis of the camera included in the panoramic looking-around system.

In the embodiment of the application, the graphics card can be simultaneously placed on each test point. At this time, the sharpness test can be performed based on the panoramic image and the single-view image acquired at one time by the panoramic looking-around system. The cards may also be placed on each test site in turn. At this time, the sharpness test may be performed based on the panoramic image and the single-view image acquired multiple times by the panoramic looking-around system.

In an alternative embodiment, the graphics card is mounted on a movable test stand to facilitate adjustment of the position of the graphics card.

In order to facilitate the adjustment of the posture of the graphic card, the test bench as shown in fig. 11 may include a movable bracket 111, a height adjuster 112 and an angle adjuster 113, the height adjuster 112 being mounted on the movable bracket 111 and being height-adjustable with respect to the ground, the angle adjuster 113 being mounted on the movable bracket 111 and being inclined at an angle with respect to the ground, the graphic card being fixedly connected with the height adjuster 112 and the angle adjuster 113.

In the embodiment of the present application, the movement of the graphics card can be realized by moving the movable support 111; the adjustment of the inclination angle of the graphic card can be realized by adjusting the angle of the angle adjuster 113; by adjusting the height of the height adjuster 112, adjustment of the card height can be achieved.

In the embodiment of the application, the image card is arranged on the test bench, the height and the angle of the image card can be adjusted, the test bench can be arranged around a vehicle, and the image card is placed on the test point, so that the method is suitable for testing the definition of two-dimensional and three-dimensional panoramic images. In addition, the test sites are rearranged without replacing the vehicle, so that the test cost and the labor cost are saved.

In the embodiment of the application, one test bench can be sequentially arranged at each test point, so that the panoramic all-around system respectively collects the single-view image and the panoramic image comprising the image card, and further analyzes and obtains the single-view definition and the panoramic definition corresponding to each test point.

In the embodiment of the application, a plurality of test racks can be simultaneously placed at each test point, namely, the number of the test racks is the same as the number of the test points. Therefore, a plurality of cameras included in the panoramic all-around system respectively collect a single-view image, and single-view definition and panoramic definition corresponding to each test point can be obtained through analysis.

Step S42 is executed to obtain panoramic images and single-view images, then import each single-view image into image analysis software, perform definition analysis on the graphics card included in each single-view image to obtain single-view definition corresponding to each test point, import the panoramic images into image analysis software, and perform definition analysis on the graphics card included in the panoramic images to obtain panoramic definition corresponding to each test point.

In an alternative embodiment, the definition may be divided into a definition in the vehicle length direction and a definition in the vehicle width direction. In this case, the step S42 may be: carrying out definition analysis on the graphics card included in each single-view image to obtain a first single-view definition corresponding to each test point along the vehicle length direction of the vehicle and a second single-view definition corresponding to each test point along the vehicle width direction of the vehicle; and carrying out definition analysis on the graphics card included in the panoramic image to obtain a first panoramic definition corresponding to each test point along the vehicle length direction of the vehicle and a second panoramic definition corresponding to each test point along the vehicle width direction of the vehicle.

In an optional embodiment, in order to ensure the accuracy of the test, the step of performing the definition analysis on the graphics card included in each single-view image to obtain the first single-view definition corresponding to each test point along the vehicle length direction of the vehicle and the second single-view definition corresponding to each test point along the vehicle width direction of the vehicle may specifically be: performing definition analysis on at least one horizontal test frame included in each single-view image to obtain first single-view definition corresponding to each test point along the length direction of the vehicle; and carrying out definition analysis on at least one vertical test frame included in each single-view image to obtain second single-view definition corresponding to each test point along the width direction of the vehicle.

The step of performing the definition analysis on the graphics card included in the panoramic image to obtain a first panoramic definition corresponding to each test point along the vehicle length direction of the vehicle and a second panoramic definition corresponding to each test point along the vehicle width direction of the vehicle may specifically be: performing definition analysis on at least one horizontal test frame included in the panoramic image to obtain first panoramic definition corresponding to each test point along the length direction of the vehicle; and carrying out definition analysis on at least one vertical test frame included in the panoramic image to obtain second panoramic definition corresponding to each test point along the width direction of the vehicle.

In the embodiment of the present application, as shown in fig. 9, when testing the first single vision definition and the first panoramic definition, the selected horizontal test frames may be test frames 2 and/or 4; the selected vertical test frames may be test frames 1 and/or 3 when testing the second single vision sharpness and the second panoramic sharpness.

Based on the image definition testing method provided by the embodiment of the application, the definition at each test point meets at least one of the following requirements:

a31 The panoramic definition is greater than or equal to a preset minimum panoramic definition threshold. That is, if the panoramic definition corresponding to each test point is greater than or equal to the preset minimum panoramic definition threshold, determining that the panoramic definition requirement is met.

The preset minimum panoramic definition threshold can be set according to actual requirements. For example, the preset minimum panorama sharpness threshold may be 100, 110, 120, or the like. In the embodiment of the application, the preset minimum panoramic definition threshold can be set according to actual requirements. The preset minimum panoramic definition threshold can meet the requirement of minimum resolution that can be resolved by human eyes. This ensures that the visual requirements of the user for the panoramic image are met.

In practical applications, the position with the lowest definition in the panoramic image is the splicing position, such as the (1) band test point in fig. 5, and such as the A, G, I, O test point in fig. 6. Therefore, whether the panoramic definition of the test point at the splicing position is larger than or equal to a preset lowest panoramic definition threshold can be directly detected. And if the panoramic definition corresponding to the test point at the splicing position is greater than or equal to a preset minimum panoramic definition threshold, determining that the panoramic definition requirement is met.

b32 In the longitudinal direction or the width direction of the vehicle, the number of the test points with the panoramic definition higher than the preset standard definition threshold value on the single side of the vehicle exceeds the preset proportion threshold value of the test points on the single side of the vehicle. That is, if the number of standard test points along the vehicle length direction of the vehicle exceeds a preset proportion threshold value of the total number of test points along the vehicle length direction of the vehicle, and the number of standard test points along the vehicle width direction of the vehicle exceeds a preset proportion threshold value of the total number of test points along the vehicle width direction of the vehicle, the panoramic definition requirement is satisfied, and the panoramic definition corresponding to the standard test points is greater than a preset standard definition threshold value.

The preset standard definition threshold can be set according to actual requirements. For example, the preset standard definition threshold may be 200, 210, 220, or the like. The preset proportion threshold value can be set according to actual requirements. For example, the preset ratio threshold may be 60%, 70%, 75%, or the like.

In one example, the preset standard definition threshold is 200 and the preset scale threshold is 60%. In this case, if the number of the test points of the vehicle having a left panoramic clarity of more than 200 exceeds 60% of the total number of the test points of the vehicle having a left side, the number of the test points of the vehicle having a right panoramic clarity of more than 200 exceeds 60% of the total number of the test points of the vehicle having a right side, the number of the test points of the vehicle having a front panoramic clarity of more than 200 exceeds 60% of the total number of the test points of the vehicle having a front side, and the number of the test points of the vehicle having a rear panoramic clarity of more than 200 exceeds 60% of the total number of the test points of the vehicle having a rear side.

c33 Single vision sharpness is greater than or equal to a preset minimum single vision sharpness threshold. That is, if the single-view definition corresponding to each test point is greater than or equal to the preset minimum single-view definition threshold, it is determined that the single-view definition requirement is met.

The preset minimum single vision definition threshold can be set according to actual requirements. For example, the preset minimum single view sharpness threshold may be 200, 210, 220, or the like.

In the embodiment of the application, the preset minimum single vision definition threshold can be set according to actual requirements. The preset minimum single vision sharpness threshold can meet the requirement of minimum resolution that can be resolved by human eyes. This ensures that the visual requirements of the user for the single-view image are met.

In practical applications, the position with the lowest definition in the monoscopic image is the splicing position, which is the display point (1) in fig. 5, and is the A, G, I, O test point in fig. 6. Therefore, whether the single-view definition of the test point at the splicing position is larger than or equal to a preset minimum single-view definition threshold can be directly detected. And if the single-view definition corresponding to the test point at the splicing position is greater than or equal to a preset minimum single-view definition threshold, determining that the single-view definition requirement is met.

In the embodiment of the application, the definition at the test point can also meet the following requirements:

a41 For each camera included in the panoramic all-around system, acquiring the width of the visual field range of the camera as the visual field width; obtaining a standard width in a visual field range of the camera, wherein the standard width is the width of the visual field range with panoramic definition higher than a preset reference definition threshold; calculating the ratio of the standard width to the field width to obtain a clear ratio; and if the definition ratio is greater than or equal to a preset definition threshold, determining to meet the panoramic definition requirement.

The field of view of the camera is conical. The field width and the standard width may be determined based on the width of the field of view at the location of the test point. For example, if the distance between the test point and the vehicle body is 1m, the width of the field of view at the distance of 1m from the vehicle body may be regarded as the field of view width of the camera.

In an optional embodiment, for each camera included in the panoramic all-around system, a panoramic definition curve is drawn based on the panoramic definition corresponding to each test point in the view field of the camera, the ordinate of the panoramic definition curve is the panoramic definition, and the abscissa of the panoramic definition curve is the position of the test point; taking the width of the abscissa between the endpoints at two sides of the panoramic definition curve as the width of the visual field of the camera; taking the abscissa width between the first intersection point and the second intersection point as the standard width in the visual field range of the camera; the first intersection point and the second intersection point are points on the panoramic definition curve, wherein the panoramic definition is a preset reference definition threshold value.

Take the schematic distribution of test points shown in fig. 5 as an example. In FIG. 5, (1) (2) (3) (4) (5) (6) (7) (8) (9) the test points are located in the field of view of the camera above in FIG. 5, (1) the test points are located at the splice locations, the position sequence of the (1), 2, 3, 4, 5, 6, 7, 1) (1(1) and the (2) test point is (1), 2, 3, 4, 5, 6, 7, 8, 9. And (3) obtaining the panoramic definition corresponding to the (1) bearing 3 test points, and drawing a panoramic definition curve based on the panoramic definition corresponding to the (1) bearing 4 test points, as shown in a curve 1 in fig. 12. In fig. 12, the abscissa indicates the position of the test point, and the ordinate indicates the panoramic sharpness. Endpoint x at leftmost side of curve 1 ₁ Corresponding to the test point (1), the end point x at the rightmost side of the curve 1 ₂ Corresponding to test point x ₁ The corresponding abscissa is A, and the endpoint x ₂ The corresponding abscissa is B. Distance L between points A and B _AB I.e. the field width of the field of view of the camera above in fig. 5. The point on curve 1 where the panoramic sharpness is the preset reference sharpness threshold is x ₃ And x ₄ . Point x ₃ The corresponding abscissa is a, point x ₄ The corresponding abscissa is b. Distance L between points a and b _ab I.e. the standard width in the field of view of the camera head above in fig. 5. At this time, the sharpness ratio w=l _ab /L _AB 。

b42 Determining a definition loss value corresponding to each test point based on the single-view definition and the panoramic definition corresponding to each test point; and if the definition loss value corresponding to each test point is smaller than or equal to a preset loss threshold value, determining to meet the definition requirement.

In one example, for each testA point, determining the definition loss value S 'corresponding to the test point by using the following formula' _{Loss of} ：

S' _{Loss of} ＝Q ₁ -Q ₂

In the embodiment of the application, whether the currently tested panoramic looking-around system meets the factory requirement can be determined according to the definition loss, so that the candidate right maintenance of a user or the quantized detection of the factory vehicle factory is facilitated.

In another example, for each test point, the sharpness loss value S corresponding to that test point is determined using the following formula _{Loss of} ：

S _{Loss of} ＝(Q ₁ -Q ₂ )/Q ₁ ；

Panoramic looking around systems on different vehicles, pitch angles of cameras and quantity of cameras are not identical, and Q meets definition requirements ₁ And Q ₂ The difference values are not exactly the same. In the embodiment of the present application, the above S is utilized _{Loss of} The formula calculates the definition loss and the Q corresponding to the panoramic looking-around system on different vehicles ₁ And Q ₂ The difference value of the panoramic all-around system is normalized, so that the panoramic all-around system on different vehicles can be managed uniformly.

In one embodiment of the present application, when any of the above definition requirements is not satisfied, an alarm message may be output, the alarm message indicating that the panoramic looking-around system does not meet the factory requirements.

The sharpness tests of the 2D panoramic image and the 3D panoramic image are respectively described below. The panoramic all-around system comprises 4 cameras, namely a front view camera, a rear view camera, a left view camera and a right view camera, and the positions of test points are shown in figure 1.

The test flow of the 2D panoramic image comprises the following steps:

after the user finishes the calibration flow of the vehicle, the vehicle is driven into a place meeting the illumination regulation.

The vehicle calibration process comprises the steps of calibrating a plurality of cameras included in the panoramic looking-around system, enabling pitch angles of the cameras to be the same, and enabling panoramic images acquired by the cameras to be spliced to include panoramic images around the vehicle. The above-mentioned illumination specification may be related to the illumination in ISO12233:2000, for example, the illumination is uniform.

Sa2, the user lays the graphic card on 8 test points on the ground, and the distance between the graphic card and the vehicle body is a preset distance.

Sa3, acquiring a 2D panoramic image output by the panoramic looking-around system and a single-view image acquired by each camera.

Sa4, converting the 2D panoramic image into a first file recognizable by image analysis software.

S5, analyzing the first file by utilizing image analysis software to obtain panoramic definition corresponding to each test point

Sa6, converting the single-view image into a second file recognizable by image analysis software.

In the embodiment of the present application, the execution order of Sa6 and Sa4 is not limited.

And Sa7, analyzing the second file by using image analysis software to obtain the single-view definition corresponding to each test point.

And Sa8, after obtaining the single-view definition and the panoramic definition corresponding to each test point, drawing a panoramic definition curve and a single-view definition curve. The ordinate of the single vision definition curve is single vision definition, and the abscissa of the single vision definition curve is the position of the test point. Thus, the user can conveniently check and analyze the single vision definition and the difference between the panoramic definition and the standard definition.

The test flow of the 3D panoramic image comprises the following steps:

and Sb1, after the user finishes the calibration flow of the vehicle, driving the vehicle into a place meeting the illumination regulation.

Sb2, the user moves the test bench to be close to the automobile body, and the height of the image card is changed by the adjusting height adjuster, so that the center of the image card is positioned in the single-view image, and the inclination angle of the image card is changed by the adjusting angle adjuster, so that the plane of the image card is perpendicular to the optical axis of the camera, as shown in fig. 13.

At this time, the area of the picture card in the single-view image or the panoramic image is the largest, which is convenient for the testing of definition.

Sb3, acquiring a 3D panoramic image output by the panoramic all-around system and a single-view image acquired by each camera.

Sb4, converting the 3D panoramic image into a third file recognizable by image analysis software.

Sb5, analyzing the third file by using image analysis software to obtain panoramic definition corresponding to each test point

Sb6, converting the single-view image into a fourth file recognizable by the image analysis software.

In the embodiment of the present application, the execution order of Sb6 and Sb4 is not limited.

And Sb7, analyzing the fourth file by using image analysis software to obtain the single-view definition corresponding to each test point.

Sb8, when single-view definition and panoramic definition corresponding to each test point are obtained, a spliced definition curve and a single-view definition curve can be drawn. The ordinate of the single vision definition curve is single vision definition, and the abscissa of the single vision definition curve is the position of the test point. This facilitates the user's viewing and analysis.

In the embodiment of the application, the definition, such as single vision definition and panoramic definition, is equally divided into horizontal definition and vertical definition, and the analysis methods of the horizontal definition and the vertical definition are the same, so that the definition is uniformly adopted for description, and the definition is not limited. The horizontal definition is the definition in the vehicle length direction, and the vertical definition is the definition in the vehicle width direction.

Based on the image definition testing method, the embodiment of the application also provides an image definition testing device, as shown in fig. 14, which comprises:

The acquiring unit 141 is configured to acquire a panoramic image and a plurality of single-view images acquired by the panoramic looking-around system, where the panoramic image is an image obtained by stitching the plurality of single-view images, and each single-view image includes a graphics card located at a test point;

the analysis unit 142 is configured to perform a definition analysis on the graphics card included in each single-view image to obtain a single-view definition corresponding to each test point, and perform a definition analysis on the graphics card included in the panoramic image to obtain a panoramic definition corresponding to each test point.

In an alternative embodiment, the panoramic all-around system is installed on a vehicle, and the analysis unit 142 may be specifically configured to:

In an alternative embodiment, the graphic card is divided into four blocks by a first straight line passing through the center of the graphic card and a second straight line, the four blocks are alternately distributed according to black blocks and white blocks, an included angle between the first straight line and a first side of the graphic card is within a preset angle range, an included angle between the second straight line and a second side of the graphic card is within the preset angle range, the first side is perpendicular to the second side, and the first side is parallel to the vehicle length direction of the vehicle.

In an alternative embodiment, the analysis unit 142 may specifically be configured to:

performing definition analysis on at least one horizontal test frame included in each single-view image to obtain first single-view definition corresponding to each test point along the vehicle length direction of the vehicle, wherein the horizontal test frames are positioned at the alternate positions of black blocks and white blocks at two sides of a second straight line on the image card;

performing definition analysis on at least one vertical test frame included in each single-view image to obtain second single-view definition corresponding to each test point along the width direction of the vehicle, wherein the vertical test frames are positioned at the alternate positions of black blocks and white blocks on two sides of a first straight line on the image card;

performing definition analysis on at least one horizontal test frame included in the panoramic image to obtain first panoramic definition corresponding to each test point along the length direction of the vehicle;

and carrying out definition analysis on at least one vertical test frame included in the panoramic image to obtain second panoramic definition corresponding to each test point along the width direction of the vehicle.

In an alternative embodiment, the length and width of the graphics card are greater than or equal to the preset length, and in the single-view image and the panoramic image, the length and width of the horizontal test frame and the vertical test frame are greater than or equal to preset pixels;

In an alternative embodiment, each test point is located on a reference line at a predetermined distance from the body of the vehicle.

In an alternative embodiment, the distance between every two adjacent test points is the same, the number of the test points is not less than a first number along the length direction of the vehicle, the number of the test points is not less than a second number along the width direction of the vehicle, and the test points are arranged at the vertexes of the datum lines, wherein the first number is greater than the second number.

In an alternative embodiment, the projection of the center of the graphic card on the ground coincides with the test point, and one edge of the graphic card is parallel to the reference line.

In an alternative embodiment, one edge of the graphic card is located on the ground between the reference line and the body of the vehicle and parallel to the reference line.

In an alternative embodiment, the graphics cards are placed on each test point sequentially or simultaneously;

when the panoramic image is a two-dimensional panoramic image, the graphic card is horizontally placed on the ground; when the panoramic image is a three-dimensional panoramic image, the image card is vertically placed on the ground, and the distortion coefficient of the image card in the panoramic image is lower than a preset distortion threshold value.

In an alternative embodiment, the plane of the graphics card is perpendicular to the optical axis of the camera included in the panoramic looking around system.

In an alternative embodiment, the graphics card is mounted on a movable test stand.

In an alternative embodiment, the test bench comprises a movable support, a height adjuster and an angle adjuster, wherein the height adjuster is arranged on the movable support and is adjustable relative to the height of the ground, the angle adjuster is arranged on the movable support and is adjustable relative to the inclination angle of the ground, and the graphic card is fixedly connected with the height adjuster and the angle adjuster.

In an alternative embodiment, the analysis unit 142 may be further configured to:

if the number of the standard test points along the length direction of the vehicle exceeds a preset proportion threshold value of the total number of the test points along the length direction of the vehicle, and the number of the standard test points along the width direction of the vehicle exceeds a preset proportion threshold value of the total number of the test points along the width direction of the vehicle, the panoramic definition requirement is met, and the panoramic definition corresponding to the standard test points is larger than a preset standard definition threshold value.

for each camera included in the panoramic all-around system, acquiring the width of the visual field range of the camera as the visual field width and the standard width in the visual field range of the camera, wherein the standard width is the width of the visual field range with panoramic definition higher than a preset reference definition threshold; calculating the ratio of the standard width to the field width to obtain a clear ratio; and if the definition ratio is greater than or equal to a preset definition threshold, determining to meet the panoramic definition requirement.

drawing a panoramic definition curve based on the panoramic definition corresponding to each test point in the view field of the camera aiming at each camera included in the panoramic all-around system, wherein the ordinate of the panoramic definition curve is the panoramic definition, and the abscissa of the panoramic definition curve is the position of the test point; taking the width of the abscissa between the endpoints at two sides of the panoramic definition curve as the width of the visual field of the camera; taking the abscissa width between the first intersection point and the second intersection point as the standard width in the visual field range of the camera;

The first intersection point and the second intersection point are points on the panoramic definition curve, wherein the panoramic definition is a preset reference definition threshold value.

S _{Loss of} ＝(Q ₁ -Q ₂ )/Q ₁ ；

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present application, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, for example, by wired (e.g., coaxial cable, optical fiber, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), etc.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the embodiment of the sharpness testing apparatus for panoramic looking around images, since it is substantially similar to the method embodiment, the description is relatively simple, and the relevant points are referred to in the description of the method embodiment.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A method for sharpness testing of an image, the method comprising:

performing definition analysis on the image card included in each single-view image to obtain single-view definition corresponding to each test point, and performing definition analysis on the image card included in the panoramic image to obtain panoramic definition corresponding to each test point;

the panoramic looking-around system is installed on a vehicle, the step of performing definition analysis on the graphics card included in each single-view image to obtain single-view definition corresponding to each test point, and performing definition analysis on the graphics card included in the panoramic image to obtain panoramic definition corresponding to each test point includes:

Performing definition analysis on the graphics card included in the panoramic image to obtain a first panoramic definition corresponding to each test point along the vehicle length direction of the vehicle and a second panoramic definition corresponding to each test point along the vehicle width direction of the vehicle;

the image card is divided into four blocks by a first straight line and a second straight line which pass through the center of the image card, the four blocks are alternately distributed according to black blocks and white blocks, the included angle between the first straight line and a first side of the image card is in a preset angle range, the included angle between the second straight line and a second side of the image card is in the preset angle range, the first side is perpendicular to the second side, and the first side is parallel to the vehicle length direction of the vehicle;

the step of performing definition analysis on the graphics card included in each single-view image to obtain a first single-view definition corresponding to each test point along the vehicle length direction of the vehicle and a second single-view definition corresponding to each test point along the vehicle width direction of the vehicle includes:

2. The method of claim 1, wherein the length and width of the graphics card are equal to or greater than a preset length, and the length and width of the horizontal test frame and the vertical test frame are equal to or greater than a preset pixel in the single view image and the panoramic image;

3. The method of claim 1, wherein each of the test points is located on a reference line a predetermined distance from a body of the vehicle.

4. A method according to claim 3, wherein the distance between each two adjacent test points is the same, the number of test points is not less than a first number in the vehicle longitudinal direction of the vehicle, the number of test points is not less than a second number in the vehicle width direction of the vehicle, and the apex of the reference line is provided with test points, wherein the first number is greater than the second number.

5. The method of claim 3 or 4, wherein a projection of a center of the graphic card on the ground coincides with the test point, and one side of the graphic card is parallel to the reference line.

6. The method of claim 5, wherein one edge of the graphic card is located on the ground between the reference line and the body of the vehicle and parallel to the reference line.

7. The method of claim 1, wherein the graphics cards are placed on each test site sequentially or simultaneously;

8. The method of claim 7, wherein the plane in which the graphics card lies is perpendicular to an optical axis of a camera included in the panoramic looking-around system.

9. The method of claim 7, wherein the graphics card is mounted on a movable test bench.

10. The method of claim 9, wherein the test stand includes a movable support, a height adjuster mounted on the movable support and adjustable in height relative to the ground, and an angle adjuster mounted on the movable support and adjustable in tilt angle relative to the ground, the graphic card being fixedly connected to the height adjuster and the angle adjuster.

11. The method according to claim 1, wherein the method further comprises:

12. The method according to claim 1, wherein the method further comprises:

13. The method according to claim 1, wherein the method further comprises:

14. The method according to claim 1, wherein the method further comprises:

15. The method of claim 14, wherein the step of obtaining the width of the field of view of the camera as the field of view width and the standard width within the field of view of the camera comprises:

16. The method according to claim 1, wherein the method further comprises:

17. The method of claim 16, wherein the step of determining a sharpness loss value for each test point based on the single view sharpness and the panoramic sharpness for each test point comprises:

S _{Loss of} ＝(Q ₁ -Q ₂ )/Q ₁ ；

18. An apparatus for sharpness testing of an image, the apparatus comprising:

the analysis unit is used for carrying out definition analysis on the image card included in each single-view image to obtain single-view definition corresponding to each test point, and carrying out definition analysis on the image card included in the panoramic image to obtain panoramic definition corresponding to each test point;

the panoramic looking around system is installed on a vehicle, and the analysis unit is specifically used for:

the analysis unit is specifically configured to:

19. The apparatus of claim 18, wherein the length and width of the graphics card are equal to or greater than a predetermined length, and wherein the length and width of the horizontal and vertical test frames are equal to or greater than a predetermined pixel in the single view and panoramic images;

20. The apparatus of claim 19, wherein each of the test points is located on a reference line a predetermined distance from a body of the vehicle.

21. The apparatus of claim 20, wherein a distance between each two adjacent test points is the same, wherein the vehicle includes a first number of test points in a vehicle length direction of the vehicle, wherein the vehicle includes a second number of test points in a vehicle width direction of the vehicle, and wherein a vertex of the reference line is provided with test points, wherein the first number is greater than the second number.

22. The apparatus of claim 20 or 21, wherein a projection of a center of the graphic card on the ground coincides with the test point and one side of the graphic card is parallel to the reference line.

23. The apparatus of claim 22, wherein one edge of the graphic card is positioned on the ground between the reference line and the body of the vehicle and parallel to the reference line.

24. The device of claim 18, wherein the graphics cards are placed on each test site sequentially or simultaneously;

25. The apparatus of claim 24, wherein the plane in which the graphics card lies is perpendicular to an optical axis of a camera included in the panoramic looking-around system.

26. The apparatus of claim 24, wherein the graphics card is mounted on a movable test stand.

27. The apparatus of claim 26, wherein the test stand comprises a movable support, a height adjuster mounted on the movable support and adjustable in height relative to the ground, and an angle adjuster mounted on the movable support and adjustable in tilt angle relative to the ground, the graphic card being fixedly connected to the height adjuster and the angle adjuster.

28. The apparatus of claim 18, wherein the analysis unit is further configured to:

29. The apparatus of claim 18, wherein the analysis unit is further configured to:

30. The apparatus of claim 18, wherein the analysis unit is further configured to:

31. The apparatus of claim 18, wherein the analysis unit is further configured to:

32. The device according to claim 31, characterized in that the analysis unit is specifically configured to:

33. The apparatus of claim 18, wherein the analysis unit is further configured to:

34. The device according to claim 33, characterized in that the analysis unit is specifically configured to:

S _{Loss of} ＝(Q ₁ -Q ₂ )/Q ₁ ；