CN115514886A - Vehicle-mounted low-cost reversing image adjusting system and method - Google Patents
Vehicle-mounted low-cost reversing image adjusting system and method Download PDFInfo
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Abstract
The invention discloses a vehicle-mounted system and a method for adjusting a car backing image at low cost, which comprises the following steps that 1) a camera transmits collected car backing image data to a camera driver, the image data output by the camera driver is in a UYVY format, and a kernel driver converts the UYVY image data into RGB image data and transmits the RGB image data to an image processing module; 2) The image processing module converts the received RGB image data into HSL image data, and then performs equal-proportion adjustment on the chromaticity, the contrast and the brightness according to requirements; converting the adjusted HSL image data into RGB image data; 3) And converting the converted RGB image data into UYVY image data through the kernel driver, transmitting the UYVY image data to the display driver, and finally displaying the processed reversing image on a display screen through the deserializing chip. According to the invention, the image processing module is added after the camera is driven, and the contrast and the brightness of the reversing image are adjusted through the image processing module, so that the problem that the reversing image can be adjusted only by hardware is solved, and the cost is reduced.
Description
Technical Field
The invention relates to a system and a method for adjusting a reversing image, in particular to a system and a method for adjusting a vehicle-mounted reversing image at low cost.
Background
In the existing vehicle-mounted system, as shown in fig. 1, a video acquisition chip acquires image data from a camera, and an SOC acquires an image through a related camera drive, transmits the image to a display drive, and transmits the image to a display screen for displaying.
Basic implementation principle of the image processing module: the color space of the camera image in the vehicle-mounted system is RGB or YUV, and the color space model is suitable for a hardware display system but not suitable for image processing. The HSL (hue, saturation, luminance) color model can intuitively adjust the color, contrast, and brightness. Generally we will not need to adjust the color. Therefore, to adjust the contrast and brightness of an image, RGB is converted into HSL, and after the contrast and brightness are adjusted, HSL is converted into RGB.
When the brightness and contrast of an image need to be adjusted, a common scheme is as follows: 1) The image output to the acquisition chip is adjusted and finished by configuring a relevant register of the camera; 2) The image data acquired by the camera driving is adjusted and completed by configuring a relevant register of the video acquisition chip; 3) The image data output to the display screen is adjusted and finished through the relevant register of the deserializing chip.
However, due to cost control, when the hardware of the low-cost vehicle machine is selected, whether the video acquisition chip or the video deserializing chip can support the image adjusting function or not is not considered. And the camera is appointed by the car factory mostly, generally choose CVBS standard clear analog camera under the low-cost condition, do not have the possibility of configuration. In this case, the requirements for brightness and contrast adjustment are not met by the previous solutions.
In a use scene of backing, a requirement of rapid backing exists, at this time, or in an early stage of loading of an Android system, library files, system services and the like are not always loaded; or in a FreeRTOS system running on a coprocessor, at the moment, libraries such as OpenCV and the like cannot be called to realize the function.
The existing RGB and HSL conversion scheme at the PC end can realize image adjustment; however, the conventional PC-side conversion implementation scheme cannot be directly used in the car-in-vehicle environment, and the conversion formula needs to convert RGB of an integer into a decimal between 0 and 1 for operation, which is floating-point operation.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a vehicle-mounted system and a method for adjusting a reversing image at low cost, and can solve the problem that the adjustment of the reversing image can only be realized by hardware; the problem that the coprocessor system does not have a software library to support image adjustment is solved; the problem that floating point calculation exists in an RGB and HSL conversion formula and cannot be realized in a kernel is solved; the problem of imbedding the processing program in the vehicle-mounted reversing system is solved.
The object of the invention is achieved on the one hand by: a method for adjusting a vehicle-mounted reversing image at low cost comprises the following steps:
1) The camera transmits the acquired backing image data to the camera driver, the image data output by the camera driver is in a UYVY format, and the kernel driver converts the UYVY image data into RGB image data and transmits the RGB image data to the image processing module;
2) The image processing module converts the received RGB image data into HSL image data, and then performs equal-proportion adjustment on the chromaticity, the contrast and the brightness according to requirements; converting the adjusted HSL image data into RGB image data;
3) And converting the converted RGB image data into UYVY image data through the kernel driver, transmitting the UYVY image data to the display driver, and finally displaying the processed reversing image on a display screen through the deserializing chip.
As a further limitation of the present invention, the converting the UYVY image data into RGB image data in step 1) specifically includes: the RGB image data includes three color components of red, green and blue, which are respectively denoted by R, G and B, and the UYVY image data includes a Y component, a U component and a V component, and by a right shift operation, the conversion formula is:
R＝Y+((360*(V-128))>>8)；
G＝Y-(((88*(U-128)+184*(V-128)))>>8)；
B＝Y+((455*(U-128))>>8)。
as a further limitation of the present invention, the step 2) of converting the received RGB image data into HSL image data by the image processing module specifically includes: introducing a constant K into the original conversion formula con To avoid floating point operation, the adjusted RGB to HSL formula is:
R,G,B∈[0,K CON ]
X max ：＝max(R,G,B)＝:V
X min ：＝min(R,G,B),
C：＝X max -X min ＝2(V-L)
wherein L is luminance, H is chrominance, S L For contrast, the image processing module directly processes HSL data according to the requirement; and carrying out equal proportion adjustment on the contrast and the brightness to obtain the adjusted HSL data.
As a further limitation of the present invention, the converting the adjusted HSL image data into RGB image data in step 2) specifically includes: the image processing module calculates the adjusted HSL image data according to an HSL-to-RGB formula to respectively obtain three components of red, green and blue, namely RGB image data which are respectively represented by R, G and B; addition of K con The formula after constants is as follows:
H∈[0°,K CON ×360°]，S L ∈[0,K con ],L∈[0,K con ]
wherein X and C are intermediate variables.
As a further limitation of the present invention, the converting the RGB image data after conversion into UYVY image data through kernel driving in step 3) specifically includes: the RGB image data comprises three color components of red, green and blue, which are respectively represented by R, G and B, the UYVY image data comprises a Y component, a U component and a V component, and through a right shift operation, the conversion formula is as follows:
Y＝(77*R+150*G+29*B)>>8；
U＝((-44*R-87*G+131*B)>>8)+128；
V＝((131*R-110*G-21*B)>>8)+128。
the object of the invention is achieved in another aspect by: a vehicle-mounted low-cost adjustment system for a reversing image comprises a vehicle software module and a vehicle hardware module, wherein a camera driving module, an inner core driving module, an image processing module and a display driving module are arranged in the vehicle software module;
the camera driving module is used for outputting image data in a UYVY format to the kernel driving module from the reversing image collected by the camera;
the kernel driving module is used for converting image data in a UYVY format output by the camera driving module into image data in an RGB format and sending the image data to the image processing module, and converting an image in the RGB format processed by the image processing module into an image in the UYVY format and outputting the image in the UYVY format to the display driving module;
the image processing module is used for converting the original RGB format image data into HSL format image data and then carrying out equal proportion adjustment on the contrast or brightness of the HSL format image data according to requirements; converting the adjusted image data in the HSL format into RGB image data and transmitting the RGB image data to a kernel driving module;
and the display driver is used for receiving the processed image data in the UYVY format output by the kernel driver module and transmitting the image data to the deserializing chip.
As a further limitation of the present invention, the kernel driver module is a standard V4L2 architecture, and by acquiring a virtual address of the car-backing image data in the video _ QBUF, the UYVY image data is converted into RGB image data according to the virtual address, and after passing through the image processing module, the RGB image data is converted back into the UYVY image data.
As a further limitation of the present invention, the hardware of the car machine includes a video capture chip and a deserializing chip; the camera is electrically connected with the video acquisition chip and is used for acquiring a backing image; the deserializing chip is electrically connected with the display screen and used for displaying the adjusted reversing image on the display screen.
By adopting the technical scheme, compared with the prior art, the invention has the beneficial effects that: the camera image module in the original car machine software is replaced by an image processing module, so that the problem that the adjustment of the car backing image can be realized only by depending on hardware is solved; when the hardware is selected, a chip with lower cost is allowed to be selected; compared with the OpenCV scheme, the method is independent of a library, can work under a FreeRTOS system, and can also work normally when the Android operating system is not started; the problem that the coprocessor system does not have a software library to support image adjustment is solved; the contrast and the brightness of the reversing image can be effectively adjusted.
Introduction of K con The constant value enables the conversion between RGB and HSL to be realized in the kernel, and the development workload of the application end is greatly reduced; floating point calculation of the conversion formula of RGB and HSL is solved; the kernel driving module is of a standard V4L2 framework, UYVY image data is converted into RGB image data according to a virtual address by acquiring the virtual address of the backing image data in VIDIOCQBUF, the RGB image data is converted back into UYVY image data after the image data passes through the image processing module, and the image module is embedded into the kernel driving module, so that the problem that a processing program is embedded into a vehicle-mounted backing system is solved.
Drawings
Fig. 1 is a schematic diagram of a reverse image implementation system in the prior art.
FIG. 2 is a schematic view of a reverse image adjustment system of the present invention.
FIG. 3 is a flowchart of the kernel driver processing a reverse image in the present invention.
FIG. 4 is a flowchart of the pseudo code for converting the UYVY image data to RGB image data according to the present invention.
FIG. 5 is a flowchart of pseudo code conversion of RGB image data to UYVY image data according to the present invention.
FIG. 6 is a front-back contrast diagram for adjusting brightness of a reversing image according to an embodiment of the present invention.
FIG. 7 is a comparison graph before and after contrast adjustment of a reverse image in an embodiment of the present invention.
Detailed Description
As shown in fig. 2, the system for adjusting a vehicle-mounted low-cost reverse image includes a vehicle software module and a vehicle hardware module, wherein the vehicle software module is internally provided with a camera driving module, an inner core driving module, an image processing module and a display driving module;
the camera driving module is used for outputting image data in a UYVY format to the kernel driving module according to the reversing image acquired by the camera;
the kernel driving module is used for converting the image data in the UYVY format output by the camera driving module into image data in an RGB format and sending the image data to the image processing module, and then converting the image in the RGB format processed by the image processing module into an image in the UYVY format and outputting the image in the UYVY format to the display driving module;
the image processing module is used for converting the original RGB format image data into HSL format image data and then carrying out equal proportion adjustment on the contrast or brightness of the HSL format image data according to requirements; converting the adjusted image data in the HSL format into RGB image data and transmitting the RGB image data to a kernel driving module; the module is additionally realized by software after the reversing image is acquired by the reversing software.
The display driver is used for receiving the processed image data in the UYVY format output by the kernel driver module and transmitting the image data to the deserializing chip.
The kernel driving module is of a standard V4L2 architecture, converts the UYVY image data into RGB image data according to a virtual address by acquiring the virtual address of the reverse image data in the video _ QBUF, and converts the RGB image data back into the UYVY image data after passing through the image processing module, as shown in fig. 3.
The hardware of the vehicle machine comprises a video acquisition chip and a serialization and deserialization chip; the camera is electrically connected with the video acquisition chip and is used for acquiring a backing image; the deserializing chip is electrically connected with the display screen and used for displaying the adjusted reversing image on the display screen.
A method for adjusting a vehicle-mounted reversing image at low cost comprises the following steps:
1) The camera transmits the acquired backing image data to the camera driver, the image data output by the camera driver is in a UYVY format, and the kernel driver converts the UYVY image data into RGB image data and transmits the RGB image data to the image processing module;
according to the requirements of an image processing module, the color spaces of the camera image before processing and the image after processing are RGB; the camera in the vehicle-mounted system drives a multi-output UYVY format, so that conversion between UYVY and RGB needs to be carried out firstly; the arrangement of YUV components in the UYVY format is: U0Y 0V 0Y 1U 2Y 2V 2Y 3; the formula for YUV to RGB conversion is as follows, avoiding floating point operation by right shift operation
Converting the UYVY image data into RGB image data specifically includes: the RGB image data comprises three color components of red, green and blue, which are respectively represented by R, G and B, the UYVY image data comprises a Y component, a U component and a V component, and through a right shift operation, the conversion formula is as follows:
R＝Y+((360*(V-128))>>8)；
G＝Y-(((88*(U-128)+184*(V-128)))>>8)；
B＝Y+((455*(U-128))>>8)。
as shown in fig. 4, the kernel driver acquires the UYVY image data, calculates the data length, length = length × width/2, traverses the entire UYVY image data, converts it into RGB image data, until the entire UYVY image data is traversed.
2) The image processing module converts the received RGB image data into HSL image data, and then performs equal-proportion adjustment on the chromaticity, the contrast and the brightness according to requirements; converting the adjusted HSL image data into RGB image data;
to avoid the problem of floating point arithmetic, a constant K is determined according to the desired precision con Example (c); if the accuracy is determined to be 2 bits after the decimal point, e.g., saturation =61.23%; when floating-point operations are avoided, then saturation _ new = saturation K con =6123, therefore K con Was designated as 10000. Since RGB in the vehicle-mounted machine system is generally in an RGB888 format, R, G and B are respectively represented by only one byte, namely the highest 255, and therefore the precision is 2 bits after decimal point. Meanwhile, negative number operation needs to be avoided in the kernel driver, because when the negative number is expressed in int type, the negative number is converted into a complementary code form in the vehicle machine system for storage, that is, a large integer, which may affect the calculation result.
The converting, by the image processing module, the received RGB image data into HSL image data specifically includes: introducing a constant K into the original conversion formula con To avoidFloating point operation, the adjusted RGB to HSL formula is:
K con ＝1000
R,G,B∈[0,K CON ]
X max ：＝max(R,G,B)＝:V
X min ：＝min(R,G,B),
C：＝X max -X min ＝2(V-L)
wherein L is luminance, H is chromaticity, S L For contrast, the image processing module directly processes HSL data according to the requirement; and carrying out equal proportion adjustment on the contrast and the brightness to obtain the adjusted HSL data.
Converting the adjusted HSL image data into RGB image data specifically includes: the image processing module calculates the adjusted HSL image data according to an HSL-to-RGB formula to respectively obtain three components of red, green and blue, namely RGB image data which are respectively represented by R, G and B; addition of K con The formula after the constants is as follows:
K con ＝1000
H∈[0°,K CON ×360°]，S L ∈[0,K con ],L∈[0,K con ]
wherein X and C are intermediate variables.
3) And converting the converted RGB image data into UYVY image data through the kernel driver, transmitting the UYVY image data to the display driver, and finally displaying the processed reversing image on a display screen through the deserializing chip.
Converting the converted RGB image data into UYVY image data by kernel driving specifically includes: the RGB image data includes three color components of red, green and blue, which are respectively denoted by R, G and B, and the UYVY image data includes a Y component, a U component and a V component, and by a right shift operation, the conversion formula is:
Y＝(77*R+150*G+29*B)>>8；
U＝((-44*R-87*G+131*B)>>8)+128；
V＝((131*R-110*G-21*B)>>8)+128。
as shown in fig. 5, the kernel driver acquires RGB image data, calculates a data length, length = length × width, traverses the entire RGB image data, and converts it into UYVY image data until the entire RGB image data is traversed.
As shown in fig. 6, the brightness of an image of a certain analog camera in the vehicle is increased by 50%; from a camera driving interface of the system, an image processing module acquires RGB image data; reading 3 bytes from the data, and converting the data into HSL according to the arrangement sequence of RGB; multiplying luminance by 150%; converting the HSL image data into RGB image data; according to the size of the image, circularly executing 2-4 steps; and obtaining the adjusted RGB image data.
As shown in fig. 7, the contrast of an image of a certain analog camera in the vehicle is increased by 50%; from a camera driving interface of the system, an image processing module acquires RGB image data; reading 3 bytes from the data, and converting the data into HSL image data according to the arrangement sequence of RGB; multiplying saturation (contrast) by 150%; converting the HSL image data into RGB image data; and according to the size of the image, circularly executing 2-4 steps to obtain the adjusted RGB image data.
The present invention is not limited to the above-mentioned embodiments, and based on the technical solutions disclosed in the present invention, those skilled in the art can make some substitutions and modifications to some technical features without creative efforts according to the disclosed technical contents, and these substitutions and modifications are all within the protection scope of the present invention.
Claims (8)
1. A method for adjusting a vehicle-mounted reversing image at low cost is characterized by comprising the following steps:
1) The camera transmits the acquired backing image data to the camera driver, the image data output by the camera driver is in a UYVY format, and the kernel driver converts the UYVY image data into RGB image data and transmits the RGB image data to the image processing module;
2) The image processing module converts the received RGB image data into HSL image data, and then performs equal-proportion adjustment on the chromaticity, the contrast and the brightness according to requirements; converting the adjusted HSL image data into RGB image data;
3) And converting the converted RGB image data into UYVY image data through the kernel driver, transmitting the UYVY image data to the display driver, and finally displaying the processed reverse image on a display screen through the deserializing chip.
2. The method for adjusting the vehicle-mounted reversing image at low cost according to claim 1, wherein the step 1) of converting the UYVY image data into RGB image data specifically comprises: the RGB image data comprises three color components of red, green and blue, which are respectively represented by R, G and B, the UYVY image data comprises a Y component, a U component and a V component, and through a right shift operation, the conversion formula is as follows:
R＝Y+((360*(V-128))＞＞8)；
G＝Y-(((88*(U-128)+184*(V-128)))＞＞8)；
B＝Y+((455*(U-128))＞＞8)。
3. the method for adjusting the vehicle-mounted reversing image at low cost according to claim 1, wherein the step 2) of converting the received RGB image data into the HSL image data by the image processing module specifically comprises: introducing a constant K into the original conversion formula con The formula for converting the adjusted RGB into HSL is as follows:
R，G，B∈[O，K CON ]
X max ：＝max(R，G，B)＝：V
X min ：＝min(R，G，B)，
C：＝X max -X min ＝2(V-L)
wherein L is luminance, H is chrominance, S L For contrast, the image processing module directly processes HSL data according to the requirement; and carrying out equal proportion adjustment on the contrast and the brightness to obtain the adjusted HSL data.
4. The method for adjusting the vehicle-mounted reversing image at low cost according to claim 1, wherein the step 2) of converting the adjusted HSL image data into RGB image data specifically comprises: the image processing module calculates the adjusted HSL image data according to an HSL-to-RGB formula to respectively obtain three components of red, green and blue, namely RGB image data which are respectively represented by R, G and B; addition of K con The formula after the constants is as follows:
H∈[0°，K CON ×360°]，S L ∈[0，K con ]，L∈[0，K con ]
wherein X and C are intermediate variables.
5. The method for adjusting the vehicle-mounted reversing image at low cost according to claim 1, wherein the step 3) of converting the converted RGB image data into the UYVY image data through kernel driving specifically comprises: the RGB image data comprises three color components of red, green and blue, which are respectively represented by R, G and B, the UYVY image data comprises a Y component, a U component and a V component, and through a right shift operation, the conversion formula is as follows:
Y＝(77*R+150*G+29*B)>>8；
U＝((-44*R-87*G+131*B)>>8)+128；
V＝((131*R-110*G-21*B)>>8)+128。
6. a vehicle-mounted low-cost reversing image adjusting system comprises a vehicle-mounted software module and a vehicle-mounted hardware module, and is characterized in that a camera driving module, an inner core driving module, an image processing module and a display driving module are arranged in the vehicle-mounted software module;
the camera driving module is used for outputting image data in a UYVY format to the kernel driving module according to the reversing image acquired by the camera;
the kernel driving module is used for converting image data in a UYVY format output by the camera driving module into image data in a RGB format and sending the image data to the image processing module, and converting an image in the RGB format processed by the image processing module into an image in the UYVY format and outputting the image in the UYVY format to the display driving module;
the image processing module is used for converting the original RGB format image data into HSL format image data and then carrying out equal proportion adjustment on the contrast or brightness of the HSL format image data according to requirements; converting the adjusted image data in the HSL format into RGB image data and transmitting the RGB image data to a kernel driving module;
and the display driver is used for receiving the processed image data in the UYVY format output by the kernel driver module and transmitting the image data to the deserializing chip.
7. The vehicle-mounted low-cost adjusting system for the reverse image according to claim 6, wherein the kernel driving module is of a standard V4L2 architecture, the virtual address of the reverse image data is acquired in a VIDIOCQ _ QBFUF, the UYVY image data is converted into the RGB image data according to the virtual address, and the RGB image data is converted back into the UYVY image data after the image processing module.
8. The vehicle-mounted low-cost image adjusting system for backing a car according to claim 6, wherein the hardware of the car machine comprises a video acquisition chip and a serialization and deserialization chip; the camera is electrically connected with the video acquisition chip and is used for acquiring a backing image; the deserializing chip is electrically connected with the display screen and used for displaying the adjusted reversing image on the display screen.
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