CN115514886B - Vehicle-mounted reversing image adjusting system and method under low cost - Google Patents

Vehicle-mounted reversing image adjusting system and method under low cost Download PDF

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CN115514886B
CN115514886B CN202211073011.3A CN202211073011A CN115514886B CN 115514886 B CN115514886 B CN 115514886B CN 202211073011 A CN202211073011 A CN 202211073011A CN 115514886 B CN115514886 B CN 115514886B
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uyvy
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CN115514886A (en
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张单
陶文
高逊达
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Yangzhou Hangsheng Technology Co ltd
Shenzhen Hangsheng Electronic Co Ltd
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Yangzhou Hangsheng Technology Co ltd
Shenzhen Hangsheng Electronic Co Ltd
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Abstract

The invention discloses a vehicle-mounted reversing image adjusting system and method under low cost, comprising 1) a camera transmits collected reversing image data to a camera driver, 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 the chromaticity, the contrast and the brightness are adjusted in equal proportion according to the requirement; converting the adjusted HSL image data into RGB image data; 3) And converting the converted RGB image data into UYVY image data through a kernel driver, transmitting the UYVY image data to a display driver, and finally displaying the processed reversing image on a display screen through a serialization and deserialization chip. According to the invention, the image processing module is added after the camera is driven, and the contrast and brightness of the reversing image are adjusted through the image processing module, so that the problem that the reversing image adjustment can be realized only by depending on hardware is solved, and the cost is reduced.

Description

Vehicle-mounted reversing image adjusting system and method under low cost
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 reversing image under vehicle-mounted low cost.
Background
In the existing vehicle-mounted system, as shown in fig. 1, image data is acquired from a camera by a video acquisition chip, an image is acquired by an SOC through a related camera driver, and then the image is transmitted to a display driver and is transmitted to a display screen for display.
The basic implementation principle of the image processing module is as follows: the color space of the camera image in the car system is RGB or YUV, and the color space model is suitable for a hardware display system, but is 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, it is desirable to adjust the contrast and brightness of an image by converting RGB into HSL, and then converting HSL into RGB after adjusting the contrast and brightness.
When the brightness and contrast of an image need to be adjusted, common schemes are as follows: 1) The image output to the acquisition chip is adjusted by configuring a relevant register of the camera; 2) The camera is used for driving the collected image data to be adjusted by configuring a relevant register of the video collection chip; 3) The image data output to the display screen is adjusted by the relevant register of the deserializing chip.
However, for controlling the cost, when the low-profile vehicle is in hardware type selection, whether the video acquisition chip or the video serialization and deserialization chip can support the image adjusting function is not considered. The cameras are specified by a vehicle factory, the CVBS standard definition simulation cameras are generally selected under the condition of low cost, and the configuration possibility is avoided. In this case, the requirements for brightness and contrast adjustment are not satisfied by the previous solutions.
In the use scene of reversing, the requirement of quick reversing exists, and at the moment, the system is in an early stage of loading of an Android system, and library files, system services and the like are not loaded; or in FreeRTOS systems running on coprocessors, which cannot call libraries such as OpenCV to achieve this function.
The existing scheme of the mutual conversion of RGB and HSL at the PC end can realize image adjustment; however, the conventional PC-side conversion implementation scheme cannot be directly used in the vehicle-mounted environment, and the conversion formula needs to convert RGB of an integer into a decimal between 0 and 1 for operation, which is a floating point operation, and in kernel driving, the floating point operation cannot be supported, and needs to be converted into an integer operation for transplanting into the vehicle-mounted environment.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a vehicle-mounted system and a vehicle-mounted method for adjusting a reversing image at low cost, which can solve the problem that the adjustment of the reversing image can be realized only by depending on 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 the RGB and HSL conversion formulas and the floating point calculation cannot be realized in the kernel is solved; the problem of embedding the processing program into the vehicle-mounted reversing system is solved.
The object of the invention is achieved in one aspect by: a vehicle-mounted reversing image adjusting method under low cost comprises the following steps:
1) The camera transmits the acquired reversing image data to a 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 the chromaticity, the contrast and the brightness are adjusted in equal proportion according to the requirement; converting the adjusted HSL image data into RGB image data;
3) And converting the converted RGB image data into UYVY image data through a kernel driver, transmitting the UYVY image data to a display driver, and finally displaying the processed reversing image on a display screen through a serialization and deserialization chip.
As a further definition of the present invention, the converting UYVY image data into RGB image data in step 1) specifically includes: the RGB image data includes three color components including red, green, and blue, respectively denoted by R, G, B, and the UYVY image data includes Y, U, and V components, and 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 definition of the present invention, the converting the received RGB image data into HSL image data by the image processing module in step 2) specifically includes: a constant K con is introduced into the original conversion formula to avoid floating point operation, and the adjusted RGB-to-HSL formula is as follows:
R,G,B∈[0,KCON]
Xmax：＝max(R,G,B)＝:V
Xmin：＝min(R,G,B),
C：＝Xmax-Xmin＝2(V-L)
Wherein L is brightness, H is chromaticity, S L is contrast, and the image processing module directly processes HSL data according to the requirement; and (5) performing 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, B; the formula after adding the K con constant is as follows:
H∈[0°,KCON×360°],SL∈[0,Kcon],L∈[0,Kcon]
wherein X, C is an intermediate variable.
As a further limitation of the present invention, the converting the converted RGB image data into UYVY image data through the kernel driver in step 3) specifically includes: the RGB image data includes three color components including red, green, and blue, respectively denoted by R, G, B, and the UYVY image data includes Y, U, and V components, and 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。
another aspect of the object of the present invention is achieved by: the vehicle-mounted reversing image adjusting system under low cost comprises a vehicle-mounted machine software module and a vehicle-mounted machine hardware module, wherein a camera driving module, a kernel driving module, an image processing module and a display driving module are arranged in the vehicle-mounted machine software module;
The camera driving module is used for outputting the image data in the UYVY format to the kernel driving module after the camera acquires the reversing image;
The kernel driving module is used for converting the image data in the UYVY format output by the camera driving module into the image data in the RGB format and outputting the image data to the image processing module, and converting the image in the RGB format processed by the image processing module into the image in the UYVY format and outputting the image in the RGB 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 the requirement; converting the adjusted HSL-format image data into RGB image data again and transmitting the RGB image data to a kernel driving module;
The display driver is used for receiving the processed image data in the UYVY format output by the kernel driving module and transmitting the image data to the string adding and deserializing chip.
As a further limitation of the present invention, the kernel driving module is a standard V4L2 architecture, obtains the virtual address of the reverse image data in VIDIOCQ _ QBUF, converts the UYVY image data into RGB image data according to the virtual address, and converts the RGB image data back into the UYVY image data after passing through the image processing module.
As a further limitation of the invention, the vehicle hardware 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 reversing images; the string adding and releasing chip is electrically connected with the display screen and used for displaying the adjusted reversing image on the display screen.
Compared with the prior art, the invention adopts the technical scheme and has the beneficial effects that: the camera image module in the original car machine software is replaced by the image processing module, so that the problem that the adjustment of the reversing image can be realized only by depending on hardware is solved; the method can allow the selection of a chip with lower cost when hardware is selected; compared with the OpenCV scheme, the Android operating system does not depend on a library, can work under FreeRTOS systems, and can 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 brightness of the reversing image can be effectively adjusted.
K con constant is introduced, so that the conversion between RGB and HSL can be realized in the internal verification, and the development workload of an application end is greatly reduced; the floating point calculation of the RGB and HSL conversion formulas is solved; the kernel driving module is of a standard V4L2 architecture, the virtual address of the reversing image data is obtained in VIDIOCQ _ QBUF, UYVY image data is converted into RGB image data according to the virtual address, the RGB image data is converted back into the UYVY image data after passing through the image processing module, the image module is embedded into the kernel driving module, and the problem that a processing program is embedded into a vehicle-mounted reversing system is solved.
Drawings
Fig. 1 is a schematic diagram of a reversing image implementation system in the prior art.
Fig. 2 is a schematic diagram of a reverse image adjustment system of the present invention.
FIG. 3 is a flow chart of the kernel driven reverse image processing in the present invention.
Fig. 4 is a pseudo-code flow chart for converting UYVY image data into RGB image data according to the present invention.
Fig. 5 is a pseudo-code flow chart for converting RGB image data into UYVY image data according to the present invention.
Fig. 6 is a comparison diagram of brightness adjustment of a reverse image in the embodiment of the present invention.
Fig. 7 is a front-to-back contrast adjustment chart of a reverse image in an embodiment of the present invention.
Detailed Description
The vehicle-mounted low-cost reversing image adjusting system shown in fig. 2 comprises a vehicle software module and a vehicle hardware module, wherein a camera driving module, a kernel 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 the image data in the UYVY format to the kernel driving module after the camera acquires the reversing image;
The kernel driving module is used for converting the image data in the UYVY format output by the camera driving module into the image data in the RGB format and outputting the image data to the image processing module, and converting the image in the RGB format processed by the image processing module into the image in the UYVY format and outputting the image in the RGB 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 the requirement; converting the adjusted HSL-format image data into RGB image data again and transmitting the RGB image data to a kernel driving module; the module is added to realize software after the reversing software collects reversing images.
The display driver is used for receiving the processed image data in the UYVY format output by the kernel driving module and transmitting the image data to the string adding and deserializing chip.
The kernel driving module is of a standard V4L2 architecture, obtains the virtual address of the reversing image data in VIDIOCQ _ QBUF, converts the UYVY image data into RGB image data according to the virtual address, and converts the RGB image data back into the UYVY image data after the RGB image data passes through the image processing module, as shown in figure 3.
The vehicle-mounted hardware 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 reversing images; the string adding and releasing chip is electrically connected with the display screen and used for displaying the adjusted reversing image on the display screen.
A vehicle-mounted reversing image adjusting method under low cost comprises the following steps:
1) The camera transmits the acquired reversing image data to a 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 camera image before processing and the processed image are RGB in color space; the cameras in the vehicle-mounted system drive the multi-output UYVY format, so that conversion between UYVY and RGB is needed; the arrangement of YUV components in the UYVY format is: U0Y 0V 0Y 1U 2Y 2V 2Y 3; the formula for YUV and RGB conversion is as follows, avoiding floating point operations by right shift operations
The converting UYVY image data into RGB image data specifically includes: the RGB image data includes three color components including red, green, and blue, respectively denoted by R, G, B, and the UYVY image data includes Y, U, and V components, and 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 shown in fig. 4, the kernel driver acquires UYVY image data, calculates a data length, length=length×width/2, traverses the entire UYVY image data, and 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 the chromaticity, the contrast and the brightness are adjusted in equal proportion according to the requirement; converting the adjusted HSL image data into RGB image data;
To avoid the problem of floating point operations, a constant K con cases is determined according to the desired precision; if the accuracy is determined to be 2 bits after the decimal point, for example, saturation= 61.23%; in this case, when floating point operation is avoided, then the saturation_new=saturation K con =6123, so K con is set to 10000. Since RGB is commonly in the format of RGB888 in the vehicle system, R, G, B is represented by only one byte, that is, 255 at the highest, it is accurate to the last 2 bits of the decimal point. Meanwhile, the kernel driver needs to avoid negative number operation, because negative numbers are converted into complementary codes for storage in a vehicle-machine system when the negative numbers are represented by the type int, namely a large integer, and the calculation result is influenced.
The image processing module converting the received RGB image data into HSL image data specifically includes: a constant K con is introduced into the original conversion formula to avoid floating point operation, and the adjusted RGB-to-HSL formula is as follows:
Kcon＝1000
R,G,B∈[0,KCON]
Xmax：＝max(R,G,B)＝:V
Xmin：＝min(R,G,B),
C：＝Xmax-Xmin＝2(V-L)
Wherein L is brightness, H is chromaticity, S L is contrast, and the image processing module directly processes HSL data according to the requirement; and (5) performing equal proportion adjustment on the contrast and the brightness to obtain the adjusted HSL data.
The 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, B; the formula after adding the K con constant is as follows:
Kcon＝1000
H∈[0°,KCON×360°],SL∈[0,Kcon],L∈[0,Kcon]
wherein X, C is an intermediate variable.
3) And converting the converted RGB image data into UYVY image data through a kernel driver, transmitting the UYVY image data to a display driver, and finally displaying the processed reversing image on a display screen through a serialization and deserialization chip.
Converting the converted RGB image data into UYVY image data through a kernel driver specifically includes: the RGB image data includes three color components including red, green, and blue, respectively denoted by R, G, B, and the UYVY image data includes Y, U, and V components, and 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 the 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 a certain analog camera image in the vehicle increases by 50%; the method comprises the steps that an image processing module obtains RGB image data from a camera driving interface of the system; 3 bytes are read from the data, and are converted into HSL according to the arrangement sequence of RGB; multiply luminance by 150%; converting the HSL image data into RGB image data; circularly executing 2-4 steps according to the size of the image; and obtaining adjusted RGB image data.
As shown in fig. 7, the contrast of a certain analog camera image in the vehicle increases by 50%; the method comprises the steps that an image processing module obtains RGB image data from a camera driving interface of the system; 3 bytes are read from the data, and are converted into HSL image data according to the arrangement sequence of RGB; multiplying the saturation by 150%; converting the HSL image data into RGB image data; and circularly executing 2-4 steps according to the size of the image to obtain adjusted RGB image data.
The invention is not limited to the above embodiments, and based on the technical solution disclosed in the invention, a person skilled in the art may make some substitutions and modifications to some technical features thereof without creative effort according to the technical content disclosed, and all the substitutions and modifications are within the protection scope of the invention.

Claims (6)

1. The method for adjusting the reversing image under the vehicle-mounted low-cost condition is characterized by comprising the following steps of:
1) The camera transmits the acquired reversing image data to a 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 the chromaticity, the contrast and the brightness are adjusted in equal proportion according to the requirement; converting the adjusted HSL image data into RGB image data;
The image processing module converting the received RGB image data into HSL image data specifically includes: introducing a constant K con into the original conversion formula, and converting the adjusted RGB into an HSL formula as follows:
R,G,B∈[0,KCON]
Xmax：＝max(R,G,B)＝：V
Xmin：＝min(R,G,B),
C：＝Xmax-Xmin＝2(V-L)
Wherein L is brightness, H is chromaticity, S L is contrast, and the image processing module directly processes HSL data according to the requirement; the contrast and the brightness are subjected to equal proportion adjustment, and adjusted HSL data are obtained;
The 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, B; the formula after adding the K con constant is as follows:
H∈[0°，KCON×360°],SL∈[0,Kcon],L∈[0,kcon]
Wherein X, C is an intermediate variable;
3) And converting the converted RGB image data into UYVY image data through a kernel driver, transmitting the UYVY image data to a display driver, and finally displaying the processed reversing image on a display screen through a serialization and deserialization chip.
2. The method for adjusting a reverse image at low cost on a vehicle according to claim 1, wherein the converting the UYVY image data into the RGB image data in step 1) specifically comprises: the RGB image data includes three color components of red, green, and blue, respectively denoted by R, G, B, and the UYVY image data includes Y, U, and V components, and 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)。
3. The method for adjusting a reverse image under low cost on a vehicle according to claim 1, wherein in step 3), the converting the converted RGB image data into UYVY image data through kernel driving specifically includes: the RGB image data includes three color components of red, green, and blue, respectively denoted by R, G, B, and the UYVY image data includes Y, U, and V components, and 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。
4. The vehicle-mounted reversing image adjusting system under low cost comprises a vehicle-mounted machine software module and a vehicle-mounted machine hardware module, and is characterized in that a camera driving module, a kernel driving module, an image processing module and a display driving module are arranged in the vehicle-mounted machine software module;
The camera driving module is used for outputting the image data in the UYVY format to the kernel driving module after the camera acquires the reversing image;
The kernel driving module is used for converting the image data in the UYVY format output by the camera driving module into the image data in the RGB format and outputting the image data to the image processing module, and converting the image in the RGB format processed by the image processing module into the image in the UYVY format and outputting the image in the RGB 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 the requirement; converting the adjusted HSL-format image data into RGB image data again and transmitting the RGB image data to a kernel driving module;
The image processing module converting the received RGB image data into HSL image data specifically includes: introducing a constant K con into the original conversion formula, and converting the adjusted RGB into an HSL formula as follows:
R，G，B∈[0，KCON]
Xmax：＝max(R,G,B)＝：V
Xmin：＝min(R,G,B),
C：＝Xmax-Xmin＝2(V-L)
Wherein L is brightness, H is chromaticity, S L is contrast, and the image processing module directly processes HSL data according to the requirement; the contrast and the brightness are subjected to equal proportion adjustment, and adjusted HSL data are obtained;
The 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, B; the formula after adding the K con constant is as follows:
H∈[0°，KCON×360°],SL∈[0,Kcon],L∈[0,Kcon]
Wherein X, C is an intermediate variable;
The display driver is used for receiving the processed image data in the UYVY format output by the kernel driving module and transmitting the image data to the string adding and deserializing chip.
5. The system for adjusting a reverse image under a vehicle-mounted low cost according to claim 4, wherein the kernel driving module is of a standard V4L2 architecture, obtains a virtual address of reverse image data in VIDIOCQ _ QBUF, converts UYVY image data into RGB image data according to the virtual address, and converts the RGB image data back into UYVY image data after passing through the image processing module.
6. The vehicle-mounted low-cost reversing image adjusting system according to claim 4, wherein the vehicle hardware 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 reversing images; the string adding and releasing chip is electrically connected with the display screen and used for displaying the adjusted reversing image on the display screen.
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