CN116205829A - Rearview mirror image fusion method, device, vehicle-mounted equipment and storage medium - Google Patents
Rearview mirror image fusion method, device, vehicle-mounted equipment and storage medium Download PDFInfo
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- CN116205829A CN116205829A CN202211742598.2A CN202211742598A CN116205829A CN 116205829 A CN116205829 A CN 116205829A CN 202211742598 A CN202211742598 A CN 202211742598A CN 116205829 A CN116205829 A CN 116205829A
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Abstract
The application discloses a rearview mirror image fusion method, a device, vehicle-mounted equipment and a storage medium, wherein the rearview mirror image fusion method comprises the following steps: acquiring rearview mirror image data of an electronic rearview mirror of an automobile, wherein the electronic rearview mirror comprises an electronic inner rearview mirror and left and right electronic outer rearview mirrors; and inputting the rearview mirror image data into an FPGA chip for image depth fusion, and generating a fused picture image. The driver has solved the in-process of driving and needs three kinds of display device of simultaneous observation, causes the problem of error when judging external scene and position easily, realizes the high integration of system, promotes the security of driving.
Description
Technical Field
The present disclosure relates to the field of image processing technologies, and in particular, to a method and an apparatus for image fusion of a rearview mirror, a vehicle-mounted device, and a storage medium.
Background
The traditional physical outside rearview mirror is easily affected by factors such as extreme weather, light intensity, light reflection and the like, so that certain hidden danger exists in driving safety. With the industrialization and the new and fourth promotion of the automobile industry, the improvement of the safety consciousness of automobile manufacturers, and the electronic inside and outside rearview mirrors are gradually appeared in new high-end automobile models. The existing electronic exterior rearview mirror is provided with cameras at the left side and the right side of a vehicle, and the low-delay live-action display of images at the two sides of the vehicle is carried out by installing two independent display screens in the vehicle. The electronic inside rearview mirror (namely, streaming media rearview mirror) combines the camera function with the traditional inside rearview mirror, a rearview camera is arranged at a fish fin antenna of a vehicle body, image data acquired by the camera is transmitted to the inside rearview mirror in a bidirectional ultra-long distance manner through a coaxial cable, and a low-delay live-action image after the vehicle is projected on the rearview mirror after being processed by a Image Signal Processor chip (image signal processor, ISP for short) and enhanced by an image algorithm.
According to the scheme, three different types of display equipment are required to be placed in the automobile, when a driver changes a road or backs a car in a left-right direction, the driver needs to observe the electronic inside rearview mirror in the automobile and also needs to observe the left-right two electronic outside rearview mirrors, errors are easily caused when the outside scene and the direction are judged, and potential safety hazards exist.
Disclosure of Invention
The main object of the application is to provide a rearview mirror image fusion method, a rearview mirror image fusion device, vehicle-mounted equipment and a storage medium, and aims to solve the problem that three display equipment are required to be observed simultaneously by a driver in the driving process, and errors are easily caused when external scenes and directions are judged, realize high integration of a system and improve driving safety.
In order to achieve the above object, the present application provides a rearview mirror image fusion method, which includes:
acquiring rearview mirror image data of an electronic rearview mirror of an automobile, wherein the electronic rearview mirror comprises an electronic inner rearview mirror and left and right electronic outer rearview mirrors;
and inputting the rearview mirror image data into an FPGA chip for image depth fusion, and generating a fused picture image.
Optionally, after the step of acquiring the rearview mirror image data of the electronic rearview mirror of the automobile, the step of acquiring 5 further includes:
performing data deserialization processing on the rearview mirror image data to convert serial rearview mirror image data into parallel rearview mirror image data;
the step of inputting the rearview mirror image data into an FPGA chip for image depth fusion and generating a fused picture image comprises the following steps: 0 inputting the parallel rearview mirror image data into an FPGA chip for image depth fusion,
and generating a fused picture image.
Optionally, after the step of performing data deserializing processing on the rearview mirror image data to convert serial rearview mirror image data into parallel rearview mirror image data, the method further includes: and 5, performing image signal processing on the parallel rearview mirror image data to obtain processed parallel rearview mirror image data.
Optionally, the step of inputting the rearview mirror image data into an FPGA chip to perform image depth fusion, and generating a fused picture image includes:
0 obtaining the rearview mirror image data input into the FPGA chip;
performing image correction on the rearview mirror image data to obtain corrected rearview mirror image data;
acquiring an automobile three-dimensional model and automobile parameters;
projecting the corrected rearview mirror image data and the automobile parameters onto the automobile three-dimensional model to obtain projected image data;
5, performing splicing processing on the connection part of the images according to the projected image data to obtain spliced image data;
and rendering the spliced image data to obtain the fused picture image.
Optionally, before the step 0 of acquiring the rearview mirror image data input into the FPGA chip, the method further includes:
and loading global configuration of image processing, and initializing an OpenGL ES component and a camera device driver.
Optionally, before the step of acquiring the rearview mirror image data of the electronic rearview mirror of the automobile, the method further includes:
acquiring the rearview mirror image data, including:
acquiring rearview mirror image data of the rear of the automobile through a rearview camera;
and acquiring rearview mirror image data on the left side and the right side through a left camera and a right camera which are arranged at the left electronic outer rearview mirror and the right electronic outer rearview mirror.
Optionally, after the step of inputting the rearview mirror image data into the FPGA chip to perform image depth fusion and generating the fused picture image, the method further includes:
and displaying the fused picture image on a single display device.
The embodiment of the application also provides a rearview mirror image fusion device, which comprises:
the image acquisition module is used for acquiring rearview mirror image data of the automobile electronic rearview mirror, wherein the electronic rearview mirror comprises an electronic inner rearview mirror and left and right electronic outer rearview mirrors;
and the image fusion module is used for inputting the rearview mirror image data into an FPGA chip for image depth fusion and generating a fused picture image.
The embodiment of the application also provides vehicle-mounted equipment, which comprises a memory, a processor and a rearview mirror image fusion program which is stored in the memory and can run on the processor, wherein the steps of the rearview mirror image fusion method are realized when the rearview mirror image fusion program is executed by the processor.
The embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores a rearview mirror image fusion program, and the rearview mirror image fusion program realizes the steps of the rearview mirror image fusion method when being executed by a processor.
The rearview mirror image fusion method, the device, the vehicle-mounted equipment and the storage medium provided by the embodiment of the application are used for acquiring the rearview mirror image data of the electronic rearview mirror of the automobile, wherein the electronic rearview mirror comprises an electronic inner rearview mirror and a left-right electronic outer rearview mirror; and inputting the rearview mirror image data into an FPGA chip for image depth fusion, and generating a fused picture image. Through integrating the electronic inside rearview mirror picture and the electronic outside rearview mirror picture and carrying out panorama fusion of the pictures, three paths of videos can be fused into a display picture, the picture display without dead angles at the rear of the vehicle is realized, and the driving safety is improved.
Drawings
Fig. 1 is a schematic diagram of a functional module of an on-vehicle device to which a rearview mirror image fusion apparatus of the present application belongs;
FIG. 2 is a flow chart of a first exemplary embodiment of a rearview mirror image fusion method according to the present application;
FIG. 3 is a flow chart of a second exemplary embodiment of a rearview mirror image fusion method of the present application;
fig. 4 is a flowchart of a third exemplary embodiment of a rearview mirror image fusion method according to the present application.
The realization, functional characteristics and advantages of the present application will be further described with reference to the embodiments, referring to the attached drawings.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
The main solutions of the embodiments of the present application are: acquiring rearview mirror image data of an electronic rearview mirror of an automobile, wherein the electronic rearview mirror comprises an electronic inner rearview mirror and left and right electronic outer rearview mirrors; and inputting the rearview mirror image data into an FPGA chip for image depth fusion, and generating a fused picture image. Through integrating the electronic inside rearview mirror picture and the electronic outside rearview mirror picture and carrying out panorama fusion of the pictures, three paths of videos can be fused into a display picture, the picture display without dead angles at the rear of the vehicle is realized, and the driving safety is improved.
Specifically, referring to fig. 1, fig. 1 is a schematic functional block diagram of an in-vehicle apparatus to which the rearview mirror image fusion apparatus of the present application belongs. The rearview mirror image fusion device can be a device which is independent of the vehicle-mounted equipment and can perform picture processing and picture depth fusion, and can be carried on the vehicle-mounted equipment in a hardware or software mode.
In this embodiment, the vehicle-mounted device to which the rearview mirror image fusion apparatus belongs at least includes an output module 110, a processor 120, a memory 130, and a communication module 140.
The memory 130 stores an operating system and a rearview mirror image fusion program, and the rearview mirror image fusion device can input the obtained rearview mirror image data of the electronic rearview mirror of the automobile into an FPGA chip to perform image depth fusion to generate a fused picture image, and then use the rearview mirror
Parallel rearview mirror image data obtained by performing data deserialization processing on the image data, and processed parallel rearview mirror image data obtained by performing image signal processing on the parallel rearview 5-mirror image data are stored in the memory 130; the output module 110 may be a display screen or the like. The communication module 140 may include a CAN module, a WIFI module, a mobile communication module, a bluetooth module, and the like, and communicates with an external device or a server through the communication module 140.
Wherein, the rearview mirror image fusion program in the memory 130 realizes the following step 0 when executed by the processor:
acquiring rearview mirror image data of an electronic rearview mirror of an automobile, wherein the electronic rearview mirror comprises an electronic inner rearview mirror and left and right electronic outer rearview mirrors;
and inputting the rearview mirror image data into an FPGA chip for image depth fusion, and generating a fused picture image.
5 further, the rearview mirror image fusion procedure in the memory 130 when executed by the processor also implements the following steps:
performing data deserialization processing on the rearview mirror image data to convert serial rearview mirror image data into parallel rearview mirror image data;
and inputting the processed parallel rearview mirror image data into an FPGA chip for image depth 0 degree fusion, and generating a fused picture image.
Further, the rearview mirror image fusion program in the memory 130 when executed by the processor also implements the following steps:
and performing image signal processing on the parallel rearview mirror image data to obtain processed parallel rearview mirror image data.
5 further, the rearview mirror image fusion procedure in the memory 130 when executed by the processor also implements the following steps:
acquiring the rearview mirror image data input into the FPGA chip;
performing image correction on the rearview mirror image data to obtain corrected rearview mirror image data;
acquiring an automobile three-dimensional model and automobile parameters;
0 projecting the corrected rearview mirror image data and the automobile parameters onto the automobile three-dimensional model to obtain projected image data;
performing splicing processing on the joint of the images according to the projected image data to obtain spliced image data;
and rendering the spliced image data to obtain the fused picture image.
Further, the rearview mirror image fusion program in the memory 130 when executed by the processor also implements the following steps:
and loading global configuration of image processing, and initializing an OpenGL ES component and a camera device driver.
Further, the rearview mirror image fusion program in the memory 130 when executed by the processor also implements the following steps:
acquiring the rearview mirror image data, including:
acquiring rearview mirror image data of the rear of the automobile through a rearview camera;
and acquiring rearview mirror image data on the left side and the right side through a left camera and a right camera which are arranged at the left electronic outer rearview mirror and the right electronic outer rearview mirror.
Further, the rearview mirror image fusion program in the memory 130 when executed by the processor also implements the following steps:
and displaying the fused picture image on a single display device.
According to the technical scheme, the embodiment particularly obtains the rearview mirror image data of the automobile electronic rearview mirror, wherein the electronic rearview mirror comprises an electronic inner rearview mirror and left and right electronic outer rearview mirrors; and inputting the rearview mirror image data into an FPGA chip for image depth fusion, and generating a fused picture image. Through integrating the electronic inside rearview mirror picture and the electronic outside rearview mirror picture and carrying out panorama fusion of the pictures, three paths of videos can be fused into a display picture, the picture display without dead angles at the rear of the vehicle is realized, and the driving safety is improved.
The method embodiments of the present application are presented based on the above-described architecture of the vehicle-mounted device, but not limited to the above-described architecture.
Referring to fig. 2, fig. 2 is a flowchart of a first exemplary embodiment of a rearview mirror image fusion method according to the present application. The rearview mirror image fusion method comprises the following steps:
step S10, acquiring rearview mirror image data of an automobile electronic rearview mirror, wherein the electronic rearview mirror comprises an electronic inner rearview mirror and a left electronic outer rearview mirror and a right electronic outer rearview mirror;
and S20, inputting the rearview mirror image data into an FPGA chip for image depth fusion, and generating a fused picture image.
The main execution body of the method of the embodiment may be a rearview mirror image fusion device, or may be a rearview mirror image fusion vehicle-mounted device or a server, and the embodiment is exemplified by the rearview mirror image fusion device, and the rearview mirror image fusion device may be integrated on the vehicle-mounted device with a data processing function.
In this embodiment, rearview mirror image data of an electronic rearview mirror of an automobile is acquired, wherein the electronic rearview mirror may include an electronic inside rearview mirror and left and right electronic outside rearview mirrors; and then, inputting the acquired left, rear and right rearview mirror image data into an FPGA chip for image depth fusion, and generating a super-wide-angle fused picture image. The embodiment is integrated on the FPGA chip, and the image fusion algorithm is adopted, so that the use of the SOC can be reduced on the premise of meeting the requirement that three paths of video inputs can be displayed, and the advantages of better cost, lighter weight and safer driving are realized.
It should be noted that, compared with the traditional equal price SOC scheme, the FPGA has the advantages of strong image processing performance, smaller time delay from image processing to display, and simultaneously supports multiple paths of image input. Optionally, in this embodiment, the selected FPGA is a ZU3EG chip of the siren as the main chip.
Further, as an embodiment, before acquiring the rearview mirror image data of the electronic rearview mirror of the automobile in step S101, the method may further include:
acquiring the rearview mirror image data, including:
acquiring rearview mirror image data of the rear of the automobile through a rearview camera;
and acquiring rearview mirror image data on the left side and the right side through a left camera and a right camera which are arranged at the left electronic outer rearview mirror and the right electronic outer rearview mirror.
Specifically, for the separate electronic inside rear view mirror, the view range that can be highlighted is generally around 80 ° due to the limitation of the mounting position of the camera, and the view blind area still exists for the left and right sides, so the view blind area behind the left and right sides of the vehicle cannot be fully covered. In the embodiment, the rearview mirror image data of the rear of the automobile is acquired by combining the rearview cameras, and the rearview mirror image data of the left side and the right side is acquired by the left and the right cameras arranged at the left and the right electronic outside rearview mirrors, so that the panoramic view of the left side, the right side and the rear side of the automobile can be acquired, and the field of view dead angle at the rear of the automobile is avoided.
Further, as an embodiment, in the step S102, the step of inputting the rearview mirror image data into the FPGA chip to perform image depth fusion, and then generating the fused picture image may further include:
and displaying the fused picture image on a single display device.
Through the picture image display that has integrated the integration of electron inside and outside rear-view mirror picture on single display device, can improve the integrated level of car, reduce whole car weight, reduce whole car manufacturing cost, make contribution for the lightweight index of whole car.
According to the technical scheme, the embodiment particularly obtains the rearview mirror image data of the automobile electronic rearview mirror, wherein the electronic rearview mirror comprises an electronic inner rearview mirror and left and right electronic outer rearview mirrors; and inputting the rearview mirror image data into an FPGA chip for image depth fusion, and generating a fused picture image. The electronic outside rearview mirror images are integrated and panoramic fusion of the images is carried out, so that the images without dead angles behind the vehicle are realized, and the driving safety is improved; the electronic inside and outside rearview mirrors are fused to realize high integration of the system, so that the manufacturing cost of the whole automobile is reduced.
Referring to fig. 3, fig. 3 is a flowchart illustrating a second exemplary embodiment of a rearview mirror image fusion method according to the present application. Based on the embodiment shown in fig. 2, in this embodiment, after the step of acquiring the rearview mirror image data of the electronic rearview mirror of the automobile, the rearview mirror image fusion method further includes:
step S101, performing data deserializing processing on the rearview mirror image data to convert serial rearview mirror image data into parallel rearview mirror image data.
Specifically, since the acquired mirror image data of the electronic mirror for the automobile is serial data, the mirror image data is subjected to data deserialization processing before being input into the FPGA chip, so that the serial mirror image data can be converted into parallel mirror image data.
Then, step S102 is executed, and the parallel rearview mirror image data is input into an FPGA chip to perform image depth fusion, so as to generate a fused picture image.
Further, as an embodiment, after performing the data deserializing process on the rearview mirror image data in the step S101 to convert the serial rearview mirror image data into the parallel rearview mirror image data, the method may further include:
and step S103, performing image signal processing on the parallel rearview mirror image data to obtain processed parallel rearview mirror image data.
Specifically, image signal processing is performed on parallel rearview mirror image data obtained after data deserializing processing, so that the processed parallel rearview mirror image data is obtained, and the observation effect of a subsequent user is improved. Alternatively, the image signal processing may include, but is not limited to: linear correction, noise removal, dead pixel repair, color interpolation, white balance correction, exposure correction, and the like.
According to the embodiment, the image signal processing is carried out on the rearview mirror image data, so that the image can be enhanced under the severe weather condition, the driving safety problem under the severe environment is avoided, and the driving safety is further improved.
According to the technical scheme, the embodiment particularly obtains the rearview mirror image data of the automobile electronic rearview mirror, wherein the electronic rearview mirror comprises an electronic inner rearview mirror and left and right electronic outer rearview mirrors; performing data deserialization processing on the rearview mirror image data to convert serial rearview mirror image data into parallel rearview mirror image data; performing image signal processing on the parallel rearview mirror image data to obtain processed parallel rearview mirror image data; and inputting the rearview mirror image data into an FPGA chip for image depth fusion, and generating a fused picture image. Through integrating the electronic inside rearview mirror picture and the electronic outside rearview mirror picture and carrying out panorama fusion of the pictures, three paths of videos can be fused into a display picture, the picture display without dead angles at the rear of the vehicle is realized, and the driving safety is improved.
Referring to fig. 4, fig. 4 is a flowchart illustrating a third exemplary embodiment of a rearview mirror image fusion method according to the present application. Based on the embodiments shown in fig. 2 and 3, in this embodiment, the step S20 of inputting the rearview mirror image data into the FPGA chip for image depth fusion may include:
step S201, acquiring the rearview mirror image data input into the FPGA chip;
step S202, performing image correction on the rearview mirror image data to obtain corrected rearview mirror image data;
step S203, obtaining an automobile three-dimensional model and automobile parameters;
step S204, projecting the corrected rearview mirror image data and the automobile parameters onto the automobile three-dimensional model to obtain projected image data;
step S205, performing stitching processing on the connection part of the images according to the projected image data to obtain stitched image data;
and step S206, rendering the spliced image data to obtain the fused picture image.
Specifically, the rearview mirror image data of the electronic inside rearview mirror and the rearview mirror image data of the left and right electronic outside rearview mirrors input into the FPGA chip are acquired. Then, the obtained three paths of rearview mirror image data are subjected to image correction, and corrected rearview mirror image data are obtained. Then, a pre-stored automobile three-dimensional model and automobile parameters are obtained; alternatively, the automotive parameter may include, but is not limited to, automotive color. And projecting the corrected rearview mirror image data and the automobile parameters onto the automobile three-dimensional model to form projected image data. And then, performing splicing processing on the connection parts in the images according to the projected image data, including brightness adjustment and the like of the connection images, so as to obtain spliced image data. And finally, performing image rendering processing on the spliced image data to obtain the fused picture image.
Further, as an embodiment, before the acquiring the rearview mirror image data input to the FPGA chip in the step S201, the method may further include:
and loading global configuration of image processing, and initializing an OpenGL ES component and a camera device driver.
According to the technical scheme, the embodiment particularly obtains the rearview mirror image data of the automobile electronic rearview mirror, wherein the electronic rearview mirror comprises an electronic inner rearview mirror and left and right electronic outer rearview mirrors; and inputting the rearview mirror image data into an FPGA chip for image depth fusion, and generating a fused picture image. Through integrating the electronic inside rearview mirror picture and the electronic outside rearview mirror picture and carrying out panorama fusion of the pictures, three paths of videos can be fused into a display picture, the picture display without dead angles at the rear of the vehicle is realized, and the driving safety is improved.
In addition, the embodiment of the application also provides a rearview mirror image fusion device, which comprises:
the image acquisition module is used for acquiring rearview mirror image data of the automobile electronic rearview mirror, wherein the electronic rearview mirror comprises an electronic inner rearview mirror and left and right electronic outer rearview mirrors;
and the image fusion module is used for inputting the rearview mirror image data into an FPGA chip for image depth fusion and generating a fused picture image.
The principle and implementation process of the rearview mirror image fusion are realized in this embodiment, please refer to the above embodiments, and will not be described in detail here.
In addition, the embodiment of the application also provides vehicle-mounted equipment, which comprises a memory, a processor and a rearview mirror image fusion program which is stored in the memory and can run on the processor, wherein the steps of the rearview mirror image fusion method are realized when the rearview mirror image fusion program is executed by the processor.
Because the rearview mirror image fusion program is executed by the processor, all the technical schemes of all the embodiments are adopted, and therefore, the rearview mirror image fusion program at least has all the beneficial effects brought by all the technical schemes of all the embodiments, and the description is omitted herein.
In addition, the embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores a rearview mirror image fusion program, and the rearview mirror image fusion program realizes the steps of the rearview mirror image fusion method when being executed by a processor.
Because the rearview mirror image fusion program is executed by the processor, all the technical schemes of all the embodiments are adopted, and therefore, the rearview mirror image fusion program at least has all the beneficial effects brought by all the technical schemes of all the embodiments, and the description is omitted herein.
Compared with the prior art, the rearview mirror image fusion method, the device, the vehicle-mounted equipment and the storage medium provided by the embodiment of the application are used for acquiring the rearview mirror image data of the automobile electronic rearview mirror, wherein the electronic rearview mirror comprises an electronic inner rearview mirror and a left electronic outer rearview mirror and a right electronic outer rearview mirror; and inputting the rearview mirror image data into an FPGA chip for image depth fusion, and generating a fused picture image. Through integrating the electronic inside rearview mirror picture and the electronic outside rearview mirror picture and carrying out panorama fusion of the pictures, three paths of videos can be fused into a display picture, the picture display without dead angles at the rear of the vehicle is realized, and the driving safety is improved.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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 system. 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 system that comprises the element.
The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as above, comprising several instructions for causing an apparatus to perform the method of each embodiment of the present application.
The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the claims, and all equivalent structures or equivalent processes using the descriptions and drawings of the present application, or direct or indirect application in other related technical fields are included in the scope of the claims of the present application.
Claims (10)
1. The rearview mirror image fusion method is characterized by comprising the following steps of:
acquiring rearview mirror image data of an electronic rearview mirror of an automobile, wherein the electronic rearview mirror comprises an electronic inner rearview mirror and left and right electronic outer rearview mirrors;
and inputting the rearview mirror image data into an FPGA chip for image depth fusion, and generating a fused picture image.
2. The method for fusing a rearview mirror image according to claim 1, wherein after the step of acquiring the rearview mirror image data of the electronic rearview mirror of the automobile, further comprises:
performing data deserialization processing on the rearview mirror image data to convert serial rearview mirror image data into parallel rearview mirror image data;
the step of inputting the rearview mirror image data into an FPGA chip for image depth fusion and generating a fused picture image comprises the following steps:
and inputting the parallel rearview mirror image data into an FPGA chip for image depth fusion, and generating a fused picture image.
3. The rearview mirror image fusion method according to claim 2, wherein after the step of performing data deserialization processing on the rearview mirror image data to convert serial rearview mirror image data into parallel rearview mirror image data, further comprising:
and performing image signal processing on the parallel rearview mirror image data to obtain processed parallel rearview mirror image data.
4. The method for fusing the rearview mirror image according to claim 1, wherein the step of inputting the rearview mirror image data into an FPGA chip for image depth fusion to generate the fused picture image comprises:
acquiring the rearview mirror image data input into the FPGA chip;
performing image correction on the rearview mirror image data to obtain corrected rearview mirror image data;
acquiring an automobile three-dimensional model and automobile parameters;
projecting the corrected rearview mirror image data and the automobile parameters onto the automobile three-dimensional model to obtain projected image data;
performing splicing processing on the joint of the images according to the projected image data to obtain spliced image data;
and rendering the spliced image data to obtain the fused picture image.
5. The rearview mirror image fusion method according to claim 4, characterized in that before the step of acquiring the rearview mirror image data input into the FPGA chip, further comprises:
and loading global configuration of image processing, and initializing an OpenGL ES component and a camera device driver.
6. The method for fusing a rearview mirror image according to claim 1, wherein the step of acquiring the rearview mirror image data of the electronic rearview mirror of the automobile is preceded by the step of:
acquiring the rearview mirror image data, including:
acquiring rearview mirror image data of the rear of the automobile through a rearview camera;
and acquiring rearview mirror image data on the left side and the right side through a left camera and a right camera which are arranged at the left electronic outer rearview mirror and the right electronic outer rearview mirror.
7. The method for fusing the rearview mirror image according to claim 1, wherein after the step of inputting the rearview mirror image data into an FPGA chip to perform image depth fusion, the method further comprises:
and displaying the fused picture image on a single display device.
8. A rearview mirror image fusion apparatus, characterized in that the rearview mirror image fusion apparatus includes:
the image acquisition module is used for acquiring rearview mirror image data of the automobile electronic rearview mirror, wherein the electronic rearview mirror comprises an electronic inner rearview mirror and left and right electronic outer rearview mirrors;
and the image fusion module is used for inputting the rearview mirror image data into an FPGA chip for image depth fusion and generating a fused picture image.
9. An in-vehicle apparatus comprising a memory, a processor, and a rearview mirror image fusion program stored on the memory and executable on the processor, the rearview mirror image fusion program when executed by the processor implementing the steps of the rearview mirror image fusion method of any one of claims 1-7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a rearview mirror image fusion program, which when executed by a processor, implements the steps of the rearview mirror image fusion method according to any one of claims 1-7.
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| CN117237393A (en) * | 2023-11-06 | 2023-12-15 | 深圳金语科技有限公司 | Image processing method and device based on streaming media rearview mirror and computer equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117237393A (en) * | 2023-11-06 | 2023-12-15 | 深圳金语科技有限公司 | Image processing method and device based on streaming media rearview mirror and computer equipment |
| CN117237393B (en) * | 2023-11-06 | 2024-05-17 | 深圳金语科技有限公司 | Image processing method and device based on streaming media rearview mirror and computer equipment |
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