CN117274956B - Vehicle side view generation method, device, terminal equipment and storage medium - Google Patents
Vehicle side view generation method, device, terminal equipment and storage medium Download PDFInfo
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Abstract
The application discloses a vehicle side view generation method, a device, terminal equipment and a storage medium, belonging to the technical field of new energy, wherein the vehicle side view generation method comprises the following steps: calibrating a camera carried by a vehicle in a camera calibration scene to obtain a coordinate conversion relation between an image coordinate system of the camera and a world coordinate system of the vehicle; acquiring vehicle model parameters, and establishing a vehicle side scene 3D model according to the vehicle model parameters; and according to the coordinate conversion relation, determining side view pixel information corresponding to each three-dimensional coordinate in the 3D model of the vehicle side scene, and generating a vehicle side view. The problem that an existing vehicle side view display algorithm cannot be applied to vehicles of different models is solved, and accuracy of vehicle side view display is improved.
Description
Technical Field
The present application relates to the field of computer vision, and in particular, to a method and apparatus for generating a side view of a vehicle, a terminal device, and a storage medium.
Background
In the application process of the 360-degree looking-around system, the image scenes on the left side and the right side of the vehicle need to be displayed in real time. When displaying the image scenes on the left and right sides of the vehicle in the prior art, the image scenes are usually obtained by adopting a simple image transformation method of directly rotating, cutting or translating the images acquired by the left and right cameras on the vehicle. However, the method cannot show a visual effect from back to front, and the same side view display algorithm is transplanted to another vehicle, and the phenomenon that the left view and the right view are displayed incorrectly is caused due to the change of the angle, the height and other information of the cameras loaded on the vehicle, and the displayed left view and right view generate serious distortion phenomenon, so that the existing side view display algorithm cannot be widely applied to vehicles of different models.
Therefore, there is a need for a side view display solution that can be adapted to different types of vehicles.
Disclosure of Invention
The application mainly aims to provide a vehicle side view generation method, a device, a terminal device and a storage medium, and aims to solve the problem that the existing vehicle side view display algorithm cannot be applied to vehicles of different models, and improve the accuracy of vehicle side view display.
In order to achieve the above object, the present application provides a vehicle side view generation method including:
Calibrating a camera carried by a vehicle in a camera calibration scene to obtain a coordinate conversion relation between an image coordinate system of the camera and a world coordinate system of the vehicle;
acquiring vehicle model parameters, and establishing a vehicle side scene 3D model according to the vehicle model parameters;
And according to the coordinate conversion relation, determining side view pixel information corresponding to each three-dimensional coordinate in the 3D model of the vehicle side scene, and generating a vehicle side view.
Optionally, the step of calibrating the camera mounted on the vehicle in the camera calibration scene to obtain the coordinate conversion relationship between the image coordinate system of the camera and the world coordinate system of the vehicle includes:
acquiring a central position of a vehicle, and setting a world coordinate system by taking the central position as an origin;
Measuring coordinate values of the characteristic points of the calibration cloth on the world coordinate system to obtain three-dimensional coordinates of the characteristic points of the calibration cloth;
calculating pixel coordinates of the calibration cloth feature points in an image shot by a vehicle camera to obtain the pixel coordinates of the calibration cloth feature points;
Obtaining a coordinate conversion point pair value between the image coordinate system and the world coordinate system according to the three-dimensional coordinates and the pixel coordinates;
And determining the coordinate conversion relation according to the coordinate conversion point pair value.
Optionally, the step of determining the coordinate conversion relation according to the coordinate conversion point pair value includes:
Calculating a vehicle camera parameter in a preset coordinate conversion formula according to the coordinate conversion point pair value;
and obtaining a coordinate conversion formula based on the calculated vehicle camera parameters.
Optionally, the step of obtaining the vehicle model parameter and establishing the 3D model of the vehicle side scene according to the vehicle model parameter includes:
acquiring the width and length of a vehicle, the width required to be displayed by the side environment of the vehicle and the width required to be displayed by a partial area of the vehicle in a side view;
Determining a plurality of abscissa ranges for building a 3D model of the side scene of the vehicle according to the width of the vehicle, the width required to be displayed of the side environment of the vehicle and the width of a partial area required to be displayed of the vehicle in the side view, and determining an ordinate range for building the 3D model of the side scene of the vehicle according to the length of the vehicle;
Acquiring an abscissa and an ordinate of a preset first position in a lateral environment of a vehicle;
judging whether the ordinate belongs to the ordinate range or not;
If yes, judging the abscissa range to which the abscissa belongs, and obtaining a judging result;
matching a corresponding depth coordinate calculation formula according to the judging result;
calculating depth coordinates corresponding to the abscissa and the ordinate according to the abscissa, the ordinate and the depth coordinate calculation formula to obtain a 3D model coordinate of the first position;
And calculating corresponding 3D model coordinates at all preset positions in the side environment of the vehicle to obtain a 3D model of the side scene of the vehicle.
Optionally, the step of determining side view pixel information corresponding to each three-dimensional coordinate in the 3D model of the vehicle side scene according to the coordinate transformation relationship, and generating the side view of the vehicle includes:
Acquiring three-dimensional coordinates of a second position in the 3D model of the vehicle side scene;
according to the coordinate conversion relation, determining a pixel point of the three-dimensional coordinate in a vehicle camera shooting image, and obtaining a pixel value corresponding to the pixel point;
determining the position of the three-dimensional coordinate in the initial side view of the vehicle according to the pixel point, and assigning the pixel value to the position;
And when the three-dimensional coordinate points of all the positions in the 3D model of the vehicle side scene are determined to be in the position of the initial vehicle side view, and corresponding pixel values are assigned to the initial vehicle side view, generating a vehicle side view.
Optionally, the vehicle camera parameters include camera internal parameters and camera external parameters, and the camera internal parameters and the camera external parameters are optimized and solved through an LM algorithm.
Optionally, the step of calculating the depth coordinates corresponding to the abscissa and the ordinate according to the abscissa and the ordinate and the depth coordinate calculation formula includes:
And calculating the depth coordinates corresponding to the abscissa and the ordinate according to the abscissa, the ordinate and the coefficient calibrated according to the vehicle model and the depth coordinate calculation formula.
The embodiment of the application also provides a vehicle side view generating device, which comprises:
the coordinate conversion relation determining module is used for calibrating a camera carried by a vehicle in a camera calibration scene to obtain a coordinate conversion relation between an image coordinate system of the camera and a world coordinate system of the vehicle;
The system comprises a 3D model establishing module, a vehicle model parameter acquiring module and a vehicle side scene 3D model establishing module, wherein the 3D model establishing module is used for acquiring the vehicle model parameter and establishing a vehicle side scene 3D model according to the vehicle model parameter;
And the side view generation module is used for determining side view pixel information corresponding to each three-dimensional coordinate in the 3D model of the side scene of the vehicle according to the coordinate conversion relation to generate a side view of the vehicle.
The embodiment of the application also provides a terminal device, which comprises a memory, a processor and a vehicle side view generation program stored on the memory and capable of running on the processor, wherein the vehicle side view generation program realizes the steps of the vehicle side view generation method when being executed by the processor.
The embodiment of the application also provides a computer-readable storage medium, on which a vehicle side view generation program is stored, which when executed by a processor, implements the steps of the vehicle side view generation method as described above.
According to the vehicle side view generation method, the device, the terminal equipment and the storage medium, the coordinate conversion relation between the image coordinate system of the camera and the world coordinate system of the vehicle is obtained by calibrating the camera mounted on the vehicle in the camera calibration scene; acquiring vehicle model parameters, and establishing a vehicle side scene 3D model according to the vehicle model parameters; and according to the coordinate conversion relation, determining side view pixel information corresponding to each three-dimensional coordinate in the 3D model of the vehicle side scene, and generating a vehicle side view. Based on the scheme of the application, the thought of camera calibration and 3D modeling of the left and right side scenes of the vehicle are combined, and the problem of incorrect left and right side view display caused by different information such as camera angles or heights of each vehicle is solved. According to the method, a 3D model of the side scene of the vehicle can be built according to different vehicle model parameters, three-dimensional coordinate points of a world coordinate system are better mapped to pixel points on an image coordinate system, the real scene is more realistically restored, and the generated left and right side views cannot generate serious distortion. The scheme of the application has certain universality and expandability and is suitable for vehicles of different types and sizes.
Drawings
FIG. 1 is a schematic diagram of functional modules of a terminal device to which a vehicle side view generating apparatus of the present application belongs;
FIG. 2 is a flow chart of a first exemplary embodiment of a vehicle side view generation method of the present application;
FIG. 3 is a flow chart of a second exemplary embodiment of a vehicle side view generation method of the present application;
FIG. 4 is a schematic diagram of a camera calibration scenario in an embodiment of the present application;
fig. 5 is a schematic diagram of an image captured by a vehicle camera according to an embodiment of the present application;
FIG. 6 is a flow chart of a third exemplary embodiment of a vehicle side view generation method of the present application;
FIG. 7 is a flow chart of a fourth exemplary embodiment of a vehicle side view generation method of the present application;
FIG. 8 is a schematic side view of a vehicle in an embodiment of the application;
FIG. 9 is a schematic diagram of a 3D model of a side scene of a vehicle in an embodiment of the application;
FIG. 10 is a flow chart of a fifth exemplary embodiment of a vehicle side view generation method of the present application;
FIG. 11 is a schematic diagram of a side view of a vehicle in an embodiment of the application;
FIG. 12 is a schematic side view of a left vehicle in an embodiment of the application;
FIG. 13 is a schematic side view of a right vehicle in an embodiment of the application;
fig. 14 is a flowchart showing a sixth exemplary embodiment of a vehicle side view generation method of the present application.
The achievement of the objects, functional features and advantages of the present application will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
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 scope of the application.
The main solutions of the embodiments of the present application are: the method comprises the steps of calibrating a camera carried by a vehicle in a camera calibration scene to obtain a coordinate conversion relation between an image coordinate system of the camera and a world coordinate system of the vehicle; acquiring vehicle model parameters, and establishing a vehicle side scene 3D model according to the vehicle model parameters; and according to the coordinate conversion relation, determining side view pixel information corresponding to each three-dimensional coordinate in the 3D model of the vehicle side scene, and generating a vehicle side view. Based on the scheme of the application, the thought of camera calibration and 3D modeling of the left and right side scenes of the vehicle are combined, and the problem of incorrect left and right side view display caused by different information such as camera angles or heights of each vehicle is solved. According to the method, a 3D model of the side scene of the vehicle can be built according to different vehicle model parameters, three-dimensional coordinate points of a world coordinate system are better mapped to pixel points on an image coordinate system, the real scene is more realistically restored, and the generated left and right side views cannot generate serious distortion. The scheme of the application has certain universality and expandability and is suitable for vehicles of different types and sizes.
The embodiment of the application considers that when the image scenes on the left side and the right side of the vehicle are displayed through the prior art, the image scenes are usually obtained by adopting a simple image transformation method of directly rotating, cutting or translating the images acquired by the left camera and the right camera of the vehicle. However, the method cannot show a visual effect from back to front, and the same side view display algorithm is transplanted to another vehicle, and the phenomenon that the left view and the right view are displayed incorrectly is caused due to the change of the angle, the height and other information of the cameras loaded on the vehicle, and the displayed left view and right view generate serious distortion phenomenon, so that the existing side view display algorithm cannot be widely applied to vehicles of different models.
Therefore, according to the scheme provided by the embodiment of the application, the 3D model of the side scene of the vehicle is built according to different vehicle model parameters, the three-dimensional coordinate point of the world coordinate system is better mapped to the pixel point on the image coordinate system, and the problem that the left side view and the right side view are displayed incorrectly due to the information differences of angles or heights of cameras of different vehicles is solved. The generated left and right side views restore the real scene more accurately, and serious distortion phenomenon can not occur.
Specifically, referring to fig. 1, fig. 1 is a schematic functional block diagram of a terminal device to which the vehicle side view generating apparatus of the present application belongs. The vehicle side view generating device may be a device independent of the terminal device, capable of performing picture processing and training of a network model, and may be carried on the terminal device in a form of hardware or software. The terminal equipment can be an intelligent mobile terminal with a data processing function such as a mobile phone and a tablet personal computer, and can also be a fixed terminal equipment or a server with a data processing function.
In this embodiment, the terminal device to which the vehicle side view generating apparatus belongs includes at least an output module 110, a processor 120, a memory 130, and a communication module 140.
The memory 130 stores an operating system and a vehicle side view generation program, and the vehicle side view generation device may store the acquired vehicle model parameters, coordinate conversion point pair values of the actual position of the vehicle and the shooting position of the vehicle camera, a coordinate conversion formula determined according to the coordinate conversion point pair values, an established vehicle side scene 3D model, and generated vehicle side view information in the memory 130; the output module 110 may be a display screen or the like. The communication module 140 may include 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 vehicle side view generation program in the memory 130 when executed by the processor performs the steps of:
Calibrating a camera carried by a vehicle in a camera calibration scene to obtain a coordinate conversion relation between an image coordinate system of the camera and a world coordinate system of the vehicle;
acquiring vehicle model parameters, and establishing a vehicle side scene 3D model according to the vehicle model parameters;
And according to the coordinate conversion relation, determining side view pixel information corresponding to each three-dimensional coordinate in the 3D model of the vehicle side scene, and generating a vehicle side view.
Further, the vehicle side view generation program in the memory 130 when executed by the processor also performs the steps of:
acquiring a central position of a vehicle, and setting a world coordinate system by taking the central position as an origin;
Measuring coordinate values of the characteristic points of the calibration cloth on the world coordinate system to obtain three-dimensional coordinates of the characteristic points of the calibration cloth;
calculating pixel coordinates of the calibration cloth feature points in an image shot by a vehicle camera to obtain the pixel coordinates of the calibration cloth feature points;
Obtaining a coordinate conversion point pair value between the image coordinate system and the world coordinate system according to the three-dimensional coordinates and the pixel coordinates;
And determining the coordinate conversion relation according to the coordinate conversion point pair value.
Further, the vehicle side view generation program in the memory 130 when executed by the processor also performs the steps of:
Calculating a vehicle camera parameter in a preset coordinate conversion formula according to the coordinate conversion point pair value;
and obtaining a coordinate conversion formula based on the calculated vehicle camera parameters.
Further, the vehicle side view generation program in the memory 130 when executed by the processor also performs the steps of:
acquiring the width and length of a vehicle, the width required to be displayed by the side environment of the vehicle and the width required to be displayed by a partial area of the vehicle in a side view;
Determining a plurality of abscissa ranges for building a 3D model of the side scene of the vehicle according to the width of the vehicle, the width required to be displayed of the side environment of the vehicle and the width of a partial area required to be displayed of the vehicle in the side view, and determining an ordinate range for building the 3D model of the side scene of the vehicle according to the length of the vehicle;
Acquiring an abscissa and an ordinate of a preset first position in a lateral environment of a vehicle;
judging whether the ordinate belongs to the ordinate range or not;
If yes, judging the abscissa range to which the abscissa belongs, and obtaining a judging result;
matching a corresponding depth coordinate calculation formula according to the judging result;
calculating depth coordinates corresponding to the abscissa and the ordinate according to the abscissa, the ordinate and the depth coordinate calculation formula to obtain a 3D model coordinate of the first position;
And calculating corresponding 3D model coordinates at all preset positions in the side environment of the vehicle to obtain a 3D model of the side scene of the vehicle.
Further, the vehicle side view generation program in the memory 130 when executed by the processor also performs the steps of:
Acquiring three-dimensional coordinates of a second position in the 3D model of the vehicle side scene;
according to the coordinate conversion relation, determining a pixel point of the three-dimensional coordinate in a vehicle camera shooting image, and obtaining a pixel value corresponding to the pixel point;
determining the position of the three-dimensional coordinate in the initial side view of the vehicle according to the pixel point, and assigning the pixel value to the position;
And when the three-dimensional coordinate points of all the positions in the 3D model of the vehicle side scene are determined to be in the position of the initial vehicle side view, and corresponding pixel values are assigned to the initial vehicle side view, generating a vehicle side view.
Further, the vehicle side view generation program in the memory 130 when executed by the processor also performs the steps of:
And calculating the depth coordinates corresponding to the abscissa and the ordinate according to the abscissa, the ordinate and the coefficient calibrated according to the vehicle model and the depth coordinate calculation formula.
According to the scheme, the coordinate conversion relation between the image coordinate system of the camera and the world coordinate system of the vehicle is obtained by calibrating the camera carried by the vehicle in the camera calibration scene; acquiring vehicle model parameters, and establishing a vehicle side scene 3D model according to the vehicle model parameters; and according to the coordinate conversion relation, determining side view pixel information corresponding to each three-dimensional coordinate in the 3D model of the vehicle side scene, and generating a vehicle side view. Based on the scheme of the application, the thought of camera calibration and 3D modeling of the left and right side scenes of the vehicle are combined, and the problem of incorrect left and right side view display caused by different information such as camera angles or heights of each vehicle is solved. According to the method, a 3D model of the side scene of the vehicle can be built according to different vehicle model parameters, three-dimensional coordinate points of a world coordinate system are better mapped to pixel points on an image coordinate system, the real scene is more realistically restored, and the generated left and right side views cannot generate serious distortion. The scheme of the application has certain universality and expandability and is suitable for vehicles of different types and sizes.
The method embodiment of the application is proposed based on the above-mentioned terminal equipment architecture but not limited to the above-mentioned architecture.
Referring to fig. 2, fig. 2 is a flowchart illustrating a first exemplary embodiment of a vehicle side view generation method of the present application. The vehicle side view generation method includes:
step S100, calibrating a camera carried by a vehicle in a camera calibration scene to obtain a coordinate conversion relation between an image coordinate system of the camera and a world coordinate system of the vehicle;
The execution subject of the method of the embodiment may be a vehicle side view generating device, or may be a vehicle side view generating terminal device or a server, and the vehicle side view generating device is exemplified by the vehicle side view generating device, and the vehicle side view generating device may be integrated on a terminal device such as a smart phone or a tablet computer with a data processing function.
The embodiment mainly provides a vehicle side view display algorithm which can be applied to vehicles of different types, and accuracy of vehicle side view display is improved.
Specifically, calibration cloth is arranged in the established camera calibration scene and placed at the position around the vehicle. The specific placement position of the calibration cloth can be selected according to actual calibration requirements. The calibration cloth is a special cloth or a plane material for camera calibration, and the calibration cloth is in a form of a grid, a lattice or a circle with black and white phases, and the like, and can be selected according to specific application requirements and camera parameters. The characteristic points of the calibration cloth can be set along with the form of the calibration cloth.
The coordinate axis is established by the central point of the vehicle, and the accurate three-dimensional coordinate of the characteristic point of the calibration cloth can be obtained by means of a measuring instrument and the like. Meanwhile, a camera mounted on the vehicle captures images containing characteristic points of the calibration cloth, a corresponding detection algorithm is selected according to the form of the calibration cloth, and pixel coordinates of the designated points on the calibration cloth are calculated in the captured images. And (3) the pixel coordinates of the characteristic points of the calibration cloth and the three-dimensional coordinates of the characteristic points of the calibration cloth are in one-to-one correspondence to obtain the coordinate conversion point pair value.
Based on known pixel coordinates of the characteristic points of the calibration cloth and corresponding three-dimensional coordinates of the characteristic points of the calibration cloth, internal parameters and external parameters of a camera carried by the current vehicle can be calculated, and a coordinate conversion relation applicable to the type of vehicle can be determined by combining the internal parameters and the external parameters of the camera, so that a mapping relation between a world coordinate system of a side environment of the vehicle and an image coordinate system of the camera carried by the vehicle is obtained. The problem that the left side view and the right side view are displayed incorrectly due to different information such as the angle or the height of the camera of each vehicle is solved.
Step S200, acquiring vehicle model parameters, and establishing a vehicle side scene 3D model according to the vehicle model parameters;
Specifically, the left side view and the right side view of the vehicles of different models need to display the ground areas of the left side part and the right side part of the vehicles, and the partial areas of the vehicles may have certain difference, so that the adjustment is needed according to the model parameters of the vehicles, a corresponding 3D model of the lateral scene of the vehicles is established, and the lateral scene of the vehicles of the models needs to be displayed is restored. The 3D model of the vehicle side scene is built, three-dimensional coordinate points of a world coordinate system can be better mapped to pixel points on an image coordinate system, and the real scene of the vehicle side is restored more realistically, so that the subsequent left and right side views generated according to the 3D model of the vehicle side scene cannot generate serious distortion.
And step S300, according to the coordinate conversion relation, determining side view pixel information corresponding to each three-dimensional coordinate in the 3D model of the vehicle side scene, and generating a vehicle side view.
Specifically, traversing three-dimensional coordinate points of each position in a 3D model of a vehicle side scene, calculating through a coordinate conversion relation, obtaining pixel points and pixel values in an image shot by a vehicle camera corresponding to the three-dimensional coordinate points, determining corresponding positions of the three-dimensional coordinate points in an initial vehicle side view according to the pixel points, assigning the pixel values to the corresponding positions, and generating the vehicle side view after traversing all the three-dimensional coordinate points. The coordinate conversion relation is obtained according to the internal parameters and the external parameters of the precise calibration of the camera carried by the current vehicle, so that the 3D model of the side scene of the vehicle can be accurately projected into the pixel space of the side view of the 2D vehicle through the coordinate conversion relation, and the generated side view of the vehicle is more similar to the actual side scene of the vehicle.
According to the scheme, the coordinate conversion relation between the image coordinate system of the camera and the world coordinate system of the vehicle is obtained by calibrating the camera carried by the vehicle in the camera calibration scene; acquiring vehicle model parameters, and establishing a vehicle side scene 3D model according to the vehicle model parameters; and according to the coordinate conversion relation, determining side view pixel information corresponding to each three-dimensional coordinate in the 3D model of the vehicle side scene, and generating a vehicle side view. In the embodiment, the thought of camera calibration and 3D modeling of left and right scenes of the vehicle are combined, and the problem that left and right side view displays are incorrect due to different information such as camera angles or heights of each vehicle is solved. According to the method, a 3D model of the side scene of the vehicle can be built according to different vehicle model parameters, three-dimensional coordinate points of a world coordinate system are better mapped to pixel points on an image coordinate system, the real scene is more realistically restored, and the generated left and right side views cannot generate serious distortion. The scheme of the embodiment has certain universality and expandability and is suitable for vehicles of different types and sizes.
Referring to fig. 3, fig. 3 is a flowchart illustrating a second exemplary embodiment of a vehicle side view generating method of the present application. Based on the embodiment shown in fig. 2, in this embodiment, the step of calibrating the camera mounted on the vehicle in the camera calibration scene to obtain the coordinate conversion relationship between the image coordinate system of the camera and the world coordinate system of the vehicle includes:
Step S101, acquiring the central position of a vehicle, and setting a world coordinate system by taking the central position as an origin;
Step S102, measuring coordinate values of the feature points of the calibration cloth on the world coordinate system to obtain three-dimensional coordinates of the feature points of the calibration cloth;
Step S103, calculating pixel coordinates of the characteristic points of the calibration cloth in an image shot by a vehicle camera to obtain the pixel coordinates of the characteristic points of the calibration cloth;
Step S104, obtaining a coordinate conversion point pair value between the image coordinate system and the world coordinate system according to the three-dimensional coordinates and the pixel coordinates;
Step S105, determining the coordinate conversion relationship according to the coordinate conversion point pair value.
Specifically, as shown in fig. 4, in this embodiment, the calibration cloth is selected in a checkerboard form, and the checkerboard calibration cloth is placed in front of and behind the vehicle, and there are four calibration areas in total. The central line position of the calibration cloth is adjusted to be on the same straight line with the central line of the vehicle body, and the front calibration cloth and the rear calibration cloth are kept perpendicular to the central line of the vehicle body. The central point of the vehicle body is used as a coordinate origin O to set a coordinate system, the vertical central line of the vehicle body is used as a Y axis, and the horizontal central line of the vehicle body is used as an X axis.
In this embodiment, the calibration layout feature points are set as the inner corners of the checkerboard, such as the circled portion in fig. 4, which is four vertices of the black lattice in the middle of each calibration area. The three-dimensional coordinates of the characteristic points of the calibration cloth can be measured by a measuring instrument and the like. The cameras arranged in the front, back, left and right directions of the vehicle are controlled to capture images, the images shot by the vehicle cameras are shown in fig. 5, a checkerboard corner detection algorithm is adopted on the shot images, and pixel coordinates/>, in which characteristic points are distributed, of the images are calculated。
And establishing a corresponding relation between the three-dimensional coordinates of each calibration cloth characteristic point and the corresponding pixel coordinates of the calibration cloth characteristic point one by one, namely, a coordinate conversion point pair value of the three-dimensional coordinates of the calibration cloth characteristic point and the pixel coordinates of the calibration cloth characteristic point, and representing a conversion result between a world coordinate system of a vehicle side environment and an image coordinate system of a camera carried by the vehicle.
According to the scheme, the obtained coordinate conversion point pair values of the three-dimensional coordinates of the characteristic points of the calibration cloth and the pixel coordinates of the characteristic points of the calibration cloth can be used for calculating the internal parameters and the external parameters of the camera carried by the vehicle, so that the calibration precision is improved, the calibration can be carried out for different types of vehicles, and the method has certain expandability.
Further, referring to fig. 6, fig. 6 is a schematic flow chart of a third exemplary embodiment of the vehicle side view generating method of the present application. Based on the embodiment shown in fig. 2, in this embodiment, the step of determining the coordinate conversion relationship according to the coordinate conversion point pair value includes:
Step S106, calculating the parameters of the vehicle camera in a preset coordinate conversion formula according to the coordinate conversion point pair value;
Step S107, obtaining a coordinate conversion formula based on the calculated vehicle camera parameters.
Specifically, since the image coordinate system can be acquired by rotation and translation by the world coordinate system, a preset coordinate conversion formula may be set as the following formula:
Wherein, represent camera internal parameters,/> And/>Respectively/>Direction and/>Focal length in direction,/>And/>Are respectively/>And/>Offset in direction,/>For a rotation matrix of the world coordinate system to the camera coordinate system,Is a three-dimensional coordinate point in the world coordinate system,/>For a translation matrix of the world coordinate system to the camera coordinate system,/>，/>Respectively/>, on the image coordinate system，/>Coordinate values in the direction.
Three-dimensional coordinates of the characteristic points of the calibration cloth obtained in the last step are obtainedAnd calibrating pixel coordinates of cloth characteristic points/>Substituting the internal parameters into the formula (1) to solve the internal parameters/>, of the cameraAnd external parameters/>And/>. Solving the internal parameters/>, of the cameraAnd external parameters/>And/>Substituting the obtained product into the formula (1) to obtain a coordinate conversion relation.
According to the embodiment, the obtained coordinate conversion relation can represent the mapping relation between the image coordinate system of the vehicle-mounted camera of the model and the world coordinate system of the vehicle side environment. The problem that the left side view and the right side view are displayed incorrectly due to different information such as the angle or the height of the camera of each vehicle is solved.
Further, referring to fig. 7, fig. 7 is a flowchart illustrating a fourth exemplary embodiment of a vehicle side view generating method according to the present application. Based on the embodiment shown in fig. 2, in this embodiment, the step of obtaining a vehicle model parameter, and building a 3D model of a vehicle side scene according to the vehicle model parameter includes:
Step S201, acquiring the width of a vehicle, the length of the vehicle, the width required to be displayed by the side environment of the vehicle and the width required to display a partial area of the vehicle in a side view;
Step S202, determining a plurality of abscissa ranges for building a 3D model of a vehicle side scene according to the width of the vehicle, the width required to be displayed of the environment of the side of the vehicle and the width required to be displayed of a partial area of the vehicle in the side view, and determining an ordinate range for building the 3D model of the vehicle side scene according to the length of the vehicle;
Step S203, acquiring an abscissa and an ordinate of a preset first position in the side environment of the vehicle;
Step S204, judging whether the ordinate belongs to the ordinate range;
step S205, if yes, judging the abscissa range to which the abscissa belongs to, and obtaining a judging result;
Step S206, matching the corresponding depth coordinate calculation formula according to the judging result;
Step S207, calculating depth coordinates corresponding to the abscissa and the ordinate according to the abscissa, the ordinate and the depth coordinate calculation formula, and obtaining a 3D model coordinate of the first position;
Step S208, after the corresponding 3D model coordinates are calculated at all preset positions in the side environment of the vehicle, a 3D model of the side scene of the vehicle is obtained.
Specifically, as shown in fig. 8, a side view of the vehicle is shown, in which the ground area of the left and right side portions of the vehicle and the partial area of the vehicle itself are included, and the specific area size is set depending on the type of the vehicle. Therefore, 3D models can be built for the left and right sides of the vehicle, respectively, and a vehicle side scene 3D model is generated as shown in fig. 9, and the following formula is involved in building the vehicle side scene 3D model:
wherein, And/>Respectively represent three-dimensional coordinate points in the left and right world coordinate systems,/>Representing the width of the left and right sides of the vehicle to be displayed,/>Representing the width of a vehicle,/>Representing the length of the vehicle,/>Representing the width of the partial area of the vehicle itself to be displayed on the left side of the vehicle,/>The width of the partial area of the vehicle itself to be displayed on the right side of the vehicle is indicated,，/>And/>And the coefficient calibration can be carried out according to the actual vehicle model as the function coefficient.
In the calculation process, a corresponding depth coordinate calculation formula is determined according to the abscissa and the ordinate of each preset first position in the side environment of the vehicle, the formula (2) is applied to the position of the left scene of the vehicle, and the formula (3) is applied to the position of the right scene of the vehicle. The preset position in the side environment of the vehicle can be set according to actual conditions, and the first position is any point in the preset position of the side environment of the vehicle.
According to the scheme, the reduction degree of the scene can be enhanced by establishing the vehicle model parameters and the 3D model of the scene on the side of the vehicle, and the phenomenon that the left side view and the right side view which are generated later generate serious distortion is avoided. When the vehicle model changes, the 3D model of the side scene of the vehicle established based on the vehicle model parameters can be correspondingly updated, so that the standardization and automation of the model establishment are realized, and the method is applicable to vehicles of different types and sizes.
Further, referring to fig. 10, fig. 10 is a flowchart illustrating a fifth exemplary embodiment of a vehicle side view generating method according to the present application. Based on the embodiment shown in fig. 2, in this embodiment, according to the coordinate conversion relationship, the step of determining side view pixel information corresponding to each three-dimensional coordinate in the 3D model of the vehicle side scene, and generating the side view of the vehicle includes:
Step S301, obtaining three-dimensional coordinates of a second position in the 3D model of the vehicle side scene;
step S302, determining pixel points of the three-dimensional coordinates in a vehicle camera shooting image according to the coordinate conversion relation, and obtaining pixel values corresponding to the pixel points;
step S303, determining the position of the three-dimensional coordinate in the initial side view of the vehicle according to the pixel point, and assigning the pixel value to the position;
And step S304, when three-dimensional coordinate points of all positions in the 3D model of the vehicle side scene are determined to be in the position of the initial vehicle side view, and corresponding pixel values are assigned to the initial vehicle side view, generating a vehicle side view.
Specifically, the pixel dimensions, e.g., width and height, of the final generated vehicle side view are first determined, and then an initial vehicle side view is created that matches the dimensions. The second location is any point in the 3D model of the vehicle side scene. As shown in fig. 11, for any three-dimensional coordinate point in the 3D model of the left scene of the vehicleBy combining the formulas (1) and (2), the corresponding pixel point in the image shot by the vehicle camera can be obtained as/>Obtaining pixel points/>, in a vehicle camera shooting imageCorresponding pixel values and assigning to corresponding points/>, of the initial vehicle side viewTraversing the three-dimensional coordinate points for each location in the 3D model of the left scene of the vehicle may fill the entire initial vehicle side view, generating a left vehicle side view as shown in fig. 12.
For any three-dimensional coordinate point in 3D model of scene on right side of vehicleThe same operation as the left vehicle side view generation described above is performed in conjunction with formulas (1) and (3), generating a right vehicle side view as shown in fig. 13.
According to the scheme, the 3D model of the side scene of the vehicle can be accurately projected into the pixel space of the side view of the 2D vehicle through the coordinate conversion relation, and the generated side view of the vehicle is closer to the actual side scene of the vehicle.
The vehicle camera parameters comprise camera internal parameters and camera external parameters, and the camera internal parameters and the camera external parameters are optimized and solved through an LM algorithm.
Because the internal parameters and the external parameters of the camera are important parameters for calibrating the camera of the vehicle, the accuracy of the camera has a great influence on the accuracy of subsequent tasks. The LM algorithm is an optimization algorithm widely used for nonlinear data fitting, and can automatically adjust parameters to minimize the loss function. By using the LM algorithm to perform parameter optimization, errors can be reduced, calibration accuracy can be improved, calibration can be performed on different types of vehicle cameras, and the method has certain expandability.
Further, referring to fig. 14, fig. 14 is a flowchart of a sixth exemplary embodiment of the vehicle side view generating method of the present application. Based on the embodiment shown in fig. 2, in this embodiment, the step of calculating the depth coordinates corresponding to the abscissa and the ordinate according to the abscissa and the ordinate and the depth coordinate calculation formula includes:
And step S209, calculating the depth coordinates corresponding to the abscissa and the ordinate according to the abscissa, the ordinate and the coefficient calibrated according to the vehicle model and the depth coordinate calculation formula.
There is a difference between vehicles of different models, and coefficients which can be calibrated according to the model of the vehicle are set in the formulas (2) and (3)，/>And/>The depth coordinate calculation mode is better suitable for vehicles of different models, and the adaptability, the universality and the accuracy of 3D model construction are improved.
In addition, an embodiment of the present application further provides a vehicle side view generating device, where the vehicle side view generating device includes:
the coordinate conversion relation determining module is used for calibrating a camera carried by a vehicle in a camera calibration scene to obtain a coordinate conversion relation between an image coordinate system of the camera and a world coordinate system of the vehicle;
The system comprises a 3D model establishing module, a vehicle model parameter acquiring module and a vehicle side scene 3D model establishing module, wherein the 3D model establishing module is used for acquiring the vehicle model parameter and establishing a vehicle side scene 3D model according to the vehicle model parameter;
And the side view generation module is used for determining side view pixel information corresponding to each three-dimensional coordinate in the 3D model of the side scene of the vehicle according to the coordinate conversion relation to generate a side view of the vehicle.
The principle and implementation process of the vehicle side view generation are implemented in this embodiment, please refer to the above embodiments, and are not repeated here.
In addition, the embodiment of the application also provides a terminal device, which comprises a memory, a processor and a vehicle side view generation program stored on the memory and capable of running on the processor, wherein the vehicle side view generation program realizes the steps of the vehicle side view generation method when being executed by the processor.
Because all the technical solutions of all the embodiments are adopted when the side view generating program of the vehicle is executed by the processor, the side view generating program of the vehicle has at least all the beneficial effects brought by all the technical solutions of all the embodiments, and will not be described in detail herein.
In addition, the embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores a vehicle side view generation program, and the vehicle side view generation program realizes the steps of the vehicle side view generation method when being executed by a processor.
Because all the technical solutions of all the embodiments are adopted when the side view generating program of the vehicle is executed by the processor, the side view generating program of the vehicle has at least all the beneficial effects brought by all the technical solutions of all the embodiments, and will not be described in detail herein.
Compared with the prior art, the vehicle side view generation method, the device, the terminal equipment and the storage medium provided by the embodiment of the application are used for calibrating the camera carried by the vehicle in the camera calibration scene to obtain the coordinate conversion relation between the image coordinate system of the camera and the world coordinate system of the vehicle; acquiring vehicle model parameters, and establishing a vehicle side scene 3D model according to the vehicle model parameters; and according to the coordinate conversion relation, determining side view pixel information corresponding to each three-dimensional coordinate in the 3D model of the vehicle side scene, and generating a vehicle side view. Based on the scheme of the application, the thought of camera calibration and 3D modeling of the left and right side scenes of the vehicle are combined, and the problem of incorrect left and right side view display caused by different information such as camera angles or heights of each vehicle is solved. According to the method, a 3D model of the side scene of the vehicle can be built according to different vehicle model parameters, three-dimensional coordinate points of a world coordinate system are better mapped to pixel points on an image coordinate system, the real scene is more realistically restored, and the generated left and right side views cannot generate serious distortion. The scheme of the application has certain universality and expandability and is suitable for vehicles of different types and sizes.
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 the purpose of description, and do not represent the 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 instructions for causing a terminal device (which may be a mobile phone, a computer, a server, a controlled terminal, or a network device, etc.) 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 application, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (8)
1. A vehicle side view generation method, characterized in that the vehicle side view generation method includes:
Calibrating a camera carried by a vehicle in a camera calibration scene to obtain a coordinate conversion relation between an image coordinate system of the camera and a world coordinate system of the vehicle;
acquiring vehicle model parameters, and establishing a vehicle side scene 3D model according to the vehicle model parameters;
According to the coordinate conversion relation, determining side view pixel information corresponding to each three-dimensional coordinate in the 3D model of the vehicle side scene, and generating a vehicle side view;
The step of determining side view pixel information corresponding to each three-dimensional coordinate in the 3D model of the vehicle side scene according to the coordinate conversion relation, and generating a side view of the vehicle comprises the following steps:
Acquiring three-dimensional coordinates of a second position in the 3D model of the vehicle side scene;
according to the coordinate conversion relation, determining a pixel point of the three-dimensional coordinate in a vehicle camera shooting image, and obtaining a pixel value corresponding to the pixel point;
determining the position of the three-dimensional coordinate in the initial side view of the vehicle according to the pixel point, and assigning the pixel value to the position;
When three-dimensional coordinate points of all positions in the 3D model of the vehicle side scene are determined to be in the position of the initial vehicle side view, and corresponding pixel values are assigned to the initial vehicle side view, generating a vehicle side view;
The step of obtaining the vehicle model parameters and establishing the 3D model of the side scene of the vehicle according to the vehicle model parameters comprises the following steps:
acquiring the width and length of a vehicle, the width required to be displayed by the side environment of the vehicle and the width required to be displayed by a partial area of the vehicle in a side view;
Determining a plurality of abscissa ranges for building a 3D model of the side scene of the vehicle according to the width of the vehicle, the width required to be displayed of the side environment of the vehicle and the width of a partial area required to be displayed of the vehicle in the side view, and determining an ordinate range for building the 3D model of the side scene of the vehicle according to the length of the vehicle;
Acquiring an abscissa and an ordinate of a preset first position in a lateral environment of a vehicle;
judging whether the ordinate belongs to the ordinate range or not;
If yes, judging the abscissa range to which the abscissa belongs, and obtaining a judging result;
matching a corresponding depth coordinate calculation formula according to the judging result;
calculating depth coordinates corresponding to the abscissa and the ordinate according to the abscissa, the ordinate and the depth coordinate calculation formula to obtain a 3D model coordinate of the first position;
And calculating corresponding 3D model coordinates at all preset positions in the side environment of the vehicle to obtain a 3D model of the side scene of the vehicle.
2. The vehicle side view generation method according to claim 1, wherein a calibration cloth is provided in the camera calibration scene, the calibration cloth is provided with calibration cloth feature points, and the step of calibrating a camera mounted on a vehicle in the camera calibration scene to obtain a coordinate conversion relationship between an image coordinate system of the camera and a world coordinate system of the vehicle includes:
acquiring a central position of a vehicle, and setting a world coordinate system by taking the central position as an origin;
Measuring coordinate values of the characteristic points of the calibration cloth on the world coordinate system to obtain three-dimensional coordinates of the characteristic points of the calibration cloth;
calculating pixel coordinates of the calibration cloth feature points in an image shot by a vehicle camera to obtain the pixel coordinates of the calibration cloth feature points;
Obtaining a coordinate conversion point pair value between the image coordinate system and the world coordinate system according to the three-dimensional coordinates and the pixel coordinates;
And determining the coordinate conversion relation according to the coordinate conversion point pair value.
3. The vehicle side view generation method according to claim 2, characterized in that the step of determining the coordinate conversion relationship from the coordinate conversion point pair value includes:
Calculating a vehicle camera parameter in a preset coordinate conversion formula according to the coordinate conversion point pair value;
and obtaining a coordinate conversion formula based on the calculated vehicle camera parameters.
4. A vehicle side view generation method according to claim 3, wherein the vehicle camera parameters include camera internal parameters and camera external parameters, and the camera internal parameters and the camera external parameters are optimally solved by an LM algorithm.
5. The vehicle side view generation method according to claim 1, characterized in that the step of calculating the depth coordinates corresponding to the abscissa and the ordinate from the abscissa and the ordinate and the depth coordinate calculation formula includes:
And calculating the depth coordinates corresponding to the abscissa and the ordinate according to the abscissa, the ordinate and the coefficient calibrated according to the vehicle model and the depth coordinate calculation formula.
6. A vehicle side view generation device, characterized by comprising:
the coordinate conversion relation determining module is used for calibrating a camera carried by a vehicle in a camera calibration scene to obtain a coordinate conversion relation between an image coordinate system of the camera and a world coordinate system of the vehicle;
The system comprises a 3D model establishing module, a vehicle model parameter acquiring module and a vehicle side scene 3D model establishing module, wherein the 3D model establishing module is used for acquiring the vehicle model parameter and establishing a vehicle side scene 3D model according to the vehicle model parameter;
The side view generation module is used for determining side view pixel information corresponding to each three-dimensional coordinate in the 3D model of the vehicle side scene according to the coordinate conversion relation to generate a side view of the vehicle;
Wherein, the side view generation module is further configured to:
Acquiring three-dimensional coordinates of a second position in the 3D model of the vehicle side scene;
according to the coordinate conversion relation, determining a pixel point of the three-dimensional coordinate in a vehicle camera shooting image, and obtaining a pixel value corresponding to the pixel point;
determining the position of the three-dimensional coordinate in the initial side view of the vehicle according to the pixel point, and assigning the pixel value to the position;
When three-dimensional coordinate points of all positions in the 3D model of the vehicle side scene are determined to be in the position of the initial vehicle side view, and corresponding pixel values are assigned to the initial vehicle side view, generating a vehicle side view;
wherein, 3D model establishment module is still used for:
acquiring the width and length of a vehicle, the width required to be displayed by the side environment of the vehicle and the width required to be displayed by a partial area of the vehicle in a side view;
Determining a plurality of abscissa ranges for building a 3D model of the side scene of the vehicle according to the width of the vehicle, the width required to be displayed of the side environment of the vehicle and the width of a partial area required to be displayed of the vehicle in the side view, and determining an ordinate range for building the 3D model of the side scene of the vehicle according to the length of the vehicle;
Acquiring an abscissa and an ordinate of a preset first position in a lateral environment of a vehicle;
judging whether the ordinate belongs to the ordinate range or not;
If yes, judging the abscissa range to which the abscissa belongs, and obtaining a judging result;
matching a corresponding depth coordinate calculation formula according to the judging result;
calculating depth coordinates corresponding to the abscissa and the ordinate according to the abscissa, the ordinate and the depth coordinate calculation formula to obtain a 3D model coordinate of the first position;
And calculating corresponding 3D model coordinates at all preset positions in the side environment of the vehicle to obtain a 3D model of the side scene of the vehicle.
7. A terminal device comprising a memory, a processor and a vehicle side view generation program stored on the memory and operable on the processor, which when executed by the processor, implements the steps of the vehicle side view generation method of any of claims 1-5.
8. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a vehicle side view generation program which, when executed by a processor, implements the steps of the vehicle side view generation method according to any one of claims 1 to 5.
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