CN117641106A - Camera parameter management method, system and automobile - Google Patents

Abstract

The application provides a camera parameter management method, a camera parameter management system and an automobile; the camera parameter management method comprises the following steps: responding to the camera parameter reading signal, then reading the camera parameter and filling the camera parameter into a camera parameter node of a camera parameter linked list; and acquiring a reading state of the camera parameters, checking the camera parameters according to the reading state, setting the camera parameter state to be an effective state when the checking is successful, and copying the camera parameters to a preset algorithm. The camera parameter nodes are stored in the bidirectional camera parameter linked list, and the camera parameters are managed in a bidirectional linked list mode, so that the data has more elastic space and is more universal, the change of the number of cameras of different products can be dealt with, and the storage space of each parameter of the cameras can be saved; in addition, the camera parameters are cached in the camera parameter linked list, so that the preset algorithm can acquire all the camera parameters quickly, efficiently and with low probability of error.

Description

Camera parameter management method, system and automobile

Technical Field

The application relates to the technical field of camera parameter management, in particular to a camera parameter management method, a camera parameter management system and an automobile.

Background

Current autopilot technology has become one of the hottest areas of automobiles. In the automatic driving technology, the method can be divided into an automatic driving algorithm part, a sensing algorithm part and a sensing device part, wherein the sensing device comprises a radar, a camera and the like, and especially the camera is used as an 'eye' of the automatic driving and sensing algorithm. Each camera has a difference on an individual, the camera stores a plurality of characteristic parameters (such as optical center coordinates, focal length x-axis, focal length y-axis, distortion coefficients and the like of the camera) related to the individual difference in the camera, and a sensing algorithm can acquire the parameters and calibrate the parameters so as to more effectively use the camera. At present, the following problems exist:

1. on each automotive product, the number of cameras for autopilot perception is different, resulting in inconvenient management of camera parameters.

2. When the camera is replaced in the state that the automobile is not in flameout, the parameters of the newly replaced camera cannot be read in time and are informed to the sensing algorithm, so that the sensing algorithm uses old parameters, and certain potential safety hazards are brought.

Disclosure of Invention

The camera parameter management method, system and automobile are high in reading efficiency and high in universality, and the technical problems that hidden danger is caused by old parameters used by a sensing algorithm because camera parameters cannot be read in time due to inconvenience in management of camera parameters caused by different numbers of cameras sensed by automatic driving in the prior art are solved.

Specifically, the application provides a camera parameter management method, which comprises the following steps:

s100: and responding to the camera parameter reading signal, reading the camera parameter and filling the camera parameter into a camera parameter node of the camera parameter linked list.

S200: the method comprises the steps of obtaining a reading state of camera parameters, checking the camera parameters according to the reading state, setting the camera parameter state to be an effective state when the camera parameters are checked successfully, copying the camera parameters to a preset algorithm, enabling the preset algorithm to obtain the camera parameters in time, and completing calibration of cameras corresponding to the camera parameters so as to apply the calibrated cameras to an automatic driving algorithm.

In the technical scheme, the camera parameter nodes are stored in one bidirectional camera parameter linked list, and the camera parameters are managed in a bidirectional linked list mode, so that the data has more elastic space and is more universal, the change of the number of cameras of different products can be dealt with, and the storage space of each parameter of the cameras can be saved; the camera parameters are cached in the camera parameter linked list, so that the preset algorithm can acquire all the camera parameters quickly, efficiently and with low probability of error.

It should be noted that the camera parameter linked list includes a plurality of camera parameter nodes, and each camera parameter node stores at least one camera parameter, a camera state and a camera parameter state; each camera parameter node corresponds to the data of one camera, so that one camera parameter linked list can buffer the data corresponding to all cameras in the current automobile; the camera parameters are read by a deserializer, and the preset algorithm refers to a sensing algorithm in a feasible implementation, and the sensing algorithm obtains the camera parameters for calibration so as to more effectively use the camera in driving.

In addition, the camera parameter node also stores a control lock for protecting the camera parameter from being damaged in the reading process and deserializer data for storing the deserializer information so as to acquire the relevant information of the camera through the deserializer.

Further, before executing step S100, the method includes:

presetting a camera parameter reading time to send out a camera parameter reading signal at the camera parameter reading time; the camera parameter reading time comprises the time when the initialization of the camera is completed and the time when the camera is hot-plugged.

In the above technical solution, because one I2C bus of the SOC is connected with multiple cameras, and there are multiple programs accessing the cameras through the I2C bus for different purposes (for example, the isp program may be used to adjust the effect of the cameras at any time, the control program may be used to read and write the control status register of the cameras, and the sensing algorithm may be used to obtain the parameters of the cameras), these factors may all have competition of the I2C bus, resulting in that some services cannot respond in time and starvation or failure occurs; therefore, the two idle time points are selected when the initialization of the camera is completed and when the camera is hot inserted, so that the congestion of the I2C bus can be avoided to a certain extent.

Further, when the camera parameter reading time is that the camera initialization is completed, before the camera parameter is read, the method includes:

and creating a camera parameter node in the camera parameter linked list in advance.

In the technical scheme, the nodes are pre-established in the camera parameter linked list, so that the camera parameters can be conveniently managed and accessed, and various parameter information of the camera, such as optical center coordinates, focal length x-axis length, focal length y-axis length, distortion coefficient and the like of the camera, can be stored in the nodes, so that the subsequent calling and use are facilitated; the system is generally provided with a plurality of cameras, and the camera parameter nodes are created in advance to allocate a node for each camera, so that parameters of different cameras can be managed and called conveniently.

Further, when the camera parameter reading time is the camera hot plug, before the camera parameter is read, the method includes:

initializing the camera and the connecting passage thereof, and judging whether a camera parameter node exists in the camera parameter linked list or not, so that the camera parameter node is created in the camera parameter linked list when the camera parameter node does not exist.

In the technical scheme, the camera is initialized, so that the correct state of the camera can be ensured and the camera can be read, and if the initialization operation is not performed, unknown error or invalid parameter reading can be caused; judging whether a parameter node exists in the camera parameter linked list, and creating the node when the parameter node does not exist, so that the parameter node in the linked list can be ensured to be consistent with the actual state of the camera, and reading errors caused by node deletion can be avoided; by creating the parameter nodes in the camera parameter linked list, the subsequent reading and management of the camera parameters can be facilitated.

Further, the step S200 includes:

s201: acquiring a reading state of the camera parameters, judging whether the reading state is successful, if so, executing step S202; otherwise, setting the camera state of the camera parameter node as a reading failure state.

S202: checking the camera parameters, judging whether the checking is successful, if so, setting the camera parameter state to be an effective state, and copying the camera parameters to a preset algorithm according to the camera state and the camera parameter state; otherwise, setting the parameter state of the camera as a verification failure state.

In the technical scheme, the situation of reading errors can be captured in time by acquiring the reading state of the camera parameters and judging whether the reading is successful, and if the reading is failed, the state of the camera parameter node is set to ensure that the error state is recorded and processed; the verification of the camera parameters is an important step for ensuring the validity of the parameters, and the validity and the accuracy of the parameters can be ensured and the influence of error parameters on subsequent operations can be avoided by verifying the camera parameters and judging whether the camera parameters are successful or not; different states can be subdivided by setting the camera parameter state and the camera state, and the reading process of the camera parameters can be accurately recorded, so that the robustness of the system can be improved, and the system has better fault tolerance and stability; the camera parameters are copied to the preset algorithm, so that the use of the camera parameters by the preset algorithm can be realized, the copying operation of the parameters can improve the efficiency of data processing, and unnecessary data transmission and processing delay are reduced.

Further, the method further comprises the following steps: in response to the camera extraction signal, the camera state is set to an extracted state.

In the above technical solution, setting the camera state to the extracted state can avoid the system operating the non-existing camera, if the camera state is not updated to the extracted state in time, the system may continue to attempt to read or process the camera, resulting in resource waste or erroneous operation; and other modules or functions can query the state of the camera and decide whether to continue to operate related functions according to whether the camera is in a pulled state, so that the safety and stability of the system are improved.

Further, in step S202, copying the camera parameters to a preset algorithm includes:

s211: acquiring camera parameters, judging whether a camera parameter node corresponding to the camera parameters exists in a camera parameter linked list, and if so, executing step S212; otherwise, reporting that no camera corresponding to the camera parameters reaches a preset algorithm.

S212: judging whether the parameter state of the camera is a valid state, if so, executing step S213; otherwise, step S216 is performed.

S213: judging whether the camera state is marked as a pulled state, if so, executing step S216; otherwise, step S214 is performed.

S214: detecting whether the camera state is marked as a non-powered-on state, if so, executing step S216; otherwise, step S215 is performed.

S215: and copying the camera parameters to a preset algorithm.

S216: reporting the data checking error to a preset algorithm.

In the technical scheme, whether the parameter nodes exist in the camera parameter linked list or not is judged, so that the obtained camera parameters are consistent with parameters stored in the linked list, the consistency of data can be maintained, and error operation caused by inconsistent camera parameter linked list is avoided; by judging whether the parameter state of the camera is in an effective state or not, the validity of the parameters can be ensured, so that the processing of a preset algorithm by using invalid or wrong parameters is avoided, and the accuracy of data processing is improved; by judging whether the camera state is marked as the pulled-out state or the unpowered state, the operation of the pulled-out or unpowered camera can be avoided, so that the processing of an invalid camera can be reduced, and the stability and the safety of a system are improved; if the data is found to be checked for errors, the errors can be timely reported to a preset algorithm, so that a system or a user can know the errors in the parameter processing process, and corresponding processing is performed.

Based on the same conception, the application also provides a camera parameter management system, which comprises:

and a reading module: for reading the camera parameters in response to the camera parameter reading signal.

And (3) filling a module: and the camera parameter nodes are used for filling the camera parameters into the camera parameter nodes of the current camera parameter linked list.

And a verification module: and the camera parameter verification module is used for acquiring the reading state of the camera parameter and verifying the camera parameter according to the reading state.

The processing module is used for: and setting the camera parameter state to be an effective state when the camera parameter verification is successful, and copying the camera parameter to a preset algorithm.

In the technical scheme, the camera parameter linked list is a bidirectional linked list, and the bidirectional linked list is adopted to enable the data to have more elastic space and more general purpose, so that the camera parameter linked list can cope with the change of the number of cameras of different products, and the storage space is saved; the camera parameters are cached in the camera parameter linked list, so that a preset algorithm can acquire all the camera parameters quickly, efficiently and with low probability of error, and the reliability and the operation efficiency of the system are improved; in addition, invalid or wrong parameters can be eliminated through verification, and the accuracy and stability of the system on parameter use are improved.

Further, the system further comprises:

and a signal module: the camera parameter reading method comprises the steps of presetting camera parameter reading time to send out a camera parameter reading signal at the camera parameter reading time; the camera parameter reading time comprises the time when the initialization of the camera is completed and the time when the camera is hot-plugged.

The creation module: and initializing the camera and the connection path thereof according to the camera parameter reading time and creating a camera parameter node or directly creating the camera parameter node.

And (3) a setting module: for setting the camera state to the extracted state in response to the camera extraction signal.

In the technical scheme, the reading time is reasonably set, so that a camera parameter reading signal can be sent out at the right moment, the accuracy and the effectiveness of parameter reading are ensured, and the set two times belong to the relatively idle time, so that the use congestion of an I2C bus can be avoided to a certain extent; initializing a camera and creating a corresponding camera parameter node according to the camera parameter reading time, so that the efficiency of initialization and creation can be improved, unnecessary waiting time is reduced, and the response speed of a system is optimized; responding to the extraction signal of the camera and setting the state of the camera to be the extracted state, so that the state of the camera can be updated in time, and misoperation or resource waste on the extracted camera is prevented.

Based on the same conception, the application also provides an automobile and a camera parameter management system, wherein the system adopts the camera parameter management method to manage the camera parameters of any camera in the current automobile.

Compared with the prior art, the beneficial effect of this application lies in:

firstly, responding to a camera parameter reading signal, then reading camera parameters and filling the camera parameters into camera parameter nodes of a camera parameter linked list; and further acquiring a reading state of the camera parameters, checking the camera parameters according to the reading state, setting the camera parameter state to be an effective state when the camera parameters are checked successfully, and copying the camera parameters to a preset algorithm. The camera parameter nodes are stored in the bidirectional camera parameter linked list, and the camera parameters are managed in a bidirectional linked list mode, so that the data has more elastic space and is more universal, the change of the number of cameras of different products can be dealt with, and the storage space of each parameter of the cameras can be saved; in addition, the camera parameters are cached in the camera parameter linked list, so that the preset algorithm can acquire all the camera parameters quickly, efficiently and with low probability of error.

Drawings

Fig. 1 is a flowchart of a camera parameter management method described in the present application.

Fig. 2 is a flowchart of a method for managing camera parameters as described in fig. 1.

Fig. 3 is a flowchart of a method for copying camera parameters to a preset algorithm as described in fig. 2.

Fig. 4 is a system frame diagram of the camera parameter management method shown in fig. 1.

Detailed Description

The application provides a camera parameter management method, a camera parameter management system and an automobile, which are used for solving the technical problem that in the prior art, due to different numbers of cameras perceived by automatic driving, the management of the camera parameters is inconvenient, and the camera parameter management system is also used for solving the technical problem that in the prior art, the camera parameters cannot be read in time, so that hidden danger is brought to the perception algorithm using old parameters.

A camera parameter management method, system and automobile of the present application are described in further detail below with reference to specific embodiments and accompanying drawings.

Embodiment one:

referring to fig. 1, the present application provides a method for managing parameters of a camera, including the following steps:

s100: and responding to the camera parameter reading signal, reading the camera parameter and filling the camera parameter into a camera parameter node of the camera parameter linked list.

It should be noted that the camera parameter linked list includes a plurality of camera parameter nodes, and each camera parameter node stores at least one camera parameter, a camera state and a camera parameter state; each camera parameter node corresponds to the data of one camera, so that one camera parameter linked list can buffer the data corresponding to all cameras in the current automobile.

In addition, the camera parameter node also stores a control lock for protecting the camera parameter from being damaged in the reading process and deserializer data for storing the deserializer information so as to acquire the relevant information of the camera through the deserializer.

The camera parameters, the camera states, the camera parameter states, the control lock and the deserializer data are respectively represented by camera_ parameters, status, camera _parameters_ status, control _lock and a deserializer_data. The camera parameters are read and filled into camera_parameters.

Further, before executing step S100, the method includes:

presetting a camera parameter reading time to send out a camera parameter reading signal at the camera parameter reading time; the camera parameter reading time comprises the time when the initialization of the camera is completed and the time when the camera is hot-plugged.

When the first reading time camera is initialized, the deserializer also needs to be initialized correspondingly, and after the deserializer and the camera are initialized, the deserializer sends out a camera parameter reading signal to further read the camera parameters.

And when the second reading time is the hot insertion of the camera, the deserializer can recognize the insertion of the camera at the moment, and then the subsequent operation is carried out.

In the above technical solution, because one I2C bus of the SOC is connected with multiple cameras, and there are multiple programs accessing the cameras through the I2C bus for different purposes (for example, the isp program may be used to adjust the effect of the cameras at any time, the control program may be used to read and write the control status register of the cameras, and the sensing algorithm may be used to obtain the parameters of the cameras), these factors may all have competition of the I2C bus, resulting in that some services cannot respond in time and starvation or failure occurs; therefore, the two idle time points are selected when the initialization of the camera is completed and when the camera is hot inserted, so that the congestion of the I2C bus can be avoided to a certain extent.

Further, when the camera parameter reading time is that the camera initialization is completed, before the camera parameter is read, the method includes:

and creating a camera parameter node in the camera parameter linked list in advance.

In the technical scheme, the nodes are pre-established in the camera parameter linked list, so that the camera parameters can be conveniently managed and accessed, and various parameter information of the camera, such as optical center coordinates, focal length x-axis length, focal length y-axis length, distortion coefficient and the like of the camera, can be stored in the nodes, so that the subsequent calling and use are facilitated; the system is generally provided with a plurality of cameras, and the camera parameter nodes are created in advance to allocate a node for each camera, so that parameters of different cameras can be managed and called conveniently.

Further, when the camera parameter reading time is the camera hot plug, before the camera parameter is read, the method includes:

initializing the camera and the connecting passage thereof, and judging whether a camera parameter node exists in the camera parameter linked list or not, so that the camera parameter node is created in the camera parameter linked list when the camera parameter node does not exist.

In this embodiment, after the deserializer identifies that the camera is hot-plugged, the deserializer further initializes the camera and its connection path, and then the deserializer will send out a camera parameter reading signal, determine whether there is a camera parameter node in the current camera parameter linked list, and then create the camera parameter node according to the determination result.

In the technical scheme, the camera is initialized, so that the correct state of the camera can be ensured and the camera can be read, and if the initialization operation is not performed, unknown error or invalid parameter reading can be caused; judging whether a parameter node exists in the camera parameter linked list, and creating the node when the parameter node does not exist, so that the parameter node in the linked list can be ensured to be consistent with the actual state of the camera, and reading errors caused by node deletion can be avoided; by creating the parameter nodes in the camera parameter linked list, the subsequent reading and management of the camera parameters can be facilitated.

S200: and acquiring a reading state of the camera parameters, checking the camera parameters according to the reading state, setting the camera parameter state to be an effective state when the camera parameters are checked successfully, and copying the camera parameters to a preset algorithm.

It should be noted that, in a possible implementation, the preset algorithm refers to a sensing algorithm, and the sensing algorithm obtains the parameters of the cameras to calibrate, so as to more effectively use the cameras in driving.

Further, referring to fig. 2, the step S200 includes:

s201: acquiring a reading state of the camera parameters, judging whether the reading state is successful, if so, executing step S202; otherwise, setting the camera state of the camera parameter node as a reading failure state.

In this embodiment, if the camera parameters are successfully read, further parameter verification is performed downwards; if the read is not successful, status is marked as read failure.

S202: checking the camera parameters, judging whether the checking is successful, if so, setting the camera parameter state to be an effective state, and copying the camera parameters to a preset algorithm according to the camera state and the camera parameter state; otherwise, setting the parameter state of the camera as a verification failure state.

In this embodiment, if the camera parameter verification is successful, the camera_parameters_status is marked as a valid state; if the verification fails, the camera_parameters_status is marked as a verification failure state.

In the technical scheme, the situation of reading errors can be captured in time by acquiring the reading state of the camera parameters and judging whether the reading is successful, and if the reading is failed, the state of the camera parameter node is set to ensure that the error state is recorded and processed; the verification of the camera parameters is an important step for ensuring the validity of the parameters, and the validity and the accuracy of the parameters can be ensured and the influence of error parameters on subsequent operations can be avoided by verifying the camera parameters and judging whether the camera parameters are successful or not; different states can be subdivided by setting the camera parameter state and the camera state, and the reading process of the camera parameters can be accurately recorded, so that the robustness of the system can be improved, and the system has better fault tolerance and stability; the camera parameters are copied to the preset algorithm, so that the use of the camera parameters by the preset algorithm can be realized, the copying operation of the parameters can improve the efficiency of data processing, and unnecessary data transmission and processing delay are reduced.

Further, the method further comprises the following steps: in response to the camera extraction signal, the camera state is set to an extracted state.

In this embodiment, when the camera is pulled out, the deserializer will send out a camera pull-out signal and mark status as pulled out.

In the above technical solution, setting the camera state to the extracted state can avoid the system operating the non-existing camera, if the camera state is not updated to the extracted state in time, the system may continue to attempt to read or process the camera, resulting in resource waste or erroneous operation; and other modules or functions can query the state of the camera and decide whether to continue to operate related functions according to whether the camera is in a pulled state, so that the safety and stability of the system are improved.

Further, referring to fig. 3, in step S202, copying the camera parameters to a preset algorithm includes:

s211: acquiring camera parameters, judging whether a camera parameter node corresponding to the camera parameters exists in a camera parameter linked list, and if so, executing step S212; otherwise, reporting that no camera corresponding to the camera parameters reaches a preset algorithm.

In this embodiment, the sensing algorithm acquires the camera parameters, and it is required to determine whether there is a camera parameter node corresponding to the camera parameters in the camera parameter linked list, so as to ensure that the acquired camera parameters are consistent with parameters stored in the linked list, so that data consistency can be maintained, and incorrect operation caused by inconsistency of the camera parameter linked list is avoided.

S212: judging whether the parameter state of the camera is a valid state, if so, executing step S213; otherwise, step S216 is performed.

In this embodiment, when the camera parameter link table has a camera parameter node, it is further determined whether the camera_parameters_status in the camera parameter node is marked as an active state, so as to ensure validity of the parameters, which is helpful to avoid processing a preset algorithm by using invalid or erroneous parameters, and improve accuracy of data processing.

S213: judging whether the camera state is marked as a pulled state, if so, executing step S216; otherwise, step S214 is performed.

In this embodiment, when the camera_parameters_status is marked as an active state, it is further determined whether the status in the camera parameter node is marked as a pulled-out state, so as to avoid executing an operation on the pulled-out camera, reduce processing on an inactive camera, and improve stability and safety of the system.

S214: detecting whether the camera state is marked as a non-powered-on state, if so, executing step S216; otherwise, step S215 is performed.

In this embodiment, when status is not marked as the pulled-out state, it is further determined whether status is marked as the unpowered state, so as to avoid executing operation on the unpowered camera, so that processing on the invalid camera can be reduced, and stability and security of the system are improved.

S215: and copying the camera parameters to a preset algorithm.

In this embodiment, if status is not marked as a non-powered-on state, the camera_parameters are copied to a preset algorithm, namely a sensing algorithm, so that the sensing algorithm timely acquires the camera parameters, and calibration of the camera corresponding to the camera parameters is completed, so that the calibrated camera is applied to an automatic driving algorithm.

S216: reporting the data checking error to a preset algorithm.

In this embodiment, if the camera_parameters_status is marked as an invalid state, or if the status is marked as an unpowered state, a pulled state, or if there is no camera parameter node and no camera parameter reading failure, the error can be timely reported to a preset algorithm (i.e. a sensing algorithm), which is helpful for the system or the user to understand the error in the parameter processing process and perform corresponding processing.

Embodiment two:

referring to fig. 4, the present application further provides a camera parameter management system, where the system includes:

and a reading module: for reading the camera parameters in response to the camera parameter reading signal.

And (3) filling a module: and the camera parameter nodes are used for filling the camera parameters into the camera parameter nodes of the current camera parameter linked list.

And a verification module: and the camera parameter verification module is used for acquiring the reading state of the camera parameter and verifying the camera parameter according to the reading state.

The processing module is used for: and setting the camera parameter state to be an effective state when the camera parameter verification is successful, and copying the camera parameter to a preset algorithm.

In the technical scheme, the camera parameter linked list is a bidirectional linked list, and the bidirectional linked list is adopted to enable the data to have more elastic space and more general purpose, so that the camera parameter linked list can cope with the change of the number of cameras of different products, and the storage space is saved; the camera parameters are cached in the camera parameter linked list, so that a preset algorithm can acquire all the camera parameters quickly, efficiently and with low probability of error, and the reliability and the operation efficiency of the system are improved; in addition, invalid or wrong parameters can be eliminated through verification, and the accuracy and stability of the system on parameter use are improved.

Further, the system further comprises:

and a signal module: the camera parameter reading method comprises the steps of presetting camera parameter reading time to send out a camera parameter reading signal at the camera parameter reading time; the camera parameter reading time comprises the time when the initialization of the camera is completed and the time when the camera is hot-plugged.

The creation module: and initializing the camera and the connection path thereof according to the camera parameter reading time and creating a camera parameter node or directly creating the camera parameter node.

And (3) a setting module: for setting the camera state to the extracted state in response to the camera extraction signal.

In the technical scheme, the reading time is reasonably set, so that a camera parameter reading signal can be sent out at the right moment, the accuracy and the effectiveness of parameter reading are ensured, and the set two times belong to the relatively idle time, so that the use congestion of an I2C bus can be avoided to a certain extent; initializing a camera and creating a corresponding camera parameter node according to the camera parameter reading time, so that the efficiency of initialization and creation can be improved, unnecessary waiting time is reduced, and the response speed of a system is optimized; responding to the extraction signal of the camera and setting the state of the camera to be the extracted state, so that the state of the camera can be updated in time, and misoperation or resource waste on the extracted camera is prevented.

Examples

The application also provides an automobile, and a camera parameter management system is configured, and the system adopts the camera parameter management method to manage the camera parameters of any camera in the current automobile.

In summary, the application provides a camera parameter management method, a camera parameter management system and an automobile; firstly, responding to a camera parameter reading signal, then reading camera parameters and filling the camera parameters into camera parameter nodes of a camera parameter linked list; and further acquiring a reading state of the camera parameters, checking the camera parameters according to the reading state, setting the camera parameter state to be an effective state when the camera parameters are checked successfully, and copying the camera parameters to a preset algorithm. The camera parameter nodes are stored in the bidirectional camera parameter linked list, and the camera parameters are managed in a bidirectional linked list mode, so that the data has more elastic space and is more universal, the change of the number of cameras of different products can be dealt with, and the storage space of each parameter of the cameras can be saved; in addition, the camera parameters are cached in the camera parameter linked list, so that the preset algorithm can acquire all the camera parameters quickly, efficiently and with low probability of error.

Although the illustrative embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the above illustrative embodiments are merely exemplary and are not intended to limit the scope of the present application thereto. Various changes and modifications may be made therein by one of ordinary skill in the art without departing from the scope and spirit of the present application. All such changes and modifications are intended to be included within the scope of the present application as set forth in the appended claims.

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

While the present application has been described in conjunction with the specific embodiments above, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art in light of the foregoing description. Accordingly, all such alternatives, modifications, and variations are included within the spirit and scope of the following claims.

Claims (10)

1. The camera parameter management method is characterized by comprising the following steps of:

s100: responding to the camera parameter reading signal, reading camera parameters and filling the camera parameters into camera parameter nodes of the current camera parameter linked list;

s200: and acquiring a reading state of the camera parameters, checking the camera parameters according to the reading state, setting the camera parameter state to be an effective state when the camera parameters are checked successfully, and copying the camera parameters to a preset algorithm.

2. The camera parameter management method according to claim 1, characterized by comprising, before performing step S100:

presetting a camera parameter reading time to send out a camera parameter reading signal at the camera parameter reading time;

the camera parameter reading time comprises the time when the initialization of the camera is completed and the time when the camera is hot-plugged.

3. The camera parameter management method according to claim 2, wherein when the camera parameter reading time is that camera initialization is completed, before reading the camera parameter, comprising:

and creating a camera parameter node in the camera parameter linked list in advance.

4. The camera parameter management method according to claim 2, wherein when the camera parameter reading time is a camera hot plug, before reading the camera parameter, comprising:

initializing the camera and the connecting passage thereof, and judging whether a camera parameter node exists in the camera parameter linked list or not, so that the camera parameter node is created in the camera parameter linked list when the camera parameter node does not exist.

5. The method of camera parameter management according to claim 4, wherein the step S200 includes:

s201: acquiring a reading state of the camera parameters, judging whether the reading state is successful, if so, executing step S202; otherwise, setting the camera state of the camera parameter node as a reading failure state;

s202: checking the camera parameters, judging whether the checking is successful, if so, setting the camera parameter state to be an effective state, and copying the camera parameters to a preset algorithm according to the camera state and the camera parameter state; otherwise, setting the parameter state of the camera as a verification failure state.

6. The camera parameter management method according to claim 5, further comprising: in response to the camera extraction signal, the camera state is set to an extracted state.

7. The method according to claim 6, wherein the copying the camera parameters to a preset algorithm in step S202 includes:

s211: acquiring camera parameters, judging whether a camera parameter node corresponding to the camera parameters exists in a camera parameter linked list, and if so, executing step S212; otherwise, reporting that no camera corresponding to the camera parameters reaches a preset algorithm;

s212: judging whether the parameter state of the camera is a valid state, if so, executing step S213; otherwise, executing step S216;

s213: judging whether the camera state is marked as a pulled state, if so, executing step S216; otherwise, executing step S214;

s214: detecting whether the camera state is marked as a non-powered-on state, if so, executing step S216; otherwise, executing step S215;

s215: copying the parameters of the camera to a preset algorithm;

s216: reporting the data checking error to a preset algorithm.

8. A system employing the camera parameter management method according to any one of claims 1 to 7, characterized in that the system comprises:

and a reading module: the camera parameter reading device is used for responding to the camera parameter reading signal and reading the camera parameter;

and (3) filling a module: the camera parameter node is used for filling the camera parameters into the camera parameter node of the current camera parameter linked list;

and a verification module: the camera parameter verification method comprises the steps of obtaining a reading state of a camera parameter, and verifying the camera parameter according to the reading state;

the processing module is used for: and setting the camera parameter state to be an effective state when the camera parameter verification is successful, and copying the camera parameter to a preset algorithm.

9. The system of claim 8, wherein the system further comprises:

and a signal module: the camera parameter reading method comprises the steps of presetting camera parameter reading time to send out a camera parameter reading signal at the camera parameter reading time; the camera parameter reading time comprises the time when the initialization of the camera is completed and the time when the camera is hot-plugged;

the creation module: the camera parameter reading time is used for initializing a camera and a connecting passage thereof according to the camera parameter reading time and creating a camera parameter node or directly creating the camera parameter node;

and (3) a setting module: for setting the camera state to the extracted state in response to the camera extraction signal.

10. An automobile, characterized in that a camera parameter management system is configured, which manages camera parameters of any camera in the current automobile by using the camera parameter management method as claimed in any one of claims 1 to 7.