WO2020006792A1 - 一种图像处理方法、机构及后视镜 - Google Patents

一种图像处理方法、机构及后视镜 Download PDF

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Publication number
WO2020006792A1
WO2020006792A1 PCT/CN2018/097213 CN2018097213W WO2020006792A1 WO 2020006792 A1 WO2020006792 A1 WO 2020006792A1 CN 2018097213 W CN2018097213 W CN 2018097213W WO 2020006792 A1 WO2020006792 A1 WO 2020006792A1
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WIPO (PCT)
Prior art keywords
panoramic
image
camera
recording mechanism
panoramic picture
Prior art date
Application number
PCT/CN2018/097213
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English (en)
French (fr)
Inventor
潘磊
Original Assignee
深圳市歌美迪电子技术发展有限公司
潘磊
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Application filed by 深圳市歌美迪电子技术发展有限公司, 潘磊 filed Critical 深圳市歌美迪电子技术发展有限公司
Publication of WO2020006792A1 publication Critical patent/WO2020006792A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/76—Television signal recording
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources

Definitions

  • the present disclosure relates to the technical field of panoramic photography, and relates to an image processing method, mechanism, and rear view mirror.
  • the present disclosure provides an image processing method, a mechanism, and a rearview mirror to solve the problem that the angle of view of the camera of the driving recorder in the prior art is too narrow.
  • the present disclosure provides an image processing method for processing images captured by a first camera in a vehicle with a window and a second camera with a different shooting angle from the first camera.
  • the method includes: The first image captured by the first camera and the second image captured by the second camera, wherein the first image and the second image are images captured at a first time; the first image and the The second image stitching is used to obtain a first panoramic picture at a first moment, wherein the first panoramic picture includes a first visible area image, and the first visible area image refers to the image captured at the first moment.
  • the first time is any time
  • the method further includes: sorting the modified panoramic pictures at multiple times in chronological order, and forming a panorama according to the sorted panoramic pictures. Video.
  • the step of sorting the modified panoramic pictures at multiple times in chronological order and forming a panoramic video according to the sorted panoramic pictures includes: according to the time corresponding to the modified panoramic pictures at multiple times. Mark the third panoramic pictures in order from morning to night to obtain a panoramic video.
  • the step of stitching the first image with the second image to obtain a first panoramic picture at a first moment includes: a main control board stitching the first image and the second image; The main control board acquires the first panoramic picture.
  • the reading a second panoramic picture at a second time before the stored first time includes: determining whether the vehicle is in a moving state; if yes, obtaining The panoramic picture at the second moment with a preset time length at one time is used as the second panoramic picture.
  • the method further includes: if the vehicle is not in a moving state, obtaining a preset time longer than the first time.
  • the panoramic picture at the second time is used as the second panoramic picture, and the first panoramic picture and the second panoramic picture are the same.
  • the step of stitching the first visible area image and the second visible area image to obtain a corrected third panoramic image at the first moment includes: removing the first visible area image from Extracting from the first panoramic image to obtain the first visible area image; extracting the second visible area image from the second panoramic image to obtain the second visible area image; Stitch the first visible area image and the second visible area image to obtain the third panoramic picture.
  • the present disclosure also provides a panoramic video recording mechanism.
  • the panoramic video recording mechanism includes a panoramic video recording mechanism body.
  • the panoramic video recording mechanism body includes a main control board, the first camera, and the second camera.
  • the board is electrically connected to the first camera and the second camera, respectively; the main control board is configured to execute the image processing method as described above.
  • the first camera is a first fisheye camera
  • the second camera is a second fisheye camera
  • the angle of view of the first fisheye camera is between 180 degrees and 270 degrees
  • the angle of view of the second fisheye camera is between 180 degrees and 270 degrees.
  • the panoramic video recording mechanism further includes a casing; the main control board is disposed inside the casing, and the first fisheye camera is disposed on the first channel of the casing.
  • the second fisheye camera is disposed at a second through hole of the housing opposite to the first through hole, and the first fisheye camera and the second fisheye camera shoot in opposite directions.
  • the casing includes a front casing and a rear casing; the front casing is movably connected to the rear casing, and the front casing and the rear casing form a space that can accommodate objects.
  • the panoramic video recording mechanism further includes: glass and foam; the glass is disposed on an inner surface side of the front shell, the glass is movably connected to the front shell, and the foam is disposed on the glass And the front shell.
  • the panoramic video recording mechanism further includes: a lampshade; the lampshade is disposed on an outer side of the rear case away from the main control board.
  • the panoramic video recording mechanism further includes: a micro microphone and a plurality of speakers; the micro microphone is disposed on the main control board, and the micro microphone and the main control board are electrically Connected, one speaker of the plurality of speakers is disposed inside the casing and near the first fisheye camera, and the other speaker of the plurality of speakers is disposed inside the casing and near the second fisheye At the camera, the multiple speakers are electrically connected to the main control board.
  • the panoramic video recording mechanism further includes: a connecting member and a bracket; the connecting member is disposed on one side of the housing, and the bracket and the housing are movably connected through the connecting member.
  • the present disclosure also provides a rear view mirror, the rear view mirror comprising: a housing, a reflective lens, and a panoramic video recording mechanism as described above; the housing is movably connected to the reflective lens, and the housing and the reflective lens An accommodating space capable of accommodating the panoramic video recording mechanism is formed, and the panoramic video recording mechanism is disposed in the accommodating space.
  • the present disclosure also provides a server including a memory, a processor, and a bus.
  • the memory stores machine-readable instructions executable by the processor.
  • the server runs, the processor and the memory
  • the machine-readable instructions are executed by the processor, the method described above is executed.
  • the present disclosure also provides a computer-readable medium having a processor-executable non-volatile program code that causes the processor to perform the steps of the above-mentioned working condition identification method.
  • An image processing method, a mechanism and a rear view mirror ensure that a panoramic image around the cameras is obtained to the greatest extent by stitching the images captured by the two cameras.
  • the visible area can be obtained from the image of the car when it was a few seconds ago.
  • Image, the visible area image at this time and the visible area image of a few seconds ago are stitched to obtain a panoramic picture of the surroundings of the car.
  • the panoramic pictures stitched by these two methods form the final panoramic video, thereby effectively solving the problem that the angle of view of the camera of the driving recorder in the prior art is too narrow.
  • FIG. 1 is a schematic flowchart of an image processing method according to an embodiment of the present disclosure
  • FIG. 2 is a schematic flowchart of an image processing method provided by an embodiment of the present disclosure
  • step S200 of an image processing method according to an embodiment of the present disclosure
  • step S300 of an image processing method according to an embodiment of the present disclosure
  • FIG. 5 is a schematic flowchart of steps S300 of an image processing method according to an embodiment of the present disclosure
  • step S400 of an image processing method according to an embodiment of the present disclosure
  • FIG. 7 is a schematic diagram of a visible area and a blind area provided by an embodiment of the present disclosure.
  • FIG. 8 is a schematic diagram of a right rear car crossing multiple visible areas and blind areas according to an embodiment of the present disclosure
  • FIG. 9 is a first perspective view of a panoramic video recording mechanism according to an embodiment of the present disclosure.
  • FIG. 10 is a second perspective perspective view of a panoramic video recording mechanism provided by an embodiment of the present disclosure.
  • FIG. 11 is a third perspective view of a panoramic video recording mechanism provided by an embodiment of the present disclosure.
  • FIG. 12 is a first perspective view of a rear view mirror provided by an embodiment of the present disclosure.
  • Icons 101-panoramic video recording mechanism; 100-camera; 110-first fisheye camera; 130-second fisheye camera; 200-main control board; 210-microphone; 230-speaker; 300-shell; 310- Front shell; 330-back shell; 400-lamp cover; 500-glass; 600-foam; 700-connecting parts; 800-bracket; 900-rear view mirror; 910-shell; 930-reflection lens.
  • FIG. 1 is a schematic flowchart of an image processing method according to an embodiment of the present disclosure.
  • the present disclosure provides an image processing method for processing images captured by a first camera in a vehicle with a window and a second camera with a different shooting angle from the first camera, where the vehicle with a window It can be cars, ships, airplanes, etc.
  • the method includes:
  • Step S100 Receive a first image captured by the first camera and a second image captured by the second camera, wherein the first image and the second image are images captured at a first time.
  • the main control board receives the first image captured by the first camera and the second image captured by the second camera.
  • the first image and the second image are images captured at a first time.
  • Step S200 stitch the first image and the second image to obtain a first panoramic picture at a first moment, wherein the first panoramic picture includes a first visible area image, and the first visible area
  • the image refers to an image area outside the window captured at the first moment.
  • a first panoramic picture at a first moment is obtained according to the first image and the second image, where the first panoramic picture includes a first blind zone image and a first visible zone image.
  • Step S300 Read a second panoramic picture at a second moment before the stored first moment, the second panoramic picture includes a second visible area image, and the second visible area image refers to the image in the second The image area outside the window is captured at all times.
  • a second panoramic picture at a second moment is obtained from the memory, where the second panoramic picture includes a second blind zone image and a second visible zone image, and the second moment is earlier than the second moment.
  • the first moment is obtained from the memory, where the second panoramic picture includes a second blind zone image and a second visible zone image, and the second moment is earlier than the second moment. The first moment.
  • Step S400 stitching the first visible area image and the second visible area image to obtain a corrected third panoramic picture at the first moment.
  • a third panoramic picture is obtained according to the second panoramic picture and the first panoramic picture.
  • the method provided in this embodiment may be executed on a server, or may be executed by a main control board.
  • the camera needs to transmit the captured image to the server, and the server returns the execution result to the main control board.
  • the method provided in this embodiment can also be directly executed by the main control board, and the specific execution subject here should not be understood as a limitation on the present disclosure.
  • FIG. 2 is a schematic flowchart of an entire image processing method according to an embodiment of the present disclosure.
  • the method further includes:
  • Step S500 Sort the corrected panoramic pictures at multiple times in chronological order, and form a panoramic video according to the sorted panoramic pictures.
  • the corrected panoramic pictures at multiple times are sorted in chronological order, and a panoramic video is formed according to the sorted panoramic pictures. That is, the third panoramic picture is arranged in order from morning to night according to the time stamps corresponding to the modified panoramic picture at multiple times, so as to obtain a panoramic video.
  • FIG. 3 is a schematic flowchart of step S200 of an image processing method according to an embodiment of the present disclosure.
  • the acquiring a first panoramic picture at a first moment according to the first image and the second image includes:
  • Step S210 The main control board stitches the first image and the second image.
  • main control board stitches the first image and the second image.
  • Step S220 The main control board acquires a first panoramic picture.
  • acquiring the first panoramic picture at the first moment according to the first image and the second image includes: the main control board stitching the first image and the second image , The main control board obtains a first panoramic picture.
  • FIG. 4 is a schematic flowchart of step S300 of an image processing method according to an embodiment of the present disclosure.
  • acquiring the second panoramic picture at the second moment from the memory includes:
  • Step S310 determine whether the vehicle is in a moving state
  • obtaining the second panoramic picture at the second moment includes determining whether the car is in a moving state.
  • Step S320 if yes, obtain a panoramic picture at the second time that is a preset time earlier than the first time as the second panoramic picture.
  • a panoramic picture of the second time at a preset time earlier than the first time is acquired as the second panoramic picture
  • a value that can be taken at the second time is, for example, One second, first ten milliseconds, first fifty milliseconds, and so on. That is, a panoramic picture at the second time that is preset to a time earlier than the first time is acquired as the second panoramic picture.
  • FIG. 5 is a schematic flowchart of steps S300 of the image processing method according to an embodiment of the present disclosure.
  • the method further includes:
  • Step S330 if the vehicle is not in a moving state, obtaining a panoramic picture at the second time that is a preset time earlier than the first moment as the second panoramic picture, the first panoramic picture and the The second panoramic picture is the same.
  • the method further includes: if the car is not in a moving state, obtaining a panoramic picture of the second moment in time that is a preset time earlier than the first moment as The second panoramic picture, the first panoramic picture, and the second panoramic picture are the same.
  • FIG. 6 is a schematic flowchart of step S400 of an image processing method according to an embodiment of the present disclosure.
  • the acquiring a third panoramic picture according to the second panoramic picture and the first panoramic picture includes:
  • Step S410 extract the first visible area image from the first panoramic picture to obtain the first visible area image
  • the first viewable area image is extracted from the first panoramic image to obtain the first viewable area image
  • Step S420 extract the second visible area image from the second panoramic picture to obtain the second visible area image
  • the second visible area image is extracted from the second panoramic picture to obtain the second visible area image
  • Step S430 stitch the first visible area image and the second visible area image to obtain a third panoramic picture.
  • FIG. 7 is a schematic diagram of a visible area and a blind area provided by an embodiment of the present disclosure.
  • the main control board obtains images from the two cameras, it stitches the graphics, and finally outputs a 360-degree picture of the surroundings of the car, which is seen by the driver through the display in the car.
  • the cameras on the left and right side of the rearview mirror the obtained video area: 123456 area is the blind area, abcdef is the visible area of the two lenses. Because the car is moving, the surrounding scenery and the car are also moving, so for the image of the blind area, the visible area image obtained in the first few seconds can be compared with the current visible area image and the two images, and the blind area can be calculated by calculation. Image information.
  • FIG. 8 is a schematic diagram of a right rear car crossing multiple visible areas and blind areas provided by an embodiment of the present disclosure.
  • the blind area of the rearview mirror of a car because the volume of the vehicle behind the side of the car is large, the blind body of the car body, or several blind areas and visible areas at the same time, we can capture images of some areas and display them on the car monitor To let the driver know the situation of the blind spot.
  • FIG. 9 is a first perspective view of a panoramic video recording mechanism 101 provided by an embodiment of the present disclosure.
  • the present disclosure also provides a panoramic video recording mechanism 101.
  • the panoramic video recording mechanism 101 includes a panoramic video recording mechanism body.
  • the panoramic video recording mechanism body includes: a main control board 200, a first camera 100, and a second camera 100; the main control board 200 and the first A camera 100 and the second camera 100 are electrically connected; the main control board 200 is configured to execute the image processing method according to the first embodiment.
  • the panoramic recording mechanism 101 includes: a plurality of cameras 100, a main control board 200, and a casing 300; one of the plurality of cameras 100 is disposed in a first through hole of the casing 300 (not shown in the figure). (Marked), another camera 100 of the plurality of cameras 100 is provided at a second through hole (not shown) of the housing 300 opposite to the first through hole, and the main control board 200 is provided inside the housing 300.
  • Each camera 100 is electrically connected to the main control board 200, and the housing 300 is insulated and connected to the main control board 200 and the multiple cameras 100, respectively; the multiple cameras 100 are configured to photograph each direction of the multiple cameras 100 And send the data obtained by shooting to the main control board 200.
  • the main control board 200 processes and stitches the images acquired by the multiple cameras 100 to obtain images around the multiple cameras 100.
  • Such a processing method effectively enlarges the viewing angle of the camera 100 of the driving recorder so that a more angled picture can be seen.
  • FIG. 10 is a schematic perspective view of a panoramic video recording mechanism according to an embodiment of the present disclosure at a second perspective.
  • the first camera 100 is the first fish-eye camera 110
  • the second camera 100 is the second fish-eye camera 130.
  • the angle of view of the first fish-eye camera 110 is between 180 degrees and 270 degrees.
  • the angle of view of the second fisheye camera 130 is between 180 degrees and 270 degrees.
  • the angle of view of the first fisheye camera 110 is between 180 degrees and 270 degrees; the angle of view of the second fisheye camera 130 is between 180 degrees and 270 degrees.
  • the angle of view of the fisheye camera 110 is defined as ⁇ , and the normal range of ⁇ is between 90 ° -270 °.
  • the angle of view needs to be selected from 180 degrees to 270 degrees Fisheye camera 110.
  • the distance between the fisheye camera and the through hole can be increased. In this way, the angle of view of the camera 100 of the driving recorder is effectively enlarged, so that a more angled picture can be seen.
  • the panoramic video recording mechanism 101 further includes a housing 300; the main control board 200 is disposed inside the housing 300, and the first fisheye camera 110 is disposed in the housing 300.
  • the second fisheye camera 130 is disposed at the second through hole of the housing 300 opposite to the first through hole, and the first fisheye camera 110 and the second fisheye camera 130 shoot in opposite directions.
  • the panoramic video recording mechanism 101 further includes a casing 300; the main control board 200 is disposed inside the casing 300, the first fisheye camera 110 is disposed at the first through hole of the casing 300, and the second fisheye
  • the camera 130 is disposed at a second through hole of the housing 300 opposite to the first through hole, and the first fisheye camera 110 and the second fisheye camera 130 capture images in opposite directions.
  • the camera here is a fisheye camera, and the camera's angle of view is generally greater than 180 °. In addition to the angle of view blocked by the panoramic video recording mechanism itself, it can basically reach a 360-degree angle of view.
  • at least two cameras facing each other are used to effectively expand the angle of view of the camera 100 of the driving recorder so as to be able to see pictures with more angles.
  • FIG. 11 is a third perspective view of a panoramic video recording mechanism 101 provided by an embodiment of the present disclosure.
  • the case 300 includes a front case 310 and a rear case 330; the front case 310 is movably connected to the rear case 330, and the front case 310 and the rear case 330 form a space capable of accommodating objects.
  • the case 300 includes a front case 310 and a rear case 330; the front case 310 is movably connected to the rear case 330, and the front case 310 and the rear case 330 form a space that can accommodate objects.
  • the front casing 310 and the rear casing 330 are connected, and the front casing 310 and the rear casing 330 are connected in a movable manner, which makes it easier to remove the components inside during the repair and maintenance of the panoramic video recording mechanism 101.
  • two ends of the front case 310 are respectively provided with a first fixing portion
  • two ends of the rear case 330 are respectively provided with a second fixing portion.
  • the first fixing portion cooperates with the second fixing portion and is respectively configured to fix the first fixing portion.
  • the first fixing portion and the second fixing portion have a semicircular cross-section, and are combined to form a generally cylindrical structure to hold the first fisheye camera 110 or the second fisheye camera 130 on the first fixing portion and the second fixing portion. Between the second fixing portions.
  • the panoramic recording mechanism 101 further includes a micro microphone 210 and a plurality of speakers 230; the micro microphone 210 is disposed on the main control board 200, and the micro microphone 210 and the main control The board 200 is electrically connected.
  • One speaker 230 of the plurality of speakers 230 is disposed inside the casing 300 and is near the first fisheye camera 110, and the other speaker 230 of the plurality of speakers 230 is disposed inside the casing 300 and near the first At the two fisheye cameras 130, multiple speakers 230 are electrically connected to the main control board 200.
  • the panoramic video recording mechanism 101 further includes: a micro microphone 210 and a plurality of speakers 230; the micro microphone 210 is disposed on the main control board 200; the micro microphone 210 is electrically connected to the main control board 200; and a plurality of speakers 230 One of the speakers 230 is disposed inside the casing 300 and is near the first fisheye camera 110, and the other speaker 230 of the plurality of speakers 230 is disposed inside the casing 300 and is near the second fisheye camera 130. 230 is electrically connected to the main control board 200.
  • the panoramic video recording device 101 is used as a driving recorder, the video recording with sound is obtained through the panoramic video recording device 101.
  • the audio video recording will greatly enhance the effectiveness of the traffic accident forensics as evidence, and the audio video Records can be used as an effective basis for discerning subjective or objective facts.
  • the panoramic recording mechanism 101 further includes a lamp cover 400; the lamp cover 400 is disposed on the outer side of the rear case 330 away from the main control board 200.
  • the panoramic recording mechanism 101 further includes a lamp cover 400; the lamp cover 400 is disposed on the outer side of the rear case 330 away from the main control board 200.
  • the design of the lamp cover 400 makes the panoramic video recording mechanism 101 more beautiful and generous, so that the indicator light inside can be emitted outside, and the indicator light or other lamps which are easily broken inside are also protected.
  • the panoramic video recording mechanism 101 further includes: glass 500 and foam 600; the glass 500 is disposed on the inner surface side of the front case 310, and the glass 500 and the front case 310 are movable For connection, the foam 600 is disposed between the glass 500 and the front case 310.
  • the panoramic video recording mechanism 101 further includes: glass 500 and foam 600; the glass 500 is disposed on the inner surface side of the front case 310, the glass 500 is movably connected to the front case 310, and the foam 600 is disposed on the glass 500 and Front shell 310.
  • the foam 600 has a rectangular frame structure.
  • the glass 500 here can be a reflective mirror, a concave mirror, or a convex mirror.
  • the specific glass 500 is the kind of reflective mirror, which should not be construed as a limitation of the present disclosure.
  • the structure of the foam 600 makes the fragile glass 500 and the main control board 200 a buffer mechanism.
  • an emergency situation such as emergency braking and quick start, In this way, the glass 500 can be effectively prevented from being broken or scratched due to excessive impact or friction.
  • the panoramic recording mechanism 101 further includes: a connecting member 700 and a bracket 800; the connecting member 700 is disposed on one side of the housing 300, and the bracket 800 and the housing 300 pass through The connector 700 is movably connected.
  • the panoramic video recording mechanism 101 further includes: a connecting member 700 and a bracket 800; the connecting member 700 is disposed on one side of the casing 300, and the bracket 800 and the casing 300 are movably connected through the connecting member 700.
  • the connecting member 700 and the connecting bracket 800 are used, and then the bracket 800 is connected to the top of the car's windshield or the top structure of the car.
  • the bracket 800 and the connecting structure can have a buffer effect on the panoramic video. In emergency situations, such as emergency braking and rapid start, it can effectively prevent the panoramic video recording mechanism 101 from colliding or rubbing against the windshield to cause chipping or scratching.
  • the panoramic recording mechanism 101 is mainly composed of glass 500, foam 600, front case 310, camera 100, rear case 330, lotus petals (i.e., connecting piece 700), bracket 800, lamp cover 400, speaker (i.e., speaker 230), and a printed circuit board.
  • PCB Printed Circuit Board
  • the printed circuit board here is the main control board 210.
  • the lamp cover 400 is directly clamped in the rear case 330, the lotus petals are fixed on the rear case 330 with screws, and the bracket 800 is connected to the rear case 330 in the form of a ball hinge.
  • Each of the horn is left and right, and is fixed to the rear case 330 with screws.
  • the PCB is fixed on the rear case 330 with screws, and there is a compass module on the PCB. The above constitutes the rear case 330 component of the rear view mirror 900.
  • Foam 600 is installed in the front case 310, and a strip of foam 600 is in front of the screen.
  • the screen is electrically connected to the PCB.
  • the glass 500 is adhered to the front of the front case 310 through a foam 600.
  • the above constitutes the components of the front case 310 of the rear view mirror 900.
  • the front case 310 component and the rear case 330 component constitute a rear view mirror 900-type whole by using a snap-fit method.
  • the cameras 100 on both sides fit into the holes formed by the front and rear cases 330.
  • the panoramic video recording mechanism uses multiple cameras to work simultaneously, and then the main control board processes and stitches the images acquired by the multiple cameras to obtain multiple images.
  • the angle of view of the camera is indirectly increased, thereby effectively solving the problem that the angle of view of the camera of the driving recorder in the prior art is too narrow.
  • FIG. 12 is a first perspective view of a rear view mirror provided by an embodiment of the present disclosure.
  • the present disclosure also provides a rear view mirror 900.
  • the rear view mirror 900 includes: a housing 910, a reflective lens 930, and a panoramic video recording mechanism 101 according to the second embodiment; the housing 910 is movably connected to the reflective lens 930, and the housing 910 and The reflective lens 930 forms an accommodating space capable of accommodating the panoramic video recording mechanism 101, and the panoramic video recording mechanism 101 is disposed in the accommodating space.
  • the rear view mirror 900 includes: a housing 910, a reflective lens 930, and the panoramic video recording mechanism 101 described in the second embodiment; the housing 910 is movably connected to the reflective lens 930, and the housing 910 and the reflective lens 930 form one An accommodating space capable of accommodating the panoramic video recording mechanism 101, and the panoramic video recording mechanism 101 is disposed in the accommodating space.
  • the reflective lens here may also be a concave mirror, a convex mirror, or a flat mirror. It can be used as a car's rearview mirror.
  • the angle taken by the panoramic camera is independent of the steering position of the rearview mirror. That is to say, no matter how the rearview mirror is adjusted by the driver, the panoramic camera can shoot all around. Images and videos. As a result, the space inside the car is effectively saved, and the panoramic camera mechanism can capture surrounding pictures and sounds, and can also be used as a rearview mirror to achieve the effect of dual use.
  • the present disclosure also provides a server including a memory, a processor, and a bus.
  • the memory stores machine-readable instructions executable by the processor.
  • the processor and the memory communicate through a bus.
  • the method described in the first embodiment is executed.
  • the memory stores machine-readable instructions executable by the processor.
  • the processor When the server is running, the processor and the memory communicate through the bus.
  • the machine-readable instructions are processed by the processor.
  • the method as in the first embodiment is executed.
  • the processor is configured to execute executable modules stored in the memory, such as software function modules and computer programs.
  • the memory may be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), erasable In addition to read-only memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable read-only memory (Electric Erasable Programmable Read-Only Memory, EEPROM) and so on.
  • RAM Random Access Memory
  • ROM Read Only Memory
  • PROM Programmable Read-Only Memory
  • EPROM Erasable Programmable Read-Only Memory
  • EEPROM Electrically erasable read-only memory
  • the memory is configured to store a program, and the processor executes the program after receiving the execution instruction.
  • the camera in the second embodiment transmits the camera image to the server provided in this embodiment, and the method provided in the first embodiment is executed on the server provided in this embodiment.
  • the execution result is returned to the main control board provided in the second embodiment.
  • the method in the first embodiment can also be directly executed by the main control board provided in the second embodiment, and the specific execution subject here should not be understood as limiting the present disclosure.
  • the panoramic video recording mechanism 101 provided by the second embodiment of the present disclosure can also be used on a vehicle.
  • the vehicles that can be used on the vehicle include: shell-shaped or windowed vehicles such as cars, trucks, ships, and helicopters. .
  • the specific vehicles and scenes used by the panoramic recording mechanism 101 here should not be understood as limiting the present disclosure.
  • the vehicle includes: a vehicle body; the vehicle body includes the panoramic video recording mechanism 101 according to the second embodiment.
  • An image processing method, a mechanism and a rear view mirror ensure that a panoramic image around the cameras is obtained to the greatest extent by stitching the images captured by the two cameras.
  • the visible area can be obtained from the image of the car when it was a few seconds ago Image, the visible area image at this time and the visible area image of a few seconds ago are stitched to obtain a panoramic picture of the surroundings of the car.
  • the panoramic pictures stitched by these two methods form the final panoramic video, thereby effectively solving the problem that the angle of view of the camera of the driving recorder in the prior art is too narrow.
  • the image processing method, mechanism and rear view mirror provided by the present disclosure can obtain a panoramic picture around the car, which can effectively solve the problem that the angle of view of the camera of the driving recorder in the prior art is too narrow.

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Abstract

一种图像处理方法、机构及后视镜，用于对有窗户的交通工具内第一摄像头以及与第一摄像头拍摄角度不同的第二摄像头拍摄到的画面进行处理，包括：接收第一摄像头拍摄的第一图像以及第二摄像头拍摄的第二图像，其中，第一图像与第二图像为第一时刻拍摄的图像；将第一图像与第二图像拼接，获取第一时刻的第一全景画面，其中，第一全景画面包括第一可视区图像；读取存储的第一时刻之前的第二时刻的第二全景画面，第二全景画面包括第二可视区图像；将第一可视区图像以及第二可视区图像拼接，获得第一时刻修正后的第三全景画面。

Description

一种图像处理方法、机构及后视镜
相关申请的交叉引用
本公开要求于2018年07月04日提交中国专利局的公开号为2018107255419、名称为“一种图像处理方法、机构及后视镜”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及全景摄像的技术领域，涉及一种图像处理方法、机构及后视镜。
背景技术
目前行业内由于汽车在行驶过程中，由于驾驶盲区的存在而导致的交通事故常有发生，而在交通事故发生后的举证和取证，则依赖于传统的行车记录装置。传统的行车记录装置的摄像头都是针对车前或车后方向，对于汽车前排右门和左门方向却没有记录。如果是侧方向的车辆闯红灯或者超速逆行等违法导致的交通事故，若无目击证人或路边的摄像头，那么举证和取证就会变得非常困难。现有技术中的只有车前或车后方向安装传统的摄像头，其视角也会局限于车前或车后方向，因此，现有技术中存在着行车记录装置的摄像头的视角过于狭窄的问题。
发明内容
有鉴于此，本公开提供一种图像处理方法、机构及后视镜，用于解决现有技术中行车记录装置的摄像头的视角过于狭窄的问题。
本公开提供的一种图像处理方法，用于对有窗户的交通工具内第一摄像头以及与所述第一摄像头拍摄角度不同的第二摄像头拍摄到的画面进行处理，所述方法包括：接收所述第一摄像头拍摄的第一图像以及所述第二摄像头拍摄的第二图像，其中，所述第一图像与所述第二图像为第一时刻拍摄的图像；将所述第一图像与所述第二图像拼接，获取第一时刻的第一全景画面，其中，所述第一全景画面包括第一可视区图像，所述第一可视区图像是指在所述第一时刻拍摄到所述窗户外图像区域；读取存储的第一时刻之前的第二时刻的第二全景画面，所述第二全景画面包括第二可视区图像，所述第二可视区图像是指在所述第二时刻拍摄到所述窗户外图像区域；将所述第一可视区图像以及所述第二可视区图像拼接，获得第一时刻修正后的第三全景画面。
进一步地，在本公开实施例中，所述第一时刻为任一时刻，所述方法还包括：将多个时刻的修正后的全景画面按时间先后顺序排序，根据排序后的全景画面形成全景录像。
进一步地，所述将多个时刻的修正后的全景画面按时间先后顺序排序，根据排序后的全景画面形成全景录像的步骤包括：根据多个时刻的修正后的所述全景画面所对应的时间标记从早到晚的顺序排列所述第三全景画面从而获取全景录像。
进一步地，所述将所述第一图像与所述第二图像拼接，获取第一时刻的第一全景画面的步骤包括：主控板对所述第一图像和所述第二图像进行拼接；主控板获取所述第一全景画面。
进一步地，在本公开实施例中，所述读取存储的第一时刻之前的第二时刻的第二全景画面，包括：判断所述交通工具是否处于运动状态；若是，则获取比所述第一时刻早预设时长的所述第二时刻的全景画面作为所述第二全景画面。
进一步地，在本公开实施例中，在所述判断所述交通工具是否处于运动状态之后，还包括：若所述交通工具未处于运动状态，则获取比所述第一时刻早预设时长的所述第二时刻的全景画面作为所述第二全景画面，所述第一全景画面和所述第二全景画面是相同的。
进一步地，所述将所述第一可视区图像以及所述第二可视区图像拼接，获得第一时刻修正后的第三全景画面的步骤包括：将所述第一可视区图像从所述第一全景画面中截取出来，获取所述第一可视区图像；将所述第二可视区图像从所述第二全景画面中截取出来，获取所述第二可视区图像；将所述第一可视区图像和所述第二可视区图像进行拼接，获取所述第三全景画面。
本公开还提供了一种全景录像机构，所述全景录像机构包括全景录像机构本体，所述全景录像机构本体包括：主控板、所述第一摄像头和所述第二摄像头；所述主控板分别与所述第一摄像头和所述第二摄像头电性连接；所述主控板配置为执行如上所述的图像处理方法。
进一步地，在本公开实施例中，所述第一摄像头为第一鱼眼摄像头，所述第二摄像头为第二鱼眼摄像头；所述第一鱼眼摄像头的视角在180度至270度之间；所述第二鱼眼摄像头的视角在180度至270度之间。
进一步地，在本公开实施例中，所述全景录像机构还包括壳体；所述主控板设置于所述壳体内部，所述第一鱼眼摄像头设置于所述壳体的第一通孔处，所述第二鱼眼摄像头设置于所述壳体与第一通孔位置相对的第二通孔处，所述第一鱼眼摄像头与所述第二鱼眼摄像头拍摄的方向相反。
进一步地，所述壳体包括前壳和后壳；所述前壳与所述后壳活动连接，所述前壳与所述后壳形成一个可容纳物体的空间。
进一步地，所述全景录像机构还包括：玻璃和泡棉；所述玻璃设置于所述前壳的内表侧，所述玻璃与所述前壳活动连接，所述泡棉设置于所述玻璃与所述前壳之间。
进一步地，所述全景录像机构还包括：灯罩；所述灯罩设置于所述后壳远离所述主控板的外表侧。
进一步地，在本公开实施例中，所述全景录像机构还包括：微型麦克风和多个扬声器；所述微型麦克风设置在所述主控板上，所述微型麦克风与所述主控板电性连接，所述多个扬声器中的一个扬声器设置于所述壳体内部且靠近第一鱼眼摄像头处，所述多个扬声器中的另一个扬声器设置于所述壳体内部且靠近第二鱼眼摄像头处，所述多个扬声器与所述主控板电性连接。
进一步地，所述全景录像机构还包括：连接件和支架；所述连接件设置于所述壳体的一侧，所述支架和所述壳体通过所述连接件活动连接。
本公开还提供了一种后视镜，所述后视镜包括：外壳、反光镜片和如上所述的全景录像机构；所述外壳与所述反光镜片活动连接，所述外壳与所述反光镜片形成一个可容纳所述全景录像机构的容纳空间，所述全景录像机构设置于所述容纳空间内。
本公开还提供了一种服务器，包括存储器、处理器和总线，所述存储器存储有所述处理器可执行的机器可读指令，当所述服务器运行时，所述处理器与所述存储器之间通过所述总线通信，所述机器可读指令被所述处理器执行时执行如上所述的方法。
本公开还提供了一种具有处理器可执行的非易失的程序代码的计算机可读介质，所述程序代码使所述处理器执行上述工况识别方法的步骤。
本公开提供的一种图像处理方法、机构及后视镜，通过两个摄像头所拍摄的图像拼接而成的全景画面，保证了最大限度的获取摄像头四周的全景图像。此外，运用汽车在运动的同时四周的景物也在移动的原理，对于现在所拍摄到的盲区图像，也就是被汽车所遮挡的图像，可以通过数秒前的汽车运动时的图像来获取可视区图像，此时的可视区图像和数秒前的可视区图像进行拼接，便可以获得汽车四周的全景画面。通过这两种方式拼接的全景画面形成最终的全景视频，从而有效地解决了现有技术中行车记录装置的摄像头的视角过于狭窄的问题。
为使本公开的上述目的、特征和优点能更明显易懂，下文特举较佳实施例，并配合所附附图，作详细说明如下。
附图说明
为了更清楚的说明本公开实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单的介绍，显而易见地，下面描述中的附图仅仅是本公开 的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获取其他的附图。
图1是本公开实施例提供的图像处理方法流程示意图；
图2是本公开实施例提供的图像处理方法全部流程示意图；
图3是本公开实施例提供的图像处理方法步骤S200流程示意图；
图4是本公开实施例提供的图像处理方法步骤S300流程示意图；
图5是本公开实施例提供的图像处理方法步骤S300全部流程示意图；
图6是本公开实施例提供的图像处理方法步骤S400流程示意图；
图7是本公开实施例提供的可视区域与盲区示意图；
图8是本公开实施例提供的右后方汽车跨越多个可视区域与盲区示意图；
图9是本公开实施例提供的全景录像机构第一视角立体示意图；
图10是本公开实施例提供的全景录像机构第二视角立体示意图；
图11是本公开实施例提供的全景录像机构第三视角立体示意图；
图12是本公开实施例提供的后视镜的第一视角立体示意图。
图标：101-全景录像机构；100-摄像头；110-第一鱼眼摄像头；130-第二鱼眼摄像头；200-主控板；210-微型麦克风；230-扬声器；300-壳体；310-前壳；330-后壳；400-灯罩；500-玻璃；600-泡棉；700-连接件；800-支架；900-后视镜；910-外壳；930-反光镜片。
具体实施方式
下面将结合本公开实施例中附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本公开实施例的组件可以以各种不同的配置来布置和设计。因此，以下对在附图中提供的本公开的实施例的详细描述并非旨在限制要求保护的本公开的范围，而是仅仅表示本公开的选定实施例。基于本公开的实施例，本领域技术人员在没有做出创造性劳动的前提下所获取的所有其他实施例，都属于本公开保护的范围。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。
在本公开的描述中，需要说明的是，术语“上”、“下”、“左”、“右”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，或者是该产品使用时惯常摆放的方位或位置关系，仅是为了便于描述本公开和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开的限制。
在本公开的描述中，还需要说明的是，除非另有明确的规定和限定，术语“设置”、“安 装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。
在本公开的描述中，还需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“水平”、“竖直”、“悬垂”等术语并不表示要求部件绝对水平或悬垂，而是可以稍微倾斜。如“水平”仅仅是指其方向相对“竖直”而言更加水平，并不是表示该结构一定要完全水平，而是可以稍微倾斜。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本公开中的具体含义。
下面结合附图，对本公开的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
第一实施例
如图1所示，图1是本公开实施例提供的图像处理方法流程示意图。本公开提供的一种图像处理方法，用于对有窗户的交通工具内第一摄像头以及与所述第一摄像头拍摄角度不同的第二摄像头拍摄到的画面进行处理，其中，有窗户的交通工具可以是汽车、轮船和飞机等等。该方法包括：
步骤S100：接收所述第一摄像头拍摄的第一图像以及所述第二摄像头拍摄的第二图像，其中，所述第一图像与所述第二图像为第一时刻拍摄的图像。
其中，需要说明的是，主控板接收第一摄像头拍摄的第一图像以及第二摄像头拍摄的第二图像。其中，所述第一图像与所述第二图像为第一时刻拍摄的图像。
步骤S200：将所述第一图像与所述第二图像拼接，获取第一时刻的第一全景画面，其中，所述第一全景画面包括第一可视区图像，所述第一可视区图像是指在所述第一时刻拍摄到所述窗户外图像区域。
其中，需要说明的是，根据所述第一图像以及第二图像获取第一时刻的第一全景画面，其中，所述第一全景画面包括：第一盲区图像和第一可视区图像。
步骤S300：读取存储的第一时刻之前的第二时刻的第二全景画面，所述第二全景画面包括第二可视区图像，所述第二可视区图像是指在所述第二时刻拍摄到所述窗户外图像区 域。
其中，需要说明的是，从内存中获取第二时刻的第二全景画面，其中，所述第二全景画面包括：第二盲区图像和第二可视区图像，所述第二时刻早于所述第一时刻。
步骤S400：将所述第一可视区图像以及所述第二可视区图像拼接，获得第一时刻修正后的第三全景画面。
其中，需要说明的是，根据所述第二全景画面和所述第一全景画面，获取第三全景画面。
其中，也就是说，本实施例提供的方法可以在服务器上执行，也可以由主控板来执行。当在服务器上执行时，摄像头需要将摄像的图像传输到服务器上，服务器再把执行的结果返回给主控板。当然，本实施例提供的方法也可以由主控板来直接执行，这里具体的执行主体不应该理解为对本公开的限制。
如图2所示，图2是本公开实施例提供的图像处理方法全部流程示意图。可选地，在本公开实施例中，在所述根据所述第二全景画面和所述第一全景画面，获取第三全景画面之后，还包括：
步骤S500：将多个时刻的修正后的全景画面按时间先后顺序排序，根据排序后的全景画面形成全景录像。
其中，需要说明的是，将多个时刻的修正后的全景画面按时间先后顺序排序，根据排序后的全景画面形成全景录像。也就是说，根据多个时刻的修正后的所述全景画面所对应的时间标记从早到晚的顺序排列所述第三全景画面从而获取全景录像。
如图3所示，图3是本公开实施例提供的图像处理方法步骤S200流程示意图。可选地，在本公开实施例中，所述根据所述第一图像以及第二图像获取第一时刻的第一全景画面，包括：
步骤S210：所述主控板对所述第一图像和所述第二图像进行拼接。
其中，需要说明的是，所述主控板对所述第一图像和所述第二图像进行拼接。
步骤S220：所述主控板获取第一全景画面。
其中，需要说明的是，所述根据所述第一图像以及第二图像获取第一时刻的第一全景画面，包括：所述主控板对所述第一图像和所述第二图像进行拼接，所述主控板获取第一全景画面。
如图4所示，图4是本公开实施例提供的图像处理方法步骤S300流程示意图。可选地，在本公开实施例中，从内存中获取第二时刻的第二全景画面，包括：
步骤S310：判断所述交通工具是否处于运动状态；
其中，需要说明的是，这里的交通工具可以是汽车、轮船和飞机等等壳状的交通工具， 其交通工具的种类不应该理解为对本公开的限制。也就是说，获取第二时刻的第二全景画面，包括：判断汽车是否处于运动状态。
步骤S320：若是，则获取比所述第一时刻早预设时长的所述第二时刻的全景画面作为所述第二全景画面。
其中，需要说明地是，若是，则获取比所述第一时刻早预设时长的所述第二时刻的全景画面作为第二全景画面，第二时刻可以取的值例如：第一时刻的前一秒、前十毫秒、前五十毫秒等等。也就是说，获取比所述第一时刻早预设时长的所述第二时刻的全景画面作为所述第二全景画面。
如图5所示，图5是本公开实施例提供的图像处理方法步骤S300全部流程示意图。可选地，在本公开实施例中，在所述判断汽车是否处于运动状态之后，还包括：
步骤S330：若所述交通工具未处于运动状态，则获取比所述第一时刻早预设时长的所述第二时刻的全景画面作为所述第二全景画面，所述第一全景画面和所述第二全景画面是相同的。
其中，需要说明的是，在所述判断汽车是否处于运动状态之后，还包括：若汽车未处于运动状态，则获取比所述第一时刻早预设时长的所述第二时刻的全景画面作为所述第二全景画面，所述第一全景画面和所述第二全景画面是相同的。
如图6所示，图6是本公开实施例提供的图像处理方法步骤S400流程示意图。可选地，在本公开实施例中，所述根据所述第二全景画面和所述第一全景画面，获取第三全景画面，包括：
步骤S410：将所述第一可视区图像从所述第一全景画面中截取出来，获取所述第一可视区图像；
其中，需要说明的是，将所述第一可视区图像从所述第一全景画面中截取出来，获取所述第一可视区图像；
步骤S420：将所述第二可视区图像从所述第二全景画面中截取出来，获取所述第二可视区图像；
其中，需要说明的是，将所述第二可视区图像从所述第二全景画面中截取出来，获取所述第二可视区图像；
步骤S430：将所述第一可视区图像和所述第二可视区图像进行拼接，获取第三全景画面。
其中，需要说明地是，将所述第一可视区图像和所述第二可视区图像进行拼接，获取第三全景画面。
为便于理解，下面介绍本公开实施例的另一种实施方式，本公开实施例的另一种实施 方式的具体内容如下：
汽车盲区观测和360度获得汽车四周的视频。后视镜两边，各一个鱼眼摄像头，这个鱼眼摄像头视角大于180度。两个鱼眼摄像头分别获取汽车左边和右边的图像。
如图7所示，图7是本公开实施例提供的可视区域与盲区示意图。主控板从两个摄像头获得图像后，对图形进行拼接，最后输出一个汽车四周360度的画面，通过车内的显示器，被驾驶者看到。后视镜左侧和右侧的摄像头，获得的视频区域：123456区域为盲区，abcdef为两个镜头的可视区域。因为汽车在运动，四周的景物和汽车也在运动，所以对于盲区的图像，可以通过前数秒获取的可视区域图像，与现在可视区域图像，两个图像进行对比，经过推算计算出盲区的图像信息。
如图8所示，图8是本公开实施例提供的右后方汽车跨越多个可视区域与盲区示意图。对于汽车外后视镜的盲区，由于车侧后方的车辆体积较大，盲区汽车车体，或同时跨越数个盲区和可视区，所以我们可以截取部分区域的图像，显示到汽车显示器上，以让驾驶者了解盲区的情况。
第二实施例
如图9所示，图9是本公开实施例提供的全景录像机构101第一视角立体示意图。本公开还提供了一种全景录像机构101，全景录像机构101包括全景录像机构本体，全景录像机构本体包括：主控板200、第一摄像头100和第二摄像头100；主控板200分别与第一摄像头100和第二摄像头100电性连接；主控板200配置为执行如第一实施例所述的图像处理方法。
其中，需要说明的是，全景录像机构101包括：多个摄像头100、主控板200和壳体300；多个摄像头100中的其中一个摄像头100设置于壳体300的第一通孔(图未标)处，多个摄像头100中的另一个摄像头100设置于壳体300与第一通孔位置相对的第二通孔(图未标)处，主控板200设置于壳体300内部，多个摄像头100与主控板200电性连接，壳体300分别与主控板200和多个摄像头100绝缘连接；多个摄像头100配置为对多个摄像头100中的每一个摄像头100的方向进行拍摄，并将拍摄获得的数据发送给主控板200。通过多个摄像头100同时工作的情况下，再由主控板200对多个摄像头100获取到的图像进行处理和拼接后，获得多个摄像头100周围的画面。
这样的处理方式有效地扩大了行车记录装置的摄像头100的视角，以便能够看到更多角度的画面。
请参见图10，图10是本公开实施例提供的全景录像机构第二视角立体示意图。可选地，在本公开实施例中，第一摄像头100为第一鱼眼摄像头110，第二摄像头100为第二鱼眼摄像头130；第一鱼眼摄像头110的视角在180度至270度之间；第二鱼眼摄像头130的 视角在180度至270度之间。
其中，需要说明地是，第一鱼眼摄像头110的视角在180度至270度之间；第二鱼眼摄像头130的视角在180度至270度之间。如图3下图所示，定义鱼眼摄像头110的视角为β，β的正常范围在90°-270°之间，在鱼眼摄像头110的选择上，需要选择其视角在180度至270度之间的鱼眼摄像头110。如图3上图所示，为了视角不被全景录像机构本身遮挡，可以增大鱼眼摄像头和通孔的距离。这种方式有效地扩大了行车记录装置的摄像头100的视角，以便能够看到更多角度的画面。
如图10所示，可选地，在本公开实施例中，全景录像机构101还包括壳体300；主控板200设置于壳体300内部，第一鱼眼摄像头110设置于壳体300的第一通孔处，第二鱼眼摄像头130设置于壳体300与第一通孔位置相对的第二通孔处，第一鱼眼摄像头110与第二鱼眼摄像头130拍摄的方向相反。
其中，需要说明地是，全景录像机构101还包括壳体300；主控板200设置于壳体300内部，第一鱼眼摄像头110设置于壳体300的第一通孔处，第二鱼眼摄像头130设置于壳体300与第一通孔位置相对的第二通孔处，第一鱼眼摄像头110与第二鱼眼摄像头130拍摄的方向相反。这里的摄像头为鱼眼摄像头，摄像头的视角一般会大于180°，除了被全景录像机构本身遮挡的视角外，基本可以达到360度的视角。这里采用至少两个位置相对的摄像头，有效地扩大了行车记录装置的摄像头100的视角，以便能够看到更多角度的画面。
如图11所示，图11是本公开实施例提供的全景录像机构101第三视角立体示意图。可选地，在本公开实施例中，壳体300包括前壳310和后壳330；前壳310与后壳330活动连接，前壳310与后壳330形成一个可容纳物体的空间。
其中，需要说明的是，壳体300包括前壳310和后壳330；前壳310与后壳330活动连接，前壳310与后壳330形成一个可容纳物体的空间。采用前壳310和后壳330的连接方式，其中的前壳310和后壳330采用活动连接的方式，使得全景录像机构101的维修和维护的时候，拆卸里面的零部件更加的方便。
本实施例中，前壳310的两端分别设置有第一固定部，后壳330的两端分别设置有第二固定部，第一固定部与第二固定部配合，分别配置为固定第一鱼眼摄像头110和第二鱼眼摄像头130。第一固定部和第二固定部分别为截面呈半圆的结构，组合起来形成大致的圆筒形结构，以将第一鱼眼摄像头110或第二鱼眼摄像头130卡持于第一固定部和第二固定部之间。
如图11所示，可选地，在本公开实施例中，全景录像机构101还包括：微型麦克风210和多个扬声器230；微型麦克风210设置在主控板200上，微型麦克风210与主控板200 电性连接，多个扬声器230中的一个扬声器230设置于壳体300内部且靠近第一鱼眼摄像头110处，多个扬声器230中的另一个扬声器230设置于壳体300内部且靠近第二鱼眼摄像头130处，多个扬声器230与主控板200电性连接。
其中，需要说明地是，全景录像机构101还包括：微型麦克风210和多个扬声器230；微型麦克风210设置在主控板200上，微型麦克风210与主控板200电性连接，多个扬声器230中的一个扬声器230设置于壳体300内部且靠近第一鱼眼摄像头110处，多个扬声器230中的另一个扬声器230设置于壳体300内部且靠近第二鱼眼摄像头130处，多个扬声器230与主控板200电性连接。在当全景录像机构101被用作为行车记录仪的时候，通过全景录像机构101获得有声音的视频记录，有声音的视频记录将会大大地提升交通事故取证作为证据的有效程度，有声音的视频记录可以用作被主观或客观事实辨别的有效依据。
如图11所示，可选地，在本公开实施例中，全景录像机构101还包括灯罩400；灯罩400设置于后壳330远离主控板200的外表侧。
其中，需要说明地是，全景录像机构101还包括灯罩400；灯罩400设置于后壳330远离主控板200的外表侧。采用灯罩400的设计使得全景录像机构101更加的美观大方，让里面的指示灯光能够射出外的同时，也保护了里面容易破碎的指示灯或其他灯具。
如图11所示，可选地，在本公开实施例中，全景录像机构101还包括：玻璃500和泡棉600；玻璃500设置于前壳310的内表侧，玻璃500与前壳310活动连接，泡棉600设置于玻璃500与前壳310之间。
其中，需要说明地是，全景录像机构101还包括：玻璃500和泡棉600；玻璃500设置于前壳310的内表侧，玻璃500与前壳310活动连接，泡棉600设置于玻璃500与前壳310之间。本实施例中，泡棉600呈矩形框状结构。此处的玻璃500可以是反光镜面，也可以是凹反光镜，也可以是凸反光镜，具体的玻璃500是那种反光镜面不应理解为本公开的限制。
其中，可以理解地是，采用泡棉600的结构使得易碎的玻璃500与主控板200之间有一个缓冲机制，在当全景录像机构101遇到紧急情况，如紧急刹车和快速起步的情况下，能够有效地防止玻璃500过度撞击或摩擦导致碎裂或刮花的情况。
如图11所示，可选地，在本公开实施例中，全景录像机构101还包括：连接件700和支架800；连接件700设置于壳体300的一侧，支架800和壳体300通过连接件700活动连接。
其中，需要说明地是，全景录像机构101还包括：连接件700和支架800；连接件700设置于壳体300的一侧，支架800和壳体300通过连接件700活动连接。这里采用连接件700和连接支架800，再由支架800连接汽车的挡风玻璃的上方或者汽车的顶部结构，支架 800和连接结构可以对全景录像有一个缓冲的作用，在当全景录像机构101遇到紧急情况，如紧急刹车和快速起步的情况下，能够有效地防止全景录像机构101与挡风玻璃过度撞击或摩擦导致碎裂或刮花的情况。
为便于理解，下面介绍本实施例的另一种实施方式，该实施方式的具体内容如下：
全景录像机构101主要由玻璃500、泡棉600、前壳310、摄像头100、后壳330、莲花瓣(即连接件700)、支架800、灯罩400、喇叭(即扬声器230)和印制电路板(PCB，Printed Circuit Board)组成，这里的印制电路板即为主控板210。
灯罩400直接卡在后壳330里，莲花瓣用螺钉固定在后壳330上，支架800以球铰形式与后壳330连接。喇叭左右各一个，用螺钉固定在后壳330上。PCB用螺钉固定在后壳330上，PCB上有指南针模块。以上构成后视镜900后壳330部件。
前壳310里装有泡棉600，屏幕前面有条状泡棉600，屏幕与PCB电性连接。玻璃500通过泡棉600粘贴在前壳310前面。以上构成后视镜900前壳310部件。前壳310部件和后壳330部件通过扣位卡接方法组成后视镜900式整体。两边的摄像头100正好卡在前后壳330形成的孔内。
其中，可以理解的是，本实施例中提供的全景录像机构，是通过多个摄像头同时工作的情况下，再由主控板对多个摄像头获取到的图像进行处理和拼接后，获得多个摄像头周围的画面。通过这种方式间接地增加了摄像头的视角，从而有效地解决了现有技术中行车记录装置的摄像头的视角过于狭窄的问题。
第三实施例
如图12所述，图12是本公开实施例提供的后视镜的第一视角立体示意图。本公开还提供了一种后视镜900，后视镜900包括：外壳910、反光镜片930和如第二实施例所述的全景录像机构101；外壳910与反光镜片930活动连接，外壳910与反光镜片930形成一个可容纳全景录像机构101的容纳空间，全景录像机构101设置于容纳空间内。
其中，需要说明地是，后视镜900包括：外壳910、反光镜片930和如第二实施例所述的全景录像机构101；外壳910与反光镜片930活动连接，外壳910与反光镜片930形成一个可容纳全景录像机构101的容纳空间，全景录像机构101设置于容纳空间内。这里的反光镜片，也可以是凹反光镜，也可以是凸反光镜，也可以是平反光镜。就可以当做是汽车的后视镜来用，全景摄像机构所拍摄的角度和后视镜的转向位置无关，也就是说，无论后视镜被驾驶员如何调整，全景摄像机构都能够拍摄到四周的图像和视频。从而有效地节约了汽车内部的空间，全景摄像机构即能够拍摄四周的画面和声音，也能够被当作后视镜来用，达到了一物两用的效果。
第四实施例
本公开还提供了一种服务器，包括存储器、处理器和总线，存储器存储有处理器可执行的机器可读指令，当服务器运行时，处理器与存储器之间通过总线通信，机器可读指令被处理器执行时执行如第一实施例所述的方法。
其中，需要说明地是，包括存储器、处理器和总线，存储器存储有处理器可执行的机器可读指令，当服务器运行时，处理器与存储器之间通过总线通信，机器可读指令被处理器执行时执行如第一实施例中的方法。
其中，所述处理器配置为执行所述存储器中存储的可执行模块，例如软件功能模块及计算机程序等。所述存储器可以是，但不限于，随机存取存储器(Random Access Memory，RAM)，只读存储器(Read Only Memory，ROM)，可编程只读存储器(Programmable Read-Only Memory，PROM)，可擦除只读存储器(Erasable Programmable Read-Only Memory，EPROM)，电可擦除只读存储器(Electric Erasable Programmable Read-Only Memory，EEPROM)等。其中，存储器配置为存储程序，所述处理器在接收到执行指令后，执行所述程序。
其中，也就是说，第二实施例中的摄像头摄像传输到本实施例提供的服务器上，在本实施例提供的服务器上执行如第一实施例中的方法，本实施例提供的服务器再把执行的结果返回给第二实施例中提供的主控板。当然第一实施例中的方法也可以由第二实施例中提供的主控板来直接执行，这里具体的执行主体不应该理解为对本公开的限制。
本公开如第二实施例的提供的全景录像机构101还可以在一种交通工具上使用，可以在交通工具上使用的包括：小汽车、货车、轮船和直升机等壳状或有窗户的交通工具。这里全景录像机构101具体使用的交通工具和场景不应该理解为对本公开的限制。
其中，需要说明的是，交通工具包括：交通工具本体；交通工具本体包括如第二实施例所述的全景录像机构101。
本公开提供的一种图像处理方法、机构及后视镜，通过两个摄像头所拍摄的图像拼接而成的全景画面，保证了最大限度的获取摄像头四周的全景图像。此外，运用汽车在运动的同时四周的景物也在移动的原理，对于现在所拍摄到的盲区图像，也就是被汽车所遮挡的图像，可以通过数秒前的汽车运动时的图像来获取可视区图像，此时的可视区图像和数秒前的可视区图像进行拼接，便可以获得汽车四周的全景画面。通过这两种方式拼接的全景画面形成最终的全景视频，从而有效地解决了现有技术中行车记录装置的摄像头的视角过于狭窄的问题。
以上所述仅为本公开的优选实施例而已，并不用于限制本公开，对于本领域的技术人员来说，本公开可以有各种更改和变化。凡在本公开的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本公开的保护范围之内。
工业实用性
本公开提供的图像处理方法、机构及后视镜可以获得汽车四周的全景画面，能够有效地解决了现有技术中行车记录装置的摄像头的视角过于狭窄的问题。

Claims (18)

  1. 一种图像处理方法，其特征在于，用于对有窗户的交通工具内第一摄像头以及与所述第一摄像头拍摄角度不同的第二摄像头拍摄到的画面进行处理，所述方法包括：
    接收所述第一摄像头拍摄的第一图像以及所述第二摄像头拍摄的第二图像，其中，所述第一图像与所述第二图像为第一时刻拍摄的图像；
    将所述第一图像与所述第二图像拼接，获取第一时刻的第一全景画面，其中，所述第一全景画面包括第一可视区图像，所述第一可视区图像是指在所述第一时刻拍摄到所述窗户外图像区域；
    读取存储的第一时刻之前的第二时刻的第二全景画面，所述第二全景画面包括第二可视区图像，所述第二可视区图像是指在所述第二时刻拍摄到所述窗户外图像区域；
    将所述第一可视区图像以及所述第二可视区图像拼接，获得第一时刻修正后的第三全景画面。
  2. 如权利要求1所述的图像处理方法，其特征在于，所述第一时刻为任一时刻，所述方法还包括：
    将多个时刻的修正后的全景画面按时间先后顺序排序，根据排序后的全景画面形成全景录像。
  3. 如权利要求2所述的图像处理方法，其特征在于，所述将多个时刻的修正后的全景画面按时间先后顺序排序，根据排序后的全景画面形成全景录像的步骤包括：
    根据多个时刻的修正后的所述全景画面所对应的时间标记从早到晚的顺序排列所述第三全景画面从而获取全景录像。
  4. 如权利要求1-3任一项所述的图像处理方法，其特征在于，所述将所述第一图像与所述第二图像拼接，获取第一时刻的第一全景画面的步骤包括：
    主控板对所述第一图像和所述第二图像进行拼接；
    主控板获取所述第一全景画面。
  5. 如权利要求1-4任一项所述的图像处理方法，其特征在于，所述读取存储的第一时刻之前的第二时刻的第二全景画面，包括：
    判断所述交通工具是否处于运动状态；
    若是，则获取比所述第一时刻早预设时长的所述第二时刻的全景画面作为所述第二全景画面。
  6. 如权利要求5所述的图像处理方法，其特征在于，在所述判断所述交通工具是否处于运动状态之后，还包括：
    若所述交通工具未处于运动状态，则获取比所述第一时刻早预设时长的所述第二时刻的全景画面作为所述第二全景画面，所述第一全景画面和所述第二全景画面是相同的。
  7. 如权利要求1-6任一项所述的图像处理方法，其特征在于，所述将所述第一可视区图像以及所述第二可视区图像拼接，获得第一时刻修正后的第三全景画面的步骤包括：
    将所述第一可视区图像从所述第一全景画面中截取出来，获取所述第一可视区图像；
    将所述第二可视区图像从所述第二全景画面中截取出来，获取所述第二可视区图像；
    将所述第一可视区图像和所述第二可视区图像进行拼接，获取所述第三全景画面。
  8. 一种全景录像机构，其特征在于，所述全景录像机构包括全景录像机构本体，所述全景录像机构本体包括：主控板、所述第一摄像头和所述第二摄像头；所述主控板分别与所述第一摄像头和所述第二摄像头电性连接；所述主控板配置为执行如权利要求1-7任一所述的图像处理方法。
  9. 如权利要求8所述的全景录像机构，其特征在于，所述第一摄像头为第一鱼眼摄像头，所述第二摄像头为第二鱼眼摄像头；所述第一鱼眼摄像头的视角在180度至270度之间；所述第二鱼眼摄像头的视角在180度至270度之间。
  10. 如权利要求9所述的全景录像机构，其特征在于，所述全景录像机构还包括壳体；所述主控板设置于所述壳体内部，所述第一鱼眼摄像头设置于所述壳体的第一通孔处，所述第二鱼眼摄像头设置于所述壳体与第一通孔位置相对的第二通孔处，所述第一鱼眼摄像头与所述第二鱼眼摄像头拍摄的方向相反。
  11. 如权利要求10所述的全景录像机构，其特征在于，所述壳体包括前壳和后壳；所述前壳与所述后壳活动连接，所述前壳与所述后壳形成一个可容纳物体的空间。
  12. 如权利要求11所述的全景录像机构，其特征在于，所述全景录像机构还包括：玻璃和泡棉；所述玻璃设置于所述前壳的内表侧，所述玻璃与所述前壳活动连接，所述泡棉设置于所述玻璃与所述前壳之间。
  13. 如权利要求11所述的全景录像机构，其特征在于，所述全景录像机构还包括：灯罩；所述灯罩设置于所述后壳远离所述主控板的外表侧。
  14. 如权利要求10-13任一项所述的全景录像机构，其特征在于，所述全景录像机构还包括：微型麦克风和多个扬声器；所述微型麦克风设置在所述主控板上，所述微型麦克风与所述主控板电性连接，所述多个扬声器中的一个扬声器设置于所述壳体内 部且靠近第一鱼眼摄像头处，所述多个扬声器中的另一个扬声器设置于所述壳体内部且靠近第二鱼眼摄像头处，所述多个扬声器与所述主控板电性连接。
  15. 如权利要求10-14任一项所述的全景录像机构，其特征在于，所述全景录像机构还包括：连接件和支架；所述连接件设置于所述壳体的一侧，所述支架和所述壳体通过所述连接件活动连接。
  16. 一种后视镜，其特征在于，所述后视镜包括：外壳、反光镜片和如权利要求8-15任一所述的全景录像机构；所述外壳与所述反光镜片活动连接，所述外壳与所述反光镜片形成一个可容纳所述全景录像机构的容纳空间，所述全景录像机构设置于所述容纳空间内。
  17. 一种服务器，其特征在于，包括存储器、处理器和总线，所述存储器存储有所述处理器可执行的机器可读指令，当所述服务器运行时，所述处理器与所述存储器之间通过所述总线通信，所述机器可读指令被所述处理器执行时执行如权利要求1-7任一项所述的方法。
  18. 一种具有处理器可执行的非易失的程序代码的计算机可读介质，其特征在于，所述程序代码使所述处理器执行所述权利要求1-7任一项所述的图像处理方法。
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