Vehicle door scratch pre-warning method
A car door and scraping technology, applied in the direction of signal devices, etc., can solve the problems of less installation positions on the side of the car and insensitive response to small objects, and achieve the effect of avoiding economic losses
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[0021] The content of the present invention is described in more detail below:
[0022] Such as image 3 As shown, the binocular camera ranging principle of the present invention is as follows:
[0023] According to the principle of similar triangles:
[0024]
[0025] Among them, T is the distance between the two cameras, Z is the distance between the point to be measured and the binocular camera, x l is the position of the point to be measured in the image in the left camera, x r is the position of the point to be measured in the image on the right camera, f can be simply regarded as the focal length, which needs to be determined during calibration after the camera is installed, and is a constant. So it can be deduced that the distance Z of this point is:
[0026]
[0027] Because the camera has a distortion problem, that is, the distortion and deformation of the image caused by the different areas of the focal plane of the lens to the image magnification, so the x...
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