A CMS field of view calibration method, system, device and storage medium

Abstract

The present application relates to the field of data processing technology, and in particular to a CMS field of view calibration method, system, device and storage medium, the method comprising: obtaining a distortion table of a camera, performing curve fitting on the distortion table to obtain a distortion function; wherein the distortion table comprises a correspondence between an angle between a pixel point and an optical axis and a distance between a pixel point and an optical center, the angle between the pixel point and the optical axis serving as an input parameter of the distortion function, and the distance between the pixel point and the optical center serving as an output parameter of the distortion function; obtaining a video cropping and scaling coefficient and an image captured by a camera, cropping the image captured by the camera and then scaling and displaying it on a display screen; determining calibration parameters of the image, calibrating the calibration parameters of the image, and outputting calibration results; the present application can save the cost of actual measurement and improve the efficiency of CMS field of view calibration, and is suitable for pre-design simulation.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a CMS field of view calibration method, system, device and storage medium. Background Art

[0002] In related technologies, the method of using internal parameters and distortion coefficients to calibrate the CMS field of view obtains the actual measured value. Generally, more accurate values ​​can only be obtained at the sample stage or even the DV stage, which is not conducive to design simulation before design freeze. In addition, data analysis is required after measuring multiple samples to obtain the median typical value, which makes measurement difficult.

[0003] Therefore, it is necessary to provide a solution that can provide a low-cost and efficient CMS field of view calibration method.

[0004] Application Contents

[0005] In view of this, the purpose of the embodiments of the present application is to provide a CMS field of view calibration method, system, device and storage medium to solve one or more technical problems existing in the prior art and at least provide a beneficial option or create conditions.

[0006] In one aspect, an embodiment of the present application provides a CMS field of view calibration method, the method comprising the following steps:

[0007] Obtaining a distortion table of the camera, and performing curve fitting on the distortion table to obtain a distortion function; wherein the distortion table includes a correspondence between an angle between an incident light ray and an optical axis and a distance between a pixel point and an optical center, the angle between the incident light ray and the optical axis serving as an input parameter of the distortion function, and the distance between the pixel point and the optical center serving as an output parameter of the distortion function;

[0008] Obtain the video cropping and scaling factor and the image captured by the camera, crop the image captured by the camera, and then scale it to display on the display screen;

[0009] Determine calibration parameters of the image, calibrate the calibration parameters of the image, and output calibration results; wherein the calibration parameters include at least one of an average magnification, a minimum field of view, and a minimum magnification.

[0010] Optionally, obtaining a video cropping and scaling factor and an image captured by a camera, cropping the image captured by the camera, and then scaling and displaying the image on a display screen includes:

[0011] Establish the correspondence between the pixel points in the image in the level coordinate system and the world coordinate system;

[0012] Establish a camera coordinate system according to the camera posture, obtain point elements in the image captured by the camera, and map the point elements from the world coordinate system to the camera coordinate system;

[0013] Determine the angle between the point element and the optical axis, and input the angle into the distortion function to calculate the coordinates of the point element on the pixel plane;

[0014] The video cropping scaling factor is obtained, the coordinates of the point element on the pixel plane are scaled according to the video cropping scaling factor, the coordinates of the point element on the display plane are calculated, and then a surface model is obtained, and the surface model is displayed on the display screen.

[0015] Optionally, obtaining a video cropping scaling coefficient, scaling the coordinates of a point element on a pixel plane according to the video cropping scaling coefficient, calculating the coordinates of the point element on a display plane, and then obtaining a curved surface model, and displaying the curved surface model on a display screen includes:

[0016] Determining a field of view layout, and inputting the field of view layout into the distortion function to obtain a first field of view angle;

[0017] Determining a cropping parameter, and cropping the first field of view angle based on the cropping parameter to obtain a second field of view angle;

[0018] Determining a projection distance, and determining boundary points and marking points on the phase plane based on the projection distance and the second field of view angle;

[0019] Fill the boundary points and marking points into the Feuil1 table, input the Feuil1 table into Catia software to generate a surface model, and display the surface model on a display screen.

[0020] Optionally, determining the field of view layout and inputting the field of view layout into the distortion function to obtain the first field of view angle includes:

[0021] The field of view layout when the camera is centered is determined based on the size of the display screen, and the angle corresponding to the size of the field of view layout is queried in the distortion table as the first field of view angle; wherein the field of view angle includes horizontal viewing angle, vertical viewing angle and diagonal viewing angle.

[0022] Optionally, the calibrating the calibration parameters of the image and outputting the calibration results includes:

[0023] Setting the camera and display parameters, including physical parameters, position and posture information, cropping and scaling parameters, horizon position, and minimum field of view;

[0024] Calibration parameters and distortion coefficients are obtained based on the parameter data.

[0025] Optionally, the distortion coefficient is obtained by calibration in the following manner:

[0026] Set multiple coordinate points at a certain distance in front of the camera to fill the perimeter of the entire display screen in the horizontal and vertical directions;

[0027] According to the displayed multiple coordinate points, the values ​​of the distorted height and the vertical height are measured, and the ratio of the distorted height to the height is divided by 2 to obtain the distortion coefficient.

[0028] Optionally, the minimum magnification is obtained by calibrating in the following manner:

[0029] Set up a horizontal chessboard, with the camera level and vertically aligned to the center, and reaching a set number of intersections;

[0030] Measure the distance of each intersection point on the screen surface and fit the curve according to the coordinates of each intersection point;

[0031] The first-order derivative of the fitting curve is taken to obtain a magnification function, and the minimum value of the magnification function is multiplied by the ratio of the distance from the camera to the chessboard to the distance from the monitor to the eye point as the minimum magnification.

[0032] On the other hand, an embodiment of the present application provides a CMS field of view calibration system, the system comprising:

[0033] A first module is configured to obtain a distortion table of the camera and perform curve fitting on the distortion table to obtain a distortion function; wherein the distortion table includes a correspondence between an angle between an incident ray and an optical axis and a distance between a pixel point and an optical center, the angle between the incident ray and the optical axis serving as an input parameter of the distortion function, and the distance between the pixel point and the optical center serving as an output parameter of the distortion function;

[0034] The second module is used to obtain the video cropping and scaling coefficient and the image captured by the camera, crop the image captured by the camera, and then scale it and display it on the display screen;

[0035] The third module is used to determine the calibration parameters of the image, calibrate the calibration parameters of the image, and output the calibration results; wherein the calibration parameters include at least one of the average magnification, the minimum field of view, and the minimum magnification.

[0036] On the other hand, an embodiment of the present application provides a CMS field of view calibration device, comprising:

[0037] at least one processor;

[0038] at least one memory for storing at least one program;

[0039] When the at least one program is executed by the at least one processor, the at least one processor implements the above method.

[0040] On the other hand, an embodiment of the present application provides a computer-readable storage medium, which stores a program executable by a processor. When the program is executed by the processor, it is used to perform the above method.

[0041] The embodiments of the present application include the following beneficial effects: This embodiment performs CMS field of view calibration based on the theoretical value obtained by fitting calculation, which can save the cost of actual measurement and improve the efficiency of CMS field of view calibration, and is suitable for pre-design simulation. It can save the cost of actual measurement and improve the efficiency of CMS field of view calibration, and is suitable for pre-design simulation. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0043] Figure 1 This is a schematic diagram of the steps of a CMS field of view calibration method provided in an embodiment of the present application;

[0044] Figure 2 Schematic diagram of the conversion of images captured by the camera in the embodiment of the present application;

[0045] Figure 3 is a schematic diagram of setting pixel points in a leveling coordinate system in an embodiment of the present application;

[0046] Figure 4 is a schematic diagram of cropping and scaling an image in an embodiment of the present application;

[0047] Figure 5 is a schematic diagram of image distortion in an embodiment of the present application;

[0048] Figure 6 This is a structural block diagram of a CMS vision calibration system provided in an embodiment of the present application;

[0049] Figure 7 This is a structural block diagram of a CMS field of view calibration device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0051] It should be noted that although the functional modules are divided in the device schematics and the logical order is shown in the flowcharts, in some cases, the steps shown or described may be performed in a different order than the functional modules in the device or the order shown in the flowcharts. The terms "first," "second," etc. in the specification, claims, and drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0052] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0053] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner.In the following description, many specific details are provided so as to provide a full understanding of the embodiments of the present application. However, it will be appreciated by those skilled in the art that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps etc. can be adopted. In other cases, known methods, devices, implementations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0054] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically separate entities. In other words, these functional entities may be implemented in software, in one or more hardware charging modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0055] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, while others may be combined or partially combined. Therefore, the actual execution order may vary depending on the actual situation.

[0056] like Figure 1 As shown, Figure 1 A CMS field of view calibration method provided in an embodiment of the present application includes the following steps:

[0057] S100: Obtain a distortion table of the camera, and perform curve fitting on the distortion table to obtain a distortion function; wherein the distortion table includes a correspondence between an angle between an incident ray and an optical axis and a distance between a pixel and an optical center, the angle between the incident ray and the optical axis serving as an input parameter of the distortion function, and the distance between the pixel and the optical center serving as an output parameter of the distortion function;

[0058] It should be noted that in the embodiments of the present application, lens distortion is divided into radial distortion and tangential distortion. Tangential distortion is mainly caused by non-parallel lens installation and has little effect on the field of view. This application mainly considers radial distortion, which increases as it expands radially from the center of the circle.

[0059] Y-Angle is the angle between the pixel and the optical axis in the camera coordinate system, and Real-Height is the distance between the pixel and the optical center in the pixel plane, in mm. The distortion table describes the relationship between the distorted position of the pixel and the distance to the optical center. The distortion function is expressed as Real-Height = f(Y-Angle).

[0060] The distortion function obtained by fitting the distortion angle curve can be used to determine the distance from the optical center of any pixel in the camera coordinate system within the lens field of view. The fitting error of this distortion function has been verified to be less than 1E-5mm, which meets the field of view calibration requirements.

[0061] S200, obtaining a video cropping and scaling factor and an image captured by a camera, cropping the image captured by the camera, and scaling the image to display on a display screen;

[0062] According to the above steps, the mapping of all point elements in the world coordinates to point elements on the display plane is completed.

[0063] S300, determining calibration parameters of the image, calibrating the calibration parameters of the image, and outputting calibration results; wherein the calibration parameters include at least one of an average magnification, a minimum field of view, and a minimum magnification.

[0064] It should be noted that the physical meaning of the average magnification is: the ratio of the angle from the eye point to the display screen to the angle of the camera's effective field of view; the average magnification is related to factors such as the size of the display screen, the distance between the display screen and the eye point, the angle at which the display screen is arranged, and the camera angle; the smaller the size of the display screen, the smaller the average magnification; the farther the display screen is from the eye point, the smaller the average magnification; the more offset the angle of the display screen, the smaller the average magnification; the larger the camera angle, the smaller the average magnification; this must be taken into account when determining the field of view layout.

[0065] The present application discloses a camera-display system (CMS) field of view calibration method for an indirect field of view device of an automobile, including mapping the world coordinate point to the screen coordinate based on the distortion table of the camera, the posture data of the camera, the placement of the display screen, the eye point position, and the simulation calculation of the regulatory requirements of the CMS system field of view, average magnification, minimum magnification and other indicators based on the mapping. Since the data in the distortion table can be provided by the supplier as standard values, the CMS field of view calibration is performed based on the theoretical value obtained by fitting calculation, which can save the cost of actual measurement and improve the efficiency of CMS field of view calibration, and is suitable for pre-design simulation. By adopting this method, the position, posture, FOV, placement position and resolution of the camera can be calibrated in detail in the early stage of product development, avoiding the subsequent large-scale adjustments after the system settings are solidified and the mold is opened, which can greatly improve the development efficiency.

[0066] like Figure 2 As shown, in some embodiments, in S200, obtaining a video cropping and scaling coefficient and an image captured by a camera, cropping the image captured by the camera, and scaling and displaying it on a display screen includes:

[0067] S210, establishing a correspondence between pixel points in the image in the level coordinate system and the world coordinate system;

[0068] In some embodiments, a leveling coordinate system of the camera is established and the coordinates of the point elements corresponding to the images captured by the camera in the world coordinate system are determined, thereby establishing a corresponding relationship between the leveling coordinate system and the world coordinate system; specifically, a leveling coordinate system with the position of the camera as the origin is established; Figure 3 As shown in the figure, a total of 9 pixel points, ABCD, EFGHI, are set in the leveling coordinate system; ABCD are the four vertices of the minimum field of view on the ground plane; EFGHI are the points extending from the edge of the vehicle to a very far distance (for example, 3 km); then the coordinate values ​​of these pixel points in the world coordinate system are obtained, and the correspondence between the pixel points in the leveling coordinate system and the world coordinate system is established.

[0069] S220, establishing a camera coordinate system according to the camera posture, obtaining point elements in the image captured by the camera, and mapping the point elements from the world coordinate system to the camera coordinate system;

[0070] Specifically, according to the camera posture, the world coordinates are transformed into a three-dimensional rotation matrix to obtain the camera coordinates.

[0071] S230, determining an angle between the point element and the optical axis, and inputting the angle into the distortion function to calculate the coordinates of the point element on the pixel plane;

[0072] S240, obtaining a video cropping scaling coefficient, scaling the coordinates of the point element on the pixel plane according to the video cropping scaling coefficient, calculating the coordinates of the point element on the display plane, and then obtaining a curved surface model, and displaying the curved surface model on the display screen.

[0073] like Figure 4 As shown, in some embodiments, in S240, obtaining a video cropping scaling coefficient, scaling the coordinates of a point element on a pixel plane according to the video cropping scaling coefficient, calculating the coordinates of the point element on a display plane, and then obtaining a curved surface model, and displaying the curved surface model on a display screen, include:

[0074] S241, determining a field of view layout, and inputting the field of view layout into the distortion function to obtain a first field of view angle;

[0075] S242, determining a cropping parameter, and cropping the first field of view angle based on the cropping parameter to obtain a second field of view angle;

[0076] S243, determining a projection distance, and determining boundary points and marking points on the phase plane based on the projection distance and the second field of view angle;

[0077] S244, filling the boundary points and marking points into the Feuil1 table, inputting the Feuil1 table into Catia software to generate a surface model, and displaying the surface model on a display screen.

[0078] It should be noted that there are missing points in the phase surface generated based on the projection distance and the field of view angle. The Feu il1 table is input into Catia software to fill in the missing points in the phase surface to obtain a surface model of the phase surface.

[0079] In some embodiments, in S241, determining the field of view layout and inputting the field of view layout into the distortion function to obtain the first field of view angle includes:

[0080] The field of view layout when the camera is centered is determined based on the size of the display screen, and the angle corresponding to the size of the field of view layout is queried in the distortion table as the first field of view angle; wherein the field of view angle includes horizontal viewing angle, vertical viewing angle and diagonal viewing angle.

[0081] For example, the distortion table uses the HJ6158 sensor, and the sensor is the OX03C10 3umpitch automotive image sensor. The sensor's specifications are consulted to determine the camera's field of view (Hsize) when centered: Hsize = 1920 * 0.003 mm = 5.76 mm; HalfHsize = 2.88 mm. The distortion table shows that 2.88 mm corresponds to an angle of 28°, so the horizontal field of view (HFOV) = 28° * 2 = 56°. Similarly, the distortion table is used to determine the vertical field of view (VFOV) and the diagonal field of view (DFOV).

[0082] In some embodiments, in S300, calibrating the calibration parameters of the image and outputting the calibration results includes:

[0083] S321, setting parameter data of the camera and display screen, wherein the parameter data includes physical parameter indicators, position and posture information, cropping and scaling parameters, horizon position, and minimum field of view;

[0084] It should be noted that, in this embodiment, the minimum field of view is determined based on verification regulations.

[0085] S322, calibrating the parameter data to obtain calibration parameters and distortion coefficients.

[0086] like Figure 5 As shown, in some embodiments, the distortion coefficient is obtained by calibration in the following manner:

[0087] Set multiple coordinate points at a certain distance in front of the camera to fill the perimeter of the entire display screen in the horizontal and vertical directions;

[0088] According to the displayed multiple coordinate points, the values ​​of the distorted height and the vertical height are measured, and the ratio of the distorted height to the height is divided by 2 to obtain the distortion coefficient.

[0089] Specifically, multiple coordinate points are set at a certain distance in front of the camera. The points remain horizontal or vertical, close to the edge, and fill the entire screen in the horizontal and vertical directions; h is the vertical height, which is used to indicate the vertical distance between the two end points of the display screen in the height direction; Δh is the distortion height, which is used to indicate the distance between the end points in the display screen and the adjacent horizontal line.

[0090] In some embodiments, the minimum magnification is obtained by calibrating in the following manner:

[0091] Set up a horizontal chessboard, with the camera level and vertically aligned to the center, and reaching a set number of intersections;

[0092] Measure the distance of each intersection point on the screen surface and fit the curve according to the coordinates of each intersection point;

[0093] The first-order derivative of the fitting curve is taken to obtain a magnification function, and the minimum value of the magnification function is multiplied by the ratio of the distance from the camera to the chessboard to the distance from the monitor to the eye point as the minimum magnification.

[0094] Specifically, the simulation verification method for the minimum magnification is as follows: 20 points are set horizontally and centered at 1.7m in front of the camera, and the appropriate dot pitch or distance is set so that the display points fill the display screen; the coordinates of the points are mapped and then displayed on the display screen; the dot pitch curve on the dot pitch VS chart on the display screen is fitted;

[0095] It should be noted that the national standard GB15084 quotes the definition of minimum magnification in ISO16505-2015 and puts forward technical requirements for various types of CMS; the minimum magnification defines the horizontal minimum magnification and the vertical minimum magnification according to the driver's side and the crew side respectively; the minimum magnification is related to the following factors: camera distortion, camera layout posture, field of view cropping area, field of view scaling ratio, camera resolution, display resolution, eye point distance. When laying out the field of view, it must be noted that the closer to the edge of the field of view, the smaller the minimum magnification; the minimum magnification is used to characterize the magnification of the position with the minimum average magnification in the horizontal or vertical direction in the screen field of view.

[0096] See Figure 6 , an embodiment of the present application provides a CMS field of view calibration system, the system comprising:

[0097] A first module is configured to obtain a distortion table of the camera and perform curve fitting on the distortion table to obtain a distortion function; wherein the distortion table includes a correspondence between an angle between an incident ray and an optical axis and a distance between a pixel point and an optical center, the angle between the incident ray and the optical axis serving as an input parameter of the distortion function, and the distance between the pixel point and the optical center serving as an output parameter of the distortion function;

[0098] The second module is used to obtain the video cropping and scaling coefficient and the image captured by the camera, crop the image captured by the camera, and then scale it and display it on the display screen;

[0099] The third module is used to determine the calibration parameters of the image, calibrate the calibration parameters of the image, and output the calibration results; wherein the calibration parameters include at least one of the average magnification, the minimum field of view, and the minimum magnification.

[0100] It can be seen that the contents of the above method embodiments are all applicable to the present system embodiments. The functions specifically implemented by the present system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0101] See Figure 7 , an embodiment of the present application provides a CMS field of view calibration device, comprising:

[0102] at least one processor;

[0103] at least one memory for storing at least one program;

[0104] When the at least one program is executed by the at least one processor, the at least one processor implements the above method.

[0105] It can be seen that the contents of the above method embodiments are all applicable to the present device embodiments. The functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0106] In addition, the embodiments of the present application further disclose a computer program product or computer program, which is stored in a computer-readable storage medium. The processor of a computer device can read the computer program from the computer-readable storage medium, and the processor executes the computer program, so that the computer device performs the above-mentioned method. Similarly, the contents of the above-mentioned method embodiment are all applicable to the present storage medium embodiment, and the functions specifically implemented by the present storage medium embodiment are the same as those of the above-mentioned method embodiment, and the beneficial effects achieved are also the same as those achieved by the above-mentioned method embodiment.

[0107] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, i.e., they may be located in one location or distributed across multiple network units. Some or all of the charging modules may be selected to achieve the objectives of this embodiment based on actual needs.

[0108] Those skilled in the art will appreciate that all or some of the steps in the methods, systems, and functional charging modules / units in the devices disclosed above may be implemented as software, firmware, hardware, or appropriate combinations thereof.

[0109] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0110] It should be understood that in this application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0111] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0112] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0113] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0114] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, and other media that can store programs.

[0115] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but are not intended to limit the scope of the present invention. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and essence of the present invention should be within the scope of the present invention.

Claims

1. A CMS field of view calibration method, characterized in that: The method comprises the following steps: Obtaining a distortion table of the camera, and performing curve fitting on the distortion table to obtain a distortion function; wherein the distortion table includes a correspondence between an angle between an incident light ray and an optical axis and a distance between a pixel point and an optical center, the angle between the incident light ray and the optical axis serving as an input parameter of the distortion function, and the distance between the pixel point and the optical center serving as an output parameter of the distortion function; Obtain the video cropping and scaling factor and the image captured by the camera, crop the image captured by the camera, and then scale it to display on the display screen; Determining calibration parameters of the image, calibrating the calibration parameters of the image, and outputting calibration results; wherein the calibration parameters include at least one of an average magnification, a minimum field of view, and a minimum magnification; The step of obtaining a video cropping and scaling coefficient and an image captured by a camera, cropping the image captured by the camera, and then scaling and displaying the image on a display screen includes: Establish the correspondence between the pixel points in the image in the level coordinate system and the world coordinate system; Establish a camera coordinate system according to the camera posture, obtain point elements in the image captured by the camera, and map the point elements from the world coordinate system to the camera coordinate system; Determine the angle between the point element and the optical axis, and input the angle into the distortion function to calculate the coordinates of the point element on the pixel plane; Obtaining a video cropping and scaling coefficient, scaling the coordinates of the point element on the pixel plane according to the video cropping and scaling coefficient, calculating the coordinates of the point element on the display plane, and then obtaining a curved surface model, and displaying the curved surface model on the display screen; The obtaining of the video cropping scaling coefficient, scaling the coordinates of the point element on the pixel plane according to the video cropping scaling coefficient, calculating the coordinates of the point element on the display plane, and then obtaining a curved surface model, and displaying the curved surface model on the display screen, includes: Determining a field of view layout, and inputting the field of view layout into the distortion function to obtain a first field of view angle; Determining a cropping parameter, and cropping the first field of view angle based on the cropping parameter to obtain a second field of view angle; Determine a projection distance, and determine boundary points and marking points on a phase plane based on the projection distance and the second field of view angle; the phase plane is generated based on the projection distance and the second field of view angle; Filling the boundary points and the marking points into the Feuil1 table, inputting the Feuil1 table into Catia software to generate a surface model, and displaying the surface model on a display screen; The step of calibrating the calibration parameters of the image and outputting the calibration results includes: Setting the camera and display parameters, including physical parameters, position and posture information, cropping and scaling parameters, horizon position, and minimum field of view; Calibration based on the parameter data yields calibration parameters and distortion coefficients; The distortion coefficient is obtained by calibration in the following way: Set multiple coordinate points at a certain distance in front of the camera to fill the perimeter of the entire display screen in the horizontal and vertical directions; According to the displayed multiple coordinate points, the values ​​of the distorted height and the vertical height are measured, and the ratio of the distorted height to the vertical height is divided by 2 to obtain the distortion coefficient.

2. The method according to claim 1, characterized in that The determining of the field of view layout and inputting the field of view layout into the distortion function to obtain the first field of view angle includes: The field of view layout when the camera is centered is determined based on the size of the display screen, and the angle corresponding to the size of the field of view layout is queried in the distortion table as the first field of view angle; wherein the field of view angle includes horizontal viewing angle, vertical viewing angle and diagonal viewing angle.

3. The method according to claim 1, characterized in that The minimum magnification is obtained by checking in the following way: Set up a horizontal chessboard, with the camera level and vertically aligned to the center, and reaching a set number of intersections; Measure the distance of each intersection point on the screen surface and fit the curve according to the coordinates of each intersection point; The first-order derivative of the fitting curve is taken to obtain a magnification function, and the minimum value of the magnification function is multiplied by the ratio of the distance from the camera to the chessboard to the distance from the monitor to the eye point as the minimum magnification.

4. A CMS visual field calibration system, characterized in that: The system comprises: A first module is configured to obtain a distortion table of the camera and perform curve fitting on the distortion table to obtain a distortion function; wherein the distortion table includes a correspondence between an angle between an incident ray and an optical axis and a distance between a pixel point and an optical center, the angle between the incident ray and the optical axis serving as an input parameter of the distortion function, and the distance between the pixel point and the optical center serving as an output parameter of the distortion function; The second module is used to obtain the video cropping and scaling coefficient and the image captured by the camera, crop the image captured by the camera, and then scale it and display it on the display screen; a third module, configured to determine calibration parameters of the image, calibrate the calibration parameters of the image, and output calibration results; wherein the calibration parameters include at least one of an average magnification, a minimum field of view, and a minimum magnification; The step of obtaining a video cropping and scaling coefficient and an image captured by a camera, cropping the image captured by the camera, and then scaling and displaying the image on a display screen includes: Establish the correspondence between the pixel points in the image in the level coordinate system and the world coordinate system; Establish a camera coordinate system according to the camera posture, obtain point elements in the image captured by the camera, and map the point elements from the world coordinate system to the camera coordinate system; Determine the angle between the point element and the optical axis, and input the angle into the distortion function to calculate the coordinates of the point element on the pixel plane; Obtaining a video cropping and scaling coefficient, scaling the coordinates of the point element on the pixel plane according to the video cropping and scaling coefficient, calculating the coordinates of the point element on the display plane, and then obtaining a curved surface model, and displaying the curved surface model on the display screen; The obtaining of the video cropping scaling coefficient, scaling the coordinates of the point element on the pixel plane according to the video cropping scaling coefficient, calculating the coordinates of the point element on the display plane, and then obtaining a curved surface model, and displaying the curved surface model on the display screen, includes: Determining a field of view layout, and inputting the field of view layout into the distortion function to obtain a first field of view angle; Determining a cropping parameter, and cropping the first field of view angle based on the cropping parameter to obtain a second field of view angle; Determine a projection distance, and determine boundary points and marking points on a phase plane based on the projection distance and the second field of view angle; the phase plane is generated based on the projection distance and the second field of view angle; Filling the boundary points and the marking points into the Feuil1 table, inputting the Feuil1 table into Catia software to generate a surface model, and displaying the surface model on a display screen; The step of calibrating the calibration parameters of the image and outputting the calibration results includes: Setting the camera and display parameters, including physical parameters, position and posture information, cropping and scaling parameters, horizon position, and minimum field of view; Calibration based on the parameter data yields calibration parameters and distortion coefficients; The distortion coefficient is obtained by calibration in the following way: Set multiple coordinate points at a certain distance in front of the camera to fill the perimeter of the entire display screen in the horizontal and vertical directions; According to the displayed multiple coordinate points, the values ​​of the distorted height and the vertical height are measured, and the ratio of the distorted height to the vertical height is divided by 2 to obtain the distortion coefficient.

5. A CMS field of view calibration device, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the method according to any one of claims 1 to 3.

6. A computer-readable storage medium storing a program executable by a processor, characterized in that: The processor-executable program is used to perform the method according to any one of claims 1 to 3 when executed by the processor.

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