Method and system for completing autonomous calibration of panoramic image based on upper computer

Abstract

The invention discloses a method and system for completing autonomous calibration of a panoramic image based on an upper computer, and the system comprises a calibration original image importing module which configures a YUV path, and selects a fisheye original image for calibration; the camera internal parameter importing module is used for importing an internal parameter file of the image acquisition module to adjust and change parameters; if the vehicle is not centered and calibrated, the vehicle is centered and calibrated through a calibration site setting module; the vehicle body parameter setting module is used for setting vehicle body overall dimension parameters, so that the vehicle body overall dimension parameters are consistent with a real vehicle; the calibration parameter adjusting module is used for setting parameters of a 3D panoramic model, setting a visual distance of a 2D panoramic spliced image, setting a local wheel image and setting calibration parameters of front, rear, left and right single views; the view display position adjusting module is used for setting a panoramic view angle and a single-side view angle; according to the invention, system rectification does not need to be re-invested during annual remodeling of the vehicle; the calibration and display effect adjustment does not need to invest supplier manpower, project management and other resources, so that the cost and expense are saved; the development period is obviously shortened; and software is rapidly iterated, so that user demand problem change reflection and verification can be rapidly completed.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle panoramic imaging, and in particular to a method and system for completing autonomous panoramic imaging calibration based on a host computer. Background Art

[0002] When the camera is produced, due to factors such as production process, mold, lens optical parameters, etc., it is impossible to ensure consistency. The parameters used to correct these differences are called camera internal parameters. Camera internal parameter adjustment is performed when the camera leaves the factory.

[0003] When assembling a panoramic camera, the camera's installation position cannot be guaranteed to be consistent with the theoretical position due to errors in assembly, brackets, and surrounding matching parts molds. The parameters used to correct these differences are called camera external parameters. Production line calibration of vehicles off the production line is to correct these errors.

[0004] The panoramic imaging system is a visual product for parking assistance, which is highly subjective, so multiple rounds of adjustments and adaptive changes are required during the development process. In order to ensure that the project development progress and adjustments are quickly reflected for re-evaluation, each round of adjustments needs to be reflected quickly to meet the cycle requirements.

[0005] Previous adjustments required code-level adjustments, which not only caused a shortage of development manpower, but also the poor reliability of code-level changes easily caused related defects and required a full round of testing. Therefore, the calibration adjustment cycle was relatively long. The above problems need to be solved urgently. Summary of the invention

[0006] The purpose of the present invention is to provide a method and system for completing autonomous calibration of panoramic images based on a host computer, so as to solve the problems raised in the above background technology.

[0007] To achieve the above object, the present invention provides the following technical solution: a system for completing autonomous calibration of panoramic images based on a host computer, characterized in that it includes:

[0008] The calibration original image import module is used to configure the YUV path and select the fisheye original image for calibration through the calibration original image import module;

[0009] The camera internal parameter import module is used to import the internal parameter file of the image acquisition module to adjust and change the parameters;

[0010] A calibration site setting module, if the vehicle is not centered and calibrated, the vehicle is centered and calibrated through the calibration site setting module;

[0011] The body parameter setting module is used to set the body contour size parameters to make the body contour size parameters consistent with the actual vehicle;

[0012] Calibration parameter adjustment module, setting the parameters of 3D panoramic model, setting the visual distance of 2D panoramic mosaic, setting the local wheel map, setting the calibration parameters of front, rear, left and right single views;

[0013] The view display position adjustment module is used to set the panoramic view angle and the single-side view view angle.

[0014] Furthermore, the calibration original image import module also includes:

[0015] The YUV path contains image data in YUYV format with a resolution of 1280*960. Set the image names in ASCII order, with four images in a group in the order of front, left, right, and back.

[0016] Furthermore, the camera internal parameter import module also includes:

[0017] The internal parameter file exported from the vehicle image acquisition module is the camerainfo.bin file, which is used to adjust and change the parameters.

[0018] Furthermore, the centering calibration of the vehicle by the calibration site setting module also includes:

[0019] The coordinates of the vehicle center and the venue center are obtained, and the offset between the vehicle center and the venue center is determined by the coordinates of the vehicle center and the venue center, wherein the offset includes the offset between the vehicle center and the venue center in the vehicle length direction and the offset between the vehicle center and the venue center in the vehicle width direction.

[0020] Furthermore, the vehicle body parameter setting module also includes:

[0021] The body contour size parameters to be set include vehicle length, vehicle width, vehicle height, vehicle width (including rearview mirrors), front overhang, rear overhang, wheelbase, number of wheel pulses, front track, rear track and wheel width;

[0022] Setting blind zone parameters includes front blind zone and rear blind zone;

[0023] The settings of the segmented steering ratio include full right, right 360°, right 180°, return to center, full left, left 360°, and left 180°.

[0024] Furthermore, the calibration parameter adjustment module also includes:

[0025] The parameter settings of the 3D panoramic model include blind area parameter settings and bottom filling parameter settings;

[0026] The viewing distance setting of the 2D panoramic mosaic image includes setting the vertical viewing distance parameter and the horizontal viewing distance parameter;

[0027] The local wheel map setting includes setting the wheel x position in the vehicle coordinate system and setting the upper and lower adjustment range of the x position, setting the wheel y position and setting the left and right adjustment range of the y position, setting the wheel viewpoint H and adjusting the distance of the viewpoint in the wheel map from the ground by setting the range of the viewpoint H, setting the wheel viewpoint W and adjusting the viewpoint in the wheel map by setting the range of the viewpoint W to adjust the proportion of the front part of the vehicle, setting the wheel viewpoint Z and adjusting the viewpoint in the wheel map by setting the range of the viewpoint Z to adjust the proportion of the vehicle body part;

[0028] The calibration parameter settings for the front, rear, left and right single views include setting the zoom factor range to display the view size, setting the pitch angle adjustment range to display the view ground ratio, setting the yaw angle adjustment range to rotate the view with the center, setting the roll angle adjustment range to move the view to the right, setting the lateral movement image adjustment range to fine-tune the view to the right, setting the longitudinal movement image adjustment range to fine-tune the view downward, and setting the X-direction correction parameter adjustment range to adjust the view correction range.

[0029] Furthermore, the view display position adjustment module also includes:

[0030] Panoramic viewing angle settings include panoramic display range, panoramic horizontal and vertical ratio, panoramic heading rotation display range, and adjustment of viewpoint direction in the vehicle coordinate system;

[0031] The single-side view perspective includes setting the view rotation angle, view mirroring and view cropping, wherein view cropping includes view horizontal cropping, view vertical cropping, and view horizontal scaling and vertical scaling.

[0032] On the other hand, a method for completing the autonomous calibration of panoramic images based on a host computer is improved, including:

[0033] Obtain the original fisheye images used for calibration, sort and group the original fisheye images;

[0034] Get the internal parameters of the vehicle camera;

[0035] Set up a calibration site, determine whether the vehicle is centered and calibrated, and if not, obtain the coordinates of the vehicle center and the site center, and determine the offset between the vehicle center and the site center through the coordinates of the vehicle center and the site center;

[0036] Obtaining the appearance parameters of the vehicle, wherein the appearance parameters of the vehicle are consistent with the actual vehicle;

[0037] Set the parameters of the 3D panoramic model, set the visual distance of the 2D panoramic mosaic, set the local wheel map, and set the calibration parameters of the front, rear, left and right single views;

[0038] Set the panoramic view and the single side view.

[0039] In another aspect, an electronic device is provided, the electronic device comprising:

[0040] one or more processors;

[0041] a storage device for storing one or more programs,

[0042] When the one or more programs are executed by the one or more processors, the one or more processors implement the above-mentioned method for completing autonomous calibration of panoramic images based on a host computer.

[0043] On the other hand, a computer-readable storage medium is provided, on which a computer program is stored, characterized in that when the program is executed by a processor, a method for completing autonomous calibration of panoramic images based on a host computer as described above is implemented.

[0044] Compared with the prior art, the beneficial effects of the present invention are: vehicle modification leads to changes in the installation environment of the panoramic camera, and the system rectification does not need to be reinvested. Only the application of the autonomous calibration host computer is required to complete the calibration and display effect adjustment work; the calibration and display effect adjustment does not require the investment of supplier manpower and project management and other resources, saving costs and expenses; the development cycle is significantly shortened; the software is quickly iterated, and the changes in user needs can be quickly reflected and verified. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic block diagram of a method for completing autonomous calibration of panoramic images based on a host computer in an embodiment of the present invention;

[0046] Figure 2 This is a flow chart of a method for completing autonomous calibration of panoramic images based on a host computer in an embodiment of the present invention;

[0047] Figure 3 Schematic diagram of fisheye original images used for calibration in a group of four in an embodiment of the present invention;

[0048] Figure 4 A schematic diagram of the connection structure of an electronic device and a computer-readable storage medium in an embodiment of the present invention;

[0049] In the figure: 10, memory; 11, processor; 12, communication bus; 13, communication interface; 14, computer program; 15, storage medium; 16, calibration original image import module; 17, camera internal parameter import module; 18, calibration site setting module; 19, vehicle body parameter setting module; 20, calibration parameter adjustment module. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] In the description of the present invention, unless otherwise specified, "plurality" means two or more than two; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0052] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0053] Please refer to the attached drawings of the specification, the present invention provides a technical solution: Figure 1 As shown, a system for completing autonomous calibration of panoramic images based on a host computer includes:

[0054] The calibration original image import module 16 is used to configure the YUV path and select the fisheye original image for calibration through the calibration original image import module;

[0055] The camera internal parameter import module 17 is used to import the internal parameter file of the image acquisition module to adjust and change the parameters;

[0056] The calibration site setting module 18 performs the calibration on the vehicle through the calibration site setting module if the vehicle has not been calibrated.

[0057] The body parameter setting module 19 is used to set the body contour size parameters so that the body contour size parameters are consistent with the actual vehicle;

[0058] The calibration parameter adjustment module 20 sets the parameters of the 3D panoramic model, sets the visual distance of the 2D panoramic mosaic image, sets the local wheel image, and sets the calibration parameters of the front, rear, left and right single views;

[0059] The view display position adjustment module is used to set the panoramic view angle and the single-side view view angle.

[0060] It is understandable that in order to realize the rapid calibration of the panoramic imaging system, a panoramic imaging system autonomous calibration host computer is developed, which can realize the rapid adjustment of the panoramic imaging system display effect and calibration effect. At the same time, the host computer does not need to be operated by software developers, but only calibration test engineers or OEM development designers can perform adjustments. This can ensure both the rapid iteration of products and the directness of effect adjustment.

[0061] Optionally, the calibration original image import module further includes:

[0062] The YUV path contains image data in YUYV format with a resolution of 1280*960. Set the image names in ASCII order, with four images in a group in the order of front, left, right, and back.

[0063] In the above embodiment, Figure 2 As shown, YUV refers to a pixel format in which brightness parameters and chrominance parameters are separately represented. It describes the color and saturation of an image and is used to specify the color of a pixel. In this embodiment, the YUV path is configured by clicking the file button in the operation interface. The calibrated fisheye original image to be used can be selected. The path must be full of image data and the format must be YUYV, with a resolution of 1280*960. The image has not been opened by other tools. The image names must be sorted in ASCII order, four in a group, and the order is front, left, right, and back.

[0064] Optionally, the camera internal parameter import module also includes:

[0065] The internal parameter file exported from the vehicle image acquisition module is the camerainfo.bin file, which is used to adjust and change the parameters.

[0066] The above is an embodiment. The internal reference import can select the camera internal reference file to be used, which is the camerainfo.bin file under the file exported from the vehicle computer. If there is no such file, the host computer system will think that the imported file is missing and subsequent adjustment and modification work cannot be performed.

[0067] Optionally, centering and calibrating the vehicle through the calibration site setting module further includes:

[0068] The coordinates of the vehicle center and the venue center are obtained, and the offset between the vehicle center and the venue center is determined by the coordinates of the vehicle center and the venue center, wherein the offset includes the offset between the vehicle center and the venue center in the vehicle length direction and the offset between the vehicle center and the venue center in the vehicle width direction.

[0069] In the above embodiment, it is set whether the vehicle is centered or not. If the vehicle is not centered or not, the offset between the center of the vehicle and the center of the site needs to be filled in. However, factory calibration is usually centered, so this adjustment is generally not needed; the following parameters can be adjusted (unit: meter): the offset between the center of the vehicle and the center of the site in the vehicle length direction, where preferably, the value is positive if it is offset to the rear and negative if it is offset to the front; the offset between the center of the vehicle and the center of the site in the vehicle width direction, preferably, the value is positive if it is offset to the right and negative if it is offset to the left.

[0070] Optionally, the vehicle body parameter setting module further includes:

[0071] The body contour size parameters to be set include vehicle length, vehicle width, vehicle height, vehicle width (including rearview mirrors), front overhang, rear overhang, wheelbase, number of wheel pulses, front track, rear track and wheel width;

[0072] Setting blind zone parameters includes front blind zone and rear blind zone;

[0073] The settings of the segmented steering ratio include full right, right 360°, right 180°, return to center, full left, left 360°, and left 180°.

[0074] In the above embodiment, the unit of the vehicle body parameter setting module is preferably meter, and the vehicle body parameters required for calibration are input. The required vehicle body must be consistent with the actual vehicle, otherwise it will affect the surround calibration effect; vehicle parameters include: vehicle length, vehicle width, vehicle height, vehicle width (including rearview mirrors), front overhang, rear overhang, wheelbase, number of wheel pulses, front track, rear track and wheel width. Blind spot parameters: front blind spot, rear blind spot; segmented steering ratio: right full turn, right 360°, right 180°, return to center, left full turn, left 360°, left 180°.

[0075] Optionally, the calibration parameter adjustment module further includes:

[0076] The parameter settings of the 3D panoramic model include blind area parameter settings and bottom filling parameter settings;

[0077] The viewing distance setting of the 2D panoramic mosaic image includes setting the vertical viewing distance parameter and the horizontal viewing distance parameter;

[0078] The local wheel map setting includes setting the wheel x position and setting the upper and lower adjustment range of the x position in the whole vehicle coordinate system, setting the wheel y position and setting the left and right adjustment range of the y position, setting the wheel viewpoint H and adjusting the distance of the viewpoint in the wheel map from the ground by setting the range of the viewpoint H, setting the wheel viewpoint W and adjusting the viewpoint in the wheel map by setting the range of the viewpoint W to adjust the proportion of the front part of the vehicle, setting the wheel viewpoint Z and adjusting the viewpoint in the wheel map by setting the range of the viewpoint Z to adjust the proportion of the vehicle body part, wherein the wheel viewpoint H, the wheel viewpoint W, and the wheel viewpoint Z are respectively the wheel viewpoint parameters calibrated by the present invention, and the target effect required by the viewpoint in the wheel map is achieved by adjusting their ranges;

[0079] The calibration parameter settings for the front, rear, left and right single views include setting the zoom factor range to display the view size, setting the pitch angle adjustment range to display the view ground ratio, setting the yaw angle adjustment range to rotate the view with the center, setting the roll angle adjustment range to move the view to the right, setting the lateral movement image adjustment range to fine-tune the view to the right, setting the longitudinal movement image adjustment range to fine-tune the view downward, and setting the X-direction correction parameter adjustment range to adjust the view correction range.

[0080] In the above embodiment, the calibration parameter adjustment module includes:

[0081] 3D model adjustment: Click the "3D model" button on the operation interface to set the parameters of the panoramic 3D model. The blind area parameter settings include: the front view blind area setting, which is used to set the size of the front view blind area; the left view blind area setting, which is used to set the size of the left view blind area; the right view blind area setting, which is used to set the size of the right view blind area; the rear view blind area setting, which is used to set the size of the rear view blind area, where the set distance unit is preferably meter; further, the bottom filling parameter settings include the wheelbase setting, which is used to set the bottom filling width, and the wheelbase is used as the fill value; the outline setting, which is used to set the bottom filling start distance, in order to regulate Avoid shadows near the vehicle body, where the set distance unit is preferably meter; further, 2D panorama settings can be performed, click "2D panorama" on the setting button of the operation interface to set the visible distance of the panoramic stitching image. Since the visible distance is proportional to the horizontal and vertical directions, only one item can be set; click "longitudinal visible distance" to set the longitudinal visible distance parameters, and click "lateral visible distance" to set the lateral visible distance parameters; further, local wheel map settings can be performed, click "local wheel map" on the setting button of the operation interface to set the local wheel map, and the setting parameters include the wheel x position, and adjust the longitudinal position of the wheel in the view. The larger the value, the higher the wheel moves, and the preferred setting range is -4 to 4; set the wheel y position to adjust the lateral position of the wheel in the view. The larger the value, the left wheel moves to the right and the right wheel moves to the left. The preferred setting range is 0 to 4; set the wheel viewpoint H to adjust the viewpoint in the wheel map. The larger the value, the closer to the ground, and the preferred setting range is 0 to 8; set the wheel viewpoint W to adjust the viewpoint in the wheel map. The larger the value, the smaller the proportion of the front part of the vehicle, and the preferred setting range is 0 to 4; set the wheel viewpoint Z to adjust the viewpoint in the wheel map. The larger the value, the larger the proportion of the vehicle body, and the preferred setting range is 0 to 6; further, set the close-up view, set the button in the operation interface and click "Close-up View", set the front, rear, left and right single view calibration parameters, and set the parameters including the scaling factor setting For the setting of pitch angle, the larger the value, the smaller the view display range, and the preferred setting range is 0 to 200; for the setting of yaw angle, the larger the value, the smaller the view ground ratio, and the preferred setting range is -90 to 90; for the setting of yaw angle, the larger the value, the view rotates to the left along with the center, and the preferred setting range is -90 to 90; for the setting of roll angle, the larger the value, the view moves to the right, and the preferred setting range is -90 to 90; for the setting of horizontal image movement, the larger the value, the view moves to the right (fine adjustment), and the preferred setting range is -960 to 960; for the setting of vertical image movement, the larger the value, the view moves downward (fine adjustment), and the preferred setting range is -960 to 960; for the setting of X-direction correction parameter, adjust the view correction range, the larger the value, the smaller the correction range, and the closer it is to the original fisheye image, and the preferred setting range is 0 to 1000.

[0082] Optionally, the view display position adjustment module further includes:

[0083] Panoramic view setting: select "Panoramic" from the setting button on the operation interface to enter the adjustment of the panoramic view, including setting the scene angle (FOV) and panoramic display range in the camera parameters. The larger the value, the larger the panoramic display range. Adjust the panoramic horizontal and vertical ratio by setting the aspect ratio value (Aspect) of the viewport. The larger the value, the smaller the panoramic horizontal and vertical ratio. Set the heading (Yaw). The larger the value, the more the panoramic display rotates to the right. The scaling parameter (Scale) is fine-tuned. The larger the value, the larger the panoramic display range. Adjust the viewpoint direction in the vehicle coordinate system. The X-axis adjusts the front and rear directions of the viewpoint. The Y-axis adjusts the viewpoint up and down, and the Z-axis adjusts the viewpoint left and right; further, the adjustment of the single-side view angle is performed by selecting a certain view angle, and the single-side view angle includes setting the view rotation angle, the view mirror and the view cropping, wherein the view cropping includes horizontal view cropping, preferably, positive value crops the left side, and negative value crops the right side; vertical view cropping, preferably, positive value crops the bottom, and negative value crops the top; horizontal and vertical scaling of the view, wherein, when the view is horizontally scaled, the larger the value, the narrower the horizontal display ratio, and when the view is vertically scaled, the larger the value, the narrower the vertical display ratio.

[0084] The vehicle modification of the present invention causes the installation environment of the panoramic camera to change. There is no need to re-invest in system rectification. Only the application of the autonomous calibration host computer is required to complete the calibration and display effect adjustment work; the calibration and display effect adjustment do not require the investment of supplier manpower and project management and other resources, thus saving costs and expenses; the development cycle is significantly shortened; the software is quickly iterated, and the changes in user needs can be quickly reflected and verified.

[0085] On the other hand, Figure 3 As shown, a method for completing autonomous calibration of panoramic images based on a host computer is provided, which is characterized by comprising the following steps:

[0086] S102, obtaining fisheye original images for calibration, sorting and grouping the fisheye original images;

[0087] Click the file button to configure the YUV path, and you can select the original fisheye calibration image to be used. Note: The path must contain all image data in YUYV format, with a resolution of 1280*960, and the image must not be opened by other tools. The image names must be sorted in ASCII order, with the order of front, left, right, and back.

[0088] S104, obtaining internal parameters of the vehicle camera;

[0089] Among them, the internal reference import can select the camera internal reference file to be used, which is the camerainfo.bin file under the file exported from the vehicle computer. If this file is not available, the host computer system will think that the imported file is missing and subsequent adjustments and changes cannot be made.

[0090] S106, setting a calibration site, determining whether the vehicle is centered and calibrated, and if not, obtaining the coordinates of the vehicle center and the site center, and determining the offset between the vehicle center and the site center through the coordinates of the vehicle center and the site center;

[0091] Among them, set whether the vehicle is centered or not. If the vehicle is not centered, you need to fill in the offset between the center of the vehicle and the center of the site. However, factory calibration is usually centered, so this adjustment is generally not needed; the following parameters can be adjusted: the offset between the center of the vehicle and the center of the site in the direction of the vehicle length, preferably the value is positive when it is biased to the rear and negative when it is biased to the front; the offset between the center of the vehicle and the center of the site in the direction of the vehicle width, preferably the value is positive when it is biased to the right and negative when it is biased to the left.

[0092] S108, obtaining the appearance parameters of the vehicle, wherein the appearance parameters of the vehicle are consistent with the actual vehicle;

[0093] Among them, input the body parameters required for calibration. The required body must be consistent with the actual vehicle, otherwise it will affect the surround view calibration effect; vehicle parameters include: vehicle length, vehicle width, vehicle height, vehicle width (including rearview mirrors), front overhang, rear overhang, wheelbase, number of wheel pulses, front track, rear track and wheel width; blind spot parameters: front blind spot, rear blind spot; segmented steering ratio: right full turn, right 360°, right 180°, return to center, left full turn, left 360°, left 180°.

[0094] S110, setting parameters of the 3D panoramic model, setting the visual distance of the 2D panoramic mosaic image, setting the local wheel image, and setting calibration parameters of the front, rear, left and right single views;

[0095] Among them, 3D model adjustment: click the "3D model" button on the operation interface to set the parameters of the panoramic 3D model, wherein the blind spot parameter settings include: the front view blind spot setting, which is used to set the size of the front view blind spot; the left view blind spot setting, which is used to set the size of the left view blind spot; the right view blind spot setting, which is used to set the size of the right view blind spot; the rear view blind spot setting, which is used to set the size of the rear view blind spot, wherein the set distance unit is preferably meter; further, the bottom filling parameter setting includes the wheelbase setting, which is used to set the bottom filling width, and the wheelbase is used as the fill value; the outline setting is used to set the bottom filling start distance, which is To avoid the shadow near the car body, the set distance unit is preferably meter; further, 2D panorama setting can be performed, and the setting button in the operation interface clicks "2D panorama" to set the visible distance of the panoramic stitching image. Since the visible distance is proportional to the horizontal and vertical directions, only one item can be set; click "longitudinal visible distance" to set the longitudinal visible distance parameter, and click "lateral visible distance" to set the lateral visible distance parameter; further, local wheel map setting can be performed, and the setting button in the operation interface clicks "local wheel map" to set the local wheel map. The setting parameters include the wheel x position, and the longitudinal position of the wheel in the view is adjusted. The larger the value, the higher the wheel moves, and the preferred setting range is -4 to 4; set the wheel y position to adjust the lateral position of the wheel in the view. The larger the value, the left wheel moves to the right and the right wheel moves to the left. The preferred setting range is 0 to 4; set the wheel viewpoint H to adjust the viewpoint in the wheel map. The larger the value, the closer to the ground, and the preferred setting range is 0 to 8; set the wheel viewpoint W to adjust the viewpoint in the wheel map. The larger the value, the smaller the proportion of the front part of the vehicle, and the preferred setting range is 0 to 4; set the wheel viewpoint Z to adjust the viewpoint in the wheel map. The larger the value, the larger the proportion of the vehicle body, and the preferred setting range is 0 to 6; further, set the close-up view, set the button in the operation interface and click "Close-up View", set the front, rear, left and right single view calibration parameters, and set the parameters including the scaling factor setting For the setting of pitch angle, the larger the value, the smaller the view display range, and the preferred setting range is 0 to 200; for the setting of yaw angle, the larger the value, the smaller the view ground ratio, and the preferred setting range is -90 to 90; for the setting of yaw angle, the larger the value, the view rotates to the left along with the center, and the preferred setting range is -90 to 90; for the setting of roll angle, the larger the value, the view moves to the right, and the preferred setting range is -90 to 90; for the setting of horizontal image movement, the larger the value, the view moves to the right (fine adjustment), and the preferred setting range is -960 to 960; for the setting of vertical image movement, the larger the value, the view moves downward (fine adjustment), and the preferred setting range is -960 to 960; for the setting of X-direction correction parameter, adjust the view correction range, the larger the value, the smaller the correction range, and the closer it is to the original fisheye image, and the preferred setting range is 0 to 1000.

[0096] S112, setting a panoramic view angle and a single-side view view angle.

[0097] Among them, the panoramic view setting, in the operation interface setting button select "Panorama", enter the panoramic view adjustment, including by setting the scene angle (FOV) in the camera parameters, the panoramic display range, where the larger the value, the larger the panoramic display range; by setting the aspect ratio value (Aspect) of the viewport to adjust the panoramic horizontal and vertical ratio, where the larger the value, the smaller the panoramic horizontal and vertical ratio; by setting the heading (Yaw), the larger the value, the more the panoramic display rotates to the right; adjust the viewpoint direction in the vehicle coordinate system, the X-axis adjusts the front and back direction of the viewpoint, and the Y-axis adjusts the top and bottom of the viewpoint Towards, the Z-axis adjusts the left and right directions of the viewpoint; further, the adjustment of the single-side view angle is carried out by selecting a certain perspective view, and the single-side view perspective includes setting the perspective rotation angle, perspective mirroring and view cropping, wherein the view cropping includes horizontal view cropping, preferably, positive value crops the left side, negative value crops the right side; vertical view cropping, preferably, positive value crops the bottom, negative value crops the top; horizontal and vertical scaling of the view, wherein, when the view is horizontally scaled, the larger the value, the narrower the horizontal display ratio, and when the view is vertically scaled, the larger the value, the narrower the vertical display ratio.

[0098] On the other hand, Figure 4 As shown, an electronic device is provided, the electronic device comprising:

[0099] One or more processors 11;

[0100] a storage device for storing one or more programs,

[0101] When the one or more programs are executed by the one or more processors 11, the one or more processors 11 implement any of the above-mentioned methods for completing autonomous calibration of panoramic images based on a host computer.

[0102] Specifically, the storage device is a memory 10, a processor (CPU) 11 and a computer program 14, the computer program 14 is stored in the memory 10, and the processor 11 executes the computer program 14 to implement any of the above-mentioned methods for completing the autonomous calibration of panoramic images based on the host computer. The control system also includes: a communication interface 13 and a communication bus 12, the processor 11, the communication interface 13, and the memory 10 communicate through the communication bus 12, wherein the communication bus 12 is an Industry Standard Architecture (Industry Standard Architecture, referred to as ISA) bus, a Peripheral Component (Peripheral Component, referred to as PCI) bus or an Extended Industry Standard Architecture (Extended Industry Standard Architecture, referred to as EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc., and if the memory 10, the processor 11 and the communication interface 13 are integrated on a chip, the memory 10, the processor 11 and the communication interface 13 can communicate with each other through an internal interface.

[0103] The processor 11 may also be a specific integrated circuit or multiple integrated circuits.

[0104] On the other hand, Figure 4 As shown, a computer-readable storage medium 15 is provided, on which a computer program 14 is stored. When the program is executed by the processor 11, a method for completing autonomous calibration of panoramic images based on a host computer as described above is implemented.

[0105] Specifically, the computer program 14 may include a program code, which includes a computer operation instruction; a memory 10, which is used to store the computer program 14. The memory 10 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory; a communication interface 13, which is used to communicate with other devices such as a client or other servers.

[0106] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A system for autonomously calibrating panoramic images based on a host computer, characterized in that: include: The calibration original image import module is used to configure the YUV path and select the fisheye original image for calibration through the calibration original image import module; The camera internal parameter import module is used to import the internal parameter file of the image acquisition module to adjust and change the parameters; A calibration site setting module, if the vehicle is not centered and calibrated, the vehicle is centered and calibrated through the calibration site setting module; The body parameter setting module is used to set the body contour size parameters to make the body contour size parameters consistent with the actual vehicle; Calibration parameter adjustment module, setting the parameters of 3D panoramic model, setting the visual distance of 2D panoramic mosaic, setting the local wheel map, setting the calibration parameters of front, rear, left and right single views; The view display position adjustment module is used to set the panoramic view angle and the single-side view view angle.

2. The system for completing the autonomous calibration of panoramic images based on a host computer according to claim 1, characterized in that: The calibration original image import module also includes: The YUV path contains image data in YUYV format with a resolution of 1280*960. Set the image names in ASCII order, with four images in a group in the order of front, left, right, and back.

3. The system for completing the autonomous calibration of panoramic images based on a host computer according to claim 1, characterized in that: The camera internal parameter import module also includes: The internal parameter file exported from the vehicle image acquisition module is the camerainfo.bin file, which is used to adjust and change the parameters.

4. The system for completing the autonomous calibration of panoramic images based on a host computer according to claim 1, characterized in that: The vehicle calibration through the calibration site setting module also includes: The coordinates of the vehicle center and the venue center are obtained, and the offset between the vehicle center and the venue center is determined by the coordinates of the vehicle center and the venue center, wherein the offset includes the offset between the vehicle center and the venue center in the vehicle length direction and the offset between the vehicle center and the venue center in the vehicle width direction.

5. The system for completing the autonomous calibration of panoramic images based on a host computer according to claim 1, characterized in that: The body parameter setting module also includes: The body contour size parameters to be set include vehicle length, vehicle width, vehicle height, vehicle width (including rearview mirrors), front overhang, rear overhang, wheelbase, number of wheel pulses, front track, rear track and wheel width; Setting blind zone parameters includes front blind zone and rear blind zone; The settings of the segmented steering ratio include full right, right 360°, right 180°, return to center, full left, left 360°, and left 180°.

6. The system for completing the autonomous calibration of panoramic images based on a host computer according to claim 5, characterized in that: The calibration parameter adjustment module also includes: The parameter settings of the 3D panoramic model include blind area parameter settings and bottom filling parameter settings; The viewing distance setting of the 2D panoramic mosaic image includes setting the vertical viewing distance parameter and the horizontal viewing distance parameter; The local wheel map setting includes setting the wheel x position in the vehicle coordinate system and setting the upper and lower adjustment range of the x position, setting the wheel y position and setting the left and right adjustment range of the y position, setting the wheel viewpoint H and adjusting the distance of the viewpoint in the wheel map from the ground by setting the range of the viewpoint H, setting the wheel viewpoint W and adjusting the viewpoint in the wheel map by setting the range of the viewpoint W to adjust the proportion of the front part of the vehicle, setting the wheel viewpoint Z and adjusting the viewpoint in the wheel map by setting the range of the viewpoint Z to adjust the proportion of the vehicle body part; The calibration parameter settings for the front, rear, left and right single views include setting the zoom factor range to display the view size, setting the pitch angle adjustment range to display the view ground ratio, setting the yaw angle adjustment range to rotate the view with the center, setting the roll angle adjustment range to move the view to the right, setting the lateral movement image adjustment range to fine-tune the view to the right, setting the longitudinal movement image adjustment range to fine-tune the view downward, and setting the X-direction correction parameter adjustment range to adjust the view correction range.

7. The system for completing the autonomous calibration of panoramic images based on a host computer according to claim 1, characterized in that: The view display position adjustment module also includes: Panoramic viewing angle settings include panoramic display range, panoramic horizontal and vertical ratio, panoramic heading rotation display range, and adjustment of viewpoint direction in the vehicle coordinate system; The single-side view perspective includes setting the view rotation angle, view mirroring and view cropping, wherein view cropping includes view horizontal cropping, view vertical cropping, and view horizontal scaling and vertical scaling.

8. A method for completing autonomous calibration of panoramic images based on a host computer, characterized in that: include: Obtain the original fisheye images used for calibration, sort and group the original fisheye images; Get the internal parameters of the vehicle camera; Set up a calibration site, determine whether the vehicle is centered and calibrated, and if not, obtain the coordinates of the vehicle center and the site center, and determine the offset between the vehicle center and the site center through the coordinates of the vehicle center and the site center; Obtaining the appearance parameters of the vehicle, wherein the appearance parameters of the vehicle are consistent with the actual vehicle; Set the parameters of the 3D panoramic model, set the visual distance of the 2D panoramic mosaic, set the local wheel map, and set the calibration parameters of the front, rear, left and right single views; Set the panoramic view and the single side view.

9. An electronic device, characterized in that: The electronic device comprises: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method for completing autonomous calibration of panoramic images based on a host computer as described in claim 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, a method for completing autonomous calibration of panoramic images based on a host computer as described in claim 8 is implemented.

Images