Method and device for turning binocular spliced image by 180 degrees and program product

Abstract

The invention provides a method, a device and a program product for realizing 180-degree overturning of a binocular spliced image, and the method comprises the steps: lightening a first image sensor and a second image sensor of a binocular camera through a Slave mode, and configuring the line-field signal of the first image sensor to be synchronous with the line-field signal of the second image sensor; the first image sensor and the second image sensor configure an image overturning mode and an image data transmission process which accord with the installation type according to the pre-selected installation type; and the image data processing subsystem receives the first image data output by the first video input module and the second image data output by the second video input module, and performs image splicing, brightness correction and color correction on the received first image data and the received second image data. According to the technical scheme, the binocular image splicing effect of overturning by 180 degrees is achieved in a software mode, and therefore more stable and higher-quality panoramic image output is provided.

Description

Technical Field

[0001] The present invention relates to the field of image processing, and in particular to a method, a device and a program product for realizing 180° flipping of a binocular stitching image. Background Art

[0002] In the field of panoramic monitoring, binocular stitching camera technology has become one of the key means to obtain wide-angle images. Traditional binocular stitching image processing technology has certain limitations in image flipping and panoramic image processing. The binocular stitching image flipping on the market usually relies on hardware structure design, such as adjusting the 180° viewing angle by rotating the structure. This method not only increases the complexity and cost of the equipment, but also may affect the aesthetics and sealing of the equipment. In addition, although the panoramic image rotation based on a single eye can achieve 180° flipping through software, it is often accompanied by severe image distortion and field of view loss due to the limitation of a single fisheye lens. On the other hand, although the binocular system using two independent sensors can provide depth information, it is difficult to achieve seamless stitching and brightness and color consistency when realizing image flipping at the software level. This is mainly because the data captured by the binocular image sensor has strict requirements on the position and information fusion of the image data when processing. Once the image data is fixed in the binocular, the subsequent image processing module (such as MPP) cannot easily change the image data, resulting in the inability to realize binocular image flipping at the software level. Summary of the invention

[0003] The embodiments of the present invention provide a method, device and program product for realizing 180° flipping of a binocular stitching image, aiming to realize 180° flipping of a binocular stitching image by software.

[0004] In order to achieve the above object, on the one hand, a method for realizing 180° flipping of a binocular stitching image is provided, the method comprising the following steps:

[0005] Light up the first image sensor and the second image sensor of the binocular camera in Slave mode, and configure the row field signal of the first image sensor to be synchronized with the row field signal of the second image sensor, wherein the first image sensor corresponds to the first camera, and the second image sensor corresponds to the second camera;

[0006] The first image sensor and the second image sensor are configured with an image flipping method and an image data transmission process that are consistent with the installation type according to a pre-selected installation type, wherein the installation type includes: ceiling mounting or wall mounting; the image flipping method is: when the first image sensor outputs the first image data and the second image sensor outputs the second image data, the first image data and the second image data are image data processed by a predetermined rotation and mirror processing method;

[0007] Among them, when the installation type is top installation, the image data transmission process is:

[0008] Configure the first image data of the first image sensor to be transmitted to the second mipi lane 4-7 via the i2c busid3, and the output of the second mipi lane 4-7 is used as the input of the dev2 of the first video input module;

[0009] The second image data of the second image sensor is configured to be transmitted to the first mipi lane 0-3 through i2c busid4, and the output of the first mipi lane 0-3 is used as the input of dev0 of the second video input module;

[0010] Wherein, when the installation type is wall-mounted, the image data transmission process is:

[0011] Configure the first image data of the first image sensor to be transmitted to the second mipi lane 4-7 via the i2c busid 4, and the output of the second mipi lane 4-7 is used as the input of the dev2 of the second video input module;

[0012] The second image data of the second image sensor is configured to be transmitted to the first mipilane0-3 through i2c busid3, and the output of the first mipi lane0-3 is used as the input of dev0 of the first video input module;

[0013] The image data processing subsystem receives the first image data output by the first video input module and the second image data output by the second video input module, and preprocesses the received first image data and the received second image data, wherein the preprocessing includes image stitching, brightness correction and color correction, and the image stitching is: stitching the received first image data and the received second image data according to a pre-generated internal and external parameter calibration file and a pre-generated stitching file.

[0014] Preferably, the method for realizing a 180° flip of a binocular stitched image, wherein the binocular camera is a camera using a Yutong lens, an image sensor model of Sony IMX664, and using Hisi as the main chip for encoding and decoding.

[0015] Preferably, the method for realizing a 180° flip of a binocular stitched image, wherein, in the image stitching, when the installation type is ceiling mounted, the image data stitching and fusion area is the right side of the first image sensor, and the statistical information reference area is the left side of the second image sensor; when the installation type is wall mounted, the image data stitching and fusion area is the right side of the second image sensor, and the statistical information reference area is the left side of the first image sensor.

[0016] Preferably, in the method for realizing a 180° flip of a binocular stitched image, the brightness correction is: performing brightness correction on the stitched image data by configuring the mpi_vpss_start_grp_stitch_luma_sync parameter and using pre-generated lsc data; and the color correction is: performing color difference compensation on the stitched image data by using the difference statistics result of automatic white balance.

[0017] Preferably, the method for realizing a 180° flip of the binocular stitched image further includes: using the first image sensor and the second image sensor respectively, taking multiple sets of images at different distances, positions, and rotation angles in a simulated three-dimensional space by adopting a checkerboard method, and generating the internal and external parameter calibration file in combination with the PQtools tool; calling the mpi_stitch_lut_generate function to generate the stitching files of different accuracies and object distances.

[0018] Preferably, the method for realizing 180° flipping of the binocular stitching image generates the lsc data by the following steps:

[0019] The lens of the binocular camera shoots the light source uniformly passing through the light board, controls the external light source so that the central brightness of the light source photographed by the lens is close to the predetermined maximum percentage brightness, collects the image data at this time, calibrates the image data through the MSLC calibration framework, and generates the lsc data.

[0020] Preferably, in the method for realizing 180° flipping of a binocular stitched image, the difference statistical result of the automatic white balance is as follows: configuring the width of the overlapping field of view between the first camera and the second camera, counting the difference of the automatic white balance data in the overlapping field of view, and obtaining the difference statistical result of the automatic white balance.

[0021] Preferably, the method for implementing a 180° flip of a binocular stitched image, wherein the color difference compensation for the stitched image data using the difference statistics result of the automatic white balance, further comprises: setting the isp_pipe_diff_attr.op_type parameter to 0.

[0022] On the other hand, a device for flipping a binocular stitched image by 180° includes a memory and a processor, wherein the memory stores at least one program, and the at least one program is executed by the processor to implement the steps of any of the above methods for flipping a binocular stitched image by 180°.

[0023] On the other hand, a computer program product includes a computer program, wherein when the computer program is executed by a processor, the steps of any of the above methods for flipping a binocular stitched image by 180° are implemented.

[0024] The above technical solution has the following technical effects:

[0025] The technical solution of the embodiment of the present invention uses the Slave mode to light up the first image sensor and the second image sensor, and configures the first image sensor and the second image sensor to synchronize the field signals. And by configuring so that when the first image sensor and the second image sensor output image data, the image data output by the first image sensor and the second image sensor has been flipped and mirrored according to the setting, the output image data is transmitted to the corresponding mipi lane and video input module, and the image data is image stitching, brightness correction and color correction are performed on the image data processing subsystem, the binocular image stitching effect of flipping 180° can be achieved by software, and a more stable and higher quality panoramic image output is provided, thereby significantly improving the practicality and user experience of the monitoring system.

[0026] In a further embodiment, by realizing completely seamless stitching and fusion of binocular images at the image data processing subsystem level, the technical solution of this embodiment can achieve a panoramic stitching image with a FoV of 180° horizontally and 50° vertically, providing a wider field of view coverage, and the image stitching effect is smoother and more natural; correction is performed through lsc data, and the mpi_vpss_start_grp_stitch_luma_sync function is configured to effectively solve the problem of inconsistent brightness during binocular image stitching; color difference compensation is performed through the difference statistics of automatic white balance, and automatic color consistency calibration is turned on to ensure color consistency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A schematic diagram of a process for implementing a method for flipping a binocular stitched image by 180° according to an embodiment of the present invention;

[0028] Figure 2 A product diagram of a binocular camera for implementing a method for flipping binocular stitched images by 180° according to another embodiment of the present invention;

[0029] Figure 3A schematic diagram of a binocular camera top installation for realizing a method for flipping a binocular stitched image by 180° according to another embodiment of the present invention;

[0030] Figure 4 A schematic diagram of a binocular camera wall-mounted for realizing a method for flipping a binocular stitched image by 180° according to another embodiment of the present invention;

[0031] Figure 5-1 A data processing flow chart of a top-mounted binocular camera in a method for implementing a 180° flip of a binocular stitching image in another embodiment of the present invention;

[0032] Figure 5-2 A data processing flow chart of a wall-mounted binocular camera in a method for implementing a 180° flip of a binocular stitching image in another embodiment of the present invention;

[0033] Figure 6 This is an effect diagram of a binocular image flipping 180° in a method for implementing a binocular stitching image flipping 180° in another embodiment of the present invention;

[0034] Figure 7 This is a device diagram of a method for implementing a 180° flip of a binocular stitched image according to another embodiment of the present invention. DETAILED DESCRIPTION

[0035] To further illustrate the various embodiments, the present invention provides drawings. These drawings are part of the disclosure of the present invention, which are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, a person of ordinary skill in the art should be able to understand other possible implementations and advantages of the present invention. The components in the figures are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0036] The present invention will now be further described with reference to the accompanying drawings and specific implementation methods.

[0037] Embodiment 1:

[0038] In order to achieve a binocular image stitching effect of flipping 180° and provide a more stable and higher-quality panoramic image output, an embodiment of the present invention provides a method for achieving a binocular stitching image flipping 180°. Figure 1 FIG. 1 is a flow chart of a method for implementing a 180° flipping method for a binocular stitched image according to an embodiment of the present invention. Figure 1 As shown, the method of this embodiment includes the following steps:

[0039] Light up the first image sensor and the second image sensor of the binocular camera through the Slave mode, and configure the row field signal of the first image sensor to be synchronized with the row field signal of the second image sensor, wherein the first image sensor corresponds to the first camera, and the second image sensor corresponds to the second camera;

[0040] The first image sensor and the second image sensor are configured with an image flipping method and an image data transmission process that are consistent with the installation type according to the pre-selected installation type, wherein the installation type includes: ceiling installation or wall installation; the image flipping method is: when the first image sensor outputs the first image data and the second image sensor outputs the second image data, the first image data and the second image data are image data processed by applying a predetermined rotation and mirror processing method;

[0041] Among them, when the installation type is top installation, the image data transmission process is:

[0042] The first image data of the first image sensor is configured to be transmitted to the second mipi lane 4-7 through the i2c busid3, and the output of the second mipi lane 4-7 is used as the input of the dev2 of the first video input module;

[0043] The second image data of the second image sensor is configured to be transmitted to the first mipi lane0-3 through i2c busid4, and the output of the first mipi lane0-3 is used as the input of dev0 of the second video input module;

[0044] Among them, when the installation type is wall-mounted, the image data transmission process is:

[0045] The first image data of the first image sensor is configured to be transmitted to the second mipi lane 4-7 through the i2c busid4, and the output of the second mipi lane 4-7 is used as the input of the dev2 of the second video input module;

[0046] The second image data of the second image sensor is configured to be transmitted to the first mipi lane0-3 through i2c busid3, and the output of the first mipi lane0-3 is used as the input of dev0 of the first video input module;

[0047] The image data processing subsystem receives the first image data output by the first video input module and the second image data output by the second video input module, and preprocesses the received first image data and the received second image data, wherein the preprocessing includes image stitching, brightness correction and color correction, and the image stitching is: stitching the received first image data and the received second image data according to a pre-generated internal and external parameter calibration file and a pre-generated stitching file.

[0048] Embodiment 2:

[0049] This embodiment adopts an image flipping method that matches the top and wall mounting configurations of binocular cameras at the sensor source end, so that the image data is rotated and mirrored when it is output to the mipi layer, and the mipi is controlled to access the dev of the video input VI layer. At the same time, by configuring the slave sensor and timing synchronization, the image data is completely seamlessly spliced ​​and fused in the image data processing subsystem, achieving a panoramic splicing image with a FoV of 180° horizontally and 50° vertically, and realizing a 180° flip effect at the image level.

[0050] Figure 2 This is a product diagram of a binocular camera that implements the method of flipping binocular stitching images by 180° in this embodiment. Figure 2 As shown, the back cover of the binocular stitching camera has wrapping properties and is sealed and waterproof, which not only takes into account the overall aesthetic effect, but can also adapt to different installation scenarios.

[0051] Figure 3 This is a schematic diagram of a binocular camera top installation for realizing the method of flipping binocular stitching images by 180° in this embodiment. Figure 4 Schematic diagram of the binocular camera wall installation for realizing the binocular stitching image flipping 180° method in this embodiment. Figure 3 and Figure 4 As shown, this embodiment can configure binocular cameras with different installation methods according to different installation scenarios.

[0052] The method for implementing a 180° flip of a binocular stitched image in this embodiment includes the following steps:

[0053] 1. Use Yutong lens as the lens of the binocular camera, Sony IMX664 with a resolution of 4MP as the sensor image sensor, and Hisi as the main chip for encoding and decoding. Design the structural support and appearance that meet the requirements of binocular stitching, so that the fusion of binocular lens Fov meets 12.5°, and the panoramic image after stitching meets the effect of 180° horizontally and 50° vertically. Preferably, the structural support and appearance are as follows: Figure 3 or Figure 4 The binocular camera shown.

[0054] 2. Use the slave mode of Sony IMX664 to light up the image sensor of the binocular camera, where the image sensor is divided into a first image sensor seneor0 and a second image sensor sensor1, the first image sensor corresponds to the first camera, and the second image sensor corresponds to the second camera.

[0055] 3. Configure the driver slv_sync.slave_bind_dev parameter to synchronize the row and field signals of sensor0 with those of seneor1; configure the flipping mode of the image data at the driver level of seneor0 and sensor1 according to the installation mode of the binocular camera selected by the user, so that when the image sensor outputs the image data, the image data has been rotated and mirrored according to the configured flipping mode. The installation modes are divided into ceiling mounting and wall mounting.

[0056] 4. By configuring the first image data and the second image data output by sensor0 and sensor1 to the corresponding mipi lane, the isp pipeline of the soc is opened to realize the data flow connection of VI / VPSS / VENC. Figure 5-1 This is a data processing flow chart of the top-mounted binocular camera in the method for implementing a 180° flip of the binocular stitching image in this embodiment. Figure 5-2 This is a data processing flow chart of the wall-mounted binocular camera in the method for implementing a 180° flip of the binocular stitching image in this embodiment.

[0057] In a specific implementation, when the installation method is top installation, such as Figure 5-1 As shown, the data flow is:

[0058] The first image data output by sensor0 is transmitted to mipi1 lane4-7 through i2c busid3. The output of mipi1 lane4-7 is used as the input of dev2 of the first video input module VI0. The first video input module VI0 transmits the first image data to the image processing subsystem VPSS through pipe0.

[0059] The second image data output by sensor1 is transmitted to mipi0 lane0-3 through i2c busid4, and the output of mipi0 lane0-3 is used as the input of dev0 of the second video input module VI1. The second video input module VI1 transmits the second image data to the image processing subsystem VPSS through pipe1.

[0060] In a specific implementation, when the installation type is wall-mounted, such as Figure 5-2 As shown, the data flow is:

[0061] The first image data output by sensor0 is transmitted to the second mipi lane4-7 through i2c busid4. The output of the second mipi lane4-7 is used as the input of dev2 of the second video input module. The second video input module VI1 transmits the first image data to the image processing subsystem VPSS through pipe1.

[0062] The second image data output by sensor1 is transmitted to the first mipi lane0-3 through i2c busid3. The output of the first mipi lane0-3 is used as the input of dev0 of the first video input module. The first video input module VI0 transmits the second image data to the image processing subsystem VPSS through pipe0.

[0063] 5. The image processing subsystem performs image stitching, brightness correction and color difference correction on the received first image data and second image data.

[0064] In a specific implementation, the received first image data and the second image data are stitched according to a pre-generated internal and external parameter calibration file and a pre-generated stitching file. Preferably, the stitching file is a bin stitching file of different precisions and object distances generated by calling mpi_stitch_lut_generate;

[0065] Preferably, the internal and external calibration files are obtained by the following steps:

[0066] The binocular camera uses the checkerboard method to capture multiple images at different distances, positions, and rotation angles in the simulated three-dimensional space. Preferably, 16 images are captured. Then, in combination with the distance and angle changes, multiple images are captured of the overlapping area of ​​the first camera and the second camera of the binocular camera. Preferably, 22 images are captured. The internal and external parameter calibration files are generated by combining the above captured images with the PQtools tool as the LUT used for image stitching.

[0067] Preferably, when the installation type is ceiling-mounted, the image data stitching and fusion area is the right side of sensor0, and the statistical information reference area is the left side of sensor1; when the installation type is wall-mounted, the image data stitching and fusion area is the right side of sensor1, and the statistical information reference area is the left side of sensor0.

[0068] Due to the process and optical problems of the lens, there is an image problem in which the middle of the lens is brighter and the surroundings are darker. The part where the two images are spliced ​​and fused belongs to the edge of the image. Therefore, the inconsistency of the brightness of the two images often leads to abnormal brightness after the image is spliced. For this reason, lens shading correction LSC needs to be performed. In a specific implementation of an embodiment of the present invention, the spliced ​​image data is brightness corrected by configuring the mpi_vpss_start_grp_stitch_luma_sync function and using the lsc data pre-generated in the sensor driver. The brightness consistency of sensor0 and sensor1 can be achieved by configuring the mpi_vpss_start_grp_stitch_luma_sync function. Preferably, the lsc data is generated by the following steps:

[0069] The binocular camera lens is used to shoot the uniform light source through the light board, and the external light source is controlled to make the central brightness close to the predetermined maximum percentage brightness, and the raw data at this time is collected, and the lsc data of the mesh color mapping MeshShading is generated through the MSLC calibration framework. Preferably, the maximum percentage brightness is 70%.

[0070] In a specific implementation, the color difference correction is: performing color difference compensation on the spliced ​​image data through the difference statistics result of the automatic white balance.

[0071] Preferably, the width of the automatic white balance AWB statistical area relative to the overlapping fields of view of sensor0 and sensor1 is configured, and the automatic white balance difference of the overlapping fields of view is counted to obtain the statistical result of the automatic white balance difference.

[0072] Preferably, the isp_pipe_diff_attr.op_type parameter in pipe0 is set to 0, that is, it is set to auto mode, and the color consistency automatic calibration function is turned on.

[0073] 6. The image data processed by the image data processing subsystem is transmitted to the video encoder VENC and output.

[0074] Figure 6 This is a diagram showing the effect of a binocular image flipping 180° in the method for implementing a binocular stitching image flipping 180° in this embodiment. Figure 6 As shown, the method of this embodiment opens up the ISP pipeline through multi-processing of spatial geometric distortion, brightness consistency, and color consistency, and adjusts the actual object distance configuration, and realizes a 180° flip of the binocular stitching image through software.

[0075] Embodiment three:

[0076] The present invention also provides a device for realizing 180° flipping of binocular stitching images, such as Figure 7 As shown, the device includes a processor 701, a memory 702, a bus 703, and a computer program stored in the memory 702 and executable on the processor 701. The processor 701 includes one or more processing cores. The memory 702 is connected to the processor 701 via the bus 703. The memory 702 is used to store program instructions. When the processor executes the computer program, the steps in the above method embodiment of the first embodiment of the present invention are implemented.

[0077] Further, as an executable solution, the device for realizing a 180° flip of a binocular stitched image may be a computer unit, which may be a computing device such as a desktop computer, a notebook, a PDA, and a cloud server. The computer unit may include, but is not limited to, a processor and a memory. Those skilled in the art may understand that the composition structure of the above-mentioned computer unit is only an example of a computer unit and does not constitute a limitation on the computer unit. It may include more or less components than the above, or a combination of certain components, or different components. For example, the computer unit may also include input and output devices, network access devices, buses, etc., which are not limited in the embodiments of the present invention.

[0078] Further, as an executable solution, the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the computer unit, and various interfaces and lines are used to connect the various parts of the entire computer unit.

[0079] The memory can be used to store the computer program and / or module, and the processor realizes various functions of the computer unit by running or executing the computer program and / or module stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required for a function; the data storage area can store data created according to the use of the mobile phone, etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0080] Embodiment 4:

[0081] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the steps of the method described above are implemented.

[0082] Although the present invention has been specifically shown and described in conjunction with the preferred embodiments, it should be understood by those skilled in the art that various changes may be made to the present invention in form and details without departing from the spirit and scope of the present invention as defined by the appended claims, all of which are within the scope of protection of the present invention.

Claims

1. A method for realizing 180° flipping of binocular stitching images, characterized in that: The method comprises: Light up the first image sensor and the second image sensor of the binocular camera in Slave mode, and configure the row field signal of the first image sensor to be synchronized with the row field signal of the second image sensor, wherein the first image sensor corresponds to the first camera, and the second image sensor corresponds to the second camera; The first image sensor and the second image sensor are configured with an image flipping method and an image data transmission process that are consistent with the installation type according to a pre-selected installation type, wherein the installation type includes: ceiling mounting or wall mounting; the image flipping method is: when the first image sensor outputs the first image data and the second image sensor outputs the second image data, the first image data and the second image data are image data processed by a predetermined rotation and mirror processing method; Among them, when the installation type is top installation, the image data transmission process is: Configure the first image data of the first image sensor to be transmitted to the second mipi lanes 4 to 7 through i2c busid3, and the output of the second mipi lanes 4 to 7 is used as the input of dev2 of the first video input module; The second image data of the second image sensor is configured to be transmitted to the first mipi lanes 0 to 3 through i2c busid4, and the output of the first mipi lanes 0 to 3 is used as the input of dev0 of the second video input module; Wherein, when the installation type is wall-mounted, the image data transmission process is: Configure the first image data of the first image sensor to be transmitted to the second mipi lanes 4 to 7 through i2c busid4, and the output of the second mipi lanes 4 to 7 is used as the input of dev2 of the second video input module; The second image data of the second image sensor is configured to be transmitted to the first mipi lane0-3 through i2c busid3, and the output of the first mipi lane0-3 is used as the input of dev0 of the first video input module; The image data processing subsystem receives the first image data output by the first video input module and the second image data output by the second video input module, and preprocesses the received first image data and the received second image data, wherein the preprocessing includes image stitching, brightness correction and color correction, and the image stitching is: stitching the received first image data and the received second image data according to a pre-generated internal and external parameter calibration file and a pre-generated stitching file.

2. The method for realizing 180° flipping of binocular stitching images according to claim 1, characterized in that: The binocular camera is a camera that uses a Yutong lens, an image sensor model of Sony IMX664, and uses Hisi as the main chip for encoding and decoding.

3. The method for realizing 180° flipping of binocular stitching images according to claim 1, characterized in that: In the image stitching, when the installation type is ceiling mounting, the image data stitching and fusion area is the right side of the first image sensor, and the statistical information reference area is the left side of the second image sensor; when the installation type is wall mounting, the image data stitching and fusion area is the right side of the second image sensor, and the statistical information reference area is the left side of the first image sensor.

4. The method for realizing 180° flipping of binocular stitching images according to claim 1, characterized in that: The brightness correction is: by configuring the mpi_vpss_start_grp_stitch_luma_sync parameter and using the pre-generated lsc data to perform brightness correction on the spliced ​​image data; The color correction is to perform color difference compensation on the spliced ​​image data through the difference statistics result of the automatic white balance.

5. The method for realizing 180° flipping of binocular stitching images according to claim 1, characterized in that: Also includes: Using the first image sensor and the second image sensor respectively, taking multiple sets of images at different distances, positions, and rotation angles in a simulated three-dimensional space by adopting a checkerboard method, and generating the internal and external parameter calibration file in combination with a PQtools tool; The mpi_stitch_lut_generate function is called to generate the stitching files of different precisions and object distances.

6. The method for realizing 180° flipping of binocular stitching images according to claim 4, characterized in that: The lsc data is generated by the following steps: The lens of the binocular camera shoots the light source uniformly passing through the light board, controls the external light source so that the central brightness of the light source photographed by the lens is close to the predetermined maximum percentage brightness, collects the image data at this time, calibrates the image data through the MSLC calibration framework, and generates the lsc data.

7. The method for realizing 180° flipping of binocular stitching images according to claim 4, characterized in that: The statistical results of the difference of the automatic white balance are: The width of the overlapping field of view between the first camera and the second camera is configured, and the difference of automatic white balance data in the overlapping field of view is counted to obtain the difference statistical result of the automatic white balance.

8. The method for realizing 180° flipping of binocular stitching images according to claim 4, characterized in that: The method of performing color difference compensation on the spliced ​​image data by using the difference statistics result of the automatic white balance further includes: setting the isp_pipe_diff_attr.op_type parameter to 0.

9. A device for realizing 180° flipping of binocular stitching images, characterized in that: The method comprises a memory and a processor, wherein the memory stores at least one program, and the at least one program is executed by the processor to implement the steps of the method for flipping a binocular stitched image by 180° as claimed in any one of claims 1 to 8.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method for realizing 180° flipping of a binocular stitched image as described in any one of claims 1 to 8 are implemented.

Images