Cms field of view verification method and device, and camera

Abstract

The application provides a CMS field of view calibration method, which comprises the following steps: determining the current horizontal direction and vertical direction pixel numbers of a camera according to the current orientation of the camera and the preset horizontal direction and vertical direction pixel numbers of the camera; calculating the horizontal half field of view angle and the vertical half field of view angle of the camera; calculating one or more horizontal reference angles and vertical reference angles according to one or more preset reference points and the center of the camera entrance pupil; determining the angle offset of the camera according to the eccentricity parameter of the camera; determining the horizontal reference angle and the vertical reference angle of the camera according to the angle offset, the horizontal reference angle and the vertical reference angle; comparing the horizontal half field of view angle and the vertical half field of view angle with the one or more horizontal reference angles and vertical reference angles to obtain a comparison result; and adjusting the installation angle or the field of view angle of the camera to meet the requirements according to the comparison result when the comparison result does not meet the requirements. The application also provides a CMS field of view calibration device and a camera.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle-mounted technology, and particularly relates to a CMS field of view checking method and device and a camera. BACKGROUND

[0002] With the increasing popularity of vehicle-mounted CMS, whether it is a commercial vehicle or a passenger vehicle, a CMS device will be installed. The CMS device can expand the field of view, reduce the blind area, and reduce wind resistance compared with the traditional physical rearview mirror.

[0003] In the prior art, the CMS device cannot be installed and checked in the design stage, and it cannot be determined whether the CMS field of view range meets the installation requirements. Therefore, when the CMS device is installed and checked, a great uncertainty and workload is increased. SUMMARY

[0004] Therefore, the present application provides a CMS field of view checking method, device and camera, which can deduce the optimal installation position of the CMS device meeting the installation requirements, so as to improve the accuracy of the CMS device installation.

[0005] In a first aspect, the present application provides a CMS field of view calibration method, which comprises: determining horizontal and vertical pixel numbers of a camera in a current horizontal direction and a current vertical direction according to a current orientation of the camera, and a first pixel number and a second pixel number of the camera in a preset horizontal direction and a preset vertical direction, wherein the horizontal pixel number is one of the first pixel number and the second pixel number, and the vertical pixel number is the other one of the vertical pixel number, wherein the camera is installed in a corresponding calibration position according to a preset installation configuration parameter in a corresponding orientation, and an optical axis direction of the camera is in a horizontal direction or a vertical direction; calculating a horizontal half field of view angle and a vertical half field of view angle of the camera in the horizontal direction and the vertical direction; calculating one or more horizontal reference angles and one or more vertical reference angles according to one or more preset reference points and a center of an entrance pupil of the camera, wherein the one or more preset reference points satisfy one or more position points of a preset eye point relative to the camera, the horizontal reference angle is an included angle between a line connecting each preset reference point and the center of the entrance pupil of the camera and the horizontal direction, and the vertical reference angle is an included angle between the line connecting each preset reference point and the center of the entrance pupil of the camera and the vertical direction; determining an angle offset of the camera according to a decentration parameter of the camera; determining one or more horizontal reference angles or one or more vertical reference angles of the camera according to the angle offset and the one or more horizontal reference angles or the angle offset and the one or more vertical reference angles, respectively; comparing the horizontal half field of view angle and the vertical half field of view angle with the one or more horizontal reference angles and the one or more vertical reference angles, respectively, to obtain a comparison result; and adjusting an installation angle or a field of view angle of the camera according to the comparison result until the comparison result meets a requirement when the comparison result does not meet the requirement.

[0006] In a second aspect, the present application provides a CMS field of view calibration device, which determines the number of horizontal direction pixels and the number of vertical direction pixels in the current horizontal direction and the current vertical direction of the camera according to the orientation of the current camera and the first number of pixels and the second number of pixels in the preset horizontal direction and the preset vertical direction of the camera; the CMS field of view calibration device comprises one or more preset reference points, a collection module and a correction module. The one or more preset reference points are used to calculate one or more horizontal reference angles and one or more vertical reference angles with the center of the entrance pupil of the camera, the one or more preset reference points satisfy one or more position points relative to the preset eye point of the camera, the horizontal reference angle is the included angle between the line connecting each preset reference point and the center of the entrance pupil of the camera and the horizontal direction, and the vertical reference angle is the included angle between the line connecting each preset reference point and the center of the entrance pupil of the camera and the vertical direction. The collection module is used to collect the relevant parameters of the camera. The correction module comprises a calculation unit, a comparison unit and a correction unit. The calculation unit is used to calculate the horizontal half field angle and the vertical half field angle of the camera, and determine the angle offset of the camera according to the eccentricity parameter of the camera, and determine one or more horizontal reference angles or one or more vertical reference angles of the camera according to the angle offset and the one or more horizontal reference angles or the angle offset and the one or more vertical reference angles, respectively. The comparison unit is used to compare the horizontal half field angle and the vertical half field angle with the one or more horizontal reference angles and the one or more vertical reference angles, respectively, to obtain a comparison result. The correction unit is used to adjust the installation angle or the field angle of the camera according to the comparison result when the comparison result does not meet the requirements until the comparison result meets the requirements.

[0007] In a third aspect, the present application provides a camera with CMS field of view calibration, which comprises a memory and a processor. The memory is used to store the control program of the CMS field of view calibration. The processor is used to execute the control program instructions of the CMS field of view calibration to implement the CMS field of view calibration method.

[0008] In summary, the present application compares the camera half field angle, the sensor half field angle, the display screen half field angle and the one or more reference angles in sequence and obtains a comparison result, adjusts the installation angle or the field angle of the camera according to the comparison result until the optimal installation position is reached, and the accuracy of the CMS device installation can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0009] Figure 1 The CMS field of view calibration method flowchart provided by the embodiments of the present application.

[0010] Figure 2 A structure diagram of a horizontal direction field of view provided for an embodiment of the present application.

[0011] Figure 3 A structure diagram of a horizontal direction field of view provided for an embodiment of the present application.

[0012] Figure 4 A structure diagram of a device for CMS field of view checking provided for an embodiment of the present application.

[0013] Figure 5 A structure diagram of a correction module provided for an embodiment of the present application.

[0014] Figure 6 A structure diagram of a camera provided for an embodiment of the present application. DETAILED DESCRIPTION

[0015] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0016] The terms "first", "second", "third", "fourth" and the like (if any) in the description and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0017] It should be noted that the description involving "first", "second" and the like in the present application is only for the purpose of description, and should not be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it, when the combination of technical solutions appears to be contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the scope of protection claimed by the present application.

[0018] Please refer to Figure 1 , Figure 1A method flow chart of the CMS field of view calibration provided by the embodiments of the present application. The method of the CMS field of view calibration comprises the following steps.

[0019] In step S100, the number of horizontal pixels and the number of vertical pixels in the current horizontal direction and the current vertical direction of the camera are determined according to the current orientation of the camera and the first pixel number and the second pixel number in the preset horizontal direction and the preset vertical direction of the camera. Specifically, the number of horizontal pixels is one of the first pixel number and the second pixel number, and the total number of pixels in the vertical direction is the other one of the vertical direction pixel number. The camera is installed in the corresponding calibration position according to the preset installation configuration parameter in the corresponding orientation, and the optical axis direction of the camera is in the horizontal direction or the vertical direction. According to the current orientation of the camera, it is determined whether the current camera orientation is rotated by 90° compared with the preset camera orientation. The preset camera orientation is determined according to the imaging direction of the camera when capturing an image in the design. If the current camera orientation is rotated by 90° compared with the preset camera orientation, the current horizontal direction pixel number is the first pixel number or the second pixel number corresponding to the preset vertical direction, and the current vertical direction pixel number is the other pixel number corresponding to the preset horizontal direction. For example, the preset horizontal direction pixel number and the preset vertical direction pixel number of the camera are H0=1920 and V0=1080, respectively. If the camera orientation is rotated by 90° compared with the preset camera orientation, then the current horizontal direction pixel number H1 of the camera is 1080, and the current vertical direction pixel number V1 is 1920.

[0020] In the present embodiment, the preset eye point is taken as the origin, the X axis is parallel to the optical axis direction of the camera, the Z axis is vertical to the ground, the Z axis and the X axis form an XZ plane, and the Y axis is vertical to the XZ plane and intersects the origin. The X axis, the Z axis and the Y axis are all taken as the positive direction in the direction of the camera. A three-dimensional coordinate system is established. The XY plane formed by the X axis and the Y axis is the plane in which the current horizontal direction of the camera is located, and the YZ plane formed by the Z axis and the Y axis is the plane in which the current vertical direction of the camera is located. The preset eye point is the midpoint between the two eyes of the driver. The preset horizontal direction pixel number corresponds to the first pixel number, and the preset vertical direction pixel number corresponds to the second pixel number. The current orientation of the camera is the same as the preset camera orientation, and the current horizontal direction and the vertical direction of the image obtained by the camera correspond to the preset horizontal direction and the preset vertical direction. That is, the first pixel number and the second pixel number of the camera are H0=1920 and V0=1080, respectively. The current horizontal direction pixel number H1 of the camera is 1920, and the current vertical direction pixel number V1 is 1080. The establishment of the above coordinate system is only an example and is not limited herein.

[0021] Step S200, the half field of view of the camera in the horizontal direction and the vertical direction are calculated to obtain the horizontal half field of view and the vertical half field of view of the camera. Specifically, the half field of view of the camera is calculated according to the size of the sensor in the horizontal direction and the vertical direction, and the effective focal length of the camera, and the horizontal half field of view of the camera and the vertical half field of view of the camera are calculated by using the formula respectively. Taking the horizontal half field of view of the camera as an example, the specific calculation formula is as follows: Wherein, CHFOV represents the horizontal half field of view of the camera, SHsize is the size of the sensor in the horizontal direction, and the unit is millimeter (mm). efl is the effective focal length, which represents the distance from the main plane after the lens to the focal plane or the focal point, and the unit is millimeter (mm). The calculation principle of the vertical half field of view of the camera is the same as that of the horizontal half field of view of the camera described above, and only the size of the sensor in the horizontal direction is replaced by the size of the sensor in the vertical direction.

[0022] Step S300, one or more horizontal reference angles and one or more vertical reference angles are calculated according to one or more preset reference points and the center of the entrance pupil of the camera. Specifically, the one or more preset reference points satisfy the first specified one or more position points relative to the preset eye point of the camera. The horizontal reference angle is the included angle between the line connecting each preset reference point and the center of the entrance pupil of the camera and the horizontal direction. The vertical reference angle is the included angle between the line connecting each preset reference point and the center of the entrance pupil of the camera and the vertical direction. Specifically, one or more horizontal reference angles are calculated according to one or more preset reference points and the center of the entrance pupil of the camera, which are calculated by using the first formula. One or more vertical reference angles are calculated according to one or more preset reference points and the center of the entrance pupil of the camera, which are calculated by using the second formula. Wherein: the first formula is: The second formula is: Wherein, θ represents the horizontal reference angle, represents the vertical reference angle, x represents the distance between the preset reference point and the preset eye point in the horizontal direction, x0 represents the distance between the center of the entrance pupil of the camera and the preset eye point in the horizontal direction, y represents the distance between the preset reference point and the preset eye point in the vertical direction, y0 represents the distance between the center of the entrance pupil of the camera and the preset eye point in the vertical direction, and z represents the distance between the preset reference point and the preset eye point in the Z-axis direction.

[0023] In the embodiment, the one or more preset reference points include a first preset reference point A and a second preset reference point B. The first preset reference point A is a position point 4 m away from the preset eye point horizontally and 1 m away from the preset eye point vertically, and the coordinates of the first preset reference point A in the XY plane are (4, 1). The second preset reference point B is a position point 20 m away from the preset eye point horizontally and 4 m away from the preset eye point vertically, and the coordinates of the second preset reference point B in the XY plane are (20, 4). The coordinates of the center of the entrance pupil of the camera in the XY plane are (510.23, 291.51). The horizontal reference angle of the first preset reference point A is calculated according to the following formula: The horizontal reference angle of the second preset reference point B is calculated according to the following formula: The vertical reference angle is calculated according to the same principle as the horizontal reference angle, except that x is converted to y and y is converted to z in the horizontal reference angle, so as to obtain the horizontal reference angle of the first preset reference point A and the horizontal reference angle of the second preset reference point B The setting of the preset reference points is only an example and is not limited herein, and can be set according to actual needs.

[0024] In step S400, the angle offset of the camera is determined according to the eccentricity parameters of the camera. Specifically, the angle offset Δ of the camera is determined according to the eccentricity parameters and the eccentricity direction of the preset camera and the sensor. The orientation of the camera and the eccentricity parameters of the camera are included in the preset parameters of the camera.

[0025] In step S500, one or more horizontal reference angles or one or more vertical reference angles of the camera are determined according to the angle offset and the one or more horizontal reference angles, or the angle offset and the one or more vertical reference angles, respectively. In the embodiment, the first horizontal reference angle θ1±Δ is obtained according to the angle offset and the horizontal reference angle θ1, and the second horizontal reference angle θ2±Δ is determined according to the angle offset and the horizontal reference angle θ2. Similarly, the first vertical reference angle is determined according to the angle offset and the vertical reference angle determined according to the angle offset and the vertical reference angle determined according to the angle offset and the vertical reference angle determined according to the angle offset and the vertical reference angle

[0026] Step S600, the horizontal and vertical half field of view are compared with one or more horizontal and vertical reference angles respectively to obtain comparison results. In the embodiment, the horizontal half field of view of the camera is compared with the first and second horizontal reference angles respectively to obtain comparison results, that is, CHFOV is compared with θ1±Δ and CHFOV is compared with θ2±Δ. The vertical half field of view of the camera is compared with the first and second vertical reference angles respectively to obtain comparison results, that is, CRFOV is compared with θ1±Δ and CRFOV is compared with θ2±Δ. The comparison results are the angle differences between the two. The comparison results are the angle differences between the two.

[0027] Step S700, when the comparison results do not meet the requirements, the installation angle or the field of view of the camera is adjusted according to the comparison results until the comparison results meet the requirements. Specifically, when any one of the comparison results of the horizontal half field of view of the camera with one or more horizontal reference angles and the comparison results of the vertical half field of view with one or more vertical reference angles does not meet the requirements, the installation angle or the field of view of the camera needs to be adjusted according to the corresponding comparison result that does not meet the requirements until each of the above meets the requirements.

[0028] In the embodiment, when the horizontal half field of view of the camera is less than any one of the first and second horizontal reference angles or the vertical half field of view of the camera is less than any one of the first and second vertical reference angles, it is defined as not meeting the requirements. The horizontal half field of view of the camera CHFOV is less than the first horizontal reference angle θ1±Δ, and the angle difference between the horizontal half field of view of the camera CHFOV and the first horizontal reference angle θ1±Δ is Δθ1. The vertical half field of view of the camera CRFOV is less than the first vertical reference angle θ1±Δ, and the angle difference between the vertical half field of view of the camera CRFOV and the first vertical reference angle θ1±Δ is Δθ1. The installation angle of the camera in the horizontal direction is offset by the angle difference Δθ1 to meet the requirements.

[0029] In some possible embodiments, the horizontal half field of view of the camera is less than the first horizontal reference angle, and the angle difference between the two is Δθ1. The horizontal half field of view of the camera is less than the second horizontal reference angle, and the angle difference between the two is Δθ2. By comparing the sizes of Δθ1 and Δθ2, the maximum of the two is obtained as the optimal adjustment angle Δe. The installation angle or the field of view of the camera in the horizontal direction is adjusted by Δe, and then the fine adjustment is checked until the requirements are met. The optimal adjustment angle described above is only an example, which is not limited herein and can be selected according to actual conditions.

[0030] In some possible embodiments, the horizontal half field of view of the camera is less than the first horizontal reference angle, and the angle difference between the two is Δθ1. The vertical half field of view of the camera is less than the second vertical reference angle, and the angle difference between the two is Δθ2. By comparing the sizes of Δθ1 and Δθ2, the maximum of the two is obtained as the optimal adjustment angle Δe. The installation angle or the field of view of the camera in the horizontal direction is adjusted by Δe, and then the fine adjustment is checked until the requirements are met. The optimal adjustment angle described above is only an example, which is not limited herein and can be selected according to actual conditions. ​adjusting the mounting angle or the field of view angle of the camera in the horizontal direction by Δθ1, and adjusting the mounting angle or the field of view angle of the camera in the vertical direction by Δθ2, wherein Δθ1 and Δθ2 are determined according to the following formulae: Verify the fine adjustment until it meets the requirements.

[0031] After the horizontal half field of view angle and / or the vertical half field of view angle of the camera are verified, the CMS field of view verification further includes a horizontal half field of view angle verification of the sensor physically connected to the camera and a vertical half field of view angle verification of the sensor. The following is a specific description of the calculation of the horizontal half field of view angle of the actual sensor and the vertical half field of view angle of the actual sensor.

[0032] The horizontal half field of view angle and the vertical half field of view angle of the sensor are obtained by calculating the half field of view angle of the sensor in the horizontal direction and the vertical direction. The horizontal half field of view angle of the sensor and the vertical half field of view angle of the sensor are compared with the horizontal half field of view of the camera and the vertical half field of view of the camera respectively to correspondingly obtain the horizontal half field of view angle of the actual sensor and the vertical half field of view angle of the actual sensor. The horizontal half field of view angle of the actual sensor and the vertical half field of view angle of the actual sensor are compared with one or more horizontal reference angles and vertical reference angles respectively to obtain comparison results. When the comparison results do not meet the requirements, the mounting angle or the field of view angle of the camera is adjusted according to the comparison results until the comparison results meet the requirements.

[0033] Specifically, the horizontal half field of view angle of the sensor is calculated according to the number of pixels in the horizontal direction, the pixel size, and the focal length by using a third formula. The third formula is specifically: The vertical half field of view angle of the sensor is calculated according to the number of pixels in the vertical direction, the pixel size, and the focal length by using a fourth formula. The fourth formula is specifically: wherein S HFOV represents the horizontal half field of view angle of the sensor, S VFOV represents the vertical half field of view angle of the sensor, Hpixelnum represents the number of pixels in the horizontal direction, Vpixelnum represents the number of pixels in the vertical direction, and pixelsiz represents the pixel size. The following is a detailed explanation of the third formula by taking the horizontal half field of view angle of the sensor as an example. Hpixelnum*pixelsize represents the total length of pixels in the horizontal direction. represents the conversion of the total length of pixels in the horizontal direction from units of micrometers (μm) to millimeters (㎜). represents the radian of the horizontal half field of view angle (S HFOV) of the sensor. represents the conversion of the radian of the horizontal half field of view angle (S HFOV) of the sensor into an angle.

[0034] The minimum value of the sensor and the camera in the horizontal direction is obtained by comparing the horizontal half field of view angle of the sensor with the horizontal half field of view angle of the camera, and the minimum value of the sensor and the camera in the vertical direction is obtained by comparing the vertical half field of view angle of the sensor with the half field of view angle of the camera, so as to obtain the horizontal half field of view angle (C SHFOV) of the actual sensor and the vertical half field of view angle (C VHFOV) of the actual sensor. That is, C SHFOV = min{the horizontal half field of view angle (C HFOV) of the camera, the horizontal half field of view angle (S HFOV) of the sensor}, and C SHFOV = min{the vertical half field of view angle (C VFOV) of the camera, the vertical half field of view angle (S VFOV) of the sensor}.

[0035] The comparison result is obtained by comparing the horizontal half field of view angle (C SHFOV) of the actual sensor, the vertical half field of view angle (C VHFOV) of the actual sensor with one or more horizontal reference angles and vertical reference angles, and the installation angle or the field of view angle of the camera is adjusted according to the comparison result until the comparison result meets the requirements. Therefore, the principle of the camera can be referred to, and details are not described herein.

[0036] After the horizontal half field of view angle and / or the vertical half field of view angle of the camera are checked, and the horizontal half field of view angle of the sensor and / or the vertical half field of view angle of the sensor are checked, the CMS field of view checking further includes checking the horizontal half field of view angle of the display screen and the vertical half field of view angle of the display screen which are in communication connection with the camera. The following is a specific description of the calculation and checking of the horizontal half field of view angle of the display screen and the vertical half field of view angle of the display screen.

[0037] The horizontal half field of view angle and the vertical half field of view angle of the display screen are obtained by calculating the half field of view angle of the display screen in the horizontal direction and the vertical direction. The horizontal half field of view angle and the vertical half field of view angle of the display screen are compared with one or more horizontal reference angles and vertical reference angles respectively to obtain a comparison result. When the comparison result does not meet the requirements, the installation angle or the field of view angle of the camera is adjusted according to the comparison result until the comparison result meets the requirements. The half field of view angle of the display screen includes a left half field of view angle of the display screen and a right half field of view angle of the display screen. Specifically, the left half field of view angle of the display screen is the included angle between the line connecting the left edge of the display screen and the center of the entrance pupil of the camera and the horizontal direction. The right half field of view angle of the display screen is the included angle between the line connecting the right edge of the display screen and the center of the entrance pupil of the camera and the horizontal direction.

[0038] In the embodiment, the display screen half field of view angle is the angle between the display screen 3 and the plane where the horizontal direction is located. That is, the display screen half field of view angle is determined according to the horizontal direction and analyzed in the XY plane, and the angle between the display screen 3 and the central axis 200 of the camera 2. Specifically, the number of offset pixels of the camera is obtained according to the offset angle and direction of the camera optical axis, the focal length of the camera, and the size of the sensor. The image of the camera can be processed in a manner such as scaling, cropping, rotating, and the like before being transmitted to the display screen. The number of pixel offsets of the display screen is obtained according to the processing manner of the image, the width of the display screen resolution, and the original width of the image. The offset direction of the camera optical axis corresponds to the pixel offset direction on the display screen. The display screen left half field of view angle (DLFOV) is the angle between the pixel point of the leftmost edge 31 of the display screen and the central axis of the camera 2. The display screen right half field of view angle (DRFOV) is the angle between the pixel point of the rightmost edge 32 of the display screen and the central axis 200 of the camera 2. The comparison results and the adjustment manner of the display screen can be obtained according to the principle of the camera, and are not described herein.

[0039] In some possible embodiments, generally, the camera is arranged on the left side of the vehicle body. If the left half field of view angle of the display screen meets the comparison result requirement, the right half field of view angle of the display screen also naturally meets the comparison result requirement. Therefore, whether the left half field of view angle of the display screen or the right half field of view angle of the display screen is compared with the reference angle can be determined according to the position of the display screen mounted on the vehicle body. For example, when the camera is mounted on the left side of the vehicle, the left half field of view angle of the display screen is compared with the reference angle.

[0040] The comparison of the camera half field of view angle, the sensor half field of view angle, the display screen half field of view angle with one or more reference angles and the comparison results are obtained in sequence. The installation angle or the field of view angle of the camera is adjusted according to the comparison results until the camera is adjusted to the optimal installation position, which can improve the installation accuracy of the CMS device.

[0041] Please refer to Figure 4 , Figure 4 The structural block diagram of the CMS field of view checking device 1 provided in the embodiment is shown in FIG. 1. The horizontal direction pixel number and the vertical direction pixel number in the current horizontal direction and the current vertical direction of the camera are determined according to the orientation of the current camera and the first pixel number and the second pixel number in the preset horizontal direction and the preset vertical direction of the camera, so as to calculate the horizontal half field of view angle and the vertical half field of view angle of the camera. The horizontal direction pixel number is one of the first pixel number and the second pixel number, and the vertical direction pixel number is the other one of the vertical direction pixel number. The camera is installed in a corresponding checking position according to a corresponding installation configuration parameter in a corresponding orientation, and the optical axis direction of the camera is in the horizontal direction or the vertical direction.

[0042] The device 1 for CMS field of view calibration comprises one or more preset reference points 7, an acquisition module 8, and a correction module 9.

[0043] The one or more preset reference points 7 are used to calculate one or more horizontal reference angles and one or more vertical reference angles with the center of the entrance pupil of the camera. The one or more preset reference points 7 satisfy one or more position points of the preset eye point relative to the camera, the horizontal reference angle is the included angle between the line connecting each preset reference point 7 and the center of the entrance pupil of the camera and the horizontal direction, and the vertical reference angle is the included angle between the line connecting each preset reference point 7 and the center of the entrance pupil of the camera and the vertical direction.

[0044] The acquisition module 8 is used to acquire relevant parameters of the camera. Specifically, the acquisition module 8 acquires the size of the sensor pixels in the horizontal direction and the vertical direction, the first pixel number and the second pixel number in the preset horizontal direction and the preset vertical direction, the display screen parameters, and the known quantities such as the effective focal length and the eccentricity parameter of the camera.

[0045] The correction module 9 comprises a calculation unit 10, a comparison unit 20, and a correction unit 30. The calculation unit 10 is used to calculate the horizontal half field of view angle and the vertical half field of view angle of the camera according to the relevant parameters acquired by the acquisition module 8, to determine the angle offset of the camera according to the eccentricity parameter of the camera, and to determine one or more horizontal reference angles or one or more vertical reference angles of the camera according to the angle offset and the one or more horizontal reference angles or the angle offset and the one or more vertical reference angles, respectively. The comparison unit 20 is used to compare the horizontal half field of view angle and the vertical half field of view angle with the one or more horizontal reference angles and the one or more vertical reference angles, respectively, to obtain a comparison result. The correction unit 30 is used to adjust the installation angle or the field of view angle of the camera according to the comparison result when the comparison result does not meet the requirements until the comparison result meets the requirements.

[0046] The device 1 for CMS field of view calibration further comprises a sensor in physical connection with the camera and a display screen in communication connection with the camera. The following is a detailed description of the calibration of the sensor and the calibration of the display screen.

[0047] After the horizontal half field of view angle and / or the vertical half field of view angle of the camera are calibrated, the calculation unit 10 is further used to calculate the horizontal half field of view angle of the sensor and the vertical half field of view angle of the sensor. Specifically, the calculation unit 10 obtains the horizontal half field of view angle of the sensor through a third formula, The calculation unit 10 obtains the vertical half field of view angle of the sensor through a fourth formula, and the specific formula is: S HFOV, Hpixelnum, Vpixelnum, pixelsize, efl, S VFOV, wherein S HFOV represents the horizontal half field of view of the sensor, Hpixelnum represents the number of pixels in the horizontal direction, Vpixelnum represents the number of pixels in the vertical direction, pixelsize represents the pixel size, efl represents the focal length, and S VFOV represents the vertical half field of view of the sensor. The comparison unit 20 compares the horizontal half field of view of the sensor with the horizontal half field of view of the camera and compares the vertical half field of view of the sensor with the vertical half field of view of the camera to obtain the actual horizontal half field of view of the sensor and the actual vertical half field of view of the sensor, respectively. The actual horizontal half field of view of the sensor and the actual vertical half field of view of the sensor are compared with one or more horizontal reference angles and vertical reference angles, respectively, to obtain a comparison result, and the camera is adjusted according to the comparison result. For the principle of the camera, details are not described herein.

[0048] After the horizontal half field of view of the camera and / or the vertical half field of view of the camera is calibrated, and the horizontal half field of view of the sensor and / or the vertical half field of view of the sensor is calibrated, the calculation unit 10 obtains the left half field of view of the display screen according to the included angle between the line connecting the left edge of the display screen and the center of the entrance pupil of the camera and the horizontal direction. The right half field of view of the display screen is obtained according to the included angle between the line connecting the right edge of the display screen and the center of the entrance pupil of the camera and the horizontal direction. The comparison of the half field of view of the display screen and the adjustment of the installation angle or the field of view of the camera according to the comparison result are the same as the principle of the camera, and details are not described herein.

[0049] Please refer to Figure 6 , Figure 6 The camera 100 provided by the embodiment of the present application is shown in the structural schematic diagram. The camera comprises a memory 802 and a processor 801. The memory 802 is used to store the CMS field of view calibration program instruction, and the processor 801 is used to execute the control program instruction of the CMS field of view calibration to realize the CMS field of view calibration method.

[0050] In some embodiments, the processor 801 can be a central processing unit (CPU), a microcontroller, a microprocessor or other data processing chip, and is used to run the control program instruction of the intelligent sweeping robot 98 stored in the memory 802.

[0051] The memory 802 includes at least one type of readable storage medium including a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, etc. The memory 802 can be an internal storage unit of the computer device in some embodiments, such as a hard disk of the computer device. The memory 802 can also be a storage device of an external computer device in other embodiments, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the computer device. Further, the memory 802 can include both an internal storage unit of the computer device and an external storage device. The memory 802 can be used to store not only application software installed on the computer device and various data, such as codes for implementing the lifting intelligent processing, but also to temporarily store data that has been output or will be output.

[0052] In the above-described embodiments, all or part of the embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product.

[0053] The computer program product includes one or more computer instructions. When loaded and executed on a computer, all or part of the computer program instructions generate a flow or function according to the embodiments of the present application. The computer device can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another, for example, the computer instructions can be transferred from one website, computer, server or data center to another through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) manner. The computer-readable storage medium can be any available medium that can be stored by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (SSD)), etc.

[0054] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be described here.

[0055] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other manners. For example, the described device embodiments are merely schematic. The division of the units is merely a logical function division. There can be another division manner for the actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0056] The units described as separate units can or can not be physically separate, and the units displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to the current needs to achieve the purpose of the embodiment.

[0057] In addition, each functional unit in the various embodiments of the present application can be integrated into a processing unit, or each unit can exist alone, or two or more units can be integrated into one unit. The integrated unit can be implemented in the form of hardware, or in the form of a software functional unit.

[0058] When 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 solutions of the present application essentially or the part that makes a contribution to the prior art, or all or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in the various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various other media that can store program codes.

[0059] It should be noted that the above-mentioned sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. Moreover, the terms "comprise", "contain" or any other variants thereof in this document are intended to cover non-exclusive inclusion, so that the process, device, article or method comprising a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, device, article or method. Without more limitations, the element defined by the statement "comprising a" does not exclude the existence of other identical elements in the process, device, article or method comprising the element.

[0060] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, the present application also intends to include these modifications and variations within the scope of the claims of the present application and their equivalents.

[0061] The above is only the preferred embodiment of the present application, and does not limit the protection scope of the present application, and any equivalent structure or equivalent process transformation using the content of the present application specification and drawings, or directly or indirectly applied to other related technical fields, are also included in the protection scope of the present application.

Claims

1. A method of CMS field verification, characterized by, The CMS field of view calibration method comprises: determining the horizontal pixel number and the vertical pixel number of the current horizontal direction and the current vertical direction of the camera according to the orientation of the current camera, and the first pixel number and the second pixel number of the preset horizontal direction and the preset vertical direction of the camera, the horizontal pixel number being one of the first pixel number and the second pixel number, and the vertical pixel number being the other one of the vertical pixel number, wherein the camera is installed in a corresponding orientation to a corresponding calibration position according to a preset installation configuration parameter, and the optical axis direction of the camera is in a horizontal direction or a vertical direction; calculating the horizontal half field angle and the vertical half field angle of the camera in the horizontal direction and the vertical direction to obtain the horizontal half field angle and the vertical half field angle of the camera; calculating one or more horizontal reference angles and one or more vertical reference angles according to one or more preset reference points and the center of the entrance pupil of the camera, the one or more preset reference points satisfying a first specified one or more position points relative to a preset eye point of the camera, the horizontal reference angle being the included angle between the line connecting each preset reference point and the center of the entrance pupil of the camera and the horizontal direction, and the vertical reference angle being the included angle between the line connecting each preset reference point and the center of the entrance pupil of the camera and the vertical direction; determining the angle offset of the camera according to the eccentricity parameter of the camera; determining one or more horizontal reference angles or one or more vertical reference angles of the camera according to the angle offset and the one or more horizontal reference angles or the angle offset and the one or more vertical reference angles, respectively; comparing the horizontal half field angle and the vertical half field angle with the one or more horizontal reference angles and the one or more vertical reference angles, respectively, to obtain a comparison result; and when the comparison result does not meet the requirements, adjusting the installation angle or the field of view angle of the camera according to the comparison result until the comparison result meets the requirements.

2. The CMS field-of-view verification method of claim 1, wherein, The orientation of the current camera and the eccentricity parameter of the camera are included in the preset parameters of the camera.

3. The CMS field-of-view verification method of claim 1, wherein, The one or more horizontal reference angles are specifically calculated by using a first formula, and the one or more vertical reference angles are specifically calculated by using a second formula. The first formula is: The second formula is: wherein θ represents a horizontal reference angle, represents a vertical reference angle, x represents a distance between the preset reference point and the preset eye point in a horizontal direction, x0 represents a distance between an entrance pupil center of the camera and the preset eye point in the horizontal direction, y represents a distance between the preset reference point and the preset eye point in a vertical direction, y0 represents a distance between the entrance pupil center of the camera and the preset eye point in the vertical direction, and z represents a distance between the preset reference point and the preset eye point in a direction perpendicular to the horizontal direction and the vertical direction.

4. The CMS field-of-view verification method of claim 3, wherein, The one or more preset reference points comprise a first preset reference point and a second preset reference point, the first preset reference point being a position point 4 m away from the preset eye point in the horizontal direction and 1 m away from the preset eye point in the vertical direction, and the second preset reference point being a position point 20 m away from the preset eye point in the horizontal direction and 4 m away from the preset eye point in the vertical direction.

5. The CMS field-of-view verification method of claim 1, wherein, The CMS field of view calibration method further comprises: calculating the horizontal half field angle and the vertical half field angle of the sensor physically connected to the camera in the horizontal direction and the vertical direction to obtain the horizontal half field angle and the vertical half field angle of the sensor; comparing the horizontal half field of view and the vertical half field of view of the sensor with the horizontal half field of view and the vertical half field of view of the camera to obtain the actual horizontal half field of view and the actual vertical half field of view of the sensor; comparing the actual horizontal half field of view and the actual vertical half field of view of the sensor with one or more horizontal reference angles and one or more vertical reference angles to obtain a comparison result; and when the comparison result does not meet the requirement, adjusting the installation angle or the field of view of the camera according to the comparison result until the comparison result meets the requirement.

6. The CMS field-of-view verification method of claim 5, wherein, the horizontal half field of view of the sensor is calculated according to the number of pixels in the horizontal direction, the pixel size and the focal length by using a third formula; and the vertical half field of view of the sensor is calculated according to the number of pixels in the vertical direction, the pixel size and the focal length by using a fourth formula; wherein, The third formula is: The fourth formula is: wherein S HFOV denotes a horizontal half field of view of the sensor, Hpixelnum denotes a number of pixels in a horizontal direction, Vpixelnum denotes a number of pixels in a vertical direction, pixelsize denotes a pixel size, efl denotes a focal length, and S VFOV denotes a vertical half field of view of the sensor.

7. The CMS field-of-view verification method of claim 1, wherein, the CMS field of view checking method further comprises: calculating the horizontal half field of view and the vertical half field of view of the display screen to obtain the horizontal half field of view and the vertical half field of view of the display screen; comparing the horizontal half field of view and the vertical half field of view of the display screen with one or more horizontal reference angles and one or more vertical reference angles to obtain a comparison result; and when the comparison result does not meet the requirement, adjusting the installation angle or the field of view of the camera according to the comparison result until the comparison result meets the requirement.

8. The CMS field-of-view verification method of claim 7, wherein, the horizontal half field of view of the display screen comprises a display screen left half field of view and a display screen right half field of view; the display screen left half field of view is an included angle between a line connecting a left edge of the display screen and a center of an entrance pupil of the camera and a horizontal direction; and the display screen right half field of view is an included angle between a line connecting a right edge of the display screen and the center of the entrance pupil of the camera and the horizontal direction.

9. A CMS field of view verification apparatus, characterized by, determining the number of pixels in the horizontal direction and the number of pixels in the vertical direction according to a current orientation of the camera and a first number of pixels and a second number of pixels in the horizontal direction and in the vertical direction of the camera preset; the CMS field of view checking device comprises: one or more preset reference points for calculating one or more horizontal reference angles and one or more vertical reference angles with a center of an entrance pupil of the camera, the one or more preset reference points satisfying one or more position points relative to a preset eye point of the camera, the horizontal reference angle being an included angle between a line connecting each preset reference point and the center of the entrance pupil of the camera and a horizontal direction, and the vertical reference angle being an included angle between the line connecting each preset reference point and the center of the entrance pupil of the camera and a vertical direction; a collecting module for collecting relevant parameters of the camera; The correction module comprises a calculation unit, a comparison unit and a correction unit. The calculation unit is used to calculate the horizontal and vertical half field angles of the camera, and determine the angle offset of the camera according to the eccentricity parameter of the camera, and determine one or more horizontal reference angles or one or more vertical reference angles according to the angle offset and one or more horizontal reference angles or one or more vertical reference angles respectively. The comparison unit is used to compare the horizontal and vertical half field angles with the one or more horizontal reference angles and the one or more vertical reference angles respectively to obtain a comparison result. The correction unit is used to adjust the installation angle or the field angle of the camera according to the comparison result when the comparison result does not meet the requirements until the comparison result meets the requirements.

10. A camera having a CMS field of view check, characterized by, The camera comprises a memory and a processor. The memory is used to store the control program of the CMS field verification. The processor is used to execute the control program instructions of the CMS field verification to realize the CMS field verification method according to any one of claims 1-8.

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