Panoramic image generation method and device, equipment, medium and program product

Abstract

The embodiment of the invention provides a panoramic image generation method and device, equipment, a medium and a program product. In the method, a panoramic image generation parameter of each pixel point in a non-vehicle area in a panoramic image of a blank vehicle environment is acquired, and then a color generation strategy of the pixel point is determined according to whether the pixel point belongs to a shooting overlapping area, and a panoramic image of the blank vehicle environment is obtained according to the color generation strategy, the panoramic image generation parameter and a vehicle body surrounding environment image. And generating a target color of the pixel point. And filling the target color of each pixel point into the pixel point to obtain a target vehicle environment panoramic image. According to the scheme, the target color is calculated according to the colors of the pixel points in the vehicle body surrounding environment images through the color generation strategy and the panoramic image generation parameters, correction of each vehicle surrounding environment image is not needed, coordinate transformation of each pixel point is not needed, the calculation amount is reduced, and the generation efficiency of the panoramic image is effectively improved.

Description

Technical Field

[0001] The present application relates to the field of image processing technology, and in particular to a panoramic image generation method, device, equipment, medium and program product. Background Art

[0002] With the continuous development of technology, cameras can be installed around the vehicle so that the vehicle computer can display the images of the vehicle's surroundings taken by the cameras. The driver can drive the vehicle according to the images of the vehicle's surroundings, which can improve driving safety. In order to further facilitate the driver to view the images of the vehicle's surroundings, multiple images of the vehicle's surroundings can be spliced ​​to obtain a panoramic image of the vehicle's environment.

[0003] In the prior art, the generation of a panoramic image of the vehicle environment usually involves correcting each image of the vehicle body's surrounding environment to obtain a corrected image, and then performing coordinate transformation on each pixel in the corrected image to obtain the world coordinates in the world coordinate system. The pixel points with the same world coordinates are then used as splicing points, and the corrected images are spliced ​​and cropped to obtain a panoramic image of the vehicle environment.

[0004] In summary, the existing panoramic image generation method requires correction of each vehicle body surrounding environment image and coordinate transformation of each pixel point, resulting in low efficiency in panoramic image generation. Summary of the invention

[0005] The embodiments of the present application provide a panoramic image generation method, device, equipment, medium and program product to solve the problem in the prior art that each image of the vehicle body surrounding environment needs to be corrected and each pixel point needs to be coordinate transformed, resulting in low efficiency in generating panoramic images.

[0006] In a first aspect, an embodiment of the present application provides a method for generating a panoramic image, comprising:

[0007] For each pixel point of the non-vehicle area in the preset blank vehicle environment panoramic image, a panoramic image generation parameter of the pixel point is obtained, where the panoramic image generation parameter includes a first camera identifier and a plurality of first image coordinates, or includes a second camera identifier, a third camera identifier, a weight corresponding to the second camera identifier and a plurality of second image coordinates, and a weight corresponding to the third camera identifier and a plurality of third image coordinates;

[0008] Determining a color generation strategy for each pixel point according to whether each pixel point belongs to a shooting overlapping area;

[0009] Generate a target color for each pixel according to a color generation strategy for each pixel and a panoramic image generation parameter, as well as an image of the vehicle body's surrounding environment;

[0010] The target color of each pixel is filled into the pixel to obtain a panoramic image of the target vehicle environment.

[0011] In a possible implementation manner, if the pixel point does not belong to the overlapping shooting area, the panoramic image generation parameter of the pixel point includes the first camera identifier and a plurality of the first image coordinates;

[0012] If the pixel point belongs to the overlapping shooting area, the panoramic image generation parameters of the pixel point include the second camera identifier, the third camera identifier, the weight and multiple second image coordinates corresponding to the second camera identifier, and the weight and multiple third image coordinates corresponding to the third camera identifier.

[0013] In a possible implementation manner, determining the color generation strategy for each pixel point according to whether each pixel point belongs to a shooting overlapping area includes:

[0014] For each pixel point, if the pixel point does not belong to the overlapping shooting area, the color generation strategy of the pixel point is:

[0015] The target color is generated according to color data of each pixel point corresponding to the first image coordinates in the vehicle body surrounding environment image corresponding to the first camera identifier.

[0016] In a possible implementation, the method further includes:

[0017] For each pixel point, if the pixel point belongs to the overlapping shooting area, the color generation strategy of the pixel point is:

[0018] generating color data corresponding to the second camera identifier according to color data of each pixel point corresponding to the second image coordinates in the vehicle body surrounding environment image corresponding to the second camera identifier;

[0019] Generate color data corresponding to the third camera identifier according to color data of each pixel point corresponding to the third image coordinates in the vehicle body surrounding environment image corresponding to the third camera identifier;

[0020] The target color is generated according to the color data and weight corresponding to the second camera identifier and the color data and weight corresponding to the third camera identifier.

[0021] In a possible implementation, before obtaining the panoramic image generation parameter of each pixel point in the non-vehicle area in the preset blank vehicle environment panoramic image, the method further includes:

[0022] For each pixel point in the non-vehicle area of ​​the blank vehicle environment panoramic image, the following processing is performed:

[0023] Determining the world coordinates of the pixel point according to the fourth image coordinates of the pixel point in the blank vehicle environment panoramic image and a preset camera height;

[0024] The panoramic image generation parameters of the pixel point are determined according to whether the pixel point belongs to the shooting overlapping area, the world coordinates of the pixel point, at least one fourth camera identifier corresponding to the pixel point, the camera parameters corresponding to each of the fourth camera identifiers, and preset correction parameters.

[0025] In a possible implementation manner, if the pixel point does not belong to the shooting overlapping area, at least one fourth camera identifier corresponding to the pixel point is the first camera identifier;

[0026] The determining of the panoramic image generation parameter of the pixel point according to whether the pixel point belongs to the overlapping shooting area, the world coordinates of the pixel point, at least one fourth camera identifier corresponding to the pixel point, the camera parameters corresponding to each fourth camera identifier, and the preset correction parameters includes:

[0027] If the pixel point does not belong to the shooting overlapping area, determining the fifth image coordinates of the pixel point according to the world coordinates of the pixel point, the preset correction parameters, and the camera parameters corresponding to the first camera identifier;

[0028] selecting a plurality of sixth image coordinates from adjacent coordinates of the fifth image coordinate;

[0029] Taking the fifth image coordinate and each of the sixth image coordinates as first image coordinates;

[0030] Generate a panoramic image generation parameter of the pixel point according to each of the first image coordinates and the first camera identifier.

[0031] In a possible implementation manner, if the pixel point belongs to a shooting overlapping area, at least one of the fourth camera identifiers corresponding to the pixel point is a second camera identifier and a third camera identifier;

[0032] The method further comprises:

[0033] If the pixel point belongs to the shooting overlapping area, determining the seventh image coordinates corresponding to the second camera identifier and the eighth image coordinates corresponding to the third camera identifier according to the world coordinates of the pixel point, the preset correction parameters, the camera parameters corresponding to the second camera identifier, and the camera parameters corresponding to the third camera identifier;

[0034] For each of the second camera identifiers, selecting a plurality of ninth image coordinates corresponding to the second camera identifier from adjacent coordinates of the seventh image coordinate corresponding to the second camera identifier;

[0035] For each of the third camera identifiers, selecting a plurality of tenth image coordinates corresponding to the third camera identifier from adjacent coordinates of the eighth image coordinate corresponding to the third camera identifier;

[0036] using the seventh image coordinates and the ninth image coordinates corresponding to the second camera identifier as the second image coordinates corresponding to the second camera identifier;

[0037] Using the eighth image coordinates and the tenth image coordinates corresponding to the third camera identifier as the third image coordinates corresponding to the third camera identifier;

[0038] Determine a weight corresponding to the second camera identifier and a weight corresponding to the third camera identifier according to distances between the pixel point and a non-shooting overlapping area corresponding to the second camera identifier and a non-shooting overlapping area corresponding to the third camera identifier;

[0039] Generate a panoramic image generation parameter for the pixel point according to the second camera identifier, the third camera identifier, a weight and a plurality of second image coordinates corresponding to the second camera identifier, and a weight and a plurality of third image coordinates corresponding to the third camera identifier.

[0040] In a second aspect, an embodiment of the present application provides a panoramic image generation device, including:

[0041] an acquisition module, configured to acquire, for each pixel point of a non-vehicle area in a preset blank vehicle environment panoramic image, a panoramic image generation parameter of the pixel point, the panoramic image generation parameter including a first camera identifier and a plurality of first image coordinates, or including a second camera identifier, a third camera identifier, a weight corresponding to the second camera identifier and a plurality of second image coordinates, a weight corresponding to the third camera identifier and a plurality of third image coordinates;

[0042] Processing modules for:

[0043] Determining a color generation strategy for each pixel point according to whether each pixel point belongs to a shooting overlapping area;

[0044] Generate a target color for each pixel according to a color generation strategy for each pixel and a panoramic image generation parameter, as well as an image of the vehicle body's surrounding environment;

[0045] The target color of each pixel is filled into the pixel to obtain a panoramic image of the target vehicle environment.

[0046] In a third aspect, an embodiment of the present application provides an electronic device, including:

[0047] Processor, memory, communication interface;

[0048] The processor is a graphics processor GPU;

[0049] The memory is used to store executable instructions of the processor;

[0050] Wherein, the processor is configured to execute the panoramic image generation method described in any one of the first aspects by executing the executable instructions.

[0051] In a fourth aspect, an embodiment of the present application provides a readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the panoramic image generation method described in any one of the first aspects.

[0052] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, is used to implement the panoramic image generation method described in any one of the first aspects.

[0053] The panoramic image generation method, device, equipment, medium and program product provided in the embodiments of the present application first obtain the panoramic image generation parameters of each pixel point in the non-vehicle area of ​​the blank vehicle environment panoramic image, and then determine the color generation strategy of the pixel point according to whether the pixel point belongs to the overlapping shooting area, and then generate the target color of the pixel point according to the color generation strategy, the panoramic image generation parameters and the vehicle body surrounding environment image. Then, the target color of each pixel point is filled into the pixel point to obtain the target vehicle environment panoramic image. This solution calculates the target color according to the color of the pixel point in the vehicle body surrounding environment image through the color generation strategy and the panoramic image generation parameters, without the need to correct each vehicle surrounding environment image, and without the need to perform coordinate transformation on each pixel point, thereby reducing the amount of calculation and effectively improving the efficiency of panoramic image generation. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0055] Figure 1 A schematic diagram of the pixel coordinate transformation process provided by this application;

[0056] Figure 2 A schematic diagram of a blank vehicle environment panoramic image provided for this application;

[0057] Figure 3 A schematic diagram of the process of the first embodiment of the panoramic image generation method provided by the present application;

[0058] Figure 4 A schematic diagram of the flow of the second embodiment of the panoramic image generation method provided by the present application;

[0059] Figure 5 A schematic diagram of the structure of an embodiment of a panoramic image generation device provided by the present application;

[0060] Figure 6 A schematic diagram of the structure of an electronic device provided in this application.

[0061] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0062] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0063] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0064] With the development of technology, in order to improve driving safety, the driver can view the panoramic image of the vehicle environment through the vehicle computer to drive the vehicle to avoid obstacles in the vehicle's blind spot. Cameras are installed around the vehicle. After the cameras capture the image of the vehicle's surrounding environment, the vehicle computer can stitch multiple images of the vehicle's surrounding environment to obtain a panoramic image of the vehicle's environment.

[0065] In the prior art, the generation of a panoramic image of the vehicle environment usually involves correcting each image of the vehicle body's surrounding environment to obtain a corrected image, and then performing coordinate transformation on each pixel in the corrected image to obtain the world coordinates in the world coordinate system. The pixel points with the same world coordinates are then used as splicing points, and the corrected images are spliced ​​and cropped to obtain a panoramic image of the vehicle environment.

[0066] For example, Figure 1 The flowchart of pixel coordinate transformation provided by this application is as follows: Figure 1 As shown, an image coordinate system can be constructed based on the corrected image. Based on the image coordinates of the pixel point in the image coordinate system, combined with the camera intrinsic parameters, the camera coordinates of the pixel point in the camera coordinate system can be calculated, and then combined with the camera extrinsic parameters, the world coordinates of the pixel point in the world coordinate system can be calculated. It should be noted that the origin of the world coordinate system can be the center point of the rear axle of the vehicle.

[0067] Since the prior art requires correction of each vehicle body surrounding environment image and coordinate transformation of each pixel point, the generation efficiency of the panoramic image is low.

[0068] In view of the problems existing in the prior art, the inventors found in the process of studying the panoramic image generation method that since the size of the generated panoramic image is fixed, the target color of each pixel in the blank panoramic image can be determined and then filled to obtain the final panoramic image. As for determining the target color, whether the pixel belongs to the overlapping shooting area can be determined to determine the color generation strategy of the pixel, and then the color of the pixel is selected from the image of the vehicle body surrounding environment in combination with the panoramic image generation parameters of the pixel to calculate the target color. No correction and coordinate transformation are required, which can improve the generation efficiency of the panoramic image. Based on the above-mentioned inventive concept, the panoramic image generation scheme in this application is designed.

[0069] The executor of the panoramic image generation method in the present application may be a domain controller or a vehicle computer in the vehicle, or may be a server, a computer or other device. The present application does not limit it and the following description will be made using a domain controller as an example.

[0070] The following is an example of an application scenario of the panoramic image generation method provided in this application.

[0071] For example, in this application scenario, the driver drives the vehicle to reverse, and cameras are installed around the vehicle. The cameras capture images of the environment around the vehicle and transmit them to the domain controller in the vehicle.

[0072] The domain controller obtains a panoramic image generation parameter of each pixel point in a non-vehicle area in a preset blank vehicle environment panoramic image.

[0073] For example, Figure 2 A schematic diagram of a blank vehicle environment panoramic image provided for this application, such as Figure 2As shown, the panoramic image of the blank vehicle environment can be divided into a vehicle area and a non-vehicle area, and the non-vehicle area is divided into a shooting overlap area and a non-shooting overlap area. In the figure, gray represents the vehicle area, white represents the shooting overlap area, and black represents the non-shooting overlap area. The vehicle area represents the area where the vehicle is located, the shooting overlap area represents the area where the two cameras shoot overlap, and the non-shooting area represents the area in the area shot by one camera that does not overlap with the area shot by other cameras. The embodiment of the present application does not limit the size of the panoramic image of the blank vehicle environment, the size and position of the vehicle area, the shooting overlap area and the non-shooting overlap area, and can be determined according to actual conditions.

[0074] Then, the domain controller determines the color generation strategy for each pixel according to whether each pixel belongs to the overlapping shooting area. The color generation strategy is a strategy for calculating the target color according to the color of the pixel in the image of the vehicle body's surrounding environment.

[0075] The domain controller then generates the target color for each pixel based on the color generation strategy and panoramic image generation parameters of each pixel, as well as the image of the vehicle's surrounding environment. In other words, the colors of multiple pixels are determined from the image of the vehicle's surrounding environment based on the color generation strategy and panoramic image generation parameters, and the target color is then calculated based on the color generation strategy.

[0076] Fill each pixel with the target color to obtain a panoramic image of the target vehicle environment. Since the vehicle area represents the area where the vehicle is located, there is no need to fill the color, or display the vehicle model image in the area.

[0077] The domain controller transmits the panoramic image of the target vehicle environment to the vehicle computer for display so that the driver can view it.

[0078] It should be noted that the above scenario is only an example of an application scenario provided by an embodiment of the present application. The embodiment of the present application does not limit the actual form of the various devices included in the scenario, nor does it limit the interaction method between the devices. In the specific application of the solution, it can be set according to actual needs.

[0079] The technical solution of the present application is described in detail below through specific embodiments. It should be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0080] Figure 3This is a flow chart of the first embodiment of the panoramic image generation method provided by the present application. The present embodiment of the present application describes the situation in which the domain controller generates the target color of the pixel point according to the panoramic image generation parameters of each pixel point in the non-vehicle area in the blank vehicle environment panoramic image and the vehicle body surrounding environment image, and then fills the target color into the pixel point to obtain the target vehicle environment panoramic image. The method in this embodiment can be implemented by software, hardware, or a combination of software and hardware. Figure 3 As shown, the panoramic image generation method specifically includes the following steps:

[0081] S301: For each pixel point in a non-vehicle area in a preset blank vehicle environment panoramic image, a panoramic image generation parameter of the pixel point is obtained.

[0082] In this step, the domain controller obtains the vehicle body surrounding environment image taken by the camera. When a panoramic image needs to be generated, it first obtains the panoramic image generation parameters of the pixel points for each pixel point in the non-vehicle area of ​​the preset blank vehicle environment panoramic image.

[0083] It should be noted that each pixel point in the non-vehicle area in the blank vehicle environment panoramic image has a corresponding preset parameter table, and the panoramic image generation parameters are stored in the preset parameter table, so the panoramic image generation parameters can be obtained from the preset parameter table.

[0084] The panoramic image generation parameters include a first camera identifier and a plurality of first image coordinates, or include a second camera identifier, a third camera identifier, a weight corresponding to the second camera identifier and a plurality of second image coordinates, a weight corresponding to the third camera identifier and a plurality of third image coordinates.

[0085] It should be noted that, if the pixel point does not belong to the shooting overlapping area, that is, belongs to the non-shooting overlapping area, the panoramic image generation parameter of the pixel point includes the first camera identifier and a plurality of first image coordinates.

[0086] The first image coordinates are the image coordinates of the pixel points in the vehicle body surrounding environment image taken by the camera corresponding to the first camera identifier. The vehicle body surrounding environment image taken by the camera corresponding to the first camera identifier is also called the vehicle body surrounding environment image corresponding to the first camera identifier.

[0087] If the pixel point belongs to the overlapping shooting area, the panoramic image generation parameters of the pixel point include the second camera identifier, the third camera identifier, the weight corresponding to the second camera identifier and multiple second image coordinates, and the weight corresponding to the third camera identifier and multiple third image coordinates.

[0088] The second image coordinates corresponding to the second camera identifier are the image coordinates of the pixel points in the vehicle body surrounding environment image taken by the camera corresponding to the second camera identifier, and the third image coordinates corresponding to the third camera identifier are the image coordinates of the pixel points in the vehicle body surrounding environment image taken by the camera corresponding to the third camera identifier.

[0089] The vehicle body surrounding environment image captured by the camera corresponding to the second camera identifier is also referred to as the vehicle body surrounding environment image corresponding to the second camera identifier. The vehicle body surrounding environment image captured by the camera corresponding to the third camera identifier is also referred to as the vehicle body surrounding environment image corresponding to the third camera identifier.

[0090] It should be noted that what the domain controller directly obtains is the pointer of the vehicle body surrounding environment image, that is, the memory address of the vehicle body surrounding environment image, and then obtains the vehicle body surrounding environment image from the memory according to the pointer of the vehicle body surrounding environment image.

[0091] S302: Determine a color generation strategy for each pixel point according to whether each pixel point belongs to a shooting overlapping area.

[0092] In this step, in order to generate a panoramic image, the domain controller also needs to determine the color generation strategy for each pixel based on whether each pixel belongs to the overlapping shooting area.

[0093] Specifically, if the pixel point does not belong to the overlapping shooting area, the color generation strategy of the pixel point is: generate the target color according to the color data of the pixel point corresponding to each first image coordinate in the vehicle body surrounding environment image corresponding to the first camera identifier.

[0094] The average value of the color data of the pixel points corresponding to each first image coordinate may be used as the target color. The weighted average value of the color data of the pixel points corresponding to each first image coordinate may also be used as the target color.

[0095] It should be noted that, if there are image coordinates with corresponding pixels and image coordinates without corresponding pixels among all the first image coordinates, the target color is generated according to the color data of the pixels corresponding to the image coordinates with corresponding pixels. If none of the first image coordinates have image coordinates with corresponding pixels, the image coordinates that are adjacent to the first image coordinates and have corresponding pixels are determined, and the target color is generated according to the color data of the pixels corresponding to these image coordinates.

[0096] If the pixel belongs to the overlapping area of ​​the shooting, the color generation strategy of the pixel is:

[0097] Generate color data corresponding to the second camera identifier according to color data of a pixel point corresponding to each second image coordinate in the vehicle body surrounding environment image corresponding to the second camera identifier;

[0098] Generate color data corresponding to the third camera identifier according to color data of a pixel point corresponding to each third image coordinate in the vehicle body surrounding environment image corresponding to the third camera identifier;

[0099] It should be noted that the method of generating color data corresponding to the second camera identifier and the method of generating color data corresponding to the third camera identifier is similar to the method of generating the target color according to the color data of the pixel point corresponding to each first image coordinate, which will not be repeated here.

[0100] A target color is generated according to the color data and weight corresponding to the second camera identifier and the color data and weight corresponding to the third camera identifier.

[0101] That is, the color data corresponding to the second camera identifier is multiplied by the weight corresponding to the second camera identifier to obtain the first sub-color data; the color data corresponding to the third camera identifier is multiplied by the weight corresponding to the third camera identifier to obtain the second sub-color data; the first sub-color data and the second sub-color data are added to obtain the target color.

[0102] It should be noted that the execution order of the process of obtaining panoramic image generation parameters and step S302 can be: first execute the process of obtaining panoramic image generation parameters, then execute step S302; it can also be: first execute step S302, then execute the process of obtaining panoramic image generation parameters; it can also be: the process of obtaining panoramic image generation parameters and step S302 are executed simultaneously. The embodiment of the present application does not limit the execution order of the process of obtaining panoramic image generation parameters and step S302, which can be determined according to actual conditions.

[0103] S303: Generate a target color for each pixel according to the color generation strategy for each pixel and the panoramic image generation parameters, as well as the vehicle body surrounding environment image.

[0104] In this step, after the domain controller obtains the color generation strategy and panoramic image generation parameters for each pixel, it can process the vehicle body surrounding environment image according to the color generation strategy and panoramic image generation parameters for each pixel to generate the target color for each pixel.

[0105] S304: Fill each pixel with the target color to obtain a panoramic image of the target vehicle environment.

[0106] In this step, after the domain controller generates the target color for each pixel, it fills the target color of each pixel into each pixel. Each pixel in the non-vehicle area in the blank vehicle environment panoramic image is filled with color to obtain the target vehicle environment panoramic image.

[0107] It should be noted that the vehicle area in the target vehicle environment panoramic image may not be processed, or the vehicle model image may be filled in the area.

[0108] It should be noted that steps S301 to S304 can be executed by a graphics processing unit (GPU) in the execution body. Since the blank vehicle environment panoramic image and the vehicle body surrounding environment image are stored in the GPU's memory, compared with the prior art in which the vehicle body surrounding environment image is processed by the central processing unit (CPU), the vehicle body surrounding environment image needs to be copied to the CPU's memory. This solution does not require a copying process, thereby improving efficiency. In addition, since the GPU can perform parallel computing, that is, it can process multiple pixels in the blank vehicle environment panoramic image at the same time, further improving efficiency.

[0109] The panoramic image generation method provided in this embodiment first obtains the panoramic image generation parameters of each pixel point in the non-vehicle area in the panoramic image of the blank vehicle environment, and then determines the color generation strategy of the pixel point according to whether the pixel point belongs to the overlapping shooting area, and then generates the target color of the pixel point according to the color generation strategy, the panoramic image generation parameters and the vehicle body surrounding environment image. Then, the target color of each pixel point is filled into the pixel point to obtain the target vehicle environment panoramic image. This scheme calculates the target color according to the color of the pixel point in the vehicle body surrounding environment image through the color generation strategy and the panoramic image generation parameters, and does not need to correct each vehicle surrounding environment image, nor does it need to transform the coordinates of each pixel point, which reduces the amount of calculation and effectively improves the generation efficiency of the panoramic image. In addition, compared with the prior art that needs to process each pixel point in the vehicle body surrounding environment image, this scheme only uses the colors of the pixel points corresponding to the first image coordinates, the second image coordinates and the third image coordinates in the vehicle body surrounding environment image, and the number of processed pixels is small, which improves the generation efficiency of the panoramic image.

[0110] Figure 4 This is a flow chart of Embodiment 2 of the panoramic image generation method provided in the present application. Based on the above embodiment, this embodiment of the present application describes the situation in which the domain controller generates panoramic image generation parameters of pixel points.

[0111] The domain controller needs to process each pixel in the non-vehicle area of ​​the blank vehicle environment panoramic image. The processing steps are as follows:

[0112] S401: Determine the world coordinates of the pixel point according to the fourth image coordinates of the pixel point in the blank vehicle environment panoramic image and a preset camera height.

[0113] In this step, in order to generate panoramic image generation parameters, the domain controller needs to first determine the world coordinates of the pixel point according to the fourth image coordinates of the pixel point in the blank vehicle environment panoramic image and the preset camera height.

[0114] Specifically, the origin of the world coordinate system is at the center of the rear axle of the vehicle, so the corresponding world origin coordinates can be found in the image coordinate system corresponding to the blank vehicle environment panoramic image. The fourth image coordinate is (u1, v1), and the world origin coordinate is (u2, v2). The world coordinates of the pixel point are (k*(u1-u2), k*(v1-v2), -z), where k is the preset ratio, indicating the length of a pixel point in the blank vehicle environment panoramic image in the world coordinate system; z is the preset camera height.

[0115] It should be noted that the preset ratio can be 0.02, 0.025, 0.03, etc., and the preset camera height can be 0.2 meters, 0.3 meters, 0.4 meters, etc. The embodiment of the present application does not limit the preset ratio and the preset camera height, which can be determined according to actual conditions.

[0116] S402: Determine panoramic image generation parameters of the pixel point according to whether the pixel point belongs to the shooting overlapping area, the world coordinates of the pixel point, at least one fourth camera identifier corresponding to the pixel point, camera parameters corresponding to each fourth camera identifier, and preset correction parameters.

[0117] In this step, after obtaining the world coordinates of the pixel point, the domain controller can determine the panoramic image generation parameters of the pixel point based on whether the pixel point belongs to the shooting overlapping area, the world coordinates of the pixel point, at least one fourth camera identifier corresponding to the pixel point, the camera parameters corresponding to each fourth camera identifier, and the preset correction parameters.

[0118] Specifically, if the pixel point does not belong to the overlapping shooting area, the at least one fourth camera identifier corresponding to the pixel point is the first camera identifier; if the pixel point belongs to the overlapping shooting area, the at least one fourth camera identifier corresponding to the pixel point is the second camera identifier and the third camera identifier.

[0119] If the pixel point does not belong to the shooting overlapping area, the fifth image coordinates of the pixel point are determined according to the world coordinates of the pixel point, the preset correction parameters, and the camera parameters corresponding to the first camera identifier.

[0120] The camera parameters corresponding to the camera identifier are parameters of the camera corresponding to the camera identifier, including camera intrinsic parameters and camera extrinsic parameters.

[0121] The camera coordinates of the pixel in the camera coordinate system can be determined based on the world coordinates of the pixel and the camera extrinsic parameters. The undistorted image coordinates of the pixel in the image coordinate system corresponding to the image without distortion can be determined based on the camera coordinates of the pixel and the camera intrinsic parameters. Since the image of the vehicle body surrounding environment is generally distorted, it is necessary to determine the fifth image coordinates of the pixel in the image coordinate system corresponding to the image of the vehicle body surrounding environment based on the undistorted image coordinates of the pixel and the preset correction parameters.

[0122] It should be noted that if the fifth image coordinate is not an integer coordinate, the fifth image coordinate is updated, and the integer coordinate closest to the fifth image coordinate is used as the updated fifth image coordinate. The image coordinate includes two components. If both components of an image coordinate are integers, the image coordinate is called an integer coordinate.

[0123] Then, a plurality of sixth image coordinates are selected from the adjacent coordinates of the fifth image coordinate, and the fifth image coordinate and each of the sixth image coordinates are used as the first image coordinates.

[0124] It should be noted that the adjacent coordinates of the fifth image coordinates refer to integer coordinates adjacent to the fifth image coordinates. The number of the sixth image coordinates can be 2, 3, or 4. The embodiment of the present application does not limit the number of the sixth image coordinates, which can be determined according to actual conditions.

[0125] The panoramic image generation parameters of the pixel point are generated according to each first image coordinate and the first camera identifier, that is, the panoramic image generation parameters of the pixel point include the first camera identifier and each first image coordinate.

[0126] If the pixel point belongs to the shooting overlapping area, determining the seventh image coordinates corresponding to the second camera identifier and the eighth image coordinates corresponding to the third camera identifier according to the world coordinates of the pixel point, the preset correction parameters, the camera parameters corresponding to the second camera identifier, and the camera parameters corresponding to the third camera identifier;

[0127] The camera coordinates of the pixel in the camera coordinate system can be determined based on the world coordinates of the pixel and the camera extrinsic parameters corresponding to the second camera identifier. The undistorted image coordinates of the pixel in the image coordinate system corresponding to the image without distortion can be determined based on the camera coordinates of the pixel and the camera intrinsic parameters corresponding to the second camera identifier. The seventh image coordinates corresponding to the second camera identifier are determined based on the undistorted image coordinates of the pixel and the preset correction parameters.

[0128] The camera coordinates of the pixel in the camera coordinate system can be determined based on the world coordinates of the pixel and the camera extrinsic parameters corresponding to the third camera identifier. The undistorted image coordinates of the pixel in the image coordinate system corresponding to the image without distortion can be determined based on the camera coordinates of the pixel and the camera intrinsic parameters corresponding to the third camera identifier. The eighth image coordinates corresponding to the third camera identifier are determined based on the undistorted image coordinates of the pixel and the preset correction parameters.

[0129] It should be noted that if the seventh image coordinate is not an integer coordinate, the seventh image coordinate is updated, and the integer coordinate closest to the seventh image coordinate is used as the updated seventh image coordinate. If the eighth image coordinate is not an integer coordinate, the eighth image coordinate is updated, and the integer coordinate closest to the eighth image coordinate is used as the updated eighth image coordinate.

[0130] For each second camera identifier, a plurality of ninth image coordinates corresponding to the second camera identifier are selected from adjacent coordinates of the seventh image coordinate corresponding to the second camera identifier.

[0131] It should be noted that the adjacent coordinates of the seventh image coordinate refer to integer coordinates adjacent to the seventh image coordinate. The number of the ninth image coordinates can be 2, 3, or 4. The embodiment of the present application does not limit the number of the ninth image coordinates, which can be determined according to actual conditions.

[0132] For each third camera identifier, a plurality of tenth image coordinates corresponding to the third camera identifier are selected from adjacent coordinates of the eighth image coordinate corresponding to the third camera identifier.

[0133] It should be noted that the adjacent coordinates of the eighth image coordinate refer to integer coordinates adjacent to the eighth image coordinate. The number of the tenth image coordinates can be 2, 3, or 4. The embodiment of the present application does not limit the number of the tenth image coordinates, which can be determined according to actual conditions.

[0134] The seventh image coordinate and the ninth image coordinate corresponding to the second camera identifier are used as the second image coordinate corresponding to the second camera identifier;

[0135] The eighth image coordinates and the tenth image coordinates corresponding to the third camera identifier are used as the third image coordinates corresponding to the third camera identifier;

[0136] The weight corresponding to the second camera identifier and the weight corresponding to the third camera identifier are determined according to the distances between the pixel point and the non-shooting overlapping area corresponding to the second camera identifier and the non-shooting overlapping area corresponding to the third camera identifier.

[0137] There is a corresponding relationship between the non-shooting overlapping area and the camera identifier, indicating that the camera corresponding to the camera identifier can shoot the area. The distance between the pixel point and the non-overlapping area is the shortest distance between the pixel point and the non-overlapping area. The distance between the pixel point and the non-shooting overlapping area corresponding to the second camera identifier is the first distance, the distance between the pixel point and the non-shooting overlapping area corresponding to the third camera identifier is the second distance, the sum of the first distance and the second distance is the third distance, the ratio of the first distance to the third distance is the weight corresponding to the second camera identifier, and the ratio of the second distance to the third distance is the weight corresponding to the third camera identifier.

[0138] Generate the panoramic image generation parameters of the pixel point according to the second camera identifier, the third camera identifier, the weight corresponding to the second camera identifier and the multiple second image coordinates, and the weight corresponding to the third camera identifier and the multiple third image coordinates. That is, the panoramic image generation parameters of the pixel point include the second camera identifier, the third camera identifier, the weight corresponding to the second camera identifier and the multiple second image coordinates, and the weight corresponding to the third camera identifier and the multiple third image coordinates.

[0139] It should be noted that after the panoramic image generation parameters of the pixel points are generated, the panoramic image generation parameters may be stored in a preset parameter table of the pixel points.

[0140] Exemplarily, Table 1 is a preset parameter table provided in this application.

[0141] Table 1

[0142]

[0143] It should be noted that Table 1 is only an example of a preset parameter table. The embodiment of the present application does not limit the preset parameter table, which can be determined according to actual conditions.

[0144] It should be noted that since the camera is installed behind the vehicle, the phase relative to the vehicle will not change, so the camera intrinsic parameters, camera extrinsic parameters, and pixel panoramic image generation parameters will not change. Therefore, it is only necessary to generate the panoramic image generation parameters once, and the same panoramic image generation parameters can be used each time a panoramic image is generated.

[0145] The panoramic image generation method provided in this embodiment generates panoramic image generation parameters for each pixel point in the non-vehicle area of ​​the panoramic image of the blank vehicle environment before generating the panoramic image, so that the panoramic image generation parameters generated this time can be used for each subsequent generation of the panoramic image, thereby improving the generation efficiency of the panoramic image. In addition, the panoramic image generation parameters are generated according to whether the pixel point belongs to the overlapping shooting area, so that the panoramic image generation parameters are more accurate.

[0146] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0147] Figure 5 This is a schematic diagram of the structure of an embodiment of a panoramic image generation device provided by the present application. Figure 5 As shown, the panoramic image generating device 50 includes:

[0148] An acquisition module 51 is used to acquire, for each pixel point of a non-vehicle area in a preset blank vehicle environment panoramic image, a panoramic image generation parameter of the pixel point, wherein the panoramic image generation parameter includes a first camera identifier and a plurality of first image coordinates, or includes a second camera identifier, a third camera identifier, a weight corresponding to the second camera identifier and a plurality of second image coordinates, and a weight corresponding to the third camera identifier and a plurality of third image coordinates;

[0149] The processing module 52 is used to:

[0150] Determining a color generation strategy for each pixel point according to whether each pixel point belongs to a shooting overlapping area;

[0151] Generate a target color for each pixel according to a color generation strategy for each pixel and a panoramic image generation parameter, as well as an image of the vehicle body's surrounding environment;

[0152] The target color of each pixel is filled into the pixel to obtain a panoramic image of the target vehicle environment.

[0153] Further, if the pixel point does not belong to the overlapping shooting area, the panoramic image generation parameter of the pixel point includes the first camera identifier and a plurality of the first image coordinates;

[0154] If the pixel point belongs to the overlapping shooting area, the panoramic image generation parameters of the pixel point include the second camera identifier, the third camera identifier, the weight and multiple second image coordinates corresponding to the second camera identifier, and the weight and multiple third image coordinates corresponding to the third camera identifier.

[0155] Furthermore, the processing module 52 is specifically configured to:

[0156] For each pixel point, if the pixel point does not belong to the overlapping shooting area, the color generation strategy of the pixel point is:

[0157] The target color is generated according to color data of each pixel point corresponding to the first image coordinates in the vehicle body surrounding environment image corresponding to the first camera identifier.

[0158] Furthermore, the processing module 52 is further configured to:

[0159] For each pixel point, if the pixel point belongs to the overlapping shooting area, the color generation strategy of the pixel point is:

[0160] generating color data corresponding to the second camera identifier according to color data of each pixel point corresponding to the second image coordinates in the vehicle body surrounding environment image corresponding to the second camera identifier;

[0161] Generate color data corresponding to the third camera identifier according to color data of each pixel point corresponding to the third image coordinates in the vehicle body surrounding environment image corresponding to the third camera identifier;

[0162] The target color is generated according to the color data and weight corresponding to the second camera identifier and the color data and weight corresponding to the third camera identifier.

[0163] Furthermore, before obtaining the panoramic image generation parameter of each pixel point in the non-vehicle area in the preset blank vehicle environment panoramic image, the processing module 52 is further used to:

[0164] For each pixel point in the non-vehicle area of ​​the blank vehicle environment panoramic image, the following processing is performed:

[0165] Determining the world coordinates of the pixel point according to the fourth image coordinates of the pixel point in the blank vehicle environment panoramic image and a preset camera height;

[0166] The panoramic image generation parameters of the pixel point are determined according to whether the pixel point belongs to the shooting overlapping area, the world coordinates of the pixel point, at least one fourth camera identifier corresponding to the pixel point, the camera parameters corresponding to each of the fourth camera identifiers, and preset correction parameters.

[0167] Further, if the pixel point does not belong to the shooting overlapping area, at least one of the fourth camera identifiers corresponding to the pixel point is the first camera identifier;

[0168] The processing module 52 is further specifically used for:

[0169] If the pixel point does not belong to the shooting overlapping area, determining the fifth image coordinates of the pixel point according to the world coordinates of the pixel point, the preset correction parameters, and the camera parameters corresponding to the first camera identifier;

[0170] selecting a plurality of sixth image coordinates from adjacent coordinates of the fifth image coordinate;

[0171] Taking the fifth image coordinate and each of the sixth image coordinates as first image coordinates;

[0172] Generate a panoramic image generation parameter of the pixel point according to each of the first image coordinates and the first camera identifier.

[0173] Further, if the pixel point belongs to the shooting overlapping area, at least one of the fourth camera identifiers corresponding to the pixel point is the second camera identifier and the third camera identifier;

[0174] The processing module 52 is further specifically used for:

[0175] If the pixel point belongs to the shooting overlapping area, determining the seventh image coordinates corresponding to the second camera identifier and the eighth image coordinates corresponding to the third camera identifier according to the world coordinates of the pixel point, the preset correction parameters, the camera parameters corresponding to the second camera identifier, and the camera parameters corresponding to the third camera identifier;

[0176] For each of the second camera identifiers, selecting a plurality of ninth image coordinates corresponding to the second camera identifier from adjacent coordinates of the seventh image coordinate corresponding to the second camera identifier;

[0177] For each of the third camera identifiers, selecting a plurality of tenth image coordinates corresponding to the third camera identifier from adjacent coordinates of the eighth image coordinate corresponding to the third camera identifier;

[0178] using the seventh image coordinates and the ninth image coordinates corresponding to the second camera identifier as the second image coordinates corresponding to the second camera identifier;

[0179] Using the eighth image coordinates and the tenth image coordinates corresponding to the third camera identifier as the third image coordinates corresponding to the third camera identifier;

[0180] Determine a weight corresponding to the second camera identifier and a weight corresponding to the third camera identifier according to distances between the pixel point and a non-shooting overlapping area corresponding to the second camera identifier and a non-shooting overlapping area corresponding to the third camera identifier;

[0181] Generate a panoramic image generation parameter for the pixel point according to the second camera identifier, the third camera identifier, a weight and a plurality of second image coordinates corresponding to the second camera identifier, and a weight and a plurality of third image coordinates corresponding to the third camera identifier.

[0182] The panoramic image generation device provided in this embodiment is used to execute the technical solution in any of the aforementioned method embodiments. Its implementation principle and technical effects are similar and will not be described in detail here.

[0183] Figure 6 This is a schematic diagram of the structure of an electronic device provided in this application. Figure 6 As shown, the electronic device 60 includes:

[0184] Processor 61, memory 62, and communication interface 63;

[0185] Processor 62 may be a GPU;

[0186] The memory 62 is used to store executable instructions of the processor 61;

[0187] The processor 61 is configured to execute the technical solution in any of the aforementioned method embodiments by executing the executable instructions.

[0188] Optionally, the memory 62 may be independent or integrated with the processor 61 .

[0189] Optionally, when the memory 62 is a device independent of the processor 61, the electronic device 60 may further include:

[0190] The bus 64 , the memory 62 and the communication interface 63 are connected to the processor 61 via the bus 64 and communicate with each other. The communication interface 63 is used to communicate with other devices.

[0191] Optionally, the communication interface 63 may be implemented by a transceiver. The communication interface is used to implement communication between the database access device and other devices (such as a client, a read-write library, and a read-only library). The memory may include a random access memory (RAM) and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage.

[0192] The bus 64 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0193] The above-mentioned processor can be a general-purpose processor, including a central processing unit CPU, a network processor (NP), etc.; it can also be a digital signal processor DSP, an application-specific integrated circuit ASIC, a field programmable gate array FPGA or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0194] The electronic device is used to execute the technical solution in any of the aforementioned method embodiments, and its implementation principle and technical effect are similar and will not be repeated here.

[0195] An embodiment of the present application also provides a readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the technical solution provided by any of the aforementioned method embodiments is implemented.

[0196] An embodiment of the present application also provides a computer program product, including a computer program, which is used to implement the technical solution provided by any of the aforementioned method embodiments when executed by a processor.

[0197] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0198] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for generating a panoramic image, characterized in that: include: For each pixel point of the non-vehicle area in the preset blank vehicle environment panoramic image, a panoramic image generation parameter of the pixel point is obtained, where the panoramic image generation parameter includes a first camera identifier and a plurality of first image coordinates, or includes a second camera identifier, a third camera identifier, a weight corresponding to the second camera identifier and a plurality of second image coordinates, and a weight corresponding to the third camera identifier and a plurality of third image coordinates; Determining a color generation strategy for each pixel point according to whether each pixel point belongs to a shooting overlapping area; Generate a target color for each pixel according to a color generation strategy for each pixel and a panoramic image generation parameter, as well as an image of the vehicle body's surrounding environment; The target color of each pixel is filled into the pixel to obtain a panoramic image of the target vehicle environment.

2. The method according to claim 1, characterized in that If the pixel point does not belong to the overlapping shooting area, the panoramic image generation parameter of the pixel point includes the first camera identifier and a plurality of the first image coordinates; If the pixel point belongs to the overlapping shooting area, the panoramic image generation parameters of the pixel point include the second camera identifier, the third camera identifier, the weight and multiple second image coordinates corresponding to the second camera identifier, and the weight and multiple third image coordinates corresponding to the third camera identifier.

3. The method according to claim 2, characterized in that The step of determining the color generation strategy of each pixel point according to whether each pixel point belongs to the overlapping shooting area includes: For each pixel point, if the pixel point does not belong to the overlapping shooting area, the color generation strategy of the pixel point is: The target color is generated according to color data of each pixel point corresponding to the first image coordinates in the vehicle body surrounding environment image corresponding to the first camera identifier.

4. The method according to claim 3, characterized in that The method further comprises: For each pixel point, if the pixel point belongs to the overlapping shooting area, the color generation strategy of the pixel point is: generating color data corresponding to the second camera identifier according to color data of each pixel point corresponding to the second image coordinates in the vehicle body surrounding environment image corresponding to the second camera identifier; Generate color data corresponding to the third camera identifier according to color data of each pixel point corresponding to the third image coordinates in the vehicle body surrounding environment image corresponding to the third camera identifier; The target color is generated according to the color data and weight corresponding to the second camera identifier and the color data and weight corresponding to the third camera identifier.

5. The method according to any one of claims 1 to 4, characterized in that: Before obtaining the panoramic image generation parameter of each pixel point in the non-vehicle area of ​​the preset blank vehicle environment panoramic image, the method further includes: For each pixel point in the non-vehicle area of ​​the blank vehicle environment panoramic image, the following processing is performed: Determining the world coordinates of the pixel point according to the fourth image coordinates of the pixel point in the blank vehicle environment panoramic image and a preset camera height; The panoramic image generation parameters of the pixel point are determined according to whether the pixel point belongs to the shooting overlapping area, the world coordinates of the pixel point, at least one fourth camera identifier corresponding to the pixel point, the camera parameters corresponding to each of the fourth camera identifiers, and preset correction parameters.

6. The method according to claim 5, characterized in that If the pixel point does not belong to the shooting overlapping area, at least one fourth camera identifier corresponding to the pixel point is the first camera identifier; The determining of the panoramic image generation parameter of the pixel point according to whether the pixel point belongs to the overlapping shooting area, the world coordinates of the pixel point, at least one fourth camera identifier corresponding to the pixel point, the camera parameters corresponding to each fourth camera identifier, and the preset correction parameters includes: If the pixel point does not belong to the shooting overlapping area, determining the fifth image coordinates of the pixel point according to the world coordinates of the pixel point, the preset correction parameters, and the camera parameters corresponding to the first camera identifier; selecting a plurality of sixth image coordinates from adjacent coordinates of the fifth image coordinate; Taking the fifth image coordinate and each of the sixth image coordinates as first image coordinates; Generate a panoramic image generation parameter of the pixel point according to each of the first image coordinates and the first camera identifier.

7. The method according to claim 6, characterized in that If the pixel point belongs to the shooting overlapping area, at least one of the fourth camera identifiers corresponding to the pixel point is the second camera identifier and the third camera identifier; The method further comprises: If the pixel point belongs to the shooting overlapping area, determining the seventh image coordinates corresponding to the second camera identifier and the eighth image coordinates corresponding to the third camera identifier according to the world coordinates of the pixel point, the preset correction parameters, the camera parameters corresponding to the second camera identifier, and the camera parameters corresponding to the third camera identifier; For each of the second camera identifiers, selecting a plurality of ninth image coordinates corresponding to the second camera identifier from adjacent coordinates of the seventh image coordinate corresponding to the second camera identifier; For each of the third camera identifiers, selecting a plurality of tenth image coordinates corresponding to the third camera identifier from adjacent coordinates of the eighth image coordinate corresponding to the third camera identifier; using the seventh image coordinates and the ninth image coordinates corresponding to the second camera identifier as the second image coordinates corresponding to the second camera identifier; Using the eighth image coordinates and the tenth image coordinates corresponding to the third camera identifier as the third image coordinates corresponding to the third camera identifier; Determine a weight corresponding to the second camera identifier and a weight corresponding to the third camera identifier according to distances between the pixel point and a non-shooting overlapping area corresponding to the second camera identifier and a non-shooting overlapping area corresponding to the third camera identifier; Generate a panoramic image generation parameter for the pixel point according to the second camera identifier, the third camera identifier, a weight and a plurality of second image coordinates corresponding to the second camera identifier, and a weight and a plurality of third image coordinates corresponding to the third camera identifier.

8. A panoramic image generation device, characterized in that: include: an acquisition module, configured to acquire, for each pixel point of a non-vehicle area in a preset blank vehicle environment panoramic image, a panoramic image generation parameter of the pixel point, the panoramic image generation parameter including a first camera identifier and a plurality of first image coordinates, or including a second camera identifier, a third camera identifier, a weight corresponding to the second camera identifier and a plurality of second image coordinates, a weight corresponding to the third camera identifier and a plurality of third image coordinates; Processing modules for: Determining a color generation strategy for each pixel point according to whether each pixel point belongs to a shooting overlapping area; Generate a target color for each pixel according to a color generation strategy for each pixel and a panoramic image generation parameter, as well as an image of the vehicle body's surrounding environment; The target color of each pixel is filled into the pixel to obtain a panoramic image of the target vehicle environment.

9. An electronic device, characterized in that: include: Processor, memory, communication interface; The processor is a graphics processor GPU; The memory is used to store executable instructions of the processor; The processor is configured to execute the panoramic image generation method according to any one of claims 1 to 7 by executing the executable instructions.

10. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the panoramic image generation method according to any one of claims 1 to 7 is implemented.

11. A computer program product, characterized in that The invention comprises a computer program, which is used to implement the panoramic image generation method according to any one of claims 1 to 7 when being executed by a processor.

Images