Vehicle image processing method and device, computer equipment and storage medium
By pre-compiling and pre-parsing binary files for direct loading, the full-view surround system achieves rapid initialization and display, addressing the slow startup and high rendering demands of existing systems.
Patent Information
- Application Number
- CN202510378169.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-26
- Publication Date
- 2025-07-15
AI Technical Summary
The existing panoramic surround view system is slow to start when the car is cold-started, which cannot meet the user's needs for quick display. The system initialization process is heavy, affecting the display effect.
It is directly loaded with pre-compiled binary files and pre-parsed binary files when the system is started, avoiding shader compilation, optimizing image processing flow, and reducing image decoding time and processor load.
It significantly shortens the initialization time of the panoramic surround view system, improves cold start speed, improves system stability and hardware compatibility, improves user experience, and supports fast display and convenient updates.
Smart Images
Figure CN120321513A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of vehicle image processing, and particularly to a vehicle image processing method, apparatus, computer device, and storage medium. Background Art
[0002] With the rapid development of automotive intelligent technologies, the assisted driving system has become an important configuration of modern vehicles. Among them, the panoramic surround view system provides a 360° blind spot-free surround view image for the driver through multi-camera collaborative imaging and real-time rendering technologies, significantly improving parking safety and driving experience. Currently, the hardware of this system mainly consists of a wide-angle camera group arranged at the front, rear, and rearview mirrors of the vehicle, a vehicle-mounted display terminal, and a domain control computing unit, while the software relies on the collaborative work of multi-camera image stitching and calibration algorithms, a real-time rendering engine (including various shader programs), and a logic control module.
[0003] However, with the popularization of the panoramic surround view system, people's requirements for the system are getting higher and higher. Especially when the vehicle is cold-started, users expect the system to quickly display images within a shorter time (such as within 3 seconds). During the initialization process of the existing panoramic surround view system, due to operations such as shader compilation, creation of shader programs, and loading and parsing of interface pictures, the system startup speed is slow and cannot meet the needs of users. In addition, with the continuous addition of functions to the panoramic surround view system, the requirements for the display effect are also getting higher and higher. In order to render better effects, there are various shaders and interface pictures in the system, which to a certain extent increases the burden of system initialization and further reduces the startup speed. Summary of the Invention
[0004] Based on this, it is necessary to provide a vehicle image processing method, apparatus, computer device, and storage medium for the above technical problems, so as to improve the operating speed of the panoramic surround view system itself during startup, achieve quick display of the panoramic surround view system, and meet the needs of users for a high-efficiency driving assistance system.
[0005] A vehicle image processing method includes: When starting the vehicle-mounted panoramic surround view system, checking whether a specified storage location contains a first binary file and a second binary file; If the specified storage location contains the first binary file and the second binary file, initializing the vehicle-mounted panoramic surround view system according to the first binary file and the second binary file; Processing multiple vehicle-mounted captured images through the initialized vehicle-mounted panoramic surround view system, and outputting a vehicle-mounted panoramic surround view image.
[0006] Optionally, the initializing the vehicle-mounted panoramic surround view system according to the first binary file and the second binary file includes: Load the first binary file into memory to obtain an executable program; Associate the executable program with a shader identifier through a graphics interface to initialize the shader.
[0007] Optionally, the shader includes an omnidirectional shader and a single-view shader; the omnidirectional shader and the single-view shader support rendering of YUV data.
[0008] Optionally, the shader includes a 3D vehicle model shader; the 3D vehicle model shader supports a lighting model.
[0009] Optionally, the initializing the vehicle panoramic surround view system according to the first binary file and the second binary file includes: Load the second binary file into memory, parse the second binary file to obtain image data; Process the image data through a graphics rendering interface to obtain an interface image.
[0010] Optionally, after checking whether the specified storage location contains the first binary file and the second binary file, it further includes: If the specified storage location does not contain the first binary file, compile the shader in the vehicle panoramic surround view system to obtain an executable program; Save the executable program as the first binary file; Save the first binary file in a first directory in the specified storage location.
[0011] Optionally, after checking whether the specified storage location contains the first binary file and the second binary file, it further includes: If the specified storage location does not contain the second binary file, load an interface image through an image library interface, parse the interface image to obtain image data; Save the image data as the second binary file; Save the second binary file in a second directory in the specified storage location.
[0012] A vehicle image processing device, comprising: An inspection module, configured to check whether the specified storage location contains a first binary file and a second binary file when starting the vehicle panoramic surround view system; An initialization module, configured to initialize the vehicle panoramic surround view system according to the first binary file and the second binary file if the specified storage location contains the first binary file and the second binary file; An output image module for processing multiple vehicle-mounted captured images through an initialized vehicle panoramic surround view system and outputting a vehicle panoramic surround view image.
[0013] A computer device includes a memory, a processor, and computer-readable instructions stored in the memory and executable on the processor. When the processor executes the computer-readable instructions, the above-mentioned vehicle image processing method is implemented.
[0014] One or more readable storage media storing computer-readable instructions. When the computer-readable instructions are executed by one or more processors, the one or more processors execute the vehicle image processing method as described above.
[0015] The above-mentioned vehicle image processing method, apparatus, computer device, and storage medium directly load a pre-compiled first binary file and a pre-parsed second binary file from a specified storage location when the vehicle panoramic surround view system is started, avoiding runtime compilation of shaders, accelerating the system initialization speed; reducing the image decoding time; reducing the processor load; directly loading the verified first binary file and second binary file, avoiding errors that may occur during runtime compilation, improving the system stability; significantly shortening the initialization time of the vehicle panoramic surround view system, enhancing the cold start speed, being able to quickly display an image within 3 seconds, improving the user experience; the pre-compiled shaders can be optimized for specific GPUs, improving hardware compatibility; when it is necessary to update the shaders or UI pictures, only the corresponding BIN files need to be replaced, without modifying the code or recompiling, facilitating maintenance and update. The present invention can improve the running speed of the panoramic surround view system itself during startup, achieve the fast display of the panoramic surround view system, and meet the user's requirements for a high-efficiency driving assistance system. Description of the Drawings
[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.
[0017] Figure 1 is a flowchart of a vehicle image processing method in an embodiment of the present invention; Figure 2 is a structural diagram of a vehicle image processing apparatus in an embodiment of the present invention; Figure 3 is a schematic diagram of a computer device in an embodiment of the present invention. Detailed Embodiments
[0018] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.
[0019] In one embodiment, as Figure 1 shown, a vehicle image processing method is provided, including the following steps S10 to S30.
[0020] S10. When starting the in-vehicle panoramic surround view system, check whether a specified storage location contains a first binary file and a second binary file.
[0021] Understandably, the in-vehicle panoramic surround view system (Around View Monitor, AVM), also known as a 360-degree panoramic imaging system, is an advanced driver assistance system designed to help drivers better understand the vehicle's surrounding environment and improve safety during parking and low-speed driving. The in-vehicle panoramic surround view system installs multiple cameras around the vehicle and stitches together the images captured by these cameras to form a panoramic view from a bird's-eye perspective, enabling the driver to clearly see the situation around the vehicle. When the in-vehicle panoramic surround view system is cold-started, it can be checked whether a specified storage location contains a first binary file (a type of binary file, abbreviated as a bin file) and a second binary file. The specified storage location can be defined according to actual needs. The first binary file is a bin file in which various shaders in the in-vehicle panoramic surround view system are saved in binary form. The second binary file is a bin file in which various interface images (UI images) used in the in-vehicle panoramic surround view system are saved in binary form.
[0022] S20. If the specified storage location contains the first binary file and the second binary file, initialize the in-vehicle panoramic surround view system according to the first binary file and the second binary file.
[0023] Understandably, if the specified storage location contains the first binary file and the second binary file, the in-vehicle panoramic surround view system is initialized according to the first binary file and the second binary file. Among them, the shaders in the in-vehicle panoramic surround view system can be initialized according to the first binary file, and the interface images in the in-vehicle panoramic surround view system can be initialized according to the second binary file. If the first binary file and the second binary file are missing in the specified storage location, the shaders need to be initialized according to the shader loading process, and the interface images need to be initialized according to the interface image loading process.
[0024] S30. Process multiple vehicle-mounted captured images through the initialized vehicle panoramic surround view system, and output a vehicle panoramic surround view image.
[0025] Understandably, after the initialization of the vehicle panoramic surround view system is completed, multiple vehicle-mounted captured images can be processed, stitched and rendered, and a vehicle panoramic surround view image is output on the central control screen of the vehicle. The multiple vehicle-mounted captured images can be images captured by four cameras (such as front, rear, left, and right). The format of the vehicle-mounted captured images can be YUV format or RGB format.
[0026] In this embodiment, when the vehicle panoramic surround view system is started, the pre-compiled first binary file and the pre-parsed second binary file are directly loaded from the specified storage location, avoiding the compilation of shaders during runtime, accelerating the system initialization speed; reducing the image decoding time; reducing the processor load; directly loading the verified first binary file and second binary file, avoiding the errors that may occur during runtime compilation, improving the system stability; significantly shortening the initialization time of the vehicle panoramic surround view system, enhancing the cold start speed, and being able to quickly generate an image within 3 seconds, improving the user experience; the pre-compiled shaders can be optimized for specific GPUs, improving the hardware compatibility; when it is necessary to update the shaders or UI pictures, only the corresponding BIN files need to be replaced, without modifying the code or recompiling, which is convenient for maintenance and update.
[0027] Optionally, step S20, that is, initializing the vehicle panoramic surround view system according to the first binary file and the second binary file, includes: S201. Load the first binary file into the memory through a graphics interface to obtain an executable program; S202. Verify the link status between the executable program and the shader. If the link status verification is successful, it is determined that the shader is initialized.
[0028] Understandably, the first binary file can be read through a graphics interface and loaded into the memory to form an executable program. Once the first binary file is loaded into the memory, it becomes a piece of code that can be executed by the CPU or GPU. Here, the image interface can be a graphics API such as OpenGL, DirectX, Vulkan, etc. Taking OpenGL as an example, the first binary file can be read through glProgramBinary of OpenGL and loaded into the memory to form an executable program.
[0029] Next, verify the link status between the executable program and the shader. If the link status verification is successful, it is determined that the shader has been initialized; if the link status verification fails, it falls back to the regular compilation process of the shader. The regular compilation process of the shader includes creating an empty program object, creating a shader object, loading the shader code resource, compiling the shader code, linking the shader to the program object, linking the program object, and checking whether the executable file contained in the program object is feasible.
[0030] In this embodiment, the pre-compiled first binary file is used, which avoids the need to compile the shader code during runtime, reduces the resource consumption during runtime, and can significantly improve the performance of the application; the pre-compiled first binary file has been verified, reducing the possibility of compilation errors during runtime and improving the stability of the system.
[0031] Optionally, the shader includes an omnidirectional view shader and a single-view shader; the omnidirectional view shader and the single-view shader support rendering YUV data.
[0032] Understandably, the shader includes an omnidirectional view shader and a single-view shader. The omnidirectional view shader is used for the rendering of panoramic images or 360-degree videos, which needs to process image data from different perspectives and map it to a spherical or cylindrical surface. The single-view shader is used for the rendering of traditional 2D images or videos, processing data from a single perspective. YUV data is image data encoded according to the YUV color encoding model, where Y (Luminance) represents the gray value of the image; U (Chrominance) represents the blue difference component, indicating the difference between blue and luminance; V (Chrominance) represents the red difference component, indicating the difference between red and luminance. The omnidirectional view shader and the single-view shader supporting the rendering of YUV data can bring a more efficient rendering process, better performance, higher compatibility, and a better user experience.
[0033] Optionally, the shader includes a 3D vehicle model shader; the 3D vehicle model shader supports lighting models.
[0034] Understandably, the shader includes a 3D vehicle model shader. The 3D vehicle model shader is a shader specifically designed for rendering 3D vehicle models. Lighting models include, but are not limited to, the Phong lighting model, the Lambert lighting model, and physically based rendering. The 3D vehicle model shader supporting lighting models can improve the rendering effect of the in-vehicle panoramic surround view system.
[0035] Optionally, step S20, that is, initializing the in-vehicle panoramic surround view system according to the first binary file and the second binary file, includes: S203. Load the second binary file into memory, parse the second binary file, and obtain image data; S204. Process the image data through a graphics rendering interface to obtain an interface image.
[0036] Understandably, the second binary file can be opened and its content read into memory. According to the format of the second binary file, the image data can be parsed. The image data includes the width, height, format, and data content of the picture.
[0037] The image data can be processed through a graphics rendering interface, such as OpenGL ES, to create a texture, perform drawing and rendering, and generate an interface image.
[0038] In this embodiment, directly reading the image data from the second binary file can reduce disk I / O, reduce the CPU load, avoid additional memory allocation, improve memory efficiency, greatly accelerate the loading speed of the interface image, and reduce the user waiting time.
[0039] Optionally, after step S10, that is, after checking whether the specified storage location contains the first binary file and the second binary file, the following steps are further included: S11. If the specified storage location does not contain the first binary file, compile the shaders in the vehicle panoramic surround view system to obtain an executable program; S12. Save the executable program as the first binary file; S13. Save the first binary file in the first directory in the specified storage location.
[0040] Understandably, the vehicle panoramic surround view system includes multiple pre-written shaders, such as shaders for drawing the surround view, shaders for drawing a single view, shaders for drawing vehicle auxiliary lines, shaders for drawing a 3D vehicle model, and shaders for drawing the interface image. When the specified storage location does not contain the first binary file, all the shaders in the vehicle panoramic surround view system need to be compiled and initialized into corresponding executable programs. After initialization, the executable program can be binaryized to form the first binary file, and then the first binary file is saved in the first directory in the specified storage location. Among them, the first directory is specifically used to store the first binary file. In some examples, the executable program can be processed through the glGetProgramBinary function of the OpenGL ES interface to generate the first binary file.
[0041] In this embodiment, binaryizing the shader program and saving it as the first binary file can improve the startup speed of the vehicle panoramic surround view system and reduce the compilation overhead during the operation of the vehicle panoramic surround view system.
[0042] Optionally, after step S10, that is, after checking whether the specified storage location contains the first binary file and the second binary file, the method further includes: S14. If the specified storage location does not contain the second binary file, load the interface image through the image library interface, parse the interface image, and obtain image data; S15. Save the image data as the second binary file; S16. Save the second binary file in the second directory in the specified storage location.
[0043] Understandably, if the specified storage location does not contain the second binary file, the interface image can be loaded through the image library interface, such as the interface of the stbi library (an image library developed by Sean Barrett), and the interface image can be parsed into image data. The image data includes the width, height, format, and data content of the picture. Then, the image data is binarized to form the second binary file, and then the second binary file is saved in the second directory in the specified storage location. Among them, the second directory is specifically used to store the second binary file.
[0044] In this embodiment, by saving the parsed image data as the second binary file, these cached files can be directly loaded during subsequent startup, thereby avoiding the repeated parsing process and accelerating the startup speed of the vehicle panoramic surround view system; picture parsing is a computationally intensive process, and pre-parsing and saving the results can reduce the CPU burden during operation; directly loading the interface image from the second binary file is usually faster than decoding data from standard image formats (such as PNG or JPEG), improving the performance of the vehicle panoramic surround view system.
[0045] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The order of execution of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
[0046] In one embodiment, a vehicle image processing device is provided, and the vehicle image processing device corresponds one-to-one with the vehicle image processing method in the above embodiment. As Figure 2 shown, the vehicle image processing device includes: A checking module 10, configured to check whether the specified storage location contains the first binary file and the second binary file when starting the vehicle panoramic surround view system; An initialization module 20, configured to initialize the vehicle panoramic surround view system according to the first binary file and the second binary file if the specified storage location contains the first binary file and the second binary file; The output image module 30 is configured to process multiple vehicle-mounted captured images through the initialized vehicle panoramic surround viewing system and output a vehicle panoramic surround viewing image.
[0047] Optionally, the initialization module 20 includes: A first loading unit configured to load the first binary file into the memory to obtain an executable program; A verification unit configured to verify the link status between the executable program and the shader. If the link status verification is successful, it is determined that the shader is initialized.
[0048] Optionally, the shader includes a surround viewing shader and a single view shader; the surround viewing shader and the single view shader support rendering YUV data.
[0049] Optionally, the shader includes a 3D vehicle model shader; the 3D vehicle model shader supports a lighting model.
[0050] Optionally, the initialization module 20 includes: A second loading unit configured to load the second binary file into the memory, parse the second binary file, and obtain image data; An image processing unit configured to process the image data through a graphics rendering interface to obtain an interface image.
[0051] Optionally, the vehicle image processing device further includes a first binary file generation module; the first binary file generation module includes: A shader compilation unit configured to compile the shader in the vehicle panoramic surround viewing system to obtain an executable program if the specified storage location does not contain the first binary file; A first binarization unit configured to save the executable program as the first binary file; A first file saving unit configured to save the first binary file in a first directory in the specified storage location.
[0052] Optionally, the vehicle image processing device further includes a second binary file generation module; the second binary file generation module includes: An image loading and parsing unit configured to load an interface image through an image library interface and parse the interface image to obtain image data if the specified storage location does not contain the second binary file; A second binarization unit configured to save the image data as the second binary file; A second file saving unit configured to save the second binary file in a second directory in the specified storage location.
[0053] For the specific limitations of the vehicle image processing device, reference may be made to the limitations of the vehicle image processing method in the foregoing text, which will not be elaborated here. Each module in the above vehicle image processing device can be implemented in whole or in part by software, hardware, and their combination. Each of the above modules can be embedded in the processor of the computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so as to facilitate the processor to call and execute the operations corresponding to each of the above modules.
[0054] In one embodiment, a computer device is provided. The computer device can be a terminal, and its internal structure diagram can be as Figure 3 shown. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a readable storage medium and an internal memory. The non-volatile storage medium stores an operating system and computer-readable instructions. The internal memory provides an environment for the operation of the operating system and computer-readable instructions in the readable storage medium. The network interface of the computer device is used to communicate with an external server through a network connection. The computer-readable instructions, when executed by the processor, implement a vehicle image processing method. The readable storage medium provided in this embodiment includes a non-volatile readable storage medium and a volatile readable storage medium.
[0055] In one embodiment, a computer device is provided, including a memory, a processor, and computer-readable instructions stored on the memory and executable on the processor. When the processor executes the computer-readable instructions, the following steps are implemented: When starting the vehicle panoramic surround view system, check whether the specified storage location contains a first binary file and a second binary file; If the specified storage location contains the first binary file and the second binary file, initialize the vehicle panoramic surround view system according to the first binary file and the second binary file; Process multiple road vehicle captured images through the initialized vehicle panoramic surround view system, and output a vehicle panoramic surround view image.
[0056] In one embodiment, one or more computer-readable storage media storing computer-readable instructions are provided. The readable storage media provided in this embodiment include a non-volatile readable storage medium and a volatile readable storage medium. Computer-readable instructions are stored on the readable storage medium. When the computer-readable instructions are executed by one or more processors, the following steps are implemented: When starting the vehicle panoramic surround view system, check whether the specified storage location contains a first binary file and a second binary file; If the specified storage location contains a first binary file and a second binary file, initialize the vehicle panoramic surround view system according to the first binary file and the second binary file; Process multiple vehicle captured images through the initialized vehicle panoramic surround view system and output a vehicle panoramic surround view image.
[0057] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through computer-readable instructions. The computer-readable instructions can be stored in a non-volatile readable storage medium or a volatile readable storage medium. When the computer-readable instructions are executed, they can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the various embodiments provided in the present application can include non-volatile and / or volatile memories. Non-volatile memories can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memories can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.
[0058] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the above division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above.
[0059] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.
Claims
1. A vehicle image processing method, characterized in that, including: When starting the vehicle panoramic surround view system, check whether the specified storage location contains a first binary file and a second binary file; If the specified storage location contains the first binary file and the second binary file, initialize the vehicle panoramic surround view system according to the first binary file and the second binary file; Process multiple vehicle captured images through the initialized vehicle panoramic surround view system, and output a vehicle panoramic surround view image.
2. The vehicle image processing method according to claim 1, wherein The initializing the vehicle panoramic surround view system according to the first binary file and the second binary file includes: Load the first binary file into the memory through a graphics interface to obtain an executable program; Verify the link status between the executable program and the shader. If the link status verification is successful, determine that the shader is initialized.
3. The vehicle image processing method according to claim 2, characterized in that The shader includes a surround view shader and a single view shader; the surround view shader and the single view shader support rendering YUV data.
4. The vehicle image processing method according to claim 2, wherein The shader includes a 3D vehicle model shader; the 3D vehicle model shader supports a lighting model.
5. The vehicle image processing method according to claim 1, wherein The initializing the vehicle panoramic surround view system according to the first binary file and the second binary file includes: Load the second binary file into the memory, parse the second binary file, and obtain image data; Process the image data through a graphics rendering interface to obtain an interface image.
6. The vehicle image processing method according to claim 1, wherein, After checking whether the specified storage location contains the first binary file and the second binary file, it further includes: If the specified storage location does not contain the first binary file, compile the shader in the vehicle panoramic surround view system to obtain an executable program; Save the executable program as the first binary file; Save the first binary file in the first directory in the specified storage location.
7. The vehicle image processing method according to claim 1, wherein, After checking whether the specified storage location contains the first binary file and the second binary file, it further includes: If the specified storage location does not contain the second binary file, load the interface image through an image library interface, parse the interface image, and obtain image data; Save the image data as the second binary file; Save the second binary file in the second directory in the specified storage location.
8. A vehicle image processing device, characterized in that, including: A checking module, configured to check whether the specified storage location contains a first binary file and a second binary file when starting the vehicle panoramic surround view system; An initializing module, configured to initialize the vehicle panoramic surround view system according to the first binary file and the second binary file if the specified storage location contains the first binary file and the second binary file; An output image module, configured to process multiple vehicle captured images through the initialized vehicle panoramic surround view system and output a vehicle panoramic surround view image.
9. A computer device, comprising a memory, a processor, and computer-readable instructions stored in the memory and running on the processor, characterized in that, When the processor executes the computer-readable instructions, it implements the vehicle image processing method according to any one of claims 1 to 7.
10. One or more readable storage media storing computer-readable instructions, which, when executed by one or more processors, cause the one or more processors to execute the vehicle image processing method according to any one of claims 1 to 7.