CN105574928A - Driving image processing method and first electronic equipment - Google Patents
Driving image processing method and first electronic equipment Download PDFInfo
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- CN105574928A CN105574928A CN201510925928.5A CN201510925928A CN105574928A CN 105574928 A CN105574928 A CN 105574928A CN 201510925928 A CN201510925928 A CN 201510925928A CN 105574928 A CN105574928 A CN 105574928A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
- G07C5/085—Registering performance data using electronic data carriers
- G07C5/0866—Registering performance data using electronic data carriers the electronic data carrier being a digital video recorder in combination with video camera
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/08—Indexing scheme for image data processing or generation, in general involving all processing steps from image acquisition to 3D model generation
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Abstract
The embodiment of the invention provides a driving image processing method and first electronic equipment, used for realizing the technical effect of obtaining a three-dimensional stereo driving image. The method is applicable to the first electronic equipment and comprises the following steps: acquiring a first driving image through a first image acquisition unit of the first electronic equipment, wherein the first electronic equipment is arranged in a vehicle and connected with second electronic equipment arranged in the vehicle; receiving a second driving image acquired by a second image acquisition unit of the second electronic equipment and sent by the second electronic equipment; and processing the first driving image and the second driving image so as to obtain a three-dimensional driving image corresponding to the first driving image and the second driving image.
Description
Technical field
The present invention relates to image processing field, particularly relate to a kind of driving image processing method and the first electronic equipment.
Background technology
Drive recorder is for recording the image of driving conditions.When traffic hazard or traffic occurring and disagreeing, the road map picture that drive recorder records can reduce driving conditions, and this is to determining that event truth serves very important effect.So, more and more installation drive recorder in present vehicle.
But the image of drive recorder record is X-Y scheme.X-Y scheme can reflect the relative position of object in a plane, but but cannot reflect the depth of field of object, i.e. the distance of object distance focal plane.So the such a defect of road map, still to the restriction that rediscover driving conditions produces.
Summary of the invention
The embodiment of the present application provides a kind of driving image processing method and the first electronic equipment, for realizing the technique effect obtaining 3 D stereo road map picture.
First aspect, this application provides a kind of driving image processing method, is applied to the first electronic equipment, comprises:
The first driving image is gathered by the first image acquisition units of described first electronic equipment; Wherein, described first electronic equipment is arranged in a vehicle, and is connected with the second electronic equipment be arranged in described vehicle;
The second road map picture that the second image acquisition units receiving described second electronic equipment that described second electronic equipment sends gathers;
Described first driving image and described second road map picture are processed, obtains described first driving image and three-dimensional vehicle image corresponding to described second road map picture.
Optionally, described first driving image and described second road map picture are processed, obtain described first driving image and three-dimensional vehicle image corresponding to described second road map picture, comprising:
In described first driving image, extract at least one fisrt feature point, obtain at least one first coordinate described, and extract at least one second feature point in described second road map picture, obtain at least one second coordinate described; Described first coordinate and described second coordinate are two-dimensional coordinate;
Inner parameter and the external parameter of described first image acquisition units is obtained according to the demarcation thing in described first driving image and the second road map picture;
Based at least one first coordinate described, at least one second coordinate, described inner parameter and described external parameter, obtain the three-dimensional coordinate of at least one fisrt feature point described;
By the three-dimensional coordinate of at least one fisrt feature point described, build described three-dimensional vehicle image.
Optionally, after obtaining described first driving image and three-dimensional vehicle image corresponding to described second road map picture, also comprise:
Obtain the relative distance of other vehicles in described three-dimensional vehicle image and reference point; Described reference point characterizes described vehicle location;
When the relative distance of at least one vehicle in other vehicles described and described reference point is less than threshold value, generate information.
Optionally, after obtaining described first driving image and three-dimensional vehicle image corresponding to described second road map picture, also comprise:
Described three-dimensional vehicle image is sent to high in the clouds, stores described three-dimensional vehicle image to make described high in the clouds.
Optionally, described first electronic equipment is mobile phone or panel computer, and the second electronic equipment is drive recorder; Or
Described first electronic equipment is described drive recorder, and described second electronic equipment is described mobile phone or described panel computer.
Second aspect, this application provides a kind of first electronic equipment, comprising:
First image acquisition units, for gathering the first driving image; Wherein, described first electronic equipment is arranged in a vehicle, and is connected with the second electronic equipment be arranged in described vehicle;
Receiving element, the second road map picture that the second image acquisition units for receiving described second electronic equipment that described second electronic equipment sends gathers;
Graphics processing unit, for processing described first driving image and described second road map picture, obtains described first driving image and three-dimensional vehicle image corresponding to described second road map picture.
Optionally, described graphics processing unit is used for extracting at least one fisrt feature point in described first driving image, obtain at least one first coordinate described, and extract at least one second feature point in described second road map picture, obtain at least one second coordinate described; Described first coordinate and described second coordinate are two-dimensional coordinate; Inner parameter and the external parameter of described first image acquisition units is obtained according to the demarcation thing in described first driving image and the second road map picture; Based at least one first coordinate described, at least one second coordinate, described inner parameter and described external parameter, obtain the three-dimensional coordinate of at least one fisrt feature point described; By the three-dimensional coordinate of at least one fisrt feature point described, build described three-dimensional vehicle image.
Optionally, described electronic equipment also comprises:
Distance obtains unit, for after obtaining described first driving image and three-dimensional vehicle image corresponding to described second road map picture, obtains the relative distance of other vehicles in described three-dimensional vehicle image and reference point; Described reference point characterizes described vehicle location;
Tip element, for when the relative distance of at least one vehicle in other vehicles described and described reference point is less than threshold value, generates information.
Optionally, described electronic equipment also comprises:
Transmitting element, for after obtaining described first driving image and three-dimensional vehicle image corresponding to described second road map picture, is sent to high in the clouds by described three-dimensional vehicle image, stores described three-dimensional vehicle image to make described high in the clouds.
Optionally, described first electronic equipment is mobile phone or panel computer, and the second electronic equipment is drive recorder; Or
Described first electronic equipment is described drive recorder, and described second electronic equipment is described mobile phone or described panel computer.
Above-mentioned one or more technical scheme in the embodiment of the present application, at least have following one or more
Technique effect:
In the technical scheme of the embodiment of the present application, the first driving image is gathered by the first image acquisition units of the first electronic equipment, and the second road map picture that the second image acquisition units receiving the second electronic equipment that the second electronic equipment sends gathers, and then the first driving image and the second road map picture are processed, obtain the first driving image and three-dimensional vehicle image corresponding to the second road map picture.So, gather road map picture by two electronic equipments, and the road map picture of two electronic equipment collections is processed, and then obtain three-dimensional vehicle image.Solve the technical matters that drive recorder collection of the prior art only can gather two-dimentional road map picture, achieve the technique effect obtaining three-dimensional vehicle image, and then driving conditions can be recorded more truly.
Accompanying drawing explanation
Fig. 1 is the method flow diagram of the embodiment of the present application middle rolling car image procossing;
Fig. 2 is the principle schematic building three-dimensional vehicle image in the embodiment of the present application;
Fig. 3 is the first electronic devices structure schematic diagram in the embodiment of the present application.
Embodiment
The embodiment of the present application provides a kind of driving image processing method and electronic equipment, only can gather the technical matters of X-Y scheme for solving drive recorder of the prior art, achieves the technique effect obtaining 3 D stereo road map picture.
In order to solve the problems of the technologies described above, the technical scheme general thought that the application provides is as follows:
In the technical scheme of the embodiment of the present application, the first driving image is gathered by the first image acquisition units of the first electronic equipment, and the second road map picture that the second image acquisition units receiving the second electronic equipment that the second electronic equipment sends gathers, and then the first driving image and the second road map picture are processed, obtain the first driving image and three-dimensional vehicle image corresponding to the second road map picture.So, gather road map picture by two electronic equipments, and the road map picture of two electronic equipment collections is processed, and then obtain three-dimensional vehicle image.Solve the technical matters that drive recorder collection of the prior art only can gather two-dimentional road map picture, achieve the technique effect obtaining three-dimensional vehicle image, and then driving conditions can be recorded more truly.
Below by accompanying drawing and specific embodiment, technical solution of the present invention is described in detail, the specific features being to be understood that in the embodiment of the present application and embodiment is the detailed description to technical scheme, instead of the restriction to technical scheme, when not conflicting, the technical characteristic in the embodiment of the present application and embodiment can combine mutually.
Term "and/or" herein, being only a kind of incidence relation describing affiliated partner, can there are three kinds of relations in expression, and such as, A and/or B, can represent: individualism A, exists A and B simultaneously, these three kinds of situations of individualism B.In addition, character "/" herein, general expression forward-backward correlation is to the relation liking a kind of "or".
The application's first aspect provides a kind of driving image processing method, please refer to Fig. 1, comprises the steps:
S101: gather the first driving image by the first image acquisition units of described first electronic equipment.
S102: the second road map picture that the second image acquisition units receiving described second electronic equipment that described second electronic equipment sends gathers.
S103: process described first driving image and described second road map picture, obtains described first driving image and three-dimensional vehicle image corresponding to described second road map picture.
Specifically, in the embodiment of the present application, there are two electronic equipments, are respectively the first electronic equipment and the second electronic equipment.When applying technical scheme, the first electronic equipment is arranged in vehicle, and setting position is specially by the first image acquisition units of the first electronic equipment towards direction of traffic, to record driving conditions.Second electronic equipment is also arranged in same vehicle, and the second image acquisition units of the second electronic equipment is equally towards direction of traffic.In the embodiment of the present application, need the first electronic equipment and the second electronic equipment to be arranged on diverse location, and then make two image acquisition units can gather driving conditions with different angles.
Meanwhile, the first electronic equipment is connected with the second electronic equipment, and such as connected by USB (UniversalSerialBus, USB (universal serial bus)) or wireless network, the application does not do concrete restriction.
Certainly, in time not needing record driving conditions, the first electronic equipment and/or the second electronic equipment can be used alone, and are not arranged in vehicle, mutually do not connect, and the application does not do concrete restriction.
On the one hand, in S101, the first image acquisition units gathers image towards direction of traffic, and then obtains the first driving image.In the embodiment of the present application, the first driving image is specifically as follows a frame or the static picture of multiframe, also can for the dynamic video recording be made up of multiframe picture, and the application does not do concrete restriction.
On the other hand, the second electronic equipment also gathers road map picture by the second image acquisition units, namely the second road map picture.Further, the second electronic equipment first electronic equipment that also the second road map picture collected will be sent to.So in S102, the first electronic equipment receives the second road map picture that the second electronic equipment sends.Similarly, the second road map picture is specifically as follows a frame or the static picture of multiframe, also can for the dynamic video recording be made up of multiframe picture, and the application does not do concrete restriction.Preferably, the first driving image and the second road map picture are all video recording.
In the embodiment of the present application, conveniently the first electronic equipment acquisition three-dimensional vehicle image, can control the first image acquisition units and the second image acquisition units carries out synchronous acquisition, and namely two image acquisition units start to gather simultaneously, and terminate to gather simultaneously.
And for S101 and S102, in specific implementation process, S101 can perform before S102, namely after the second image acquisition units gathers a period of time, such as 1 minute, or after terminating collection, then the image of the second image acquisition units is sent to the first electronic equipment.Or S101 and S102 also can perform simultaneously, namely the second road map picture is just sent to the first electronic equipment by the second image acquisition units while collection.The application those of ordinary skill in the field can be arranged according to actual, and the application does not do concrete restriction.
Finally, in S103, the first driving image and the second road map picture are processed, obtain the first driving image and three-dimensional vehicle image corresponding to the second road map picture.Specifically, because the first image acquisition units and the second image acquisition units gather driving conditions with different angles, so the first electronic equipment carries out analysis and calculation to the first driving image and the second road map picture, the parallax that two image acquisition units are formed can be obtained, and then just can construct the first driving image and three-dimensional vehicle image corresponding to the second road map picture based on parallax.
So, as can be seen from foregoing description, gather road map picture by two electronic equipments, and the road map picture of two electronic equipment collections is processed, and then obtain three-dimensional vehicle image.Solve the technical matters that drive recorder collection of the prior art only can gather two-dimentional road map picture, achieve the technique effect obtaining three-dimensional vehicle image, and then driving conditions can be recorded more truly.
Next, to how having obtained three-dimensional vehicle image to the first driving image and the second driving image procossing in S102 describe in detail.
In the embodiment of the present application, S102 comprises:
In described first driving image, extract at least one fisrt feature point, obtain at least one first coordinate described, and extract at least one second feature point in described second road map picture, obtain at least one second coordinate described; Described first coordinate and described second coordinate are two-dimensional coordinate;
Inner parameter and the external parameter of described first image acquisition units is obtained according to the demarcation thing in described first driving image and the second road map picture;
Based at least one first coordinate described, at least one second coordinate, described inner parameter and described external parameter, obtain the three-dimensional coordinate of at least one fisrt feature point described;
By the three-dimensional coordinate of at least one fisrt feature point described, build described three-dimensional vehicle image.
On the one hand, in the first driving image, extract at least one fisrt feature point, and in the second road map picture, extract at least one second feature point.Specifically, in the embodiment of the present application, during extract minutiae, adopt edge detection method, limb recognition is carried out to the first driving image and the second road map picture, and then determines the edge of each object in image.Point in first driving image on edge is at least one fisrt feature point, and the point in the second road map picture on edge is second feature point.Further, identify unique point, and then obtain first coordinate of each unique point in the two-dimensional coordinate system of the first image acquisition units imaging plane, obtain at least one first coordinate altogether.In the same way, at least one second coordinate of at least one second feature point is obtained.
In the embodiment of the present application, because the first image acquisition units and the second image acquisition units are all towards direction of traffic collection, so the first driving image is almost consistent with the object in the second road map picture.And then, in the embodiment of the present application, using fisrt feature identical for edge variation situation point and second feature point as the imaging point of same point in world coordinate system in two image acquisition units.
On the other hand, in the first driving image and the second road map picture, demarcation thing is identified.The first electronic equipment in the embodiment of the present application and the second electronic equipment are specifically fixed on the coplanar position of the imaging plane of the first image acquisition units and the second image acquisition units.So, obtain and demarcate the two-dimensional coordinate of thing in the first image acquisition units imaging plane and the two-dimensional coordinate in the second image acquisition units imaging plane, just can determine the position relationship of two image acquisition units video camera three-dimensional system of coordinates, and then calculate inner parameter and external parameter.Wherein, calculate the mode of inner parameter and external parameter similarly to the prior art, be just no longer described in detail here.
In specific implementation process, inner parameter and external parameter be can surely obtain by advanced rower, and then at least one first coordinate and at least one second coordinate obtained.First can obtain at least one first coordinate and at least one second coordinate, then carry out demarcation acquisition inner parameter and external parameter, the application does not do concrete restriction yet.
Then, based at least one first coordinate, at least one the second coordinate, inner parameter and external parameter, the three-dimensional coordinate of each fisrt feature point is obtained.For convenience of description, truly put P with one in world coordinate system to be described.
Please refer to Fig. 2, the distance at the three-dimensional system of coordinate center of two image acquisition units is b.The photocentre place being centrally located at two image acquisition units of two three-dimensional system of coordinates.In specific implementation process, after imaging plane is positioned at photocentre, but for convenience of description, in Fig. 2, imaging plane is plotted in f place before photocentre, f represents focal length.
For the imaging plane coordinate system uO1v of the first image acquisition units, u axle is consistent with the x-axis direction of the first image acquisition units three-dimensional system of coordinate xOy, and v axle is consistent with the y-axis direction of three-dimensional system of coordinate xOy.Similar, for the imaging plane coordinate system u ' O2v ' of the second image acquisition units, u ' axle is consistent with the x ' direction of principal axis of the second image acquisition units three-dimensional system of coordinate x ' O ' y ', and v ' axle is consistent with the y ' direction of principal axis of three-dimensional system of coordinate x ' O ' y '.First image acquisition units imaging plane hands over z-axis and O1 point, and the second image acquisition units hands over z ' axle and O2 point.
P point is imaged as fisrt feature point P1 in the first driving image, in the second road map picture, be imaged as second feature point P2.The coordinate of P1 point in uO1v is (u1, v1), and the coordinate of P2 point in u ' O2v ' is (u2, v2).Because in the embodiment of the present application, the imaging plane of the first image acquisition units and the second image acquisition units is coplanar, so v1=v2.
Can be obtained by triangle geometric relationship
(x, y, z) is the coordinate of P point in the first image acquisition units three-dimensional system of coordinate xOy.
And the parallax between two image acquisition units is
(formula 2)
Be respectively so the coordinate of P point in the first image acquisition units three-dimensional system of coordinate xOy can be obtained by formula (1) and formula (2)
Further, from inner parameter and external parameter, obtain d and f, the first electronic equipment just can calculate P point coordinate (x, y, z).
Similar method, obtains the three-dimensional coordinate of each fisrt feature o'clock under the first image acquisition units three-dimensional system of coordinate xOy, and then determines the locus of each fisrt feature point.Finally, according to the three-dimensional coordinate calculated, will the picture of each fisrt feature point be generated, and then obtain three-dimensional vehicle image.
Optionally, in the embodiment of the present application, after S103, can further include:
Judge the relative distance of other vehicles in described three-dimensional vehicle image and reference point; Described reference point characterizes described vehicle location;
When the relative distance of at least one vehicle in other vehicles described and described reference point is less than threshold value, generate information.
Specifically, the distance on direction, focal plane is being parallel to due to object not only can be embodied in 3-D view, can also embody perpendicular to the distance on direction, focal plane, the i.e. depth of field, so, after obtaining three-dimensional vehicle image, about just can obtaining from three-dimensional vehicle image and other vehicles in front and the distance of reference point.
In the embodiment of the present application, first driving image and the second road map picture are all be arranged on the first electronic equipment in vehicle and the second electronic equipment gathers, and the three-dimensional vehicle image therefore obtained based on the first driving image and the second road map picture can represent the driving situation that driver sees from vehicle.Such as, so with certain in three-dimensional vehicle image a bit for reference point, central point, just can characterize the position of vehicle.
So after acquisition three-dimensional vehicle image, the first electronic equipment identifies other vehicles from three-dimensional vehicle image, and obtains the relative distance of other vehicles each and reference point further.In the embodiment of the present application, relative distance represents the distance of other vehicles and reference point line.If other vehicles are positioned at reference point dead ahead, i.e. z-axis positive dirction in Fig. 2, then the depth of field of other vehicles in three-dimensional vehicle image is exactly relative distance.If other vehicles are not positioned at the dead ahead of reference point, so relative distance is then calculated by Euclidean distance, namely to the depth of field square and left and right distance square and the distance that obtains after opening radical sign.
After obtaining the relative distance of other vehicles and reference point, judge whether the relative distance of other vehicles and reference point is less than threshold value further.Threshold value is safe distance, is arranged or default setting, such as 5m, 3m etc. by user, and the application does not do concrete restriction.
When the relative distance of at least one vehicle in other vehicles and reference point is less than threshold value, shows that relative distance is less than the distance of at least one vehicle of threshold value and this vehicle less, be unfavorable for traffic safety.So, in the embodiment of the present application, when the relative distance of at least one vehicle in other vehicles and reference point is less than threshold value, will information be generated, to point out driver to drive with caution.
In specific implementation process, information can be specially voice messaging, the voice messaging such as such as " please note the spacing with surrounding vehicles ".Can also be Word message, or pilot lamp flicker, the application does not do concrete restriction.
Seen from the above description, after acquisition three-dimensional vehicle image, the relative distance of other vehicles in three-dimensional vehicle image and reference point is obtained further, and when the relative distance of at least one vehicle and reference point is less than threshold value, generation information.So, achieve the technique effect of automatic-prompting spacing, improve traffic safety.And due to road map of the prior art similarly be two dimension, the depth of field of other vehicles cannot be represented, so the relative distance of other vehicles and this vehicle just cannot be determined, and then also just cannot when spacing is too small automatic-prompting driver.
Optionally, after S103, can further include:
Described three-dimensional vehicle image is sent to high in the clouds, stores described three-dimensional vehicle image to make described high in the clouds.
Specifically, in order to avoid three-dimensional vehicle image cannot be obtained with rediscover driving conditions when causing the first electronic equipment and the second electronic equipment all to damage in vehicle generation severe traffic accidents, so, after acquisition three-dimensional vehicle image, further three-dimensional vehicle image is sent to high in the clouds, and then three-dimensional vehicle image is stored in high in the clouds.
So, after the first electronic equipment damages, need the user obtaining three-dimensional vehicle image can download from high in the clouds, and then reduction driving conditions.Therefore, three-dimensional vehicle process sent and is stored into high in the clouds, improve the reliability of three-dimensional vehicle image.
In the embodiment of the present application, the first electronic equipment is such as mobile phone or panel computer, and the second electronic equipment is drive recorder.Or the first electronic equipment is drive recorder, and the second electronic equipment is mobile phone or panel computer.The application those of ordinary skill in the field can be arranged according to actual, and the application does not do concrete restriction.
Based on the inventive concept same with previous embodiment middle rolling car image processing method, the application's second aspect also provides a kind of first electronic equipment, as shown in Figure 3, comprising:
First image acquisition units 301, for gathering the first driving image; Wherein, the first electronic equipment is arranged in a vehicle, and is connected with the second electronic equipment be arranged in vehicle;
Receiving element 302, the second road map picture that the second image acquisition units for receiving the second electronic equipment that the second electronic equipment sends gathers;
Graphics processing unit 303, for processing the first driving image and the second road map picture, obtains the first driving image and three-dimensional vehicle image corresponding to the second road map picture.
Specifically, in the embodiment of the present application, graphics processing unit 303, for extracting at least one fisrt feature point in the first driving image, obtains at least one first coordinate, and in the second road map picture, extract at least one second feature point, obtain at least one second coordinate; First coordinate and the second coordinate are two-dimensional coordinate; Inner parameter and the external parameter of the first image acquisition units is obtained according to the demarcation thing in the first driving image and the second road map picture; Based at least one first coordinate, at least one the second coordinate, inner parameter and external parameter, obtain the three-dimensional coordinate of at least one fisrt feature point; By the three-dimensional coordinate of at least one fisrt feature point, build three-dimensional vehicle image.
Optionally, electronic equipment also comprises:
Distance obtains unit, after drive a vehicle in acquisition first image and three-dimensional vehicle image corresponding to the second road map picture, obtains the relative distance of other vehicles in three-dimensional vehicle image and reference point; Reference point characterizes vehicle location;
Tip element, for when the relative distance of at least one vehicle in other vehicles and reference point is less than threshold value, generates information.
Optionally, electronic equipment also comprises:
Transmitting element, after drive a vehicle in acquisition first image and three-dimensional vehicle image corresponding to the second road map picture, is sent to high in the clouds by three-dimensional vehicle image, stores three-dimensional vehicle image to make high in the clouds.
In specific implementation process, the first electronic equipment is mobile phone or panel computer, and the second electronic equipment is drive recorder.Or the first electronic equipment is drive recorder, the second electronic equipment is mobile phone or panel computer.
The various variation pattern of the driving image processing method in earlier figures 1-Fig. 2 embodiment and instantiation are equally applicable to first electronic equipment of the present embodiment, by the aforementioned detailed description to driving image processing method, those skilled in the art clearly can know the implementation method of the first electronic equipment in the present embodiment, so succinct in order to instructions, be not described in detail in this.
Above-mentioned one or more technical scheme in the embodiment of the present application, at least has one or more technique effects following:
In the technical scheme of the embodiment of the present application, the first driving image is gathered by the first image acquisition units of the first electronic equipment, and the second road map picture that the second image acquisition units receiving the second electronic equipment that the second electronic equipment sends gathers, and then the first driving image and the second road map picture are processed, obtain the first driving image and three-dimensional vehicle image corresponding to the second road map picture.So, gather road map picture by two electronic equipments, and the road map picture of two electronic equipment collections is processed, and then obtain three-dimensional vehicle image.Solve the technical matters that drive recorder collection of the prior art only can gather two-dimentional road map picture, achieve the technique effect obtaining three-dimensional vehicle image, and then driving conditions can be recorded more truly.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (10)
1. a driving image processing method, is characterized in that, be applied to the first electronic equipment, comprise:
The first driving image is gathered by the first image acquisition units of described first electronic equipment; Wherein, described first electronic equipment is arranged in a vehicle, and is connected with the second electronic equipment be arranged in described vehicle;
The second road map picture that the second image acquisition units receiving described second electronic equipment that described second electronic equipment sends gathers;
Described first driving image and described second road map picture are processed, obtains described first driving image and three-dimensional vehicle image corresponding to described second road map picture.
2. the method for claim 1, is characterized in that, processes described first driving image and described second road map picture, obtains described first driving image and three-dimensional vehicle image corresponding to described second road map picture, comprising:
In described first driving image, extract at least one fisrt feature point, obtain at least one first coordinate described, and extract at least one second feature point in described second road map picture, obtain at least one second coordinate described; Described first coordinate and described second coordinate are two-dimensional coordinate;
Inner parameter and the external parameter of described first image acquisition units is obtained according to the demarcation thing in described first driving image and the second road map picture;
Based at least one first coordinate described, at least one second coordinate, described inner parameter and described external parameter, obtain the three-dimensional coordinate of at least one fisrt feature point described;
By the three-dimensional coordinate of at least one fisrt feature point described, build described three-dimensional vehicle image.
3. the method for claim 1, is characterized in that, after obtaining described first driving image and three-dimensional vehicle image corresponding to described second road map picture, also comprises:
Obtain the relative distance of other vehicles in described three-dimensional vehicle image and reference point; Described reference point characterizes described vehicle location;
When the relative distance of at least one vehicle in other vehicles described and described reference point is less than threshold value, generate information.
4. the method for claim 1, is characterized in that, after obtaining described first driving image and three-dimensional vehicle image corresponding to described second road map picture, also comprises:
Described three-dimensional vehicle image is sent to high in the clouds, stores described three-dimensional vehicle image to make described high in the clouds.
5. the method as described in any one of claim 1-4, is characterized in that, described first electronic equipment is mobile phone or panel computer, and the second electronic equipment is drive recorder; Or
Described first electronic equipment is described drive recorder, and described second electronic equipment is described mobile phone or described panel computer.
6. first electronic equipment, is characterized in that, comprises;
First image acquisition units, for gathering the first driving image; Wherein, described first electronic equipment is arranged in a vehicle, and is connected with the second electronic equipment be arranged in described vehicle;
Receiving element, the second road map picture that the second image acquisition units for receiving described second electronic equipment that described second electronic equipment sends gathers;
Graphics processing unit, for processing described first driving image and described second road map picture, obtains described first driving image and three-dimensional vehicle image corresponding to described second road map picture.
7. electronic equipment as claimed in claim 6, it is characterized in that, described graphics processing unit is used for extracting at least one fisrt feature point in described first driving image, obtain at least one first coordinate described, and at least one second feature point is extracted in described second road map picture, obtain at least one second coordinate described; Described first coordinate and described second coordinate are two-dimensional coordinate; Inner parameter and the external parameter of described first image acquisition units is obtained according to the demarcation thing in described first driving image and the second road map picture; Based at least one first coordinate described, at least one second coordinate, described inner parameter and described external parameter, obtain the three-dimensional coordinate of at least one fisrt feature point described; By the three-dimensional coordinate of at least one fisrt feature point described, build described three-dimensional vehicle image.
8. electronic equipment as claimed in claim 6, it is characterized in that, described electronic equipment also comprises:
Distance obtains unit, for after obtaining described first driving image and three-dimensional vehicle image corresponding to described second road map picture, obtains the relative distance of other vehicles in described three-dimensional vehicle image and reference point; Described reference point characterizes described vehicle location;
Tip element, for when the relative distance of at least one vehicle in other vehicles described and described reference point is less than threshold value, generates information.
9. electronic equipment as claimed in claim 6, it is characterized in that, described electronic equipment also comprises:
Transmitting element, for after obtaining described first driving image and three-dimensional vehicle image corresponding to described second road map picture, is sent to high in the clouds by described three-dimensional vehicle image, stores described three-dimensional vehicle image to make described high in the clouds.
10. the electronic equipment as described in any one of claim 6-9, is characterized in that, described first electronic equipment is mobile phone or panel computer, and the second electronic equipment is drive recorder; Or
Described first electronic equipment is described drive recorder, and described second electronic equipment is described mobile phone or described panel computer.
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