CN108765497A - Bearing calibration, device, system-computed machine equipment and storage medium - Google Patents
Bearing calibration, device, system-computed machine equipment and storage medium Download PDFInfo
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- CN108765497A CN108765497A CN201810530404.XA CN201810530404A CN108765497A CN 108765497 A CN108765497 A CN 108765497A CN 201810530404 A CN201810530404 A CN 201810530404A CN 108765497 A CN108765497 A CN 108765497A
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- vehicle
- equipment
- reference plate
- mounted pick
- plate image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30204—Marker
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
This application involves a kind of bearing calibration of mobile unit, device, system, computer equipment and storage mediums.The method includes：The vehicle-mounted pick-up equipment is placed on vehicle, and reference plate is set for the vehicle-mounted pick-up equipment；Shooting instruction is sent to vehicle-mounted pick-up equipment by user terminal；The vehicle-mounted pick-up equipment to the reference plate for being shot to obtain reference plate image and sending the reference plate image to the user terminal；The user terminal is for showing the reference plate image and preset references angle mark；According to the reference plate image of user terminal displaying and references angle mark, the camera angle of the vehicle-mounted pick-up equipment is corrected.According to the present embodiment, the correction efficiency of vehicle-mounted pick-up equipment is improved.
Description
Technical field
This application involves vehicle-mounted pick-up apparatus field, the bearing calibration more particularly to a kind of vehicle-mounted pick-up equipment and dress
It sets, photographic device, correction system, computer equipment and storage medium.
Background technology
With the development of automotive engineering, there is the technology of vehicle-mounted pick-up equipment.It may be implemented by vehicle-mounted pick-up equipment
The functions such as self-navigation, driving recording.
In order to ensure that vehicle-mounted pick-up equipment can take the image of vehicle front, vehicle-mounted pick-up equipment needs to be mounted on just
On true position, it is ensured that the camera shooting direction of vehicle-mounted pick-up equipment is consistent with vehicle heading.However, being set in installation vehicle-mounted pick-up
When standby, user needs first to be mounted on vehicle-mounted pick-up equipment in the equipment installation position of vehicle, then, starts vehicle-mounted pick-up equipment
It is imaged, according to photographic effect, reinstalls vehicle-mounted pick-up equipment.The process may need user repeatedly to start vehicle-mounted pick-up
Equipment simultaneously reinstalls vehicle-mounted pick-up equipment, consumes the time of user, causes to correct less efficient.
Therefore, the bearing calibration of current vehicle-mounted pick-up equipment peace has that correction is less efficient.
Invention content
Based on this, it is necessary in view of the above technical problems, provide a kind of school of the vehicle-mounted pick-up equipment to solve the above problems
Correction method, device, system, computer equipment and storage medium.
A kind of bearing calibration of vehicle-mounted pick-up equipment, including：
The vehicle-mounted pick-up equipment is placed on vehicle, and reference plate is set for the vehicle-mounted pick-up equipment；
Shooting instruction is sent to vehicle-mounted pick-up equipment by user terminal；The vehicle-mounted pick-up equipment is used for the reference
Plate is shot to obtain reference plate image and sends the reference plate image to the user terminal；The user terminal is used for
Show the reference plate image and preset references angle mark；
According to the reference plate image of user terminal displaying and references angle mark, correction is described vehicle-mounted to take the photograph
As the camera angle of equipment.
The camera angle includes angle of inclination in one of the embodiments, and the reference plate includes multiple horizontal ginsengs
According to line, described to be identified according to the reference plate image and the references angle of user terminal displaying, correction is described vehicle-mounted
The camera angle of picture pick-up device, including：
Any horizontal reference line and the reference angle scale in the reference plate image of user terminal displaying
When weight sensing is closed, the target tilt angle of the vehicle-mounted pick-up equipment is determined；
The angle of inclination of the vehicle-mounted pick-up equipment is corrected to the target tilt angle.
The camera angle further includes pitch angle in one of the embodiments, is sent by user terminal described
Before shooting instruction to vehicle-mounted pick-up equipment, further include：
Measure the vertical height of the vehicle-mounted pick-up equipment；
According to the vertical height of the vehicle-mounted pick-up equipment, height line of reference is marked in the reference plate；
It is described to be identified according to the reference plate image and the references angle of user terminal displaying, correct the vehicle
The camera angle of picture pick-up device is carried, including：
When the height line of reference and references angle mark weight in the reference plate image of user terminal displaying
When conjunction, the target pitch angle of the vehicle-mounted pick-up equipment is determined；
The pitch angle of the vehicle-mounted pick-up equipment is corrected to the target pitch angle.
The vehicle is provided with equipment installation position in one of the embodiments, further includes：
Measure the vertical height of the equipment installation position；
The reference plate is adjusted, until the vertical height of any one horizontal reference line of the reference plate and the equipment
The vertical height of installation site is equal.
A kind of bearing calibration of vehicle-mounted pick-up equipment, including：
Shooting instruction is sent to the vehicle-mounted pick-up equipment；The vehicle-mounted pick-up equipment is for shooting reference plate image；
Receive the reference plate image that the vehicle-mounted pick-up equipment is sent；
The reference plate image and preset references angle mark are shown, for user according to the reference plate image and described
References angle identifies, and corrects the camera angle of the vehicle-mounted pick-up equipment.
A kind of bearing calibration of vehicle-mounted pick-up equipment, including：
Receive the shooting instruction of user terminal；
Image is shot for reference plate, obtains reference plate image；
The reference plate image is sent to the user terminal；The user terminal for show the reference plate image and
Preset references angle mark is identified for user according to the reference plate image and the references angle, and correction is described vehicle-mounted to take the photograph
As the camera angle of equipment.
A kind of means for correcting, including：
Sending module, for sending shooting instruction to the vehicle-mounted pick-up equipment；The vehicle-mounted pick-up equipment is for shooting
Reference plate image；
Receiving module, the reference plate image sent for receiving the vehicle-mounted pick-up equipment；
Display module, for showing the reference plate image and preset references angle mark, for user according to the ginseng
It is identified according to plate image and the references angle, corrects the camera angle of the vehicle-mounted pick-up equipment.
A kind of photographic device, including：
Receiving module, the shooting instruction for receiving user terminal；
Photographing module obtains reference plate image for shooting image for reference plate；
Sending module, for sending the reference plate image to the user terminal；The user terminal is for showing institute
Reference plate image and preset references angle mark are stated, is identified according to the reference plate image and the references angle for user,
Correct the camera angle of the vehicle-mounted pick-up equipment.
A kind of correction system, including：
Vehicle-mounted pick-up equipment and user terminal；
The vehicle-mounted pick-up equipment, the shooting instruction for receiving the user terminal shoot image for reference plate, obtain
To reference plate image, and the reference plate image is sent to the user terminal；
The user terminal, for sending shooting instruction to the vehicle-mounted pick-up equipment, show the reference plate image and
Preset references angle mark is identified for user according to the reference plate image and the references angle, and correction is described vehicle-mounted to take the photograph
As the camera angle of equipment.
A kind of computer equipment, including memory and processor, the memory are stored with computer program, the processing
Device realizes following steps when executing the computer program：
Shooting instruction is sent to the vehicle-mounted pick-up equipment；The vehicle-mounted pick-up equipment is for shooting reference plate image；
Receive the reference plate image that the vehicle-mounted pick-up equipment is sent；
The reference plate image and preset references angle mark are shown, for user according to the reference plate image and described
References angle identifies, and corrects the camera angle of the vehicle-mounted pick-up equipment.
The processor also realizes following steps when executing the computer program：
Receive the shooting instruction of user terminal；
Image is shot for reference plate, obtains reference plate image；
The reference plate image is sent to the user terminal；The user terminal for show the reference plate image and
Preset references angle mark is identified for user according to the reference plate image and the references angle, and correction is described vehicle-mounted to take the photograph
As the camera angle of equipment.
A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor
Following steps are realized when row：
Shooting instruction is sent to the vehicle-mounted pick-up equipment；The vehicle-mounted pick-up equipment is for shooting reference plate image；
Receive the reference plate image that the vehicle-mounted pick-up equipment is sent；
The reference plate image and preset references angle mark are shown, for user according to the reference plate image and described
References angle identifies, and corrects the camera angle of the vehicle-mounted pick-up equipment.
The computer program also realizes following steps when being executed by processor：
Receive the shooting instruction of user terminal；
Image is shot for reference plate, obtains reference plate image；
The reference plate image is sent to the user terminal；The user terminal for show the reference plate image and
Preset references angle mark is identified for user according to the reference plate image and the references angle, and correction is described vehicle-mounted to take the photograph
As the camera angle of equipment.
Bearing calibration, device, system, computer equipment and the storage medium of above-mentioned vehicle-mounted pick-up equipment, by being directed to vehicle
It carries picture pick-up device and reference plate is set, shoot reference plate image by controlling vehicle-mounted pick-up equipment, reference plate is shown by user terminal
Image and preset references angle mark so that user can be according to the reference plate image and reference angle scale that user terminal is shown
Know, corrects the camera angle of vehicle-mounted pick-up equipment, repeatedly start vehicle-mounted pick-up equipment without user and reinstall vehicle-mounted pick-up
Equipment improves the correction efficiency of vehicle-mounted pick-up equipment.
Description of the drawings
Fig. 1 is the applied environment figure of the bearing calibration in one embodiment；
Fig. 2 is the flow diagram of the bearing calibration in one embodiment；
Fig. 3 is a kind of schematic diagram of reference plate of the present embodiment；
Fig. 4 is a kind of schematic diagram of references angle mark of the present embodiment；
Fig. 5 is a kind of schematic diagram of the camera angle of adjustment vehicle-mounted pick-up equipment of the present embodiment；
Fig. 6 a to Fig. 6 b are the schematic diagrames of the horizontal reference line and references angle mark of the present embodiment；
Fig. 7 is a kind of schematic diagram of label height line of reference of the present embodiment；
Fig. 8 is that a kind of height line of reference of the present embodiment identifies the schematic diagram overlapped with references angle；
Fig. 9 is the flow diagram of the bearing calibration in another embodiment；
Figure 10 is the flow diagram of the bearing calibration in another embodiment
Figure 11 is the structure diagram of the means for correcting in one embodiment；
Figure 12 is the structure diagram of the photographic device in one embodiment；
Figure 13 is the structure diagram of the correction system in one embodiment；
Figure 14 is the internal structure chart of one embodiment Computer equipment.
Specific implementation mode
It is with reference to the accompanying drawings and embodiments, right in order to make the object, technical solution and advantage of the application be more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, not
For limiting the application.
The bearing calibration of vehicle-mounted pick-up equipment provided by the present application, can be applied in application environment as shown in Figure 1.Its
In, user terminal 102 is crossed network and is communicated by network with vehicle-mounted pick-up equipment 104, and vehicle-mounted pick-up equipment 104 can be installed
In the installation site 108 of vehicle 106, reference plate 110 is being placed on 106 front certain distance of vehicle.User terminal
102 can be, but not limited to be various personal computers, laptop, smart mobile phone, tablet computer and portable wearable set
It is standby.Vehicle-mounted pick-up equipment 104 can shoot the image of vehicle front, and include whole in Vehicular display device and/or user by image
On the display screen at end 102, browsed for user.
In one embodiment, as shown in Fig. 2, providing a kind of bearing calibration of vehicle-mounted pick-up equipment, including following step
Suddenly：
The vehicle-mounted pick-up equipment is placed on vehicle by step S202, and for vehicle-mounted pick-up equipment setting ginseng
According to plate.
In the specific implementation, vehicle-mounted pick-up equipment 104 can be placed in installation site 108 by user, meanwhile, user can be with
Measure the vertical height of installation site 108 and ground.Then, in the position with 108 horizontal distance of installation site for certain distance
(about 3 to 4 meters of front), places reference plate 110.
Fig. 3 is a kind of schematic diagram of reference plate of the present embodiment.Reference plate 302 can have multiple horizontal reference lines 304.
Step S204 sends shooting instruction to vehicle-mounted pick-up equipment by user terminal；The vehicle-mounted pick-up equipment is used for
The reference plate is shot to obtain reference plate image and sends the reference plate image to the user terminal；The use
Family terminal is for showing the reference plate image and preset references angle mark.
In the specific implementation, user can start specific correct application in user terminal 102, pass through the correct application, hair
Send a shooting instruction to vehicle-mounted pick-up equipment 104.Vehicle-mounted pick-up equipment 104 can trigger pair when receiving shooting instruction
The reference plate 110 in 106 front of vehicle carries out image taking, the image shot, as reference plate image, the reference plate image
It include reference plate.The reference plate image can be sent to the user terminal 102 by vehicle-mounted pick-up equipment 104.
Step S206 is identified, correction according to the reference plate image of user terminal displaying and the references angle
The camera angle of the vehicle-mounted pick-up equipment.
Wherein, camera angle can be the Different Plane between the camera shooting direction of vehicle-mounted pick-up equipment and vehicle heading
On angle.Camera angle may include angle of inclination and pitch angle angularly.
In the specific implementation, user terminal 102 can preset a references angle mark.User terminal 102 can show ginseng
According to plate image, and in reference plate imaging surface addition references angle mark.References angle mark can be a tracking cross,
User can be according to tracking cross, it can be determined that whether the camera angle for going out current vehicle-mounted pick-up equipment is accurate.
Fig. 4 is a kind of schematic diagram of references angle mark of the present embodiment.It can be seen that the reference angle of tracking cross shape
Scale knows the center for the display screen that 402 are located at user terminal.User is according to 102 shown reference plate image of user terminal and benchmark
Angle identifies, it can be determined that and references angle identifies whether to overlap with any one horizontal reference line in reference plate image, if
It is misaligned, indicate that the camera angle of current vehicle-mounted pick-up equipment 104 is inaccurate, user needs to correct vehicle-mounted pick-up equipment
104 camera angle.Vehicle-mounted pick-up equipment 104 can be provided with angular adjustment apparatus, pass through work angle adjusting apparatus, user
The camera angle of vehicle-mounted pick-up equipment 104 can be adjusted.When references angle mark and any one level in reference plate image
Line of reference overlaps, and indicates that the camera angle of current vehicle-mounted pick-up equipment 104 is accurate, and user can be according to the camera angle, will
Vehicle-mounted pick-up equipment 104 is fixedly mounted on vehicle 106.
Fig. 5 is a kind of schematic diagram of the camera angle of adjustment vehicle-mounted pick-up equipment of the present embodiment.It can be seen that vehicle-mounted
Picture pick-up device can be rotated with some axis toward different directions, so as to adjust the camera angle of vehicle-mounted pick-up equipment.
According to the bearing calibration of the present embodiment, reference plate is set by being directed to vehicle-mounted pick-up equipment, by controlling vehicle-mounted take the photograph
As equipment shooting reference plate image, show that reference plate image and preset references angle identify by user terminal so that Yong Huke
With reference plate image and the references angle mark shown according to user terminal, the camera angle of vehicle-mounted pick-up equipment is corrected, without
User repeatedly starts vehicle-mounted pick-up equipment and reinstalls vehicle-mounted pick-up equipment, improves the correction efficiency of vehicle-mounted pick-up equipment.
In another embodiment, the camera angle includes angle of inclination, and the reference plate includes multiple horizontal ginsengs
According to line, described to be identified according to the reference plate image and the references angle of user terminal displaying, correction is described vehicle-mounted
The camera angle of picture pick-up device, including：
Any horizontal reference line and the reference angle scale in the reference plate image of user terminal displaying
When weight sensing is closed, the target tilt angle of the vehicle-mounted pick-up equipment is determined；The angle of inclination of the vehicle-mounted pick-up equipment is corrected
For the target tilt angle.
Can include multiple horizontal reference lines in the specific implementation, in the reference plate image that user terminal 102 is shown, when
Certain horizontal reference line is overlapped with references angle mark, is indicated that the current angle of inclination of vehicle-mounted pick-up equipment 104 is accurate, is target
Angle of inclination.Vehicle-mounted pick-up equipment 104 can be fixedly mounted on vehicle 106 by user according to target tilt angle.
Fig. 6 a to Fig. 6 b are the schematic diagrames of the horizontal reference line and references angle mark of the present embodiment.
From Fig. 6 a as it can be seen that references angle mark can be a tracking cross 602, the horizontal line section of tracking cross 602 with
A wherein horizontal reference line 604 for reference plate overlaps, and indicates that the current angle of inclination of vehicle-mounted pick-up equipment is accurate.
From Fig. 6 b as it can be seen that references angle mark 602 is misaligned with each horizontal reference line of reference plate, indicate vehicle-mounted
The current angle of inclination of picture pick-up device is inaccurate.According to the angle between references angle mark 602 and horizontal reference line 604, use
Family can accordingly adjust the angle of inclination of vehicle-mounted pick-up equipment.
In another embodiment, the camera angle further includes pitch angle, is sent by user terminal described
Before shooting instruction to vehicle-mounted pick-up equipment, further include：
Measure the vertical height of the vehicle-mounted pick-up equipment；According to the vertical height of the vehicle-mounted pick-up equipment, described
Reference plate marks height line of reference；The reference plate image according to user terminal displaying and the reference angle scale
Know, corrects the camera angle of the vehicle-mounted pick-up equipment, including：Described in the reference plate image of user terminal displaying
When height line of reference is overlapped with references angle mark, the target pitch angle of the vehicle-mounted pick-up equipment is determined；It will be described
The pitch angle of vehicle-mounted pick-up equipment is corrected to the target pitch angle.
In the specific implementation, user is by vehicle-mounted pick-up equipment 104 after being placed on installation site 108, due to installation error,
The vertical height of vehicle-mounted pick-up equipment 104 and ground, may be inconsistent with the vertical height of installation site 108, therefore, can survey
Measure the currently practical vertical height of vehicle-mounted pick-up equipment 104.Then, according to actual vertical height, label one on reference plate
A height line of reference.
Vehicle-mounted pick-up equipment 104 is shot for the reference plate for being marked with height line of reference, obtained reference plate image
In, can include height line of reference.
When the height line of reference that user terminal 102 is shown is overlapped with references angle mark, expression vehicle-mounted pick-up equipment is current
Pitch angle it is accurate, be target pitch angle.User can fix vehicle-mounted pick-up equipment 104 according to target pitch angle
On vehicle 106.
Fig. 7 is a kind of schematic diagram of label height line of reference of the present embodiment.It can be seen that user measures current vehicle
The vertical height H for carrying picture pick-up device, with one height line of reference of paintbrush label, the vertical height of the height line of reference on reference plate
Degree is H.
Fig. 8 is that a kind of height line of reference of the present embodiment identifies the schematic diagram overlapped with references angle.It can be seen that ten
The horizontal line section of word cursor 802 is overlapped with the height line of reference 804 of reference plate, indicates the current pitch angle of vehicle-mounted pick-up equipment
Accurately.
In another embodiment, the vehicle is provided with equipment installation position, further includes：
Measure the vertical height of the equipment installation position；The reference plate is adjusted, until the reference plate is any one
The vertical height of a horizontal reference line is equal with the vertical height of the equipment installation position.
In the specific implementation, user can measuring apparatus installation site first the vertical height with ground, then, for ginseng
According to two points in any horizontal reference line of plate, the vertical height of two points and ground is measured, when two points and ground
Vertical height it is equal with the vertical height of equipment installation position, show that current reference plate is parallel with equipment installation position.
In one embodiment, it as shown in figure 9, providing a kind of bearing calibration of vehicle-mounted pick-up equipment, answers in this way
For being illustrated for the user terminal 102 in Fig. 1, include the following steps：
Step S902 sends shooting instruction to the vehicle-mounted pick-up equipment；The vehicle-mounted pick-up equipment is for shooting reference
Plate image.
In the specific implementation, user terminal 102 can send shooting instruction to vehicle-mounted pick-up equipment 104, to indicate vehicle-mounted take the photograph
As equipment 104 is shot.
Step S904 receives the reference plate image that the vehicle-mounted pick-up equipment is sent.
In the specific implementation, user terminal 102 can receive the reference plate image of the transmission of vehicle-mounted pick-up equipment 104.
Step S906 shows the reference plate image and preset references angle mark, for user according to the reference plate
Image and references angle mark, correct the camera angle of the vehicle-mounted pick-up equipment.
In the specific implementation, user terminal 102 after receiving reference plate image, can show reference plate figure in display screen
Picture, and, the preset references angle mark of displaying one.So that user is according to the reference plate image and the reference angle scale
Know, corrects the camera angle of the vehicle-mounted pick-up equipment.
According to the bearing calibration of the present embodiment, by sending shooting instruction to vehicle-mounted pick-up equipment, and vehicle-mounted pick-up is received
Reference plate image captured by equipment shows reference plate image and preset references angle mark so that user can be according to exhibition
Reference plate image and the references angle mark shown, correct the camera angle of vehicle-mounted pick-up equipment, repeatedly start without user vehicle-mounted
Picture pick-up device simultaneously reinstalls vehicle-mounted pick-up equipment, improves the correction efficiency of vehicle-mounted pick-up equipment.
In another embodiment, further include：
It is identified according to the reference plate image and the references angle, generates angle correct information；The angle correct letter
Breath is for prompting the camera angle of vehicle-mounted pick-up equipment described in user to need to correct.
In the specific implementation, user terminal 102 can detect reference plate image horizontal reference line and height line of reference whether
It is overlapped with references angle mark, in horizontal reference line and misaligned references angle mark, alternatively, height line of reference and reference angle
When scale knows misaligned, angle correct information is generated, it is inaccurate with the camera angle for the vehicle-mounted pick-up equipment for prompting user current,
It needs to carry out camera angle correction.
In one embodiment, as shown in Figure 10, a kind of bearing calibration of vehicle-mounted pick-up equipment is provided, is answered in this way
For being illustrated for the vehicle-mounted pick-up equipment 104 in Fig. 1, include the following steps：
Step S1002 receives the shooting instruction of user terminal.
In the specific implementation, vehicle-mounted pick-up equipment 104 can receive the shooting instruction of the transmission of user terminal 102.
Step S1004 shoots image for reference plate, obtains reference plate image.
In the specific implementation, vehicle-mounted pick-up equipment 104 can shoot reference plate, obtain image according to shooting instruction,
As above-mentioned reference plate image.
Step S1006 sends the reference plate image to the user terminal；The user terminal is for showing the ginseng
It identifies, is identified according to the reference plate image and the references angle for user, correction according to plate image and preset references angle
The camera angle of the vehicle-mounted pick-up equipment.
In the specific implementation, reference plate image can be sent to the user terminal 102 by vehicle-mounted pick-up equipment 104.User terminal
102 can show reference plate image and a preset references angle mark, and user is according to reference plate image and reference angle scale
Know, the camera angle of vehicle-mounted pick-up equipment 104 is adjusted, to realize the correction to vehicle-mounted pick-up equipment 104.
Since user terminal 102 shows that the process of reference plate image and references angle mark has in detail in the above-described embodiments
Describe in detail bright, details are not described herein.
Although should be understood that Fig. 2, Fig. 9 and Figure 10 flow chart in each step according to arrow instruction successively
It has been shown that, but these steps are not the inevitable sequence indicated according to arrow to be executed successively.Unless expressly state otherwise herein,
There is no stringent sequences to limit for the execution of these steps, these steps can execute in other order.Moreover, Fig. 2, Fig. 9
May include that either these sub-steps of multiple stages or stage be not for multiple sub-steps at least part step in Figure 10
Completion necessarily is executed in synchronization, but can be executed at different times, the execution in these sub-steps or stage is suitable
Sequence is also not necessarily to be carried out successively, but can be at least one of other steps either sub-step of other steps or stage
Minute wheel stream alternately executes.
In one embodiment, as shown in figure 11, a kind of means for correcting is provided, including：Sending module 1102 receives mould
Block 1104 and display module 1106；Wherein：
Sending module 1102, for sending shooting instruction to the vehicle-mounted pick-up equipment；The vehicle-mounted pick-up equipment is used for
Shoot reference plate image；
Receiving module 1104, the reference plate image sent for receiving the vehicle-mounted pick-up equipment；
Display module 1106, for showing the reference plate image and preset references angle mark, for user according to institute
Reference plate image and references angle mark are stated, the camera angle of the vehicle-mounted pick-up equipment is corrected.
In another embodiment, described device further includes：
Information generating module generates angle correct letter for being identified according to the reference plate image and the references angle
Breath；The angle correct information is for prompting the camera angle of vehicle-mounted pick-up equipment described in user to need to correct.
In one embodiment, as shown in figure 12, a kind of photographic device is provided, including：Receiving module 1202, camera shooting mould
Block 1204 and sending module 1206；Wherein：
Receiving module 1202, the shooting instruction for receiving user terminal；
Photographing module 1204 obtains reference plate image for shooting image for reference plate；
Sending module 1206, for sending the reference plate image to the user terminal；The user terminal is for opening up
Show the reference plate image and preset references angle mark, for user according to the reference plate image and the reference angle scale
Know, corrects the camera angle of the vehicle-mounted pick-up equipment.
In one embodiment, as shown in figure 13, a kind of correction system is provided, including：
Vehicle-mounted pick-up equipment 1302 and user terminal 1304；
The vehicle-mounted pick-up equipment 1302, the shooting instruction for receiving the user terminal 1304 are clapped for reference plate
Image is taken the photograph, reference plate image is obtained, and sends the reference plate image to the user terminal 1304；
The user terminal 1304 shows the reference for sending shooting instruction to the vehicle-mounted pick-up equipment 1302
Plate image and preset references angle mark identify according to the reference plate image and the references angle for user, correct institute
State the camera angle of vehicle-mounted pick-up equipment 1302.
Specific restriction about means for correcting, photographic device, correction system may refer to above for bearing calibration
It limits, details are not described herein.Modules in above-mentioned means for correcting, photographic device, correction system can be fully or partially through
Software, hardware and combinations thereof are realized.Above-mentioned each module can be embedded in or in the form of hardware independently of the place in computer equipment
It manages in device, can also in a software form be stored in the memory in computer equipment, in order to which processor calls execution or more
The corresponding operation of modules.
In one embodiment, a kind of computer equipment is provided, which can be terminal, internal structure
Figure can be as shown in figure 14.The computer equipment includes the processor connected by system bus, memory, network interface, shows
Display screen and input unit.Wherein, the processor of the computer equipment is for providing calculating and control ability.The computer equipment
Memory includes non-volatile memory medium, built-in storage.The non-volatile memory medium is stored with operating system and computer
Program.The built-in storage provides environment for the operation of operating system and computer program in non-volatile memory medium.The meter
The network interface for calculating machine equipment is used to communicate by network connection with external terminal.When the computer program is executed by processor
To realize a kind of bearing calibration of vehicle-mounted pick-up equipment.The display screen of the computer equipment can be liquid crystal display or electronics
The input unit of ink display screen, the computer equipment can be the touch layer covered on display screen, can also be that computer is set
Button, trace ball or the Trackpad being arranged on standby shell, can also be external keyboard, Trackpad or mouse etc..
It will be understood by those skilled in the art that structure shown in Figure 14, only with the relevant part of application scheme
The block diagram of structure, does not constitute the restriction for the computer equipment being applied thereon to application scheme, and specific computer is set
Standby may include either combining certain components than more or fewer components as shown in the figure or being arranged with different components.
In one embodiment, a kind of computer equipment, including memory and processor are provided, is stored in memory
Computer program, the processor realize following steps when executing computer program：
Shooting instruction is sent to the vehicle-mounted pick-up equipment；The vehicle-mounted pick-up equipment is for shooting reference plate image；
Receive the reference plate image that the vehicle-mounted pick-up equipment is sent；
The reference plate image and preset references angle mark are shown, for user according to the reference plate image and described
References angle identifies, and corrects the camera angle of the vehicle-mounted pick-up equipment.
Processor also realizes following steps when executing computer program：
Receive the shooting instruction of user terminal；
Image is shot for reference plate, obtains reference plate image；
The reference plate image is sent to the user terminal；The user terminal for show the reference plate image and
Preset references angle mark is identified for user according to the reference plate image and the references angle, and correction is described vehicle-mounted to take the photograph
As the camera angle of equipment.
In one embodiment, a kind of computer readable storage medium is provided, computer program is stored thereon with, is calculated
Machine program realizes following steps when being executed by processor：
Shooting instruction is sent to the vehicle-mounted pick-up equipment；The vehicle-mounted pick-up equipment is for shooting reference plate image；
Receive the reference plate image that the vehicle-mounted pick-up equipment is sent；
The reference plate image and preset references angle mark are shown, for user according to the reference plate image and described
References angle identifies, and corrects the camera angle of the vehicle-mounted pick-up equipment.
Following steps are also realized when computer program is executed by processor：
Receive the shooting instruction of user terminal；
Image is shot for reference plate, obtains reference plate image；
The reference plate image is sent to the user terminal；The user terminal for show the reference plate image and
Preset references angle mark is identified for user according to the reference plate image and the references angle, and correction is described vehicle-mounted to take the photograph
As the camera angle of equipment.
One of ordinary skill in the art will appreciate that realizing all or part of flow in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the computer program can be stored in a non-volatile computer
In read/write memory medium, the computer program is when being executed, it may include such as the flow of the embodiment of above-mentioned each method.Wherein,
Any reference to memory, storage, database or other media used in each embodiment provided herein,
Including non-volatile and/or volatile memory.Nonvolatile memory may include read-only memory (ROM), programming ROM
(PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include
Random access memory (RAM) or external cache.By way of illustration and not limitation, RAM is available in many forms,
Such as static state RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDRSDRAM), enhancing
Type SDRAM (ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM
(RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM) etc..
Each technical characteristic of above example can be combined arbitrarily, to keep description succinct, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield is all considered to be the range of this specification record.
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, under the premise of not departing from the application design, various modifications and improvements can be made, these belong to the protection of the application
Range.Therefore, the protection domain of the application patent should be determined by the appended claims.
Claims (11)
1. a kind of bearing calibration of vehicle-mounted pick-up equipment, which is characterized in that including：
The vehicle-mounted pick-up equipment is placed on vehicle, and reference plate is set for the vehicle-mounted pick-up equipment；
Shooting instruction is sent to vehicle-mounted pick-up equipment by user terminal；The vehicle-mounted pick-up equipment be used for the reference plate into
Row shooting obtains reference plate image and sends the reference plate image to the user terminal；The user terminal is for showing
The reference plate image and preset references angle mark；
According to the reference plate image of user terminal displaying and references angle mark, corrects the vehicle-mounted pick-up and set
Standby camera angle.
2. according to the method described in claim 1, it is characterized in that, the camera angle includes angle of inclination, the reference plate
Including multiple horizontal reference lines, the reference plate image according to user terminal displaying and the reference angle scale
Know, corrects the camera angle of the vehicle-mounted pick-up equipment, including：
When any horizontal reference line and references angle mark weight in the reference plate image of user terminal displaying
When conjunction, the target tilt angle of the vehicle-mounted pick-up equipment is determined；
The angle of inclination of the vehicle-mounted pick-up equipment is corrected to the target tilt angle.
3. according to the method described in claim 1, it is characterized in that, the camera angle further includes pitch angle, described logical
It crosses before user terminal transmission shooting instruction to vehicle-mounted pick-up equipment, further includes：
Measure the vertical height of the vehicle-mounted pick-up equipment；
According to the vertical height of the vehicle-mounted pick-up equipment, height line of reference is marked in the reference plate；
Described to be identified according to the reference plate image and the references angle of user terminal displaying, correction is described vehicle-mounted to take the photograph
As the camera angle of equipment, including：
When the height line of reference in the reference plate image of user terminal displaying is overlapped with references angle mark,
Determine the target pitch angle of the vehicle-mounted pick-up equipment；
The pitch angle of the vehicle-mounted pick-up equipment is corrected to the target pitch angle.
4. according to the method described in claim 2, it is characterized in that, the vehicle is provided with equipment installation position, further include：
Measure the vertical height of the equipment installation position；
The reference plate is adjusted, until the vertical height of any one horizontal reference line of the reference plate is installed with the equipment
The vertical height of position is equal.
5. a kind of bearing calibration of vehicle-mounted pick-up equipment, which is characterized in that including：
Shooting instruction is sent to the vehicle-mounted pick-up equipment；The vehicle-mounted pick-up equipment is for shooting reference plate image；
Receive the reference plate image that the vehicle-mounted pick-up equipment is sent；
The reference plate image and preset references angle mark are shown, for user according to the reference plate image and the benchmark
Angle identifies, and corrects the camera angle of the vehicle-mounted pick-up equipment.
6. a kind of bearing calibration of vehicle-mounted pick-up equipment, which is characterized in that including：
Receive the shooting instruction of user terminal；
Image is shot for reference plate, obtains reference plate image；
The reference plate image is sent to the user terminal；The user terminal is for showing the reference plate image and presetting
References angle mark, identified according to the reference plate image and the references angle for user, correct the vehicle-mounted pick-up and set
Standby camera angle.
7. a kind of means for correcting, which is characterized in that including：
Sending module, for sending shooting instruction to the vehicle-mounted pick-up equipment；The vehicle-mounted pick-up equipment is for shooting reference
Plate image；
Receiving module, the reference plate image sent for receiving the vehicle-mounted pick-up equipment；
Display module, for showing the reference plate image and preset references angle mark, for user according to the reference plate
Image and references angle mark, correct the camera angle of the vehicle-mounted pick-up equipment.
8. a kind of photographic device, which is characterized in that including：
Receiving module, the shooting instruction for receiving user terminal；
Photographing module obtains reference plate image for shooting image for reference plate；
Sending module, for sending the reference plate image to the user terminal；The user terminal is for showing the ginseng
It identifies, is identified according to the reference plate image and the references angle for user, correction according to plate image and preset references angle
The camera angle of the vehicle-mounted pick-up equipment.
9. a kind of correction system, which is characterized in that including：
Vehicle-mounted pick-up equipment and user terminal；
The vehicle-mounted pick-up equipment, the shooting instruction for receiving the user terminal shoot image for reference plate, are joined
According to plate image, and the reference plate image is sent to the user terminal；
The user terminal shows the reference plate image and presets for sending shooting instruction to the vehicle-mounted pick-up equipment
References angle mark, identified according to the reference plate image and the references angle for user, correct the vehicle-mounted pick-up and set
Standby camera angle.
10. a kind of computer equipment, including memory and processor, the memory are stored with computer program, feature exists
In when the processor executes the computer program the step of any one of realization claim 5 to 6 the method.
11. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The step of method described in any one of claim 5 to 6 is realized when being executed by processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810530404.XA CN108765497A (en) | 2018-05-29 | 2018-05-29 | Bearing calibration, device, system-computed machine equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810530404.XA CN108765497A (en) | 2018-05-29 | 2018-05-29 | Bearing calibration, device, system-computed machine equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108765497A true CN108765497A (en) | 2018-11-06 |
Family
ID=64003315
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810530404.XA Pending CN108765497A (en) | 2018-05-29 | 2018-05-29 | Bearing calibration, device, system-computed machine equipment and storage medium |
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| CN (1) | CN108765497A (en) |
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| CN109849972A (en) * | 2019-02-12 | 2019-06-07 | 西安思科赛德电子科技有限公司 | The online form regulation system and its method of adjustment of intelligent detecting video acquisition system |
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| US20150332446A1 (en) * | 2014-05-16 | 2015-11-19 | GM Global Technology Operations LLC | Surround-view camera system (vpm) and vehicle dynamic |
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| US20150332446A1 (en) * | 2014-05-16 | 2015-11-19 | GM Global Technology Operations LLC | Surround-view camera system (vpm) and vehicle dynamic |
| CN105049721A (en) * | 2015-07-10 | 2015-11-11 | 深圳市灵动飞扬科技有限公司 | Vehicle pick-up head correction method and system |
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| CN109597407A (en) * | 2018-11-12 | 2019-04-09 | 初速度（苏州）科技有限公司 | Adjusting method and device |
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