CN111917985B - Vehicle, method and device for three-dimensional panoramic visual display and storage medium - Google Patents
Vehicle, method and device for three-dimensional panoramic visual display and storage medium Download PDFInfo
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- CN111917985B CN111917985B CN202010817870.3A CN202010817870A CN111917985B CN 111917985 B CN111917985 B CN 111917985B CN 202010817870 A CN202010817870 A CN 202010817870A CN 111917985 B CN111917985 B CN 111917985B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/62—Control of parameters via user interfaces
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/63—Control of cameras or camera modules by using electronic viewfinders
- H04N23/631—Graphical user interfaces [GUI] specially adapted for controlling image capture or setting capture parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/2624—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects for obtaining an image which is composed of whole input images, e.g. splitscreen
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/265—Mixing
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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Abstract
The invention discloses a vehicle, a method, a device and a storage medium for three-dimensional panoramic visual display, wherein the vehicle comprises a vehicle-mounted terminal and a panoramic driving auxiliary system, the panoramic driving auxiliary system comprises four wide-angle cameras and an image processing unit, and the image processing unit is connected with the vehicle-mounted terminal; the image processing unit obtains images collected by the four wide-angle cameras and splices the images to obtain a panoramic image, and sends the panoramic image to the vehicle-mounted terminal; the vehicle-mounted terminal displays the panoramic image through a touch-sensitive display surface, and the vehicle-mounted terminal realizes the following steps: detecting a touch operation of a user on the panoramic image on the touch-sensitive display surface; acquiring a camera adjusting instruction corresponding to the touch operation; sending the camera adjustment instruction to the image processing unit so that the image processing unit controls the movement or rotation of at least one wide-angle camera. The invention can facilitate the user to adjust the orientation of the wide-angle camera in the driving process.
Description
Technical Field
The invention relates to the field of panoramic driving, in particular to a vehicle, a method, a device and a storage medium for three-dimensional panoramic visual display.
Background
The panoramic driving auxiliary system simultaneously collects images around the vehicle through 4 wide-angle cameras arranged on the front, the rear, the left and the right of the vehicle body, forms a 360-degree panoramic top view around the vehicle after being corrected and spliced by the image processing unit, and transmits the panoramic top view to the display equipment of the center console in real time. Through panorama driving auxiliary system, the driver sits in the car and can directly perceivedly sees the position that the vehicle was located and the barrier around the vehicle, controls the vehicle leisurely and parks the position or through complicated road surface, effectively reduces the emergence of accidents such as scraping, collision, collapse.
In the prior art, a wide-angle camera of a panoramic driving assistance system is generally fixed, which causes that the display range of a panoramic image is fixed and indefinite, and sometimes certain specific requirements cannot be met. For example, it may sometimes be difficult for a user to see an image of an area above, below, diagonally, or further away.
There are also panoramic driving assistance systems in which the wide-angle camera is rotatable or rotatable, but the movement or rotation of the wide-angle camera needs to be manually adjusted by a user through a specific mechanical device. However, the manual adjustment mechanism is complicated and inconvenient to operate, and brings danger to the driving process of the user.
Disclosure of Invention
In view of the above, the present invention provides a vehicle, a method, an apparatus and a storage medium for displaying a three-dimensional panoramic image, which are capable of facilitating a user to adjust a wide-angle camera of a panoramic driving assistance system during driving.
The embodiment of the invention provides a vehicle with three-dimensional panoramic visual display, which comprises a vehicle-mounted terminal with a touch-sensitive display surface and a panoramic driving auxiliary system, wherein the panoramic driving auxiliary system comprises four wide-angle cameras which are movably and rotatably arranged at the front, the back, the left and the right of a vehicle body and an image processing unit connected with the four wide-angle cameras, and the image processing unit is connected with the vehicle-mounted terminal; the image processing unit obtains images collected by the four wide-angle cameras and splices the images to obtain a panoramic image, and sends the panoramic image to the vehicle-mounted terminal; the vehicle terminal displays the panoramic image through a touch-sensitive display surface, the vehicle terminal being configured with a processor configured to implement the following by executing a stored computer program:
detecting a touch operation of a user on the panoramic image on the touch-sensitive display surface;
acquiring a camera adjusting instruction corresponding to the touch operation;
sending the camera adjustment instruction to the image processing unit so that the image processing unit controls the movement or rotation of at least one wide-angle camera.
Preferably, the panoramic image includes image areas corresponding to the wide-angle cameras, and then a camera adjustment instruction corresponding to the touch operation is acquired, specifically:
acquiring an area where the touch operation is located, and acquiring a corresponding identification of the wide-angle camera according to the area;
acquiring an operation type and an operation numerical value corresponding to the touch operation; the operation types comprise rotating the wide-angle camera to a specified direction, extending the wide-angle camera forwards and retracting the wide-angle camera backwards;
and generating a camera adjusting instruction according to the identification of the wide-angle camera, the operation type and the operation numerical value.
Preferably, the panoramic image further comprises at least one composite region corresponding to a plurality of wide-angle cameras; and when the composite area is triggered, acquiring the identifications of the corresponding wide-angle cameras.
Preferably, the obtaining the operation type and the operand value corresponding to the touch operation specifically includes:
when the touch operation is left-handed or right-handed rotation on the touch-sensitive display surface, judging that the operation type corresponding to the touch operation is left-handed or right-handed rotation of the wide-angle camera, and generating the operation value according to the rotation amplitude;
when the touch operation slides forwards or backwards on the touch-sensitive display surface, the operation type corresponding to the touch operation is judged to be that the wide-angle camera extends forwards or retracts backwards, and the operation value is generated according to the sliding amplitude.
Preferably, when the touch operation is to select a specified target on the touch-sensitive display surface, the rotation direction and the rotation angle are obtained according to the angle of the specified target, so as to obtain the operation type and the operation value corresponding to the touch operation.
Preferably, the method further comprises the following steps:
when the designated target cannot be found in the panoramic image, predicting the position of the designated target relative to the vehicle at the current moment according to the position change of the designated target on the multi-frame historical panoramic image;
and automatically adjusting the movement or rotation of the wide-angle camera relative to the specified target according to the estimated position so that the wide-angle camera keeps tracking the specified target.
Preferably, the travel direction is also indicated based on the predicted position of the specified target relative to the host vehicle at the present time while automatically adjusting the movement or rotation of the wide-angle camera relative to the specified target based on the predicted position.
The embodiment of the invention also provides a three-dimensional panoramic visual display method, which comprises the following steps:
detecting touch operation of a user on the panoramic image on a corresponding touch-sensitive display surface on the vehicle;
acquiring a camera adjusting instruction corresponding to the touch operation;
and sending the camera adjusting instruction to an image processing unit of the panoramic driving auxiliary system, so that the image processing unit controls the movement or rotation of at least one wide-angle camera.
The embodiment of the invention also provides a device for three-dimensional panoramic visual display, which comprises:
the detection unit is used for detecting the touch operation of a user on the panoramic image on the touch-sensitive display surface of the vehicle-mounted terminal;
the instruction acquisition unit is used for acquiring a camera adjustment instruction corresponding to the touch operation;
and the instruction sending unit is used for sending the camera adjusting instruction to an image processing unit of the panoramic driving auxiliary system so that the image processing unit controls the movement or rotation of at least one wide-angle camera.
The embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored, where the computer program can be executed by a processor of a device where the computer-readable storage medium is located, so as to implement the method for three-dimensional panoramic visual display as described above.
In the above embodiment, the user can control the movement or rotation of each wide-angle camera only by performing touch operation on the panorama displayed by the vehicle-mounted terminal, so that the user can conveniently control the detection area and the detection direction of each wide-angle camera in the driving process, thereby obtaining the required panorama of the surrounding environment of the vehicle, meeting various requirements in the driving, parking or backing processes, and improving the use experience of the user.
Drawings
Fig. 1 is a schematic structural diagram of a vehicle with a three-dimensional panoramic visualization provided by a first embodiment of the present invention.
Fig. 2 is a schematic diagram showing a panoramic image displayed on the in-vehicle terminal.
Fig. 3 is a flowchart illustrating a method for displaying a three-dimensional panoramic visualization according to a second embodiment of the present invention.
Fig. 4 is a schematic structural diagram of an apparatus for three-dimensional panoramic visualization provided by a third embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
For better understanding of the technical solutions of the present invention, the following detailed descriptions of the embodiments of the present invention are provided with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.
In the embodiments, the references to "first \ second" are merely to distinguish similar objects and do not represent a specific ordering for the objects, and it is to be understood that "first \ second" may be interchanged with a specific order or sequence, where permitted. It should be understood that "first \ second" distinct objects may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced in sequences other than those illustrated or described herein.
Referring to fig. 1 and fig. 2, a vehicle 100 with a three-dimensional panoramic visual display according to a first embodiment of the present invention includes an on-board terminal 10 with a touch-sensitive display surface, a panoramic driving assistance system, where the panoramic driving assistance system includes four wide-angle cameras (such as a first wide-angle camera 21, a second wide-angle camera 22, a third wide-angle camera 23, and a fourth wide-angle camera 24 in fig. 1) movably and rotatably disposed at front, rear, left, and right of a vehicle body, and an image processing unit 25 connected to the four wide-angle cameras, where the image processing unit 25 is connected to the on-board terminal 10; the image processing unit 25 obtains images collected by the four wide-angle cameras and splices the images to obtain a panoramic image, and sends the panoramic image to the vehicle-mounted terminal 10; the in-vehicle terminal 10 displays the panoramic image through a touch-sensitive display surface, the in-vehicle terminal 10 being configured with a processor configured to implement the following steps by executing a stored computer program:
and detecting touch operation of a user on the panoramic image on the touch-sensitive display surface.
And acquiring a camera adjusting instruction corresponding to the touch operation.
The camera adjustment instruction is sent to the image processing unit 25 so that the image processing unit 25 controls the movement or rotation of at least one wide-angle camera.
In this embodiment, as shown in fig. 2, a panoramic image may be displayed on the touch-sensitive display surface of the vehicle-mounted terminal 100, generally, a middle portion of the panoramic image is the vehicle 100 itself, and other portions of the panoramic image are the environment around the vehicle 100.
In the present embodiment, the correspondence relationship between each area of the panoramic image and the wide-angle camera may be set in advance, for example, the first area 41 may be set to correspond to the first wide-angle camera 21, the second area 42 may be set to correspond to the first wide-angle camera 22, the third area 43 may be set to correspond to the third wide-angle camera 23, and the fourth area 44 may be set to correspond to the first wide-angle camera 24. When a user performs touch operation in one of the areas, the user performs adjustment operation on the wide-angle camera corresponding to the area.
For example, assuming that the first wide-angle camera 21 is a wide-angle camera located at the front end of the vehicle 100, when the user performs a forward/backward sliding operation in the first area 41, the in-vehicle terminal 10 will generate an instruction to move the first wide-angle camera 21 forward/backward to the image processing unit 25, and the image processing unit 25 controls the first wide-angle camera 21 to move forward/backward by a certain distance (the distance of movement may be a preset distance or determined according to the magnitude of sliding).
For another example, assuming that the first wide-angle camera 21 is a wide-angle camera located at the front end of the vehicle, when the user performs a leftward/rightward sliding operation in the first area 41, the in-vehicle terminal 10 will generate an instruction to rotate the first wide-angle camera 21 leftward/rightward to the image processing unit 25, and the image processing unit 25 controls the first wide-angle camera 21 to rotate leftward/rightward by a certain angle (the rotation angle may be a preset angle or determined according to the sliding magnitude).
It should be understood that in other embodiments of the present invention, more touch manners may be provided, for example, a touch manner of rotating upward or rotating downward is provided, so that the user can see the environment on the ground or at a higher place.
As can be seen from the above, in this embodiment, the user can control the movement or rotation of each wide-angle camera only by performing a touch operation on the panoramic image displayed by the vehicle-mounted terminal 10, so that the user can very conveniently, quickly and accurately control the detection area and the detection direction of each wide-angle camera in the driving process, thereby obtaining the panoramic image of the surrounding environment of the vehicle according to actual needs, meeting various needs in the driving, parking or backing processes, and improving the use experience of the user.
In order to facilitate an understanding of the invention, some preferred embodiments of the invention are described further below.
In the above embodiment, one wide-angle camera corresponds to one area on the panoramic image, however, in some cases, the user may need to adjust multiple wide-angle cameras at the same time, for example, to extend or retract four wide-angle cameras at the same time, in such a case, the adjustment needs to be performed for multiple times according to the above embodiment, which is troublesome.
To this end, in a preferred embodiment of the present invention, the panoramic image further includes at least one composite region corresponding to the plurality of wide-angle cameras.
When the user performs a touch operation in the composite area, the in-vehicle terminal 10 simultaneously acquires the identifiers of the corresponding plurality of wide-angle cameras, and the image processing unit 25 simultaneously controls the plurality of wide-angle cameras to move or rotate.
For example, as shown in fig. 2, the composite area 25 corresponds to four wide-angle cameras at the same time, and when the user performs a touch operation in the composite area 25, the four wide-angle cameras move or rotate in a same step.
This embodiment can make a plurality of wide angle cameras of once synchro control of user through setting up compound region, has made things convenient for user's operation and use to experience, has reduced the influence to driving control, has guaranteed driving safety.
In some cases, the user may need to track some designated targets, as shown in fig. 2, and the user may need to track the target vehicle 200 ahead to travel at a certain distance from the target vehicle 200 at the same time, but since the traveling speed or angle (e.g., turning or changing lanes) of the vehicle may change, the angle or the outward extension of the wide-angle camera needs to be adjusted to ensure that the target vehicle 200 is always present and relatively remains in the center of the field of view in the panoramic field of view.
Therefore, in this embodiment, the user may directly select a designated object on the panoramic image (for example, long-time pressing or continuous clicking the designated object for selection), at this time, the vehicle-mounted terminal 10 identifies the area selected by the user to obtain the feature of the target vehicle 200, determines the target vehicle 200 corresponding to the feature in the real space, and obtains the position and the angle of the target vehicle 200 relative to the vehicle 100. Then, the in-vehicle terminal 10 automatically adjusts the movement or rotation of the corresponding wide-angle camera according to the position and angle so that it is relatively more toward the target vehicle 200, thereby ensuring a better view of the target vehicle 200.
In this embodiment, when the target vehicle 200 is not found in the panoramic image, the in-vehicle terminal 10 may further predict the position of the target vehicle 200 at the current time relative to the vehicle according to the position change of the target vehicle 200 on the multi-frame historical panoramic image, and automatically adjust the movement or rotation of the wide-angle camera relative to the specified target according to the predicted position, so that the wide-angle camera keeps tracking the specified target.
The vehicle-mounted terminal 10 may predict the position of the target vehicle 200 in a kalman filter manner, or may predict the position of the target vehicle 200 according to the position of the target vehicle 200 at a historical time by using an LSTM network structure, and a specific prediction algorithm is not limited in the present invention.
Further, while the movement or rotation of the wide-angle camera relative to the target vehicle 200 is automatically adjusted according to the estimated position, the traveling direction may be presented according to the estimated angle of the target vehicle 200 relative to the host vehicle at the present time. This makes it possible for the own vehicle 100 to acquire the field of view of the target vehicle 100 more quickly.
Referring to fig. 3, a second embodiment of the present invention further provides a method for three-dimensional panoramic visual display, including:
s201, detecting touch operation of a user on a panoramic image on a touch-sensitive display surface of the vehicle-mounted terminal;
s202, acquiring a camera adjusting instruction corresponding to the touch operation;
s203, sending the camera adjusting instruction to an image processing unit of the panoramic driving auxiliary system, so that the image processing unit controls the movement or rotation of at least one wide-angle camera.
Preferably, the panoramic image includes image areas corresponding to the wide-angle cameras, and then S201 specifically is:
acquiring an area where the touch operation is located, and acquiring a corresponding identification of the wide-angle camera according to the area;
acquiring an operation type and an operation numerical value corresponding to the touch operation; the operation types comprise rotating the wide-angle camera to a specified direction, extending the wide-angle camera forwards and retracting the wide-angle camera backwards;
and generating a camera adjusting instruction according to the identification of the wide-angle camera, the operation type and the operation numerical value.
Preferably, the panoramic image further comprises at least one composite region corresponding to a plurality of wide-angle cameras; and when the composite area is triggered, acquiring the identifications of the corresponding wide-angle cameras.
Preferably, the obtaining the operation type and the operand value corresponding to the touch operation specifically includes:
when the touch operation is left-handed or right-handed rotation on the touch-sensitive display surface, judging that the operation type corresponding to the touch operation is left-handed or right-handed rotation of the wide-angle camera, and generating the operation value according to the rotation amplitude;
when the touch operation slides forwards or backwards on the touch-sensitive display surface, the operation type corresponding to the touch operation is judged to be that the wide-angle camera extends forwards or retracts backwards, and the operation value is generated according to the sliding amplitude.
Preferably, when the touch operation is to select a specified target on the touch-sensitive display surface, the rotation direction and the rotation angle are obtained according to the angle of the specified target, so as to obtain the operation type and the operation value corresponding to the touch operation.
Preferably, the method further comprises the following steps:
when the designated target cannot be found in the panoramic image, predicting the angle of the designated target relative to the vehicle at the current moment according to the position change of the designated target on the multi-frame historical panoramic image;
and automatically adjusting the movement or rotation of the wide-angle camera relative to the specified target according to the estimated angle so that the wide-angle camera keeps tracking the specified target.
Preferably, the driving direction is indicated according to the predicted angle of the specified target relative to the vehicle at the current time while automatically adjusting the movement or rotation of the wide-angle camera relative to the specified target according to the predicted angle.
Referring to fig. 4, a third embodiment of the present invention further provides an apparatus for three-dimensional panoramic visual display, including:
the detection unit 310 is configured to detect a touch operation of a user on a touch-sensitive display surface of the vehicle-mounted terminal on the panoramic image;
an instruction obtaining unit 320, configured to obtain a camera adjustment instruction corresponding to the touch operation;
an instruction sending unit 330, configured to send the camera adjustment instruction to an image processing unit of the panoramic driving assistance system, so that the image processing unit controls movement or rotation of at least one wide-angle camera.
Preferably, the panoramic image includes image areas corresponding to the wide-angle cameras, and the detection unit 310 specifically includes:
the area acquisition module is used for acquiring an area where the touch operation is located and acquiring a corresponding wide-angle camera identifier according to the area;
the operation acquisition module is used for acquiring an operation type and an operation numerical value corresponding to the touch operation; the operation types comprise rotating the wide-angle camera to a specified direction, extending the wide-angle camera forwards and retracting the wide-angle camera backwards;
and the adjusting instruction module is used for generating a camera adjusting instruction according to the identification of the wide-angle camera, the operation type and the operation numerical value.
Preferably, the panoramic image further comprises at least one composite region corresponding to a plurality of wide-angle cameras; and when the composite area is triggered, acquiring the identifications of the corresponding wide-angle cameras.
Preferably, the operation acquisition module is specifically configured to:
when the touch operation is left-handed or right-handed rotation on the touch-sensitive display surface, judging that the operation type corresponding to the touch operation is left-handed or right-handed rotation of the wide-angle camera, and generating the operation value according to the rotation amplitude;
when the touch operation slides forwards or backwards on the touch-sensitive display surface, the operation type corresponding to the touch operation is judged to be that the wide-angle camera extends forwards or retracts backwards, and the operation value is generated according to the sliding amplitude.
Preferably, when the touch operation is to select a specified target on the touch-sensitive display surface, the rotation direction and the rotation angle are obtained according to the angle of the specified target, so as to obtain the operation type and the operation value corresponding to the touch operation.
Preferably, the method further comprises the following steps:
the prediction unit is used for predicting the angle of the specified target relative to the vehicle at the current moment according to the position change of the specified target on the multi-frame historical panoramic image when the specified target cannot be searched in the panoramic image;
and the automatic adjusting unit is used for automatically adjusting the movement or rotation of the wide-angle camera relative to the specified target according to the estimated angle so that the wide-angle camera keeps tracking the specified target.
Preferably, the driving direction is indicated according to the predicted angle of the specified target relative to the vehicle at the current time while automatically adjusting the movement or rotation of the wide-angle camera relative to the specified target according to the predicted angle.
The fourth embodiment of the present invention further provides a computer-readable storage medium, which stores a computer program, where the computer program can be executed by a processor of a device where the computer-readable storage medium is located, so as to implement the method for three-dimensional panoramic visualization display as described above.
Illustratively, the computer programs described in the above embodiments may be divided into one or more units, which are stored in the memory and executed by the processor, to implement the present invention. The one or more units may be a series of computer program instruction segments capable of performing specific functions, which are used for describing the execution process of the computer program in the vehicle-mounted terminal.
The vehicle-mounted terminal can include but is not limited to a processor and a memory. It will be understood by those skilled in the art that the schematic diagram is merely an example of a vehicle-mounted terminal, and does not constitute a limitation of the vehicle-mounted terminal, and may include more or less components than those shown, or combine some components, or different components, for example, the vehicle-mounted terminal may further include an input-output device, a network access device, a bus, etc.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like, and the control center of the in-vehicle terminal connects the respective parts of the entire in-vehicle terminal with various interfaces and lines.
The memory may be used to store the computer program and/or module, and the processor may implement various functions of the in-vehicle terminal by operating or executing the computer program and/or module stored in the memory and calling data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
Wherein, the vehicle-mounted terminal integrated unit can be stored in a computer readable storage medium if it is realized in the form of software functional unit and sold or used as an independent product. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
It should be noted that the above-described device embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (9)
1. A vehicle with a three-dimensional panoramic visual display comprises a vehicle-mounted terminal with a touch-sensitive display surface, and a panoramic driving auxiliary system, wherein the panoramic driving auxiliary system comprises four wide-angle cameras which are movably and rotatably arranged at the front, the back, the left and the right of a vehicle body and an image processing unit connected with the four wide-angle cameras, and the image processing unit is connected with the vehicle-mounted terminal; the image processing unit obtains images collected by the four wide-angle cameras and splices the images to obtain a panoramic image, and sends the panoramic image to the vehicle-mounted terminal; the vehicle-mounted terminal displaying the panoramic image through a touch-sensitive display surface, wherein the vehicle-mounted terminal is configured with a processor configured to implement the following steps by executing a stored computer program:
detecting a touch operation of a user on the panoramic image on the touch-sensitive display surface;
acquiring a camera adjusting instruction corresponding to the touch operation; the method specifically comprises the following steps: acquiring an area where the touch operation is located, and acquiring a corresponding identification of the wide-angle camera according to the area; acquiring an operation type and an operation numerical value corresponding to the touch operation; the operation types comprise rotating the wide-angle camera to a specified direction, extending the wide-angle camera forwards and retracting the wide-angle camera backwards; generating a camera adjusting instruction according to the identification of the wide-angle camera, the operation type and the operation numerical value;
sending the camera adjustment instruction to the image processing unit so that the image processing unit controls the movement or rotation of at least one wide-angle camera.
2. The vehicle of claim 1, wherein the panoramic image further comprises at least one composite region, the composite region corresponding to a plurality of wide-angle cameras; and when the composite area is triggered, acquiring the identifications of the corresponding wide-angle cameras.
3. The vehicle of claim 1, wherein the obtaining of the operation type and the operand value corresponding to the touch operation specifically comprises:
when the touch operation is left-handed or right-handed rotation on the touch-sensitive display surface, judging that the operation type corresponding to the touch operation is left-handed or right-handed rotation of the wide-angle camera, and generating the operation value according to the rotation amplitude;
when the touch operation slides forwards or backwards on the touch-sensitive display surface, the operation type corresponding to the touch operation is judged to be that the wide-angle camera extends forwards or retracts backwards, and the operation value is generated according to the sliding amplitude.
4. The vehicle of claim 3, wherein the three-dimensional panoramic visualization is a vehicle,
when the touch operation is to select a specified target on the touch-sensitive display surface, acquiring a rotation direction and a rotation angle according to an angle of the specified target, so as to acquire an operation type and an operation numerical value corresponding to the touch operation.
5. The vehicle of the three-dimensional panoramic visualization display of claim 4, further comprising:
when the designated target cannot be found in the panoramic image, predicting the position of the designated target relative to the vehicle at the current moment according to the position change of the designated target on the multi-frame historical panoramic image;
and automatically adjusting the movement or rotation of the wide-angle camera relative to the specified target according to the estimated position so that the wide-angle camera keeps tracking the specified target.
6. The vehicle according to claim 5, wherein the vehicle is configured to indicate the driving direction based on the predicted position of the designated object relative to the vehicle at the present time while automatically adjusting the movement or rotation of the wide-angle camera relative to the designated object based on the predicted position.
7. A method for three-dimensional panoramic visualization, comprising:
detecting touch operation of a user on a touch-sensitive display surface of the vehicle-mounted terminal on the panoramic image;
acquiring a camera adjusting instruction corresponding to the touch operation; the method specifically comprises the following steps: acquiring an area where the touch operation is located, and acquiring a corresponding identification of the wide-angle camera according to the area; acquiring an operation type and an operation numerical value corresponding to the touch operation; the operation types comprise rotating the wide-angle camera to a specified direction, extending the wide-angle camera forwards and retracting the wide-angle camera backwards; generating a camera adjusting instruction according to the identification of the wide-angle camera, the operation type and the operation numerical value;
sending the camera adjusting instruction to an image processing unit of a panoramic driving auxiliary system, so that the image processing unit controls the movement or rotation of at least one wide-angle camera; the panoramic driving auxiliary system comprises four wide-angle cameras which are movably and rotatably arranged at the front, the rear, the left and the right of a vehicle body, and the four wide-angle cameras are connected with an image processing unit; the image processing unit obtains panoramic images by splicing images acquired by the four wide-angle cameras and sends the panoramic images to the vehicle-mounted terminal.
8. An apparatus for three-dimensional panoramic visualization, comprising:
the detection unit is used for detecting the touch operation of a user on the panoramic image on the touch-sensitive display surface of the vehicle-mounted terminal;
the instruction acquisition unit is used for acquiring a camera adjustment instruction corresponding to the touch operation; wherein, be used for specifically: acquiring an area where the touch operation is located, and acquiring a corresponding identification of the wide-angle camera according to the area; acquiring an operation type and an operation numerical value corresponding to the touch operation; the operation types comprise rotating the wide-angle camera to a specified direction, extending the wide-angle camera forwards and retracting the wide-angle camera backwards; generating a camera adjusting instruction according to the identification of the wide-angle camera, the operation type and the operation numerical value;
the instruction sending unit is used for sending the camera adjusting instruction to an image processing unit of the panoramic driving auxiliary system so that the image processing unit controls the movement or rotation of at least one wide-angle camera; the panoramic driving auxiliary system comprises four wide-angle cameras which are movably and rotatably arranged at the front, the rear, the left and the right of a vehicle body, and the four wide-angle cameras are connected with an image processing unit; the image processing unit obtains panoramic images by splicing images acquired by the four wide-angle cameras and sends the panoramic images to the vehicle-mounted terminal.
9. A computer-readable storage medium, in which a computer program is stored, the computer program being executable by a processor of a device in which the computer-readable storage medium is located to implement the method of three-dimensional panoramic visual display of claim 7.
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| CN114475436A (en) * | 2022-01-27 | 2022-05-13 | 中国第一汽车股份有限公司 | User-defined vehicle-mounted image setting method and device, vehicle-mounted equipment and storage medium |
| CN115273489B (en) * | 2022-07-29 | 2023-06-02 | 北斗星通智联科技有限责任公司 | Vehicle body color adjustment method, device, system and storage medium |
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