CN117541517B

CN117541517B - Dual-curvature imaging method, device, computer equipment and storage medium of CMS

Info

Publication number: CN117541517B
Application number: CN202410016223.0A
Authority: CN
Inventors: 胡文麟; 周涤非
Original assignee: Shenzhen Ouye Semiconductor Co ltd
Current assignee: Shenzhen Ouye Semiconductor Co ltd
Priority date: 2024-01-05
Filing date: 2024-01-05
Publication date: 2024-03-08
Anticipated expiration: 2044-01-05
Also published as: CN117541517A

Abstract

The present application relates to a dual curvature imaging method, apparatus, computer device and storage medium of CMS. The method comprises the following steps: obtaining distortion parameter information from a received image generation request; defining a to-be-distorted region and a non-distorted region from the to-be-processed image based on the target resolution information, and acquiring a to-be-distorted pixel point set which corresponds to the to-be-distorted region and comprises coordinate information and pixel information of each to-be-distorted pixel; fusing the distortion parameter information and the coordinate information of each pixel to be distorted to obtain the coordinate information of the distorted pixel corresponding to each pixel to be distorted in the pixel set to be distorted; and taking the pixel information of the pixel points to be distorted as the pixel information of the corresponding distorted pixel points, generating a target distorted image which is to be spliced and is obtained by splicing the images corresponding to the non-distorted area in the to-be-processed image based on the coordinate information and the pixel information of each distorted pixel point, and sending the target distorted image to an automobile electronic rearview mirror display screen for display. The method can enlarge the imaging visual field of the automobile electronic rearview mirror.

Description

Dual-curvature imaging method, device, computer equipment and storage medium of CMS

Technical Field

The present disclosure relates to the field of computer technology, and in particular, to a method, an apparatus, a computer device, and a storage medium for dual-curvature imaging of CMS.

Background

With the development of computer technology, more and more image processing technologies are emerging. However, the existing image processing technology applied to the automotive electronic rear view mirror (CMS, camera Monitor System) has a limitation in the field of view of an image displayed in the automotive electronic rear view mirror display screen, resulting in a smaller imaging field of view of the automotive electronic rear view mirror.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a dual-curvature imaging method, apparatus, computer device, and storage medium for a CMS capable of expanding the field of view of an electronic rear view mirror of an automobile, which is advantageous for expanding the field of view of imaging of the electronic rear view mirror of the automobile.

In a first aspect, the present application provides a method of dual curvature imaging of CMS. The method comprises the following steps:

receiving an image generation request, and acquiring distortion parameter information from the image generation request;

the method comprises the steps of obtaining an image to be processed, defining a to-be-distorted area and a non-distorted area from the image to be processed based on target resolution information, and obtaining a to-be-distorted pixel point set corresponding to the to-be-distorted area, wherein the to-be-distorted pixel point set comprises coordinate information and pixel information of each to-be-distorted pixel, and the target resolution information is resolution information of an automobile electronic rearview mirror display screen;

Fusing the distortion parameter information with the coordinate information of each pixel to be distorted in the pixel to be distorted set to obtain the coordinate information of the distorted pixel corresponding to each pixel to be distorted in the pixel to be distorted set;

taking the pixel information of the pixel points to be distorted as the pixel information of the corresponding distorted pixel points, and generating a distortion image to be spliced, which corresponds to the area to be distorted, based on the coordinate information and the pixel information of each distorted pixel point;

splicing the images corresponding to the distortion images to be spliced and the non-distortion areas in the images to be processed to obtain target distortion images, and sending the target distortion images to an automobile electronic rearview mirror display screen for display.

In one embodiment, the distortion parameter information includes coordinate information of a preset distortion center point, a distortion coefficient set and a preset stretching value; the step of fusing the distortion parameter information and the coordinate information of each pixel to be distorted in the pixel to be distorted set, wherein the step of obtaining the coordinate information of the distorted pixel corresponding to each pixel to be distorted in the pixel to be distorted set comprises the following steps:

fusing coordinate information of each pixel to be distorted in the pixel set to be distorted, abscissa information of a preset distortion center point and a preset stretching value to obtain coordinate information of first distortion points corresponding to each pixel to be distorted, and calculating a target distortion distance corresponding to each pixel to be distorted based on the coordinate information of each first distortion point;

And fusing the coordinate information of the first distortion point, the target distortion distance corresponding to the pixel point to be distorted, the coordinate information of the preset distortion center point, the preset stretching value and each distortion coefficient in the distortion coefficient set to obtain the coordinate information of the distortion pixel point corresponding to each pixel point to be distorted.

In one embodiment, the preset stretch values include a preset machine direction stretch value and a preset cross direction stretch value; the coordinate information includes abscissa information and ordinate information; fusing the coordinate information of the first distortion point, the target distortion distance corresponding to the pixel point to be distorted, the coordinate information of the preset distortion center point, the preset stretching value and the distortion coefficients in the distortion coefficient set, and obtaining the coordinate information of the distortion pixel point corresponding to each pixel point to be distorted comprises the following steps:

fusing the abscissa information of the first distortion point, the target distortion distance corresponding to the pixel point to be distorted and each distortion coefficient in the distortion coefficient set to obtain the abscissa information of the middle distortion point;

fusing the ordinate information of the first distortion point, the target distortion distance corresponding to the pixel point to be distorted and each distortion coefficient in the distortion coefficient set to obtain the ordinate information of the middle distortion point;

Fusing the abscissa information of the middle distortion point, the preset transverse stretching value and the abscissa information of the preset distortion center point to obtain the abscissa information of the distortion pixel point corresponding to the pixel point to be distorted;

and fusing the ordinate information of the middle distortion point, the preset longitudinal stretching value and the ordinate information of the preset distortion center point to obtain the ordinate information of the distortion pixel point corresponding to the pixel point to be distorted.

In one embodiment, stitching the images corresponding to the distortion image to be stitched and the non-distortion area in the image to be processed to obtain the target distortion image includes:

cutting the distortion images to be spliced based on the target resolution information and the size information of the undistorted region to obtain cut distortion images;

and splicing the images corresponding to the clipping distortion images and the undistorted areas in the image to be processed to obtain the target distortion image.

In one embodiment, the acquisition of the image to be processed comprises capturing by an image sensor mounted on the vehicle.

In one embodiment, the dual curvature imaging method of the CMS further comprises:

defining a distortion region and a non-distortion region from the image to be processed based on the target resolution information;

Dividing the distortion area into a plurality of distortion subareas, acquiring a first representation point information set of each distortion subarea, and acquiring a second representation point information set of a to-be-distorted area corresponding to each distortion subarea in the to-be-processed image;

fusing the first representing point information set of the distortion subarea and the second representing point information set of the to-be-distorted area corresponding to the distortion subarea to obtain coordinate information and pixel information corresponding to each distorted pixel point in each distortion subarea;

and generating a distortion image to be spliced corresponding to the distortion region based on the coordinate information and the pixel information of each distortion pixel point in each distortion region.

In one embodiment, fusing the first representation point information set of the distortion subarea and the second representation point information set of the to-be-distorted area corresponding to the distortion subarea to obtain coordinate information and pixel information corresponding to each distorted pixel point in each distortion subarea includes:

fusing the coordinate information of each representing point in the first representing point information set of the distortion subarea and the coordinate information of each representing point in the second representing point information set of the to-be-distorted area corresponding to the distortion subarea to obtain a relation matrix between each distortion subarea and the corresponding to-be-distorted area;

Acquiring a pixel point set to be distorted corresponding to each area to be distorted, wherein the pixel point set to be distorted comprises coordinate information and pixel information of each pixel point to be distorted;

fusing the coordinate information of each pixel to be distorted in the pixel set to be distorted with the corresponding relation matrix of the area to be distorted to obtain the coordinate information of the corresponding distorted pixel of each pixel to be distorted in the pixel set to be distorted in the distortion subarea;

and taking the pixel information of the pixel points to be distorted as the pixel information of the corresponding distorted pixel points to obtain the coordinate information and the pixel information corresponding to each distorted pixel point in each distorted sub-area.

In a second aspect, the present application also provides a dual curvature imaging device of CMS. The device comprises:

the receiving module is used for receiving an image generation request and acquiring distortion parameter information from the image generation request;

the acquisition module is used for acquiring an image to be processed, defining a to-be-distorted area and a non-distorted area from the image to be processed based on target resolution information, and acquiring a to-be-distorted pixel point set corresponding to the to-be-distorted area, wherein the to-be-distorted pixel point set comprises coordinate information and pixel information of each to-be-distorted pixel, and the target resolution information is resolution information of an automobile electronic rearview mirror display screen;

The fusion module is used for fusing the distortion parameter information and the coordinate information of each pixel to be distorted in the pixel set to be distorted to obtain the coordinate information of the distorted pixel corresponding to each pixel to be distorted in the pixel set to be distorted;

the generating module is used for taking the pixel information of the pixel points to be distorted as the pixel information of the corresponding distorted pixel points, and generating a distortion image to be spliced, which corresponds to the area to be distorted, based on the coordinate information and the pixel information of each distorted pixel point;

and the splicing module is used for splicing the images corresponding to the distortion images to be spliced and the non-distortion areas in the images to be processed to obtain target distortion images, and sending the target distortion images to the display screen of the automobile electronic rearview mirror for display.

A computer device comprising a memory storing a computer program and a processor which when executing the computer program performs the steps of:

A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:

According to the double-curvature imaging method, the device, the computer equipment and the storage medium of the CMS, the image generation request is received, distortion parameter information is acquired from the image generation request to acquire the image to be processed, a region to be distorted and a non-distortion region are defined from the image to be processed based on target resolution information, a pixel point set to be distorted corresponding to the region to be distorted is acquired, the pixel point set to be distorted comprises coordinate information and pixel information of each pixel to be distorted, and the target resolution information is the resolution information of an automobile electronic rearview mirror display screen; fusing the distortion parameter information with the coordinate information of each pixel to be distorted in the pixel to be distorted set to obtain the coordinate information of the distorted pixel corresponding to each pixel to be distorted in the pixel to be distorted set; taking the pixel information of the pixel points to be distorted as the pixel information of the corresponding distorted pixel points, and generating a distortion image to be spliced, which corresponds to the area to be distorted, based on the coordinate information and the pixel information of each distorted pixel point; the method comprises the steps of splicing the images corresponding to the distortion images to be spliced and the non-distortion areas in the images to be processed to obtain target distortion images, sending the target distortion images to the display screen of the automobile electronic rearview mirror to be displayed, expanding the visual field of the images displayed in the display screen of the automobile electronic rearview mirror, and when the images are subjected to distortion transformation, only the image content of part of the areas is distorted to ensure the identification degree of the images, so that the clear image content is ensured, and meanwhile, the visual field of the imaging of the display screen of the automobile electronic rearview mirror is better expanded.

Drawings

FIG. 1 is an application environment diagram of a dual curvature imaging method of a CMS in one embodiment;

FIG. 2 is a flow diagram of a method of dual curvature imaging of a CMS in one embodiment;

FIG. 3 is a flow diagram of image distortion in one embodiment;

FIG. 4 is a flow chart of image distortion in another embodiment;

FIG. 5 is a block diagram of a dual curvature imaging device of the CMS in one embodiment;

FIG. 6 is an internal block diagram of a computer device in one embodiment;

fig. 7 is an internal structural diagram of a computer device in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

The double-curvature imaging method of the CMS provided by the embodiment of the application can be applied to an application environment shown in figure 1. Wherein the terminal 102 communicates with the server 104 via a network. The data storage system may store data that the server 104 needs to process. The data storage system may be integrated on the server 104 or may be located on a cloud or other network server. The server 104 is configured to receive an image generation request, and obtain distortion parameter information from the image generation request; the method comprises the steps of obtaining an image to be processed, defining a to-be-distorted area and a non-distorted area from the image to be processed based on target resolution information, and obtaining a to-be-distorted pixel point set corresponding to the to-be-distorted area, wherein the to-be-distorted pixel point set comprises coordinate information and pixel information of each to-be-distorted pixel, and the target resolution information is resolution information of an automobile electronic rearview mirror display screen; fusing the distortion parameter information with the coordinate information of each pixel to be distorted in the pixel to be distorted set to obtain the coordinate information of the distorted pixel corresponding to each pixel to be distorted in the pixel to be distorted set; taking the pixel information of the pixel points to be distorted as the pixel information of the corresponding distorted pixel points, and generating a distortion image to be spliced, which corresponds to the area to be distorted, based on the coordinate information and the pixel information of each distorted pixel point; splicing the images corresponding to the distortion images to be spliced and the non-distortion areas in the images to be processed to obtain target distortion images, and sending the target distortion images to an automobile electronic rearview mirror display screen for display. In addition, the dual curvature imaging method of the CMS may be applied to a processor installed in an automobile. The terminal 102 may be, but is not limited to, an intelligent device, various personal computers, notebook computers, smart phones, tablet computers, internet of things devices and portable wearable devices installed on an automobile, where the internet of things devices may be an intelligent sound box, an intelligent television, an intelligent air conditioner, an intelligent vehicle-mounted device, and the like. The portable wearable device may be a smart watch, smart bracelet, headset, or the like. The server 104 may be implemented as a stand-alone server or as a server cluster of multiple servers.

In one embodiment, as shown in fig. 2, a method for dual curvature imaging of CMS is provided, and the method is applied to the server in fig. 1 or the processor on the automobile, and is illustrated as an example, and includes the following steps:

step S200, receiving an image generation request, and acquiring distortion parameter information from the image generation request.

Wherein the image generation request refers to a request to generate an image displayed to the electronic rearview mirror of the automobile; the request may be, but is not limited to, a request sent through a cell phone, car-mounted smart device, or other smart device. The distortion parameter information refers to distortion parameters selected by a user on a parameter configuration interface; the setting of the distortion parameters can take the image content presented in the electronic rearview mirror as an adjustment basis when the electronic rearview mirror is positioned at the position of the automobile; may be a default set parameter.

Specifically, in order to enhance flexibility, a user can configure relevant parameters for image distortion through the intelligent device in a parameter configuration interface, generate an image generation request and send the image generation request to a processor of the automobile, so that the processor of the automobile receives the image generation request and acquires distortion parameter information from the image generation request.

Step S202, obtaining an image to be processed, defining a region to be distorted and a non-distorted region from the image to be processed based on target resolution information, and obtaining a pixel point set to be distorted corresponding to the region to be distorted, wherein the pixel point set to be distorted comprises coordinate information and pixel information of each pixel to be distorted, and the target resolution information is resolution information of an automobile electronic rearview mirror display screen.

Wherein the image to be processed refers to an image to be subjected to distortion processing; the imaging field of view of the image after the distortion processing is enlarged. The target resolution information refers to the resolution of an automobile electronic rearview mirror display screen; the size of the image ultimately presented into the display screen may be determined based on the resolution of the electronic rearview mirror display screen of the automobile. The region to be distorted refers to a region in which distortion of the image content is to be performed. The non-distortion region refers to a region where image distortion processing is not performed. The pixel point set to be distorted refers to the coordinate information and the pixel information set of each pixel point to be distorted in the area to be distorted. The pixel points to be distorted refer to the pixel points in the area to be distorted in the image to be processed.

Specifically, an image sensor for shooting an image can be installed on an automobile, the shot image to be processed is sent to a processor of the automobile through the image sensor, so that the processor of the automobile delimits a to-be-distorted area and a non-distorted area from the image to be processed according to target resolution information of an electronic rearview mirror display screen of the automobile, coordinate information and pixel information of each to-be-distorted pixel point in the to-be-distorted area are obtained, and a set of the coordinate information and the pixel point information of each to-be-distorted pixel point is used as a to-be-distorted pixel point set. In addition, for the electronic rearview mirrors at different positions in the automobile, the positions of the corresponding divided undistorted areas and the areas to be distorted are different, for example, the left electronic rearview mirror of the automobile can select to divide the area, close to the left, of the image to be processed into the areas to be distorted, so that the imaging view of the left side of the distorted image is enlarged.

And step S204, fusing the distortion parameter information and the coordinate information of each pixel to be distorted in the pixel to be distorted set to obtain the coordinate information of the distorted pixel corresponding to each pixel to be distorted in the pixel to be distorted set.

Specifically, the distortion parameter information includes coordinate information of a preset distortion center point, a distortion coefficient set and a preset stretching value, different parameter information has different distortion effects in the image distortion process, the coordinate information of each pixel point to be distorted in the pixel point to be distorted, the coordinate information of the preset distortion center point and the preset stretching value can be fused to obtain coordinate information of a first distortion point, then the target distortion distance of each pixel point to be distorted is further calculated based on the coordinate information of the first distortion point corresponding to each pixel point to be distorted, then the coordinate information of the first distortion point, the target distortion distance and each distortion coefficient in the distortion coefficient set are further fused to obtain coordinate information of an intermediate distortion point corresponding to each pixel point to be distorted, and further the coordinate information of each pixel point to be distorted is further fused to obtain the coordinate information of each pixel point to be distorted according to the coordinate information of the intermediate point, the coordinate information of the preset distortion center point and the preset stretching value.

Step S206, taking the pixel information of the pixel points to be distorted as the pixel information of the corresponding distorted pixel points, and generating a distortion image to be spliced, which corresponds to the area to be distorted, based on the coordinate information and the pixel information of each distorted pixel point.

The distorted images to be spliced refer to images which are subjected to distortion processing but are not spliced.

Specifically, the pixel information of the pixel point to be distorted can be used as the coordinate information of the distorted pixel point corresponding to the pixel point to be distorted, so that the distorted image corresponding to the area to be distorted, that is, the image to be spliced, which is displayed in the display screen of the automobile electronic rearview mirror after the images corresponding to the area to be non-distorted in the image to be processed are spliced, can be generated according to the coordinate information and the pixel information of each distorted pixel point after distortion, and the imaging field of the automobile electronic rearview mirror can be better enlarged.

And step S208, splicing the images corresponding to the distortion images to be spliced and the non-distortion areas in the images to be processed to obtain target distortion images, and sending the target distortion images to an electronic rearview mirror display screen of the automobile for display.

The target distortion image refers to an image which can be directly displayed in an automobile electronic rearview mirror display screen and does not need to be subjected to size cutting; the target distorted image contains enlarged image content.

Specifically, the distorted images to be spliced can not be spliced directly at the moment, the size of the images to be spliced is not suitable for splicing the images corresponding to the undistorted areas in the images to be processed, the clipping content and clipping size of the distorted images to be spliced can be determined according to the image content and the target resolution information corresponding to the undistorted areas in the images to be processed, so that clipping distorted images which can be spliced directly in the undistorted areas are obtained, images corresponding to the clipping distorted images and the undistorted areas in the images to be processed are spliced to obtain target distorted images, the target distorted images can be displayed directly in the display screen of the automobile electronic rearview mirror, and the image content can not be swallowed by the display screen of the automobile electronic rearview mirror, so that the imaging view of the automobile electronic rearview mirror is enlarged well.

According to the double-curvature imaging method of the CMS, the image generation request is received, distortion parameter information is acquired from the image generation request to acquire the image to be processed, a region to be distorted and a non-distortion region are defined from the image to be processed based on target resolution information, a pixel point set to be distorted corresponding to the region to be distorted is acquired, the pixel point set to be distorted comprises coordinate information and pixel information of each pixel to be distorted, and the target resolution information is the resolution information of an automobile electronic rearview mirror display screen; fusing the distortion parameter information with the coordinate information of each pixel to be distorted in the pixel to be distorted set to obtain the coordinate information of the distorted pixel corresponding to each pixel to be distorted in the pixel to be distorted set; taking the pixel information of the pixel points to be distorted as the pixel information of the corresponding distorted pixel points, and generating a distortion image to be spliced, which corresponds to the area to be distorted, based on the coordinate information and the pixel information of each distorted pixel point; the method comprises the steps of splicing the images corresponding to the distortion images to be spliced and the non-distortion areas in the images to be processed to obtain target distortion images, sending the target distortion images to the display screen of the automobile electronic rearview mirror to be displayed, expanding the visual field of the images displayed in the display screen of the automobile electronic rearview mirror, and when the images are subjected to distortion transformation, only the image content of part of the areas is distorted to ensure the identification degree of the images, so that the clear image content is ensured, and meanwhile, the visual field of the imaging of the display screen of the automobile electronic rearview mirror is better expanded.

In one embodiment, the distortion parameter information includes coordinate information of a preset distortion center point, a distortion coefficient set and a preset stretching value; step S204 includes:

and step S300, fusing the coordinate information of each pixel to be distorted in the pixel set to be distorted, the coordinate information of the preset distortion center point and the preset stretching value to obtain the coordinate information of the first distortion point corresponding to each pixel to be distorted, and calculating the target distortion distance corresponding to each pixel to be distorted based on the coordinate information of each first distortion point.

Step S302, fusing the coordinate information of the first distortion point, the target distortion distance corresponding to the pixel point to be distorted, the coordinate information of the preset distortion center point, the preset stretching value and each distortion coefficient in the distortion coefficient set to obtain the coordinate information of the distortion pixel point corresponding to each pixel point to be distorted.

The preset distortion center point refers to the center point of image distortion; the image distortion is continuously and outwards distorted by taking a distortion central point as a circle center; the selection of the preset distortion center point can be performed according to the content of the image to be processed, from the point on the boundary line of the distortion area and the non-distortion area. The distortion coefficient set refers to coefficients for affecting distortion. The preset stretching value refers to a value for influencing the degree of stretching in the longitudinal and transverse directions of the distortion. The first distortion point refers to an intermediate variable value when calculating a distorted pixel point corresponding to the pixel point to be distorted. The target distortion distance refers to the distortion distance between the pixel point to be distorted and a preset distortion center point, and is influenced by a preset stretching value. The coordinate information includes abscissa information and ordinate information. The preset stretch values include a preset transverse stretch value and a preset longitudinal stretch value.

Specifically, when an image to be processed is distorted to expand an imaging view field finally in an automobile electronic rearview mirror, the abscissa information of each pixel to be distorted, the abscissa information of a preset distortion center point and a preset transverse stretching value in a pixel point set to be distorted can be fused to obtain the abscissa information of a first distortion point corresponding to each pixel point to be distorted; based on the fusion of the ordinate information of each pixel point to be distorted in the pixel point set to be distorted, the ordinate information of the preset distortion center point and the preset longitudinal stretching value, the ordinate information of the first distortion point corresponding to each pixel point to be distorted is obtained, and the obtained ordinate information of the first distortion point can be specifically shown as a formula (1), wherein the coordinate information in the formula (1)I.e. the abscissa information of the first distortion point,namely, the ordinate information of the first distortion point, x is the abscissa information of the pixel point to be distorted, y is the ordinate information of the pixel point to be distorted, < + >>For the abscissa information of the preset distortion center point, +.>For the ordinate information of the preset distortion center point, < +.>For the preset transverse stretching value->The longitudinal stretching value is preset; and solving the target distortion distance of the pixel point to be distorted corresponding to the first distortion point based on the square sum of the abscissa information and the ordinate information of the first distortion point A, wherein the target distortion distance is r in the formula (2) as shown in the formula (2). Further, the abscissa information of the first distortion point, the target distortion distance corresponding to the pixel point to be distorted, the abscissa information of the preset distortion center point and the preset transverse stretching are carried out Fusing the values and the distortion coefficients in the distortion coefficient set to obtain the abscissa information of the distorted pixel points corresponding to the pixel points to be distorted; and fusing the ordinate information of the first distortion point, the target distortion distance corresponding to the pixel point to be distorted, the ordinate information of the preset distortion center point, the preset longitudinal stretching value and the distortion coefficients in the distortion coefficient set to obtain the ordinate information of the distortion pixel point corresponding to each pixel point to be distorted, thereby obtaining the coordinate information of the distortion point corresponding to each pixel point to be distorted. The algorithm for image distortion of the image to be processed may be a radial distortion algorithm.

In the above embodiment, the coordinate information of the distorted pixel point corresponding to each pixel point to be distorted is calculated by the distortion parameter information and the coordinate information of each pixel point to be distorted in the set of pixel points to be distorted, so that the image content is favorably drawn close to the resolution of the display screen of the electronic rearview mirror according to the distortion, and the image content is favorably enlarged in a fixed size by the image distortion, and the imaging field of view is expanded.

In one embodiment, the preset stretch values include a preset machine direction stretch value and a preset cross direction stretch value; the coordinate information includes abscissa information and ordinate information; step S302 includes:

And step S400, fusing the abscissa information of the first distortion point, the target distortion distance corresponding to the pixel point to be distorted and each distortion coefficient in the distortion coefficient set to obtain the abscissa information of the middle distortion point.

Step S402, fusing the ordinate information of the first distortion point, the target distortion distance corresponding to the pixel point to be distorted and each distortion coefficient in the distortion coefficient set to obtain the ordinate information of the middle distortion point.

And step S404, fusing the abscissa information of the middle distortion point, the preset transverse stretching value and the abscissa information of the preset distortion center point to obtain the abscissa information of the distortion pixel point corresponding to the pixel point to be distorted.

Step S406, fusing the ordinate information of the middle distortion point, the preset longitudinal stretching value and the ordinate information of the preset distortion center point to obtain the ordinate information of the distortion pixel point corresponding to the pixel point to be distorted.

The middle distortion point refers to another middle variable value when the distortion pixel point corresponding to the pixel point to be distorted is obtained. The preset longitudinal stretching value refers to a value obtained by stretching and transforming the ordinate. The preset transverse stretching value refers to a value obtained by stretching and transforming the abscissa.

Specifically, in the process of calculating the distorted pixel points corresponding to each pixel point to be distorted, the abscissa information of the middle distorted point can be calculated according to the abscissa information of the first distorted point, the target distortion distance corresponding to the pixel point to be distorted and each distortion coefficient in the set of distortion coefficients, specifically as shown in a formula (3), in the formula (3),i.e. the abscissa information of the intermediate distortion point, +.>Namely, the distortion coefficients in the distortion coefficient set; then, calculating the ordinate information of the middle distortion point according to the ordinate information of the first distortion point, the target distortion distance corresponding to the pixel point to be distorted and each distortion coefficient in the distortion coefficient set, wherein the ordinate information of the middle distortion point can be shown as a formula (4), and the formula (4) is shown as +.>I.e. the ordinate information of the intermediate distortion point. Further, according to the abscissa information of the middle distortion point, the preset transverse stretching value and the abscissa information of the preset distortion center point, the abscissa information of the distortion pixel point corresponding to the pixel point to be distorted is calculated, which can be shown in a formula (5), wherein +_in the formula (5)>Namely, the abscissa information of the distorted pixel points; calculating distorted pixel points corresponding to the pixel points to be distorted according to the ordinate information of the middle distorted point, the preset longitudinal stretching value and the ordinate information of the preset distorted central point to obtain the ordinate information, wherein the ordinate information can be shown as a formula (5), and the formula (5) can be shown specifically >I.e. the ordinate information of the distorted pixel points.

In the above embodiment, the abscissa information and the ordinate information of the distorted pixel point corresponding to the pixel point to be distorted are calculated respectively through different parameters or coordinate information, so that the distortion of the position of the pixel point to be distorted is realized, a data basis is provided for finally forming distorted images with more image contents and larger imaging fields, and the expansion of the image fields finally presented in the display screen of the automobile electronic rearview mirror is ensured to a certain extent.

In one embodiment, step S208 includes:

and S500, cutting the distortion images to be spliced based on the target resolution information and the size information of the undistorted region to obtain cut distortion images.

Step S502, splicing the images corresponding to the clipping distortion images and the non-distortion areas in the image to be processed to obtain a target distortion image.

The clipping distortion image refers to an image with the size of the spliced position equal to the size of the image corresponding to the undistorted region and the size of the spliced image equal to the size corresponding to the resolution in the target resolution information when the image content corresponding to the undistorted region and the image content corresponding to the distortion image to be spliced are spliced; that is, after the image content of the clipping distortion image is overlapped with the image content corresponding to the non-distortion area, the size of the clipping image plus the size of the image of the non-distortion area is equal to the size of the image displayed on the display screen of the electronic rearview mirror of the automobile.

Specifically, in order to ensure that more image contents can be close to a display screen which is finally presented to an automobile electronic rearview mirror as much as possible, the area range defined by the area to be distorted is larger, then the pixel points to be distorted in the area to be distorted are distorted to the area close to the undistorted area as much as possible, then the image contents corresponding to the undistorted area are cut out from the distorted image to be spliced which is formed after the distortion of the area to be distorted, and after the image contents corresponding to the undistorted area are spliced, the spliced size is consistent with the resolution of the target resolution information, namely the image contents corresponding to the distorted area, namely the image contents corresponding to the cut-out distortion image, are included in the target distortion image.

In the above embodiment, by further cutting the distorted images to be spliced to finally splice the distorted images to obtain the images which can be directly displayed in the display screen of the electronic rearview mirror of the automobile, the situation that the display screen is uncomfortable in image resolution and swallows more image fields is avoided while the content of the distorted images is increased, so that the imaging field of view of the display screen of the electronic rearview mirror of the automobile is better enlarged.

Specifically, an image sensor or other shooting equipment can be installed on the automobile, and when the shooting equipment shoots an image of a current automobile driving scene, the image shot currently is sent to a processor in the automobile as an image to be processed for processing.

step S600, demarcating a distortion area and a non-distortion area from the image to be processed based on the target resolution information.

Step S602, dividing the distortion area into a plurality of distortion subareas, acquiring a first representation point information set of each distortion subarea, and acquiring a second representation point information set of a to-be-distorted area corresponding to each distortion subarea in the to-be-processed image.

Step S604, fusing the first representing point information set of the distortion subarea and the second representing point information set of the to-be-distorted area corresponding to the distortion subarea to obtain coordinate information and pixel information corresponding to each distorted pixel point in each distortion subarea.

Step S606, generating a distortion image to be spliced corresponding to the distortion region based on the coordinate information and the pixel information of each distortion pixel point in each distortion region.

Wherein the distortion area refers to an area where distortion contents are placed. The distortion region refers to a part of the distortion region; may be a rectangular box area. The first representative point information set refers to a set of points for representing the distorted sub-region, and includes coordinate information representing the points; the points of the top angles corresponding to the distortion subareas, namely the points of the four top angles of the distortion subareas belonging to the rectangular frame area, can be adopted. The second representing point information set refers to a set of points of the to-be-distorted region corresponding to the distorted sub-region, and the set of points comprises coordinates representing the points; the area to be distorted corresponding to the distortion subarea can be a trapezoid frame area and can be points of four vertex angles of the area to be distorted belonging to the trapezoid frame area; the image content in the distortion area is placed in the corresponding distortion area after being distorted.

Specifically, in the image distortion of the image to be processed, in a manner of expanding the image field of view finally displayed in the display screen of the automobile electronic rearview mirror through the distorted image, a distorted area and a non-distorted area can be defined from the image to be processed based on the target resolution information, wherein the distorted area refers to an area where the content of the distorted image is placed. Further, the distortion area can be divided into a plurality of distortion subareas, each distortion subarea has a corresponding area to be distorted in the image to be processed, only boundary lines between the area to be distorted and the area to be distorted are coincident, only boundary lines between the distortion subareas and the distortion subareas are coincident, a first representing point information set corresponding to each distortion subarea and a second representing point information set corresponding to the area to be distorted corresponding to the distortion subarea can be obtained, the first representing point information set and the second representing point information set can be converted into a matrix form to be represented, and therefore a relation matrix between the first representing point information set of the distortion subarea and the second representing point information set of the area to be distorted corresponding to the distortion subarea is calculated, namely, the relation matrix between different distortion subareas and the area to be distorted corresponding to the distortion subarea is different; and further acquiring coordinate information and pixel information of each pixel to be distorted in the area to be distorted, multiplying the coordinate information of each pixel to be distorted in the same distortion subarea by a corresponding relation matrix of the distortion subarea to obtain the coordinate information of the corresponding distortion pixel of the pixel to be distorted in the distortion subarea, and taking the pixel information of the pixel to be distorted as the pixel information of the corresponding distortion pixel.

In the above embodiment, the image to be processed is distorted by other image distortion modes, so that more choices are provided for the image distortion to enlarge the imaging field of the image displayed in the display screen of the electronic rearview mirror of the automobile, the function of the automobile processor for image distortion processing is enriched, and the enlargement of the imaging field of the image in the display screen of the electronic rearview mirror of the automobile is ensured to a certain extent.

In one embodiment, the processor of the automobile may receive a selection request, determine a target image processing mode from the selection request, and if the target image processing mode is a first processing mode, receive an image generation request, and obtain distortion parameter information from the image generation request; the method comprises the steps of obtaining an image to be processed, defining a to-be-distorted area and a non-distorted area from the image to be processed based on target resolution information, and obtaining a to-be-distorted pixel point set corresponding to the to-be-distorted area, wherein the to-be-distorted pixel point set comprises coordinate information and pixel information of each to-be-distorted pixel, and the target resolution information is resolution information of an automobile electronic rearview mirror display screen; fusing the distortion parameter information with the coordinate information of each pixel to be distorted in the pixel to be distorted set to obtain the coordinate information of the distorted pixel corresponding to each pixel to be distorted in the pixel to be distorted set; taking the pixel information of the pixel points to be distorted as the pixel information of the corresponding distorted pixel points, and generating a distortion image to be spliced, which corresponds to the area to be distorted, based on the coordinate information and the pixel information of each distorted pixel point; splicing the images corresponding to the distortion images to be spliced and the non-distortion areas in the images to be processed to obtain target distortion images, and sending the target distortion images to an automobile electronic rearview mirror display screen for display; if the target image processing mode is the second processing mode, a distortion area and a non-distortion area are defined from the image to be processed based on the target resolution information; dividing the distortion area into a plurality of distortion subareas, acquiring a first representation point information set of each distortion subarea, and acquiring a second representation point information set of a to-be-distorted area corresponding to each distortion subarea in the to-be-processed image; fusing the first representing point information set of the distortion subarea and the second representing point information set of the to-be-distorted area corresponding to the distortion subarea to obtain coordinate information and pixel information corresponding to each distorted pixel point in each distortion subarea; generating a distortion image to be spliced corresponding to the distortion region based on the coordinate information and the pixel information of each distortion pixel point in each distortion region; splicing the images corresponding to the distortion images to be spliced and the non-distortion areas in the images to be processed to obtain target distortion images, and sending the target distortion images to an automobile electronic rearview mirror display screen for display.

In one embodiment, step S604 includes:

and step S700, fusing the coordinate information of each representation point in the first representation point information set of the distortion subarea and the coordinate information of each representation point in the second representation point information set of the to-be-distorted area corresponding to the distortion subarea to obtain a relation matrix between each distortion subarea and the corresponding to-be-distorted area.

Step S702, a set of pixel points to be distorted corresponding to each area to be distorted is obtained, where the set of pixel points to be distorted includes coordinate information and pixel information of each pixel point to be distorted.

Step S704, fusing the coordinate information of each pixel to be distorted in the pixel set to be distorted with the corresponding relation matrix of the area to be distorted to obtain the coordinate information of the distorted pixel corresponding to each pixel to be distorted in the distorted sub-area.

Step S706, taking the pixel information of the pixel to be distorted as the pixel information of the corresponding distorted pixel, to obtain the coordinate information and the pixel information corresponding to each distorted pixel in each distorted sub-region.

The relation matrix refers to a projection mapping relation matrix between the distortion subarea and the corresponding area to be distorted.

In particular, a perspective projective transformation algorithm may be employed to distort the image to be processed. The coordinate information of each representing point in the first representing point information set of the distortion subarea is represented in a matrix form, the coordinate information of each representing point in the second representing point information set of the to-be-distorted area corresponding to the distortion subarea is represented in a matrix form, and then the first representing point information set is represented in the matrix form and the second representing point information set is represented in the matrix form, so that a relation matrix between the distortion subarea and the corresponding to-be-distorted area is obtained, and the relation matrix between different distortion subareas and the corresponding to-be-distorted area is different; further, coordinate information and pixel information corresponding to each pixel point to be processed in each area to be distorted can be obtained, the coordinate information of the pixel points to be processed belonging to the same area to be distorted is multiplied by a relation matrix corresponding to the area to be distorted, the coordinate information of the distorted pixel points of the pixel points to be distorted in the corresponding area to be distorted is obtained, the pixel information of the pixel points to be distorted is taken as the pixel information of the corresponding distorted pixel points, therefore, each area to be distorted can be based on the pixel information and the coordinate information of the distorted pixel points in the area to be distorted, a distorted image corresponding to the area to be distorted is generated, and as the areas to be distorted are adjacent and only coincide with each other, the distorted images corresponding to the areas to be distorted can be spliced into a distorted image corresponding to the area to be spliced, and the size of the area to be distorted is just consistent with the resolution of an electronic rearview mirror display screen of an automobile, the image to be spliced can be spliced directly, and the target image corresponding to the area to be distorted in the area to be distorted is obtained, and the target image to be displayed on the electronic rearview mirror display screen is carried out.

In the above embodiment, the distorted pixel points of each pixel point to be distorted in the corresponding distorted sub-area in the to-be-distorted area are calculated through the data information related to each distorted sub-area in the distorted area and the data information related to the to-be-distorted area corresponding to the distorted sub-area, so that a better data basis is provided for forming the distorted image, the functions of image processing applied to the automobile are enriched, and the imaging field of the image displayed on the display screen of the automobile electronic rearview mirror is enlarged to a certain extent.

In one embodiment, the process image distortion of the image to be processed captured by the image sensor mounted on the automobile can be described by taking as an example a distorted image with a larger field of view that can be displayed in the display screen of the electronic rearview mirror of the automobile. The method can process the image to be processed based on the radial distortion transformation mode, specifically, as shown in fig. 3, if the image to be processed is cut directly in fig. 3 and the image cut directly is displayed in the display screen of the automobile electronic rearview mirror, the field of view of the image displayed in the display screen is too small, the radial distortion processing can be performed on the image to be processed, specifically, when the radial distortion processing is performed, a user can set distortion parameters related to the radial distortion by himself, the automobile processor can receive an image generation request sent by intelligent equipment installed in an automobile or other intelligent equipment such as a mobile phone, and distortion parameter information is obtained from the image generation request; the method comprises the steps that an image to be processed is obtained after the image sensor shoots, a to-be-distorted area and a non-distorted area are defined from the image to be processed based on target resolution information corresponding to a display screen of an automobile electronic rearview mirror, wherein the resolution of a second large rectangular frame in a diagram in the left lower corner of fig. 3 is consistent with that of the automobile electronic rearview mirror, a small rectangular frame on the left of a straight line where a center point is located is a non-distorted area, a small rectangular frame on the right of the center point is a distorted area, the small rectangular frame on the right of the center point is used for placing distorted image content, and the right of the straight line where the center point of the image to be processed is located can be the to-be-distorted area; further acquiring a pixel point set to be distorted corresponding to the area to be distorted, wherein the pixel point set to be distorted comprises coordinate information and pixel information of each pixel to be distorted, and the target resolution information is resolution information of an automobile electronic rearview mirror display screen; the distortion parameter information and the coordinate information of each pixel point to be distorted in the pixel point set to be distorted can be fused based on formulas (1) to (5), so that the coordinate information of the distorted pixel point corresponding to each pixel point to be distorted in the pixel point set to be distorted is obtained; and further taking the pixel information of the pixel points to be distorted as the pixel information of the corresponding distorted pixel points, generating a distortion image to be spliced corresponding to the distortion area based on the coordinate information and the pixel information of each distorted pixel point, cutting the distortion image to be spliced based on the image content of the non-distortion area on the image to be processed and the size of the distortion area to obtain a cutting distortion image, splicing the cutting distortion image and the image corresponding to the non-distortion area in the image to be processed to obtain a target distortion image, and sending the target distortion image to an automobile electronic rearview mirror display screen for display.

Or, the image to be processed may be distorted based on a perspective projection transformation method, specifically, as shown in fig. 4, a distortion area and an undistorted area may be defined from the image to be processed based on target resolution information of an electronic rearview mirror display screen of an automobile, a small rectangular frame area on the left of a boundary between the undistorted area and the distortion area in fig. 4 is the undistorted area, and a small rectangular frame of an area containing a, b and c on the right of the boundary is the distortion area; dividing a distortion area into a plurality of distortion subareas, wherein a, b and c in fig. 4 are the distortion subareas, each distortion subarea is adjacent and only has a boundary line coincident, a first representing point information set of each distortion subarea is obtained, a second representing point information set of a corresponding area to be distorted in an image to be processed of each distortion subarea is obtained, trapezoid frame areas corresponding to (1), (2) and (3) in fig. 4 are the areas to be distorted, the areas to be distorted are also adjacent and only have boundary lines coincident, and a corresponds to (3), b corresponds to (2) and c corresponds to (1); further, a first representation point information set of the distortion subarea and a second representation point information set of a to-be-distorted area corresponding to the distortion subarea are fused to obtain a relation matrix between each distortion subarea and the corresponding to-be-distorted area, a to-be-distorted pixel point set corresponding to each to-be-distorted area is obtained, the to-be-distorted pixel point set comprises coordinate information and pixel information of each to-be-distorted pixel point, the coordinate information of each to-be-distorted pixel point in the to-be-distorted pixel point set and the relation matrix corresponding to the to-be-distorted area are fused to obtain coordinate information of a to-be-distorted pixel point corresponding to each to-be-distorted pixel point in the to-be-distorted subarea, and the pixel information of each to-be-distorted pixel point is used as pixel information of the corresponding to-distorted pixel point to obtain coordinate information and pixel information corresponding to each to-be-distorted pixel point in each to-be-distorted subarea; and generating a distortion image to be spliced corresponding to the distortion region based on the coordinate information and the pixel information of each distortion pixel point in each distortion region, and directly splicing the images corresponding to the distortion region and the non-distortion region in the image to be processed to obtain a target distortion image which can be directly displayed in the automobile electronic rearview mirror display screen. The method realizes the operation of switching different image conversion modes to expand the image field of view presented in the display screen of the automobile electronic rearview mirror, and when the image is subjected to distortion conversion, only the image content of a partial area is distorted to ensure the identification degree of the image, so that the image content is ensured to be clear, and the imaging field of view of the display screen of the automobile electronic rearview mirror is better expanded.

It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.

Based on the same inventive concept, the embodiments of the present application also provide a dual curvature imaging device of the CMS for implementing the dual curvature imaging method of the CMS referred to above. The implementation of the solution provided by the device is similar to that described in the above method, so the specific limitation in the embodiments of the dual-curvature imaging device for one or more CMSs provided below may be referred to the limitation of the dual-curvature imaging method for CMSs hereinabove, and will not be repeated here.

In one embodiment, as shown in fig. 5, there is provided a double curvature imaging device of CMS, comprising: the device comprises a receiving module 500, an acquiring module 502, a fusing module 504, a generating module 506 and a splicing module 508, wherein:

the receiving module 500 is configured to receive an image generation request, and obtain distortion parameter information from the image generation request.

The obtaining module 502 is configured to obtain an image to be processed, define a to-be-distorted region and a non-distorted region from the image to be processed based on target resolution information, and obtain a to-be-distorted pixel point set corresponding to the to-be-distorted region, where the to-be-distorted pixel point set includes coordinate information and pixel information of each to-be-distorted pixel, and the target resolution information is resolution information of an electronic rearview mirror display screen of the automobile.

And the fusion module 504 is configured to fuse the distortion parameter information and coordinate information of each pixel to be distorted in the set of pixels to be distorted, and obtain coordinate information of a distorted pixel corresponding to each pixel to be distorted in the set of pixels to be distorted.

The generating module 506 is configured to take the pixel information of the pixel to be distorted as the pixel information of the corresponding distorted pixel, and generate a distortion image to be spliced corresponding to the area to be distorted based on the coordinate information and the pixel information of each distorted pixel.

And the stitching module 508 is used for stitching the images corresponding to the distortion images to be stitched and the non-distortion areas in the images to be processed to obtain target distortion images, and sending the target distortion images to the display screen of the automobile electronic rearview mirror for display.

In one embodiment, the fusion module 504 is further configured to determine distortion parameter information including coordinate information of a preset distortion center point, a distortion coefficient set, and a preset stretching value; fusing the coordinate information of each pixel to be distorted in the pixel set to be distorted, the coordinate information of a preset distortion center point and a preset stretching value to obtain the coordinate information of a first distortion point corresponding to each pixel to be distorted, and calculating a target distortion distance corresponding to each pixel to be distorted based on the coordinate information of each first distortion point; and fusing the coordinate information of the first distortion point, the target distortion distance corresponding to the pixel point to be distorted, the coordinate information of the preset distortion center point, the preset stretching value and each distortion coefficient in the distortion coefficient set to obtain the coordinate information of the distortion pixel point corresponding to each pixel point to be distorted.

In one embodiment, the fusion module 504 is further configured to preset stretch values including a preset longitudinal stretch value and a preset transverse stretch value; the coordinate information includes abscissa information and ordinate information; fusing the abscissa information of the first distortion point, the target distortion distance corresponding to the pixel point to be distorted and each distortion coefficient in the distortion coefficient set to obtain the abscissa information of the middle distortion point; fusing the ordinate information of the first distortion point, the target distortion distance corresponding to the pixel point to be distorted and each distortion coefficient in the distortion coefficient set to obtain the ordinate information of the middle distortion point; fusing the abscissa information of the middle distortion point, the preset transverse stretching value and the abscissa information of the preset distortion center point to obtain the abscissa information of the distortion pixel point corresponding to the pixel point to be distorted; and fusing the ordinate information of the middle distortion point, the preset longitudinal stretching value and the ordinate information of the preset distortion center point to obtain the ordinate information of the distortion pixel point corresponding to the pixel point to be distorted.

In one embodiment, the stitching module 508 is further configured to clip the distorted image to be stitched based on the target resolution information and the size information of the undistorted region, to obtain a clipped distorted image; and splicing the images corresponding to the clipping distortion images and the undistorted areas in the image to be processed to obtain the target distortion image.

In one embodiment, the acquiring module 502 is further configured to acquire the image to be processed including capturing by an image sensor mounted on the vehicle.

In one embodiment, the dual-curvature imaging device of the CMS further comprises an additional processing module 510 for demarcating a distorted region and a non-distorted region from the image to be processed based on the target resolution information; dividing the distortion area into a plurality of distortion subareas, acquiring a first representation point information set of each distortion subarea, and acquiring a second representation point information set of a to-be-distorted area corresponding to each distortion subarea in the to-be-processed image; fusing the first representing point information set of the distortion subarea and the second representing point information set of the to-be-distorted area corresponding to the distortion subarea to obtain coordinate information and pixel information corresponding to each distorted pixel point in each distortion subarea; and generating a distortion image to be spliced corresponding to the distortion region based on the coordinate information and the pixel information of each distortion pixel point in each distortion region.

In one embodiment, the other processing module 510 is further configured to fuse coordinate information of each representative point in the first representative point information set of the distortion subregion and coordinate information of each representative point in the second representative point information set of the to-be-distorted region corresponding to the distortion subregion, so as to obtain a relationship matrix between each distortion subregion and the corresponding to-be-distorted region; acquiring a pixel point set to be distorted corresponding to each area to be distorted, wherein the pixel point set to be distorted comprises coordinate information and pixel information of each pixel point to be distorted; fusing the coordinate information of each pixel to be distorted in the pixel set to be distorted with the corresponding relation matrix of the area to be distorted to obtain the coordinate information of the corresponding distorted pixel of each pixel to be distorted in the pixel set to be distorted in the distortion subarea; and taking the pixel information of the pixel points to be distorted as the pixel information of the corresponding distorted pixel points to obtain the coordinate information and the pixel information corresponding to each distorted pixel point in each distorted sub-area.

The various modules in the dual-curvature imaging device of the CMS described above may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 6. The computer device includes a processor, a memory, an Input/Output interface (I/O) and a communication interface. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface is connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used to store data related to the execution process. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for communicating with an external terminal through a network connection. The computer program when executed by a processor implements a method of dual curvature imaging of CMS.

In one embodiment, a computer device is provided, which may be a terminal, and the internal structure of which may be as shown in fig. 7. The computer device includes a processor, a memory, an input/output interface, a communication interface, a display unit, and an input means. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program when executed by a processor implements a method of dual curvature imaging of CMS. The display unit of the computer device is used for forming a visual picture, and can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be a key, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.

It will be appreciated by those skilled in the art that the structures shown in fig. 6 or 7 are merely block diagrams of portions of structures related to the aspects of the present application and are not intended to limit the computer devices to which the aspects of the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or may have a different arrangement of components.

In an embodiment, there is also provided a computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the method embodiments described above when the computer program is executed.

In one embodiment, a computer-readable storage medium is provided, storing a computer program which, when executed by a processor, implements the steps of the method embodiments described above.

In one embodiment, a computer program product or computer program is provided that includes computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the steps in the above-described method embodiments.

It should be noted that, the user information (including, but not limited to, user equipment information, user personal information, etc.) and the data (including, but not limited to, data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party, and the collection, use and processing of the related data are required to comply with the related laws and regulations and standards of the related countries and regions.

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the various embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the various embodiments provided herein may include at least one of relational databases and non-relational databases. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic units, quantum computing-based data processing logic units, etc., without being limited thereto.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.

Claims

1. A method of dual curvature imaging of a CMS, the method comprising:

receiving an image generation request, and acquiring distortion parameter information from the image generation request; the distortion parameter information comprises coordinate information of a preset distortion center point, a distortion coefficient set and a preset stretching value; the preset stretching value comprises a preset longitudinal stretching value and a preset transverse stretching value;

Acquiring an image to be processed, and defining a region to be distorted and a non-distorted region from the image to be processed based on target resolution information, wherein the pixel point set to be distorted corresponds to the region to be distorted, the pixel point set to be distorted comprises coordinate information and pixel information of each pixel to be distorted, and the target resolution information is resolution information of an electronic rearview mirror display screen of an automobile;

fusing the coordinate information of each pixel to be distorted in the pixel to be distorted set, the coordinate information of the preset distortion center point and the preset stretching value to obtain the coordinate information of a first distortion point corresponding to each pixel to be distorted, and calculating the target distortion distance corresponding to each pixel to be distorted based on the coordinate information of each first distortion point; the coordinate information comprises abscissa information and ordinate information;

fusing the abscissa information of the first distortion point, the target distortion distance corresponding to the pixel point to be distorted and each distortion coefficient in the distortion coefficient set to obtain the abscissa information of the middle distortion point; fusing the ordinate information of the first distortion point, the target distortion distance corresponding to the pixel point to be distorted and each distortion coefficient in the distortion coefficient set to obtain the ordinate information of the middle distortion point; fusing the abscissa information of the middle distortion point, a preset transverse stretching value and the abscissa information of the preset distortion center point to obtain the abscissa information of the distortion pixel point corresponding to the pixel point to be distorted; fusing the ordinate information of the middle distortion point, a preset longitudinal stretching value and the ordinate information of the preset distortion center point to obtain the ordinate information of the distortion pixel point corresponding to the pixel point to be distorted; determining coordinate information of distorted pixel points corresponding to the pixel points to be distorted based on abscissa information and ordinate information of distorted pixel points corresponding to the pixel points to be distorted;

and splicing the distortion images to be spliced and the images corresponding to the non-distortion areas in the images to be processed to obtain target distortion images, and sending the target distortion images to the display screen of the automobile electronic rearview mirror for display.

2. The method of claim 1, wherein the selecting of the predetermined distortion center point comprises: and selecting points on the boundary line of the to-be-distorted area and the non-distorted area based on the content of the to-be-processed image.

3. The method of claim 1, wherein the target distortion distance refers to a distortion distance between the pixel point to be distorted and the preset distortion center point.

4. The method according to claim 1, wherein the stitching the distortion image to be stitched and the image corresponding to the non-distortion region in the image to be processed to obtain the target distortion image includes:

Cutting the distortion image to be spliced based on the target resolution information and the size information of the undistorted region to obtain a cutting distortion image;

and splicing the clipping distortion image with an image corresponding to the undistorted region in the image to be processed to obtain the target distortion image.

5. The method of claim 1, wherein the obtaining of the image to be processed comprises capturing by an image sensor mounted on a vehicle.

6. The method according to claim 1, wherein the method further comprises:

defining a distortion region and a non-distortion region from the image to be processed based on target resolution information;

7. The method of claim 6, wherein the fusing the first set of point information of the distortion subarea and the second set of point information of the to-be-distorted area corresponding to the distortion subarea to obtain the coordinate information and the pixel information corresponding to each distorted pixel point in each distortion subarea comprises:

8. A dual curvature imaging device of a CMS, the device comprising:

the receiving module is used for receiving an image generation request and acquiring distortion parameter information from the image generation request; the distortion parameter information comprises coordinate information of a preset distortion center point, a distortion coefficient set and a preset stretching value; the preset stretching value comprises a preset longitudinal stretching value and a preset transverse stretching value;

the image processing device comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring an image to be processed, defining a region to be distorted and a non-distorted region from the image to be processed based on target resolution information, and acquiring a pixel point set to be distorted corresponding to the region to be distorted, wherein the pixel point set to be distorted comprises coordinate information and pixel information of each pixel to be distorted, and the target resolution information is resolution information of an automobile electronic rearview mirror display screen;

the fusion module is used for fusing the coordinate information of each pixel to be distorted in the pixel set to be distorted, the coordinate information of the preset distortion center point and the preset stretching value to obtain the coordinate information of the first distortion point corresponding to each pixel to be distorted, and calculating the target distortion distance corresponding to each pixel to be distorted based on the coordinate information of each first distortion point; the coordinate information comprises abscissa information and ordinate information; fusing the abscissa information of the first distortion point, the target distortion distance corresponding to the pixel point to be distorted and each distortion coefficient in the distortion coefficient set to obtain the abscissa information of the middle distortion point; fusing the ordinate information of the first distortion point, the target distortion distance corresponding to the pixel point to be distorted and each distortion coefficient in the distortion coefficient set to obtain the ordinate information of the middle distortion point; fusing the abscissa information of the middle distortion point, a preset transverse stretching value and the abscissa information of the preset distortion center point to obtain the abscissa information of the distortion pixel point corresponding to the pixel point to be distorted; fusing the ordinate information of the middle distortion point, a preset longitudinal stretching value and the ordinate information of the preset distortion center point to obtain the ordinate information of the distortion pixel point corresponding to the pixel point to be distorted; determining coordinate information of distorted pixel points corresponding to the pixel points to be distorted based on abscissa information and ordinate information of distorted pixel points corresponding to the pixel points to be distorted;

and the splicing module is used for splicing the to-be-spliced distorted image and the image corresponding to the non-distorted region in the to-be-processed image to obtain a target distorted image, and sending the target distorted image to the display screen of the automobile electronic rearview mirror for display.

9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 7 when the computer program is executed.

10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.