CN116915978B - Trigger time determining method, data acquisition system, vehicle and industrial personal computer - Google Patents
Trigger time determining method, data acquisition system, vehicle and industrial personal computer Download PDFInfo
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- H—ELECTRICITY
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- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N17/00—Diagnosis, testing or measuring for television systems or their details
- H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
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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
- H04N23/64—Computer-aided capture of images, e.g. transfer from script file into camera, check of taken image quality, advice or proposal for image composition or decision on when to take image
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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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Abstract
The embodiment of the invention provides a trigger time determining method, a data acquisition system, a vehicle and an industrial control, and relates to the technical field of data processing. The triggering time determining method comprises the following steps: determining a plurality of first trigger times of the image acquisition device; determining a first image time of a plurality of images triggered and acquired by the image acquisition device; and determining the trigger time of at least part of the images in the plurality of images based on the first trigger time, the first graph time and the trigger graph time difference of the image acquisition device. In the invention, after a plurality of first trigger times and first image drawing times of a plurality of images are determined, the trigger time difference of the image acquisition device is utilized to find out the trigger time of at least part of the images of the plurality of images, the trigger time of which is required to be confirmed, so that the subsequent processing such as playback, fusion, reinjection and the like of the image data is facilitated.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a triggering time determining method, a data acquisition system, a vehicle and an industrial personal computer.
Background
In a vehicle provided with a camera, the camera can collect images under the triggering of a triggering signal, and one frame of collected images can form video. The method can be used for checking and playing back the acquired video, can also be used for reinjection to the controller to verify or train the algorithm of the controller, and can also be used for fusing with other data (such as point cloud data acquired by radar assembled on a vehicle), so that the requirement of subsequent image analysis and processing is met.
Regardless of the use for which the video images are intended, it is often necessary to know explicitly when each image was triggered to be acquired, and there is a lack of technology in the prior art to be able to determine the time of triggering.
Disclosure of Invention
The invention aims to provide a trigger time determining method, a data acquisition system, a vehicle and an industrial personal computer, wherein after a plurality of first trigger times and first image times of a plurality of images are determined, trigger image time differences of an image acquisition device are utilized to find out trigger times of at least part of images of the plurality of images, the trigger times of which need to be confirmed, so that subsequent processing, such as at least one of playback, fusion, reinjection and the like, of image data is facilitated.
In order to achieve the above object, the present invention provides a method for determining a trigger time, including: determining a plurality of first trigger times of the image acquisition device; determining a first image time of a plurality of images triggered to be acquired by the image acquisition device; and determining the trigger time of at least part of the images in the plurality of images based on the first trigger time, the first graph time and the trigger graph time difference of the image acquisition device.
The invention also provides an industrial personal computer for executing the method.
The invention also provides a system comprising: the system comprises a triggering device for triggering the image acquisition device, a video processing device for determining the image drawing time of the image acquired by triggering the image acquisition device and the industrial personal computer.
The invention also provides a vehicle comprising: the image acquisition device is in communication connection with the industrial personal computer.
In one embodiment, the determining the trigger time of at least some of the plurality of images based on each of the first trigger times, each of the first graph times, and the trigger graph time difference of the image capturing device includes: for a specified image in the plurality of images, calculating a difference value of a first image time minus the trigger image time difference of the specified image, and taking the first trigger time closest to the difference value as the trigger time of the specified image.
In one embodiment, the determining the trigger time of at least some of the plurality of images based on each of the first trigger times, each of the first graph times, and the trigger graph time difference of the image capturing device includes: for a designated trigger time in the plurality of first trigger times, calculating a sum value of the designated trigger time and the trigger graph time difference, selecting the image corresponding to the first graph time closest to the sum value, and taking the designated trigger time as the trigger time of the selected image.
In one embodiment, the first map time is determined based on initial image data signals of the plurality of images acquired by the image acquisition device; the first trigger time is determined based on a trigger signal for triggering the image acquisition device.
In one embodiment, the method for determining the trigger map time difference of the image acquisition device is as follows: in the measuring process, after the image acquisition device is started, a test trigger signal is sent to the image acquisition device, and a test image acquired by the image acquisition device and the test trigger signal are acquired; and obtaining a trigger graph time difference of the image acquisition device based on a second graph time of a target test image in the test images and a second trigger time of a target test trigger signal in the test trigger signals, wherein each target test image is acquired by the image acquisition device under the control of a corresponding target test trigger signal.
In one embodiment, the target test image is the last N test images acquired, and the target test trigger signal is the last N test trigger signals acquired, where N is an integer greater than or equal to 1.
Drawings
Fig. 1 is a waveform diagram of a trigger signal input to a camera and an image signal output by the camera, wherein the first two images of the camera are not mapped according to a time interval of the trigger signal;
FIG. 2 is a waveform diagram of a trigger signal input to a camera and an image signal output by the camera, wherein the camera starts to continuously acquire images when the trigger signal is not received after the camera is powered on;
FIG. 3 is a block diagram of a data acquisition system corresponding to a trigger time determination method according to a first embodiment of the present invention;
Fig. 4 is a specific flowchart of a trigger time determination method in the first embodiment according to the present invention;
FIG. 5 is a specific flowchart of a method for determining a trigger map time difference of an image capturing device according to a second embodiment of the present invention;
FIG. 6 is a block diagram of a time difference measurement system implementing the trigger map time difference measurement method described above in accordance with a second embodiment of the present invention;
Fig. 7 is a block diagram of a time difference measurement system for implementing the trigger map time difference measurement method according to the second embodiment of the present invention, where the time difference measurement system further includes a signal processing module.
Detailed Description
The following detailed description of various embodiments of the present invention will be provided in connection with the accompanying drawings to provide a clearer understanding of the objects, features and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the invention, but rather are merely illustrative of the true spirit of the invention.
In the following description, for the purposes of explanation of various disclosed embodiments, certain specific details are set forth in order to provide a thorough understanding of the various disclosed embodiments. One skilled in the relevant art will recognize, however, that an embodiment may be practiced without one or more of the specific details. In other instances, well-known devices, structures, and techniques associated with the present application may not be shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.
Throughout the specification and claims, unless the context requires otherwise, the word "comprise" and variations such as "comprises" and "comprising" will be understood to be open-ended, meaning of inclusion, i.e. to be interpreted to mean "including, but not limited to.
Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
As used in this specification and the appended claims, the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. It should be noted that the term "or" is generally employed in its sense including "or/and" unless the context clearly dictates otherwise.
In the following description, for the purposes of clarity of presentation of the structure and manner of operation of the present invention, the description will be made with the aid of directional terms, but such terms as "forward," "rearward," "left," "right," "outward," "inner," "outward," "inward," "upper," "lower," etc. are to be construed as convenience, and are not to be limiting.
For the camera, signal acquisition is performed in response to each received trigger signal to obtain one image, and the trigger signals are in one-to-one correspondence with the images, so that the trigger signals and the images can be respectively sequenced, and the trigger signals corresponding to each image are obtained based on information (such as a serial number) of a characterization sequence. However, due to some characteristics of the camera, the camera is problematic in mapping, and the trigger signals and images corresponding to each other cannot be obtained accurately, for example, the following situations are obtained:
In case 1, even if the camera receives a trigger signal in a period of time immediately after power-on, image acquisition cannot be performed accurately. For example, the camera receives the trigger signal and does not collect images; for another example, the camera receives the trigger signal, but does not perform image acquisition according to the time interval of the trigger signal, and the camera starts to accurately map when receiving which trigger signal, which is also uncertain and unfixed. Referring to fig. 1, in fig. 1, 8 trigger signals with the same time interval are input to the camera, but in 8 images output by the camera, the time interval of the image drawing time of the first two images is different from the time interval of the trigger signals, i.e. the first two images of the camera are not drawn according to the time interval of the trigger signals.
In case 2, the camera can automatically or after receiving the first trigger signal in a period of time immediately after power-on, perform image acquisition for a certain duration according to a certain frequency and period, and perform image acquisition even if the camera does not receive the trigger signal in the duration. Referring to fig. 2, in order to show waveforms of a trigger signal input to the camera and an image signal output by the camera, when the camera in fig. 2 is powered on and does not receive the trigger signal, continuous image acquisition is started, and after the first trigger signal is received, the camera is still in the process of continuous image acquisition.
Naturally, after power-up, during normal acquisition, abnormal conditions may also occur, such as triggering signals to the camera but not outputting images, or triggering signals not outputting images.
Based on the above situation, the trigger signals corresponding to the images collected by the cameras cannot be found simply according to the sorting result, that is, the accurate trigger time of each image cannot be obtained, so that subsequent processing such as playback, fusion and reinjection of the image data is inconvenient. Based on the above problems, the applicant proposes the technical scheme of the present application.
The first embodiment of the invention relates to a trigger time determining method which is applied to an industrial personal computer, and the industrial personal computer can obtain the accurate trigger time of an image sent by an image acquisition device based on the trigger time determining method of the embodiment.
As shown in fig. 3, the data acquisition system can implement the above-mentioned trigger time determining method, and the data acquisition system includes: the industrial personal computer 1, the triggering device 2 and the video processing device 4 are respectively in communication connection with the triggering device 2 and the video processing device 4, and the triggering device 2 and the video processing device 4 are both in communication connection with the image acquisition device 3. In fig. 3, taking the number of image capturing devices 3 as one example, the number of image capturing devices 3 may be plural, and plural image capturing devices 3 may be connected to the same trigger device 2 and video processing device 4, or plural image capturing devices 3 may be connected to different trigger devices and different video processing devices 4, respectively.
The data acquisition system may be used in a vehicle, the triggering device 2 is any signal source in the vehicle (such as a signal generator, a controller, and if the camera is triggered by a mechanical laser radar, the mechanical laser radar may also be used as the triggering device 2), the image acquisition device 3 may be one or more cameras mounted on the vehicle, for example, the number of the image acquisition devices 3 is multiple, including: front side camera, left side camera, right side camera, rear side camera. At least one of the camera, the radar, the signal source and the like can be an original part of a vehicle or an on-vehicle part additionally arranged for drive test.
The specific flow of the trigger time determining method of the present embodiment is shown in fig. 4, and the trigger time determining method is described in detail below with reference to the data acquisition system in fig. 3. In this embodiment, the triggering time of an image acquired by an image acquisition device is determined as an example.
Step 101, determining a plurality of first trigger times of the image acquisition device.
Specifically, the triggering device generates trigger signals trigger according to configured frequency and period, for example, the trigger signals trigger can be rising edges or falling edges of signals, and the generated trigger signals trigger are sent to the image acquisition device to trigger the image acquisition device to acquire images; the industrial personal computer can acquire the triggering time of the triggering signals sent to the image acquisition device by the triggering device and record the triggering time of the triggering signals as the first triggering time, so that a plurality of first triggering times can be obtained, namely the triggering device records the generated time information of each triggering signal, namely the triggering time t_trigger of the image acquisition device triggered by the triggering signals, and the triggering device can also directly send the triggering time t_trigger of each triggering signal to the industrial personal computer, so that the industrial personal computer can determine the first triggering time of the plurality of triggering signals.
Or the first trigger time is determined based on a trigger signal for triggering the image acquisition device; for example, when the trigger device sends the trigger signal to the image acquisition device, the trigger signal is also sent to the industrial personal computer, so that the industrial personal computer can directly read the trigger time (i.e. the first trigger time) of the trigger signal based on the waveform of the trigger signal.
Step 102, determining a first image time of a plurality of images acquired by triggering the image acquisition device.
Specifically, the image acquisition device can respond to the trigger signal trigger sent by the trigger device to acquire images, and the industrial personal computer can determine the first drawing time of the images acquired by triggering the image acquisition device through the video processing device and record the first drawing time, so that the industrial personal computer can determine the first drawing time of a plurality of images.
The first map time is determined based on initial image data signals of the plurality of images acquired by the image acquisition device; in one example, the image capturing device may send an initial image data signal of the captured image to the video processing device, and the video processing device determines a time for each image based on the initial image data signal of each image, and feeds back the time for each image to the industrial personal computer. The video processing device is a video processing card, and can process the received image, and then send the processed image to the industrial personal computer, wherein the specific processing modes include but are not limited to: format conversion, resolution conversion, compression, decoding, encoding, fault injection, information embedding, information extraction, and the like.
In another example, the image capturing device may directly or indirectly send the initial image data signals of all captured images to the industrial personal computer, so that the industrial personal computer may read the image time (i.e. the first image time) of each image from the received initial image data signal waveforms of each image.
In addition, if the image acquisition device is just powered on, it may be automatic in a period of time after the power on or after receiving the first trigger signal, image acquisition is performed for a certain duration according to a certain frequency and period, that is, the foregoing case 2 occurs, the image acquisition device acquires one or more images without additional triggering, and at this time, the number of first drawing times determined by the industrial personal computer is greater than the number of first triggering times.
Step 103, determining the trigger time of at least part of the images in the plurality of images based on the first trigger time, the first graph time and the trigger graph time difference of the image acquisition device.
Specifically, the industrial personal computer determines the first trigger time of the plurality of images and the first graph time of the plurality of images, and can determine the trigger time of at least one image, which needs to be determined as the trigger time, in the plurality of images by combining the trigger graph time difference of the image acquisition device.
For a specified image in the plurality of images, the triggering time of the specified image needs to be determined, if the specified image is an image which is sent out by the image acquisition device in response to the triggering signal, the triggering time of the specified image can be found out from the determined first triggering times, and the specific modes comprise the following two modes:
Mode one: for a specified image in the plurality of images, calculating a difference value of a first graph time minus a trigger graph time difference of the specified image, and taking a first trigger time closest to the difference value as a trigger time of the specified image. Specifically, taking a designated image as an example, calculating a time difference (t_image- Δt) of a graph time t_image of the designated image minus a trigger graph time difference Δt of the image acquisition device, comparing the time difference (t_image- Δt) with all the determined first trigger times respectively, or comparing the time difference (t_image- Δt) with first trigger times of a certain time range before and after the first graph time t_image of the designated image, and selecting a first trigger time closest to the time difference (t_image- Δt), wherein the first trigger time is the real trigger time of the designated image.
In addition, the time difference between the first trigger time closest to the time difference (t_image- Δt) and the time difference between the first trigger time and the time difference (t_image- Δt) may be smaller than a preset threshold, if the time difference is greater than or equal to the preset threshold, it may be determined that the trigger time is not found for the image, and in one example, for an image in which the trigger time is not found in a plurality of images, it may be determined that the image is an additionally acquired image after the image acquisition device is powered on.
Mode two: for the appointed trigger time in the plurality of first trigger times, calculating the sum value of the appointed trigger time and the trigger graph time difference, selecting an image corresponding to the first graph time closest to the sum value, and taking the appointed trigger time as the trigger time of the selected image. Specifically, taking a designated trigger time t_trigger as an example, calculating the time sum value (t_trigger+Δt) of the trigger graph time difference Δt between the designated trigger time t_trigger and the image acquisition device, comparing the time sum value (t_trigger+Δt) with all the determined first graph times respectively, or comparing the time sum value (t_trigger+Δt) with the first graph time in a certain time range before and after the designated trigger time, and selecting the first graph time closest to the time sum value (t_trigger+Δt), wherein the designated trigger time t_trigger is the real trigger time of the image corresponding to the selected first graph time.
In addition, if the comparison is carried out according to the trigger signals, the trigger time of each image acquired by the image acquisition device in response to each trigger signal can be accurately found, the trigger time of the image additionally acquired by the image acquisition device is not acquired, and the processing time is saved.
The embodiment provides a trigger time determining method, after determining a plurality of first trigger times and first image time of a plurality of images, the trigger time difference of the image acquisition device is utilized to find out trigger time of at least part of images needing to confirm the trigger time in the plurality of images, so that subsequent processing such as playback, fusion, reinjection and the like is conveniently carried out on image data.
In one embodiment, since multiple cameras are provided on the vehicle, the trigger times of the different cameras are often correlated. Furthermore, for each camera, the triggering time of the images of other cameras can be used for assistance in further correction. In one example, for some image capturing devices, different image capturing devices may be triggered synchronously, for example, the image capturing device a and the image capturing device b should have the same or similar triggering time as the image of the image capturing device b, further, for different cameras, a series of images determined by the above steps and triggering time theory thereof should be in one-to-one correspondence, for example, the image capturing device a and the image capturing device b should be in one-to-one correspondence with the last multiple images of the image capturing device a and the last multiple images of the image capturing device b if the images are captured under the control of the triggering signals, and the triggering time theory of the corresponding images should be the same or similar. Further, after the steps S101 to S103 are performed on the image capturing device a and the image capturing device b, the triggering times of the corresponding images between the image capturing device a and the image capturing device b may be compared according to the sequence from the back to the front, then, according to the sequence from the back to the front, for example, whether the triggering times of the last images are the same or similar, and whether the triggering times of the second-to-last images are the same or similar (i.e. the difference is smaller than the threshold value), so as to push the above steps until the second-to-last image (r is an integer greater than 1) with different and not similar triggering times is found, which generally indicates that the abnormality often occurs at or before the triggering time of the second-to-last image, so that the triggering time and the corresponding image thereof before the triggering time may be rejected, and the image and the triggering time that are not rejected are used for the subsequent processing. The image capturing device a and the image capturing device b may be different types or brands of image capturing devices, and the same abnormality does not occur generally, and the image capturing device a and the image capturing device b may also be understood as having determined that the abnormalities occurring in the two image capturing devices are different, or one occurrence of an abnormality and one non-occurrence of an abnormality.
Taking the case 1 as an example, if the image capturing device a receives the trigger signal but does not capture an image according to the time interval of the trigger signal, at this time, by using the steps S101 to S103, it is possible to identify a certain trigger signal as the trigger signal of the image, but in reality, the image is an image which is not captured according to the time interval of the trigger signal, and the image capturing device b is not abnormal or has a difference in occurrence, it is possible to locate where the abnormality occurs by comparing the different image capturing devices, and since the abnormality mainly occurs for a period of time after power-up, the manner of comparing the trigger times of the images of the different image capturing devices from back to front can locate the abnormality occurrence position more accurately, so that it is ensured that the image reserved for the subsequent processing is relatively aligned with the trigger signal.
A second embodiment of the present invention relates to a trigger time determining method, and the main difference of this embodiment compared to the first embodiment is that: the present embodiment provides a specific way of determining the trigger map time difference of the image acquisition device used in determining the trigger time of the image.
A specific flow of a method for triggering the measurement of the map time difference in the image capturing apparatus according to the present embodiment is shown in fig. 4. The measurement process of the trigger map time difference of the image acquisition device can be measured in advance when the image acquisition device leaves a factory or after the image acquisition device is assembled in a vehicle.
Referring to fig. 5, a time difference measurement system for implementing the above trigger map time difference measurement method includes: the signal generator 5 and the waveform processing module 6 are in communication connection, and the waveform processing module 6 and the signal generator 5 are both in communication connection with the image acquisition device 3; the signal generator 5 is used for generating test trigger signals according to configured frequency and period, the time interval between two adjacent trigger signals is kept unchanged, the test trigger signals can be configured by a manual configuration or a waveform processing module 6, and the signal generator 5 can be a signal source serving as the trigger device 2 in the first embodiment or another signal source.
In another example, referring to fig. 6, the time difference measurement system further includes: the signal processing module 7, the image capturing device 3 is communicatively connected to the waveform processing module 6 through the signal processing module 7, and the signal processing module 7 may be used to perform initial parameter configuration on the image capturing device 3, including but not limited to: configuration of parameters such as acquisition frame rate, image resolution and the like; the signal processing module 7 may also transmit image data of the image acquired by the image acquisition device 3 to the waveform processing module 6 during the measurement.
The waveform processing module 6 may determine the trigger map time difference of the image capturing device 3 based on the trigger map time difference determining method described above. Wherein the waveform processing module 6 may be a processor, controller, or the like. In this embodiment, the time difference measurement system of fig. 5 will be described as an example.
Step 201, in the measurement process, after the image acquisition device is started, a test trigger signal is sent to the image acquisition device, and a test image and the test trigger signal acquired by the image acquisition device are acquired.
Specifically, when the trigger image time difference of the image acquisition device is measured, the image acquisition device is powered on and started, the waveform processing module controls the signal generator to generate a test trigger signal and sends the test trigger signal to the image acquisition device, the image acquisition device sends the acquired test image to the waveform processing module, wherein the image acquired by the image acquisition device is divided by the test image acquired by the test trigger signal, and the image acquisition device may further include one or more images acquired additionally without triggering like the acquisition device, namely the situation 2 is generated, and the image acquisition device automatically acquires one or more images within a period of time after the power-on or additionally acquires one or more images after receiving the first test trigger signal.
From the above, the waveform processing module can obtain the test image collected by the image collecting device and the test trigger signal generated by the signal generator.
Step 202, obtaining a trigger graph time difference of the image acquisition device based on a second graph time of the target test image in the test image and a second trigger time of the target test trigger signal in the test trigger signal, wherein each target test image is acquired by the image acquisition device controlled by a corresponding target test trigger signal.
Specifically, the waveform processing module selects at least one target test image from the acquired test images, and selects a target test trigger signal corresponding to each target test image from the acquired test trigger signals, wherein the target test image is acquired by the image processing device under the control of the test trigger signals, that is, each target test image is acquired by the image acquisition device under the control of the corresponding target test trigger signals.
In one example, the target test image is the last N test images acquired, and the target test trigger signal is the last N test trigger signals acquired, where N is an integer greater than or equal to 1. The waveform processing module sorts the test images according to the acquired sequence, and after the acquisition of the test images is completed, N last received test images are selected as target test images, wherein the N target test images are acquired by the image processing device under the control of the test trigger signals; similarly, the waveform processing module sorts the test trigger signals according to the acquired sequence, selects N last received test trigger signals as target test trigger signals, N target test images are collected by the N target test trigger signals, and can correspond the N target test images to the N target test trigger signals one by one according to the sequence from back to front, so that the target test trigger signals corresponding to the target test images are acquired. By selecting the last N test images and test signals, it can help to avoid: the images and the trigger signals caused by the abnormal condition after power-on cannot be accurately corresponding based on the sequence.
If the number of the selected target test images is one, directly calculating a time difference between the second drawing time of the target test images and the second triggering time of the corresponding target test triggering signals, wherein the time difference is the triggering drawing time difference of the image acquisition device.
If the number of the selected target test images is multiple, firstly acquiring absolute values of differences between second drawing time of each target test image and second triggering time of a corresponding target test triggering signal to obtain multiple reference time differences, namely calculating a time difference for each target test image and the corresponding target test triggering signal, and recording the time difference as the reference time difference, so that multiple reference time differences can be obtained; and then obtaining the trigger graph time difference of the image acquisition device based on the plurality of reference time differences, for example, obtaining the trigger graph time difference of the image acquisition device by selecting a median or calculating an average value.
The second mapping time of the target test image may be read from the waveform of the received image data signal, and similarly the second triggering time of the target test trigger signal may also be read from the waveform of the received trigger signal.
It should be noted that, in this embodiment, the test image and the test trigger signal received by the waveform processing module may also be displayed in the oscilloscope, the target test image and the target test trigger signal are manually selected and input into the waveform processing module, and then the waveform processing module completes the process of acquiring the trigger map time difference.
In this embodiment, when the trigger graph time difference of the image acquisition device is measured, the image acquisition device is started first, a test trigger signal is sent to the image acquisition device, a test image and a test trigger signal acquired by the image acquisition device are acquired, a target test image acquired by the image acquisition device controlled by the target test trigger signal in the test image is acquired, and then the trigger graph time difference of the image acquisition device is obtained by combining the second graph time of the target test image and the second trigger time of the target test trigger signal.
The following description will be made with respect to the process of distinguishing between the case 1 and the case 2 and performing the time difference measurement, and the following two methods can be specifically mentioned.
Mode one: after the image acquisition device is electrified, the image acquisition device can be configured firstly, for example, the waveform processing module configures the image acquisition device through the signal processing module, and after the image acquisition device is configured, the waveform processing module does not send a test trigger signal to the image acquisition device through the signal generator before:
If the waveform processing module receives the second test image, the second test image is sent out after the image acquisition device is started, the image acquisition device is explained that the image acquisition device generates the condition 2, the image acquisition device automatically acquires the image after the image acquisition device is started, and the acquired image is sent to the waveform processing module; at this time, the waveform processing module firstly acquires the time interval between any two adjacent second test images and marks the time interval as a reference time interval p, and determines a target time interval q different from the reference time interval p, wherein the target time interval q can be larger or smaller than the reference time interval p, the waveform processing module further takes the determined target time interval q as the time interval of a first test trigger signal to be sent to the image acquisition device, and controls the signal generator to send the first test trigger signal to the image acquisition device according to the target time interval q, and when the image acquisition device is mapped according to the target time interval q, the image acquisition device is determined to be controlled by the first test trigger signal. The time interval at which the signal generator sends out the first test trigger signal may be implemented by setting the frequency, period, etc. at which the signal generator sends out the trigger signal.
The waveform processing module acquires a first test image acquired by the image acquisition device and a first test trigger signal sent by the signal generator, selects one or more first test images with a time interval of a target time interval q from the acquired first test images as target test images, selects the target test trigger signal from the first test trigger signals, and acquires a trigger graph time difference of the image acquisition device based on a second graph time of the target test images in the test images and a second trigger time of the target test trigger signals in the test trigger signals.
If the waveform processing module does not receive the second test image, the control signal generator sends a set number of second test trigger signals to the image acquisition device according to the preset time interval, wherein the set number can be preset in the waveform processing module, the preset time interval can be preset in the waveform processing module or the signal generator, and the time interval of the signal generator sending the second test trigger signals can be realized by setting the frequency, the period and the like of the trigger signals sent by the signal generator.
The waveform processing module acquires a second test image acquired by the image acquisition device and a second test trigger signal sent by the signal generator, and then determines whether an additional graph appears in the image acquisition device or not, wherein the additional graph represents: after stopping sending the second test trigger signal to the image acquisition device for a preset time, acquiring a test image sent by the image acquisition device. For example, after the signal generator sends out a set number of second test trigger signals, starting timing, if the timing is up to a preset time length, the timing still can receive the second test images sent by the image acquisition device, when the image acquisition device is determined to generate additional pictures, the image acquisition device is stated to automatically acquire images for a certain duration after receiving the second test trigger signals, and then image acquisition is carried out according to the second test trigger signals, namely the image acquisition device generates the condition 2; at this time, two time intervals of two adjacent second test images in the plurality of second test images acquired by the waveform processing module are two, one is a preset time interval of the second trigger signal, the other is a reference time interval k (the reference time interval k may be equal to or may not be equal to the aforementioned reference time interval p) of the image acquired by the image acquisition device automatically, then the waveform processing module determines a target time interval l different from the reference time interval k, the target time interval l may be greater than or less than the reference time interval k, the waveform processing module further uses the determined target time interval l as a time interval of a first test trigger signal to be sent to the image acquisition device, and controls the signal generator to send the first test trigger signal to the image acquisition device according to the target time interval l, and determines that the image acquisition device is controlled by the first test trigger signal when the image acquisition device is mapped according to the target time interval l. The time interval at which the signal generator sends out the first test trigger signal may be implemented by setting the frequency, period, etc. at which the signal generator sends out the trigger signal.
The waveform processing module acquires a first test image acquired by the image acquisition device and a first test trigger signal sent by the signal generator, selects one or more first test images with time intervals being target time intervals from the acquired first test images as target test images, selects target test trigger signals from the first test trigger signals, and acquires a trigger graph time difference of the image acquisition device based on second graph time of the target test images in the test images and second trigger time of the target test trigger signals in the test trigger signals.
When the image acquisition device is determined to not generate additional pictures, the situation 1 can possibly be generated, or the situation 1 can not be generated; at this time, one or more second test images with time intervals being preset time intervals can be selected from the acquired second test images as target test images, the second test images with the time intervals being preset time intervals can be considered that the image acquisition device is controlled by the second test trigger signals to acquire, and the target test trigger signals are selected from the second test trigger signals; or the selected target test image is N second test images which are finally obtained, and the selected target test trigger signal is N second test trigger signals which are finally obtained; n is an integer greater than or equal to 1. And obtaining a trigger graph time difference of the image acquisition device based on the second graph time of the target test image in the test image and the second trigger time of the target test trigger signal in the test trigger signal.
Mode two: the waveform processing module generates a signal generator to send a specified number of third test trigger signals to the image acquisition device according to the preset time interval, wherein the specified number can be preset in the waveform processing module, the preset time interval can be preset in the waveform processing module or the signal generator, and the time interval of the signal generator to send the second test trigger signals can be realized by setting the frequency, the period and the like of the trigger signals sent by the signal generator.
In one example, the specified number of third test trigger signals may be a sufficient number of third test trigger signals, so that even if the image acquisition device has the above case 1 and/or case 2, since the number of third test trigger signals is sufficient, it can be ensured that the last one or more third test images acquired by the image acquisition device are acquired under the control of the third test trigger signals; at this time, the last N third test images from the plurality of third test images may be directly selected as target test images, and the last N third test trigger signals obtained from the plurality of third trigger signals obtained may be selected as target test trigger signals; n is an integer greater than or equal to 1.
In another example, when the number of the specified number of third test trigger signals is smaller, it cannot be guaranteed that when the image acquisition device exists in the case 1 and/or the case 2, the last one or more third test images acquired by the image acquisition device are acquired under the control of the third test trigger signals; at this time, it is first determined whether an additional graph is generated by the image acquisition device, and the additional graph represents: after stopping sending the third test trigger signal to the image acquisition device for a preset time, acquiring a test image sent by the image acquisition device. For example, after the signal generator sends out a set number of third test trigger signals, starting timing, if the timing is up to a preset duration, the third test images sent by the image acquisition device can still be received, and then determining that the image acquisition device generates additional pictures; if the third test image is not received after timing to the preset time length, determining that no additional drawing occurs in the image acquisition device, wherein the preset time length can be more than one time of a preset time interval and less than two times of a preset time interval; or the waveform processing module compares the number of the acquired third test images with the number of the third test trigger signals, and if the number of the third test images is larger than the number of the third test trigger signals, the image acquisition device is determined to generate additional pictures; if the number of the third test images is equal to the number of the third test trigger signals, determining that no additional drawing occurs in the image acquisition device.
When the image acquisition device is determined to not generate additional pictures, selecting one or more third test images with the time interval of a preset time interval from the acquired third test images as target test images, wherein the third test images with the time interval of the preset time interval can be considered to be acquired by the image acquisition device under the control of the third test trigger signals, and selecting the target test trigger signals from the third test trigger signals; or the selected target test image is N third test images which are finally obtained, and the selected target test trigger signal is N third test trigger signals which are finally obtained; n is an integer greater than or equal to 1.
In addition, when it is determined that the image capturing device generates an additional drawing, it is explained that the image capturing device performs automatic image capturing for a certain duration after receiving the second test trigger signal, and then performs image capturing according to the second test trigger signal, that is, the image capturing device generates the foregoing case 2, and at this time, the specific processing manner of the second embodiment with respect to the case 2 may be referred to for processing, which is not described herein again.
A third embodiment of the present invention relates to an industrial personal computer for executing the time difference measuring method in the first and/or second embodiments.
A fourth embodiment of the present invention relates to a data acquisition system, please refer to fig. 3, wherein the data acquisition includes: the industrial personal computer 1, the triggering device 2 and the video processing device 4 are respectively in communication connection with the triggering device 2 and the video processing device 4, and the triggering device 2 and the video processing device 4 are both in communication connection with the image acquisition device 3. In fig. 3, taking the number of image capturing devices 3 as one example, the number of image capturing devices 3 may be plural, and plural image capturing devices 3 may be connected to the same trigger device 2 and video processing device 4, or plural image capturing devices 3 may be connected to different trigger devices and different video processing devices 4, respectively.
The data acquisition system may be used in a vehicle, the triggering device 2 is a signal source (i.e. a signal generator) in the vehicle, the image acquisition device 3 may be a camera mounted on the vehicle, and the number may be one or more, for example, the number of the image acquisition devices 3 is a plurality, including: front side camera, left side camera, right side camera, rear side camera.
If the number of image capturing devices 3 is plural, all the image capturing devices 3 may be connected to the same triggering device 2 (this is illustrated as an example), or the number of triggering devices 2 may be plural, and each triggering device 2 may be connected to one or more image capturing devices 3, that is, each image capturing device 3 may be connected to a separate triggering device 2, or one triggering device 2 may be shared by plural image capturing devices 3, for example, one triggering device 2 may be shared by plural image capturing devices 3 disposed at the same location.
The triggering device 2 is used for triggering the image acquisition device, i.e. sending the generated triggering signal to the image acquisition device 3. If the number of the image capturing devices 3 is plural, the trigger signals input to different image capturing devices 3 may be synchronous or asynchronous, for example, the vehicle further includes a mechanical radar, when the mechanical radar and the image capturing devices 3 synchronously capture image data, the trigger device 2 sequentially sends the trigger signals to the image capturing devices 3 at different positions according to the rotation angle of the mechanical radar when the mechanical radar rotates and scans 360 degrees, so that the image capturing devices 3 at different positions are sequentially triggered to capture images, and therefore, when the mechanical radar scans to a corresponding view angle, the image capturing devices 3 at the view angle are triggered to capture images.
The industrial personal computer 1 is the industrial personal computer in the third embodiment, that is, is used to execute the trigger time determining method in the first or second embodiment.
The triggering device 2 is further used for feeding back a triggering signal for triggering the image acquisition device 3 to the industrial personal computer 1.
The industrial personal computer 1 is further configured to determine the first trigger time according to the trigger signal.
The image acquisition device 3 is used for image acquisition.
The image acquisition device 3 sends the initial image data signal of the acquired image to the video processing device 4, and the video processing device 4 determines the first image time of each image based on the initial image data signal of each image and feeds back the first image time of each image to the industrial personal computer 1. The video processing device 4 may further process the received image, and then send the processed image to the industrial personal computer, where the specific processing manner includes but is not limited to: format conversion, resolution conversion, compression, decoding, encoding, fault injection, information embedding, information extraction, and the like.
If the number of image capturing devices 3 is plural, it is possible to provide all the image capturing devices 3 connected to the same video processing device 4 (this is an example in the figure), or to provide the number of video processing devices 4 plural, and each of the video processing devices 4 is connected to one or more image capturing devices 3, that is, each of the image capturing devices 3 may be connected to a single video processing device 4, or the plurality of image capturing devices 3 may share one video processing device 4, for example, the plurality of image capturing devices 3 provided at the same position share one video processing device 4.
Since the first and second embodiments correspond to the present embodiment, the present embodiment can be implemented in cooperation with the first and second embodiments. The related technical details mentioned in the first and second embodiments are still valid in this embodiment, and the technical effects that can be achieved in the first and second embodiments may also be achieved in this embodiment, so that the repetition is reduced, and the description is omitted here. Accordingly, the related technical details mentioned in the present embodiment can also be applied to the first and second embodiments.
A fifth embodiment of the invention relates to a vehicle including: at least one image acquisition device is connected with the industrial personal computer in the third embodiment in a communication way.
While the preferred embodiments of the present invention have been described in detail above, it should be understood that aspects of the embodiments can be modified, if necessary, to employ aspects, features and concepts of the various patents, applications and publications to provide yet further embodiments.
These and other changes can be made to the embodiments in light of the above detailed description. In general, in the claims, the terms used should not be construed to be limited to the specific embodiments disclosed in the specification and the claims, but should be construed to include all possible embodiments along with the full scope of equivalents to which such claims are entitled.
Claims (9)
1. A method for determining trigger time, comprising:
determining a plurality of first trigger times of the image acquisition device;
Determining a first image time of a plurality of images triggered to be acquired by the image acquisition device;
determining trigger time of at least part of the images in the plurality of images based on the first trigger time, the first graph time and the trigger graph time difference of the image acquisition device; the method for measuring the trigger graph time difference of the image acquisition device comprises the following steps:
in the measuring process, after the image acquisition device is started, determining a target time interval different from a reference time interval based on the reference time interval of a second test image sent by the image acquisition device as a time interval of a first test trigger signal;
The first test trigger signal is sent to the image acquisition device, and a first test image acquired by the image acquisition device and the first test trigger signal are acquired;
selecting one or more first test images with time intervals being the target time intervals from the acquired first test images as target test images, and selecting target test trigger signals from the first test trigger signals;
And obtaining a trigger graph time difference of the image acquisition device based on a second graph time of the target test image in the first test image and a second trigger time of the target test trigger signal in the test trigger signal, wherein each target test image is acquired by the image acquisition device under the control of a corresponding one of the target test trigger signals.
2. The method according to claim 1, wherein determining the trigger time of at least some of the plurality of images based on each of the first trigger times, each of the first graph times, and a trigger graph time difference of the image capturing device comprises:
For a specified image in the plurality of images, calculating a difference value of a first image time minus the trigger image time difference of the specified image, and taking the first trigger time closest to the difference value as the trigger time of the specified image.
3. The method according to claim 1, wherein determining the trigger time of at least some of the plurality of images based on each of the first trigger times, each of the first graph times, and a trigger graph time difference of the image capturing device comprises:
For a designated trigger time in the plurality of first trigger times, calculating a sum value of the designated trigger time and the trigger graph time difference, selecting the image corresponding to the first graph time closest to the sum value, and taking the designated trigger time as the trigger time of the selected image.
4. The trigger time determination method according to claim 1, wherein the first map time is determined based on initial image data signals of the plurality of images acquired by the image acquisition device;
the first trigger time is determined based on a trigger signal for triggering the image acquisition device.
5. The method of claim 1, wherein the target test image is a last acquired N test images, and the target test trigger signal is a last acquired N test trigger signals, where N is an integer greater than or equal to 1.
6. An industrial personal computer, configured to perform the method for determining a trigger time according to any one of claims 1 to 5.
7. A data acquisition system, comprising: the device comprises a triggering device for triggering the image acquisition device, a video processing device for determining the image drawing time of the image acquired by triggering the image acquisition device and the industrial personal computer as claimed in claim 6.
8. The data acquisition system of claim 7, wherein the triggering device is further configured to feed back a triggering signal for triggering the image acquisition device to the industrial personal computer;
the industrial personal computer is also used for determining the first trigger time according to the trigger signal;
The video processing device is specifically configured to: receiving an initial image data signal of the image sent by the image acquisition device; determining the first map time of the image based on the initial image data signal; and feeding back the first image time of the image to the industrial personal computer.
9. A vehicle, characterized by comprising: at least one image acquisition device and the industrial personal computer of claim 6, wherein the image acquisition device is in communication connection with the industrial personal computer.
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