CN-115002296-B - Method and system for synchronously displaying multiple paths of images of 360 panoramic system

CN115002296BCN 115002296 BCN115002296 BCN 115002296BCN-115002296-B

Abstract

The invention provides a method and a system for synchronously displaying multiple paths of images of a 360-degree panoramic system, which can ensure the synchronism of multiple paths of images, reduce the splicing deviation of panoramic images and ensure the display effect of the 360-degree panoramic images, and comprises the following steps of receiving multiple paths of image data, respectively judging whether the image data of each path meets the time delay requirement, and temporarily caching the image data meeting the time delay requirement; judging whether the image data of all channels meet the synchronous requirement after receiving the image data of all channels, packaging the image data meeting the synchronous requirement, and sending the packaged image data to an image processing module for processing, so as to obtain 360 panoramic images.

Inventors

WANG JUNHONG
YANG BO
LIU WANG
SONG PING

Assignees

北京茵沃汽车科技有限公司
北京茵沃汽车科技有限公司

Dates

Publication Date: 20260421
Application Date: 20220527
Priority Date: 20220527

Claims (6)

1. A method for synchronously displaying multiple images of a 360-degree panoramic system, comprising the steps of: Receiving multiple paths of image data, respectively judging whether the image data of each path meets the time delay requirement, and temporarily caching the image data meeting the time delay requirement; judging whether image data of all channels meeting the time delay requirement are received or not; After receiving the image data of all channels, judging whether the image data of all channels meet the synchronous requirement, packaging the image data meeting the synchronous requirement, and sending the packaged image data to an image processing module for processing, so as to obtain 360 panoramic images; judging whether the image data of all channels are received or not according to the channel numbers of the image data; Acquiring the time stamps of the received image data of all channels, calculating a receiving time average value, and if the absolute value of the difference value between the time stamps corresponding to the channels and the receiving time average value is smaller than or equal to a set synchronization threshold value, considering that the image data of the channels meets the synchronization requirement; discarding the image data which does not meet the time delay requirement, and discarding the image data which does not meet the synchronous requirement; If the image data of a certain channel is not received, judging whether the corresponding channel meets the black setting requirement, and for the channel meeting the black setting requirement, adopting a solid-color image to replace the image data of the corresponding channel.
2. The method for synchronously displaying multiple images of a 360 panoramic system of claim 1, wherein said determining whether said image data of each path satisfies a time delay requirement is performed by: comparing the time interval between the time stamp of receiving a certain path of image data and the time stamp of collecting the image with a set time delay threshold, if the time interval is Yu Shi times the time delay threshold, the time delay requirement is met, otherwise, the time delay requirement is not met.
3. The method for synchronously displaying multiple images of a 360 panoramic system of claim 1, wherein said determining whether the corresponding channel satisfies a black setting requirement is performed by: If the image data of a certain channel is not received continuously in the set black threshold time period, replacing the image data of the corresponding channel with a black image, and if the image is received in the black threshold time period, recovering the image of the corresponding channel.
4. A system for simultaneous display of multiple images in a 360 panoramic system, comprising: the image acquisition module is used for acquiring multiple paths of image data; The time delay judging module is used for receiving the multipath image data, judging whether the image data of each path meets the time delay requirement or not, and temporarily caching the image data meeting the time delay requirement into the local data queue; the multi-channel detection module is used for judging whether the image data of all channels meeting the time delay requirement are received or not, and judging whether the image data of all channels are received or not according to the channel number of the image data; The synchronization judging module is used for judging whether the image data of all channels meet the synchronization requirement after receiving the image data of all channels; The image processing module receives the multipath image data which are judged to meet the synchronization requirement by the synchronization judging module, splices the images to obtain 360 panoramic images, acquires the time stamps of the image data of all the channels, calculates a receiving time average value, and considers that the image data of the channels meet the synchronization requirement if the absolute value of the difference value between the time stamp corresponding to the channels and the receiving time average value is smaller than or equal to a set synchronization threshold value; The time delay judging module discards the image data which does not meet the time delay requirement, and the synchronous judging module discards the image data which does not meet the synchronous requirement; If the multi-channel detection module does not receive the image data of a certain channel, judging whether the corresponding channel meets the black setting requirement, and for the channel meeting the black setting requirement, adopting a solid-color image to replace the image data of the corresponding channel.
5. A computer apparatus comprising a processor, a memory, and a program stored in the memory, the processor invoking the program stored in the memory to perform the method for simultaneous display of multiple images for a 360 panoramic system of any one of claims 1 to 3.
6. A computer-readable storage medium storing a program for executing the method for multi-path image synchronous display of a 360 panorama system according to any one of claims 1 to 3 by a processor.

Description

Method and system for synchronously displaying multiple paths of images of 360 panoramic system Technical Field The invention relates to the technical field of 360 panoramic systems of vehicles, in particular to a method and a system for synchronously displaying multiple paths of images of a 360 panoramic system. Background 360 Panoramic system is a vehicle-mounted device, it is mainly through the visual circumstances of monitoring the automobile body periphery make things convenient for the car owner to drive a vehicle and park, avoid the blind area to bring inconvenience for the car owner, 360 panoramic system accessible is located four cameras of locomotive, both sides and tail monitor the automobile body peripheral state, provide 360 panoramic image for the driver, 360 panoramic image is the image generation that gathers through the concatenation multichannel camera, in order to ensure 360 panoramic image's display effect, ensure the authenticity of image, validity, generally require multichannel camera to gather image data synchronization as far as possible. In the prior art, the main synchronization ensuring modes comprise hardware synchronization and software synchronization, wherein the hardware GPIO is used for directly synchronizing the images of the cameras, so that the hardware design cost is increased and a fault processing method after the images are lost is not increased, the software synchronization method applies a thread for each path of images to acquire the images, 4 paths of original images are acquired in a thread blocking mode, time stamps of single-frame and multi-frame images are not restrained, the display images are possibly delayed too much, the splicing of 360 panoramic images is poor, the display effect is poor, the authenticity is poor, the software synchronization mode also has no fault processing strategy after a certain channel of images are lost, channels of the lost images are always blocked, and the 360 panoramic functions cannot be used. Disclosure of Invention Aiming at the problems, the invention provides a method and a system for synchronously displaying multiple paths of images of a 360-degree panoramic system, which can ensure the synchronism of multiple paths of images, reduce the splicing deviation of panoramic images and ensure the display effect of 360-degree panoramic images. The technical scheme is that the method for synchronously displaying the multipath images of the 360-degree panoramic system comprises the following steps: Receiving multiple paths of image data, respectively judging whether the image data of each path meets the time delay requirement, and temporarily caching the image data meeting the time delay requirement; judging whether image data of all channels meeting the time delay requirement are received or not; After receiving the image data of all channels, judging whether the image data of all channels meet the synchronous requirement, packaging the image data meeting the synchronous requirement, and sending the packaged image data to an image processing module for processing, so that 360 panoramic images are obtained by splicing. Further, discarding the image data which does not meet the delay requirement, and discarding the image data which does not meet the synchronization requirement. Further, whether the image data of all channels are received or not is judged through the channel numbers of the image data. Further, if the image data of a certain channel is not received, judging whether the corresponding channel meets the black setting requirement, and for the channel meeting the black setting requirement, adopting a solid-color image to replace the image data of the corresponding channel. Further, whether the image data of each path meets the time delay requirement is judged, and the method is specifically executed as follows: comparing the time interval between the time stamp of receiving a certain path of image data and the time stamp of collecting the image with a set time delay threshold, if the time interval is Yu Shi times the time delay threshold, the time delay requirement is met, otherwise, the time delay requirement is not met. Further, whether the image data of all channels meet the synchronization requirement is judged, and the method is specifically executed as follows: And acquiring time stamps of the image data of all channels, calculating a receiving time average value T, wherein the time stamp corresponding to each channel is Tx, and if abs (Tx-T) is less than or equal to T Synchronization , the corresponding image data meets the synchronization requirement, wherein abs represents the absolute value of the data, and T Synchronization is a set synchronization threshold. Further, judging whether the corresponding channel meets the black setting requirement or not, and specifically executing the following steps: If the image data of a certain channel is not received continuously in the set black threshold time period, r