WO2021209018A1 - 成像系统及成像方法 - Google Patents

成像系统及成像方法 Download PDF

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Publication number
WO2021209018A1
WO2021209018A1 PCT/CN2021/087598 CN2021087598W WO2021209018A1 WO 2021209018 A1 WO2021209018 A1 WO 2021209018A1 CN 2021087598 W CN2021087598 W CN 2021087598W WO 2021209018 A1 WO2021209018 A1 WO 2021209018A1
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WIPO (PCT)
Prior art keywords
image
cropped
scene mode
scene
position information
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Ceased
Application number
PCT/CN2021/087598
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English (en)
French (fr)
Inventor
屈碧香
汪燕青
金志龙
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Hangzhou Hikauto Software Co Ltd
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Hangzhou Hikauto Software Co Ltd
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Priority to EP21788724.9A priority Critical patent/EP4120677A4/en
Priority to JP2023503249A priority patent/JP7512511B2/ja
Publication of WO2021209018A1 publication Critical patent/WO2021209018A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/26—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/51—Housings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/63—Control of cameras or camera modules by using electronic viewfinders
    • 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
    • H04N23/667—Camera operation mode switching, e.g. between still and video, sport and normal or high- and low-resolution modes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/306—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using a re-scaling of images
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/70—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by an event-triggered choice to display a specific image among a selection of captured images

Definitions

  • This application relates to the field of image processing technology, and in particular to an imaging system and imaging method.
  • the requirements of the camera's field of view, observation distance, and clarity may be different.
  • the requirements of the camera used in the streaming scene and the camera used in the reversing scene have their own emphasis.
  • two cameras need to be installed.
  • the present application provides an imaging system and imaging method.
  • an imaging system including an image acquisition unit, an image processor, and an image display.
  • the center of the image sensor in the image acquisition unit and the imaging lens module in the image acquisition unit There is an offset between the optical axes of the group.
  • the image acquisition unit is used to acquire images;
  • the image processor is used to determine the position information of the cropped images corresponding to different scene modes on the image sensor, and collect the images based on the position information
  • the image collected by the unit is cropped to obtain cropped images corresponding to different scene modes.
  • the imaging system supports at least two scene modes, and the position information of the cropped images corresponding to different scene modes on the image sensor is not completely the same
  • the image processor is also used to transmit the obtained cut image to a corresponding image display based on the scene mode; the image display is used to display the received cut image.
  • an imaging method is provided, which is applied to an imaging system.
  • the imaging system includes an image acquisition unit, an image processor, and an image display.
  • the imaging system supports at least two scene modes, and the cropped images corresponding to different scene modes
  • the position information on the image sensor is not completely the same; the image processor transmits the obtained cropped image to the corresponding image display based on the scene mode; the image display displays the received cropped image.
  • the imaging system includes an image acquisition unit, an image processor, and an image display. There is an offset between the center of the image sensor in the image acquisition unit and the optical axis of the imaging lens module in the image acquisition unit; wherein : An image acquisition unit for acquiring images; an image processor for determining the position information of the cropped images corresponding to different scene modes on the image sensor, and based on the position information on the images collected by the image acquisition unit Cropping to obtain cropped images corresponding to different scene modes; wherein the imaging system supports at least two scene modes, and the position information of the cropped images corresponding to different scene modes on the image sensor is not completely the same; image processing The device is also used to transmit the obtained cropped image to the corresponding image display based on the scene mode; the image display is used to display the received cropped image, which realizes the acquisition of multiple images based on one image acquisition unit Images of different application scenarios reduce the installation difficulty of the image acquisition unit and save the use cost of the image acquisition unit.
  • Fig. 1 is a schematic structural diagram of an imaging system shown in an exemplary embodiment of the present application
  • FIGS. 2B-2D are diagrams showing the image plane offset of the sensor according to an exemplary embodiment of the present application;
  • Fig. 3 is a schematic structural diagram of an image acquisition unit shown in an exemplary embodiment of the present application.
  • FIG. 4A is a schematic diagram of imaging when there is no offset between the image sensor and the imaging lens module, and FIG. 4B shows a schematic diagram of offset imaging according to an exemplary embodiment of the present application;
  • 5A-5D are the offset view segmentation diagrams shown in an exemplary embodiment of the present application.
  • 6A-6B are implementation schematic diagrams of an application example of a vehicle-mounted rear-view camera shown in an exemplary embodiment of the present application;
  • FIG. 7 is a schematic diagram of the field of view of a streaming media scene mode and a reversing scene mode according to an exemplary embodiment of the present application
  • FIGS. 8A to 8C are schematic diagrams of real-vehicle viewing angle distribution of a vehicle-mounted rear-view camera according to an exemplary embodiment of the present application.
  • FIG. 9 is a schematic flowchart of an imaging method shown in an exemplary embodiment of the present application.
  • FIG. 10 is a schematic flowchart of an image processor determining position information of cropped images corresponding to different scene modes on an image sensor according to an exemplary embodiment of the present application;
  • FIG. 11 is a schematic flowchart of another image processor determining position information on an image sensor of cropped images corresponding to different scene modes according to an exemplary embodiment of the present application.
  • FIG. 1 is a schematic structural diagram of an imaging system provided by an embodiment of this application.
  • the imaging system includes an image acquisition unit 110, an image processor 120 and an image display 130.
  • the center of the image sensor (Sensor) in the image acquisition unit 110 is not coaxial with the optical axis of the imaging lens module in the image acquisition unit 110. Instead, there is an offset in the horizontal and/or vertical direction (ie, there is an offset), that is, the image plane of the image sensor is offset relative to the imaging lens module to form an offset optical path system.
  • the schematic diagram can be seen in FIGS. 2B-2D.
  • the image plane of the image sensor and the plane where the imaging lens module is located are parallel to each other, and the center of the image sensor is offset in the horizontal and/or vertical direction relative to the optical axis of the imaging lens module.
  • the shift is performed when the image surface of the image sensor and the plane where the imaging lens module is located are perpendicular to the horizontal plane, and the image surface of the image sensor after the shift is still parallel to the plane where the imaging lens module is located, but this application There is no limitation on this.
  • FIG. 2B, 2C, and 2D A schematic diagram of the image surface of the image sensor with no offset relative to the imaging lens module can be shown in FIG. As shown in FIGS. 2B, 2C, and 2D, respectively, where S1 is the maximum imaging range of the imaging lens module, and S2 is the size range of the image surface of the image sensor.
  • the image acquisition unit 110 may include a camera signal connection line 111, a camera structure bottom shell 112, a driving circuit board 113, a camera structure upper shell 114, and an image sensor 115 , Imaging lens module 116 and other components.
  • the imaging lens module 116 is composed of optical lenses, spacers, lens barrels, pressure caps, light shields, and infrared cut-off filters for realizing imaging, and is used to scale up or down the actual scene. A clear picture is formed on the sensor 115.
  • the image sensor 115 is a CMOS (Complementary Metal Oxide Semiconductor) or CCD (Charge-coupled Device) device including a series of pixel arrays, and is used to capture the optical image signals collected by the imaging lens module 116. Perform photoelectric conversion to form pictures and video streams that can be used for transmission.
  • CMOS Complementary Metal Oxide Semiconductor
  • CCD Charge-coupled Device
  • the driving circuit board 113 is used to provide driving of circuit devices.
  • the bottom shell 112 of the camera structure and the upper shell 114 of the camera structure are used to provide support and fixation of various components, as well as dustproof and waterproof functions.
  • the camera signal connection line 111 is used to connect with the body circuit to provide power input and signal transmission of the camera.
  • the field of view angle of the image acquisition unit 110 is asymmetric.
  • the horizontal field of view of the image acquisition unit 110 is no longer symmetrical with respect to the first designated plane; when the image plane of the image sensor exists relative to the imaging lens module When the vertical direction is offset, the vertical field of view angle of the image acquisition unit 110 is no longer symmetrical with respect to the second designated plane.
  • the first designated plane is the plane where the optical axis is located, and the plane is perpendicular to the horizontal plane; the second designated plane is the horizontal plane where the optical axis is located.
  • the angle of view of the image acquisition unit 110 refers to the angle formed by the two edges of the maximum range where the object image of the object under test can pass through the lens with the imaging lens module as the vertex.
  • the field of view can be divided into horizontal field of view, vertical field of view and diagonal field of view according to the direction.
  • the first designated plane is a plane that passes through the optical axis and vertically bisects the imaging lens module (that is, divided into two parts)
  • the second designated plane is a plane that passes through The optical axis horizontally bisects the plane of the imaging lens module (that is, it is divided into upper and lower parts).
  • the schematic diagram may be as shown in FIG. 4B.
  • the imaging situation is shown in Figure 4A.
  • the image surface of the image sensor can be divided into different areas to achieve image collection with different fields of view to match the requirements of different application scenarios. Since the biased field of view will have distortion asymmetry, for scenes where the observation range needs to be centered, the image in the centered display area can be cropped from the image plane of the image sensor to ensure the image effect. For scenes where the observation angle does not require symmetry and distortion is not sensitive, the image in the offset display area can be cropped from the image surface of the image sensor to reduce invalid information and increase the field of view in the focus direction of the scene.
  • the way of dividing the image plane of the image sensor may include dividing into different regions in the horizontal direction, dividing into different regions in the vertical direction, and dividing into different regions in the horizontal and vertical directions.
  • the number of divided regions can be two or more to meet the requirements of different display scenarios.
  • the schematic diagram can be seen in Figures 5A-5D.
  • FIG. 5A A schematic diagram of the image surface of the image sensor divided into two areas (A1 and A2) in the vertical direction can be shown in Figure 5A; a schematic diagram of the image surface of the image sensor divided into three areas (A3, A4 and A5) in the horizontal direction can be As shown in FIG. 5B, the image plane of the image sensor is divided into multiple regions (A6-A8 and A9-A12) in the vertical direction and the horizontal direction, as shown in FIGS. 5C and 5D.
  • the segmented regions corresponding to different scene modes may overlap.
  • the image acquisition unit 110 as a vehicle-mounted rear-view camera as an example, considering that the main purpose of the vehicle-mounted rear-view camera includes acquiring the road and vehicle conditions behind the vehicle (which can be referred to as a streaming media scene) during the driving of the vehicle; and , When reversing, get whether there are obstacles behind the vehicle (usually a parking space), etc. (can be called a reversing scene); for streaming media scenes, it is usually necessary to display the picture directly behind the vehicle; for reversing scenes, it is usually necessary to display the rear of the vehicle The lower image pays less attention to the upper image behind the vehicle.
  • a streaming media scene When reversing, get whether there are obstacles behind the vehicle (usually a parking space), etc. (can be called a reversing scene); for streaming media scenes, it is usually necessary to display the picture directly behind the vehicle; for reversing scenes, it is usually necessary to display the rear of the vehicle The lower image pays less attention to the upper image behind the vehicle.
  • the image sensor in the vehicle rear view camera can be vertically offset relative to the imaging lens module (the specific offset position can be set according to actual needs) , To reduce the angle of view of the vehicle-mounted rear-view camera above the horizontal plane where the optical axis is, and increase the angle of view of the vehicle-mounted rear-view camera below the horizontal plane where the optical axis is located. Furthermore, for the images collected by the vehicle rearview camera, when used in a streaming media scene, the picture directly behind can be cropped; when used in a reversing scene, the picture below the rear can be cropped.
  • the original image collected by the image acquisition unit 110 can be cropped based on the scene mode that needs to be displayed to obtain the scene
  • the image that needs to be displayed in the mode (the image that needs to be displayed after cropping is called the cropped image in this article).
  • the image processor 120 can determine the position information of the cropped images corresponding to different scene modes on the image sensor, and based on the position information, crop the images collected by the image acquisition unit to obtain the crops corresponding to the different scene modes. image.
  • the position information of the cropped images corresponding to different scene modes on the image sensor may be pre-configured in the imaging system.
  • the installation position information of the image acquisition unit 110 (such as a vehicle-mounted camera) on the vehicle, the offset position relationship of the image plane in the image acquisition unit 110 relative to the imaging lens module, and the image display requirements in different scene modes.
  • Position information of cropped images corresponding to different scene modes on the image surface of the image sensor can be determined according to the installation position information of the image acquisition unit 110 (such as a vehicle-mounted camera) on the vehicle, the offset position relationship of the image plane in the image acquisition unit 110 relative to the imaging lens module, and the image display requirements in different scene modes.
  • the position information of the cropped image on the image sensor described in the embodiments of the present application refers to the position information of the cropped image on the image surface of the image sensor.
  • the upper left vertex of the image surface of the image sensor is taken as The origin of the coordinates, horizontally to the right is the positive direction of the abscissa axis, and vertically downward is the coordinate information in the coordinate system of the positive direction of the ordinate axis.
  • the imaging system may support at least two scene modes, and the position information of the cropped images corresponding to different scene modes on the image sensor is not completely the same.
  • the position information on the image sensor of the cropped image corresponding to the different scene modes is different.
  • the position information on the image sensor of the cropped images corresponding to the three different scene modes may be different, or the cropped images corresponding to the two scene modes may be different from each other.
  • the position information of the cut image on the image sensor is the same, and the position information of the cut image corresponding to the remaining one scene mode on the image sensor is different from the position information of the cut image corresponding to the two scene modes on the image sensor.
  • the scene modes supported by the imaging system include scene modes 1 to 3.
  • the position information of the cropped image on the image sensor corresponding to scene modes 1 and 2 is the same, and the position information of the cropped image on the image sensor corresponding to scene mode 3 ,
  • the cropped images corresponding to scenes 1 and 2 have different position information on the image sensor.
  • the image processor 120 when the image processor 120 obtains the cropped images corresponding to different scene modes, it may also transmit the obtained cropped images to the corresponding image display 130 based on the scene mode, and the image display 130 can perform the analysis on the received cropped images. Cut the image for display.
  • the image displays 130 corresponding to different scene modes may be different; or, the same image display 130 may display cropped images of different scene modes by way of scene mode switching.
  • the image processor can The cropped image corresponding to scene mode 1 is sent to the image display 1 for display, and the cropped image corresponding to scene mode 2 is sent to the image display 2 for display.
  • the image processor may send the cropped image corresponding to scene mode 1 to the image switched to scene mode 1.
  • the display 1 displays, and sends the cropped image corresponding to the scene mode 2 to the image display 1 switched to the scene mode 2 for display.
  • some or all of the multiple image displays can support displaying cropped images corresponding to multiple different scene modes.
  • image display 1 can be used to display the cropped images corresponding to scene mode 1 and scene mode 2 through scene mode switching.
  • the image is cropped, and the image display 2 is used to display the cropped image corresponding to scene mode 3.
  • the imaging system supports scene modes 1 to 4, and the imaging system includes image display 1 and image display 2, and image display 1 can be used to display the cropped images corresponding to scene mode 1 and scene mode 2 through scene mode switching.
  • the image display 2 can be used to display the cropped image corresponding to scene mode 3 and the cropped image corresponding to scene mode 4 through scene mode switching.
  • the image processor 120 can obtain the cropped image in the scene mode according to the scene mode carried in the received image display instruction, and display it on the corresponding image display 130, that is, the scene mode of the image display can be The image processor 120 is notified through an image display instruction.
  • the image processor 120 determining the position information of the cropped image corresponding to different scene modes on the image sensor may include: for any scene mode, determining the field of view of the cropped image corresponding to the scene mode Angle; according to the field of view, determine the size of the cropped image corresponding to the scene mode; according to the field of view, and the offset position between the center of the image sensor and the optical axis of the imaging lens module, determine the scene mode The position of the center of the corresponding cropped image on the image sensor; according to the size of the cropped image corresponding to the scene mode and the position of the center of the cropped image on the image sensor, determine the position of the cropped image on the image sensor location information.
  • the image processor 120 can determine the field of view of the cropped image corresponding to the scene mode, and according to the field of view, determine that the scene mode corresponds to The size of the cropped image.
  • the field of view (including the horizontal field of view and the vertical field of view) of the cropped image corresponding to different scene modes may be pre-stored in the image processor 120, and the image processor 120 obtains the field of view of the cropped image.
  • the size of the cropped image can be determined based on the ratio of the field of view of the cropped image to the field of view of the image acquisition unit 110 and the size of the captured original image.
  • the horizontal field of view of the image acquisition unit 110 is 120°
  • the horizontal field of view of the cropped image is 60°
  • the ratio of the horizontal field of view of the cropped image to the horizontal field of view of the image acquisition unit 110 is 1:2
  • the width of the cropped image is 1/2 of the original image collected.
  • the vertical field of view of the image acquisition unit 110 is 60°
  • the vertical field of view of the cropped image is 40°
  • the ratio of the vertical field of view of the cropped image to the vertical field of view of the image acquisition unit 110 If it is 2:3, the height of the cropped image is 2/3 of the collected original image.
  • the width and height of the collected original image are W and H, respectively
  • the width and height of the cropped image are W*1/2 and H*2/3, respectively.
  • the image processor 120 can determine the center of the cropped image corresponding to the scene mode on the image sensor according to the field angle and the offset position between the center of the image sensor and the optical axis of the imaging lens module. Location.
  • the offset position between the center of the image sensor and the optical axis of the imaging lens module may be pre-stored in the image processor 120.
  • the image processor may determine the horizontal direction and the vertical direction respectively. The direction is offset by an angle corresponding to one pixel.
  • the vertical field of view of the image acquisition unit 110 is between -A° and +A° in the unbiased case, the center of the image sensor is vertically offset by N pixels relative to the optical axis of the imaging lens module,
  • the center of the cropped image corresponding to the scene mode is relative to The center of the image sensor is vertically offset pixels: ((E°-D°)-(C°-B°)*N/
  • the center of the image sensor is horizontally offset from the optical axis of the imaging lens module, it can be determined that the center of the cropped image corresponding to the scene mode is horizontally offset from the center of the image sensor. Pixels.
  • the position of the center of the cropped image on the image sensor can be determined.
  • the position information of the cropped image on the image sensor can be determined.
  • the coordinates of the upper left vertex of the cropped image are (ca/2 ,Db/2)
  • the coordinates of the lower right vertex are (c+a/2, d+b/2)
  • the coordinates of the lower left vertex are (ca/2, d+b/2)
  • the coordinates of the upper right vertex are (c +a/2, db/2).
  • the image processor 120 determining the position information of the cropped images corresponding to different scene modes on the image sensor may include: for any scene mode, querying a pre-configured mapping table according to the scene mode, To determine the position information of the cropped image corresponding to the scene mode on the image sensor; the pre-configured mapping table records the corresponding relationship between the scene mode and the position information of the cropped image on the image sensor.
  • the position information of the cropped images corresponding to different scene modes on the image sensor can be pre-configured (according to experimental results or experience). Setting) and store it in the form of a table (which can be called a mapping table), and then, in the subsequent process, for any scene mode, you can query the pre-configured mapping table based on the scene mode to determine the scene mode corresponding The position information of the cropped image on the image sensor.
  • the image sensor after determining the position information of the cropped image on the image sensor, it may further include: based on the position information, determining the image area corresponding to the position information in the image collected by the image acquisition unit; The imaging feature information adjusts the boundary of the image area.
  • the above-mentioned cutting the image collected by the image collecting unit based on the position information includes: cutting the image area after the boundary adjustment.
  • the position information of the cropped image corresponding to the scene mode on the image sensor is determined in the above manner, the position information can be used in the collected original image According to the imaging feature information of the corresponding image area, the boundary of the image area of the acquired original image is adjusted to reduce the invalid information in the image area of the acquired original image or/and improve the acquired original image.
  • the image quality of the image area is adjusted to reduce the invalid information in the image area of the acquired original image or/and improve the acquired original image.
  • the imaging feature information may include, but is not limited to, one or more of the proportion of invalid information in the image area, the degree of image distortion, and the distribution of the vignetting area of the image.
  • the image processor determines that the position information of the cropped image has a proportion of invalid information in the image area corresponding to the captured original image exceeds the preset threshold,
  • the distribution of invalid information in the image area can be identified, and based on the distribution of the invalid information in the image area, the boundary of the image area of the acquired original image can be adjusted.
  • the left and right borders of the image area in the collected original image can be adjusted to be closer to the center position, that is, the left border of the image area is shifted to the right, and the image area The border on the right is shifted to the left.
  • the boundary of the image area of the acquired original image can be adjusted based on the vignetting area distribution information to eliminate the vignetting.
  • the image processor 120 adjusts the boundary of the image area according to the imaging feature information of the image area in the collected image according to the position information of the cropped image, and may cut the image area after the boundary adjustment. To get the cropped image corresponding to the corresponding scene mode.
  • the resolution of the designated image area of the acquired original image is adjusted in the above manner, the resolution of the designated image area has changed, and the image after the boundary adjustment is changed.
  • the resolution of the cropped image obtained by cropping the region has also changed.
  • the resolution of the cropped image can be processed into the resolution before the boundary adjustment, for example, the resolution of the specified image area after the boundary adjustment can be processed by means of upscaling or interpolation. Is the resolution before adjustment.
  • an in-vehicle imaging system is taken as an example.
  • the image acquisition unit is a vehicle-mounted rear-view camera
  • the image processor is an image processing chip built in the vehicle-mounted rear-view camera
  • the image display includes a rear-view mirror in the vehicle and a central control screen.
  • the image sensor of the vehicle rear view camera uses 1/2.8” (that is, the diagonal length of the chip is 1/2.8 inch) chip, with a resolution of 1920 ⁇ 1080; the imaging lens module uses a 2.1mm lens (that is, the focal length of the lens is 2.1 mm).
  • the horizontal field of view of the vehicle rear view camera is between -62.5° and +62.5°
  • the vertical field of view is between -32° and +
  • 32° that is, the horizontal field of view of the vehicle rearview camera is equally divided by the optical axis, and the left and right sides of the optical axis are each 62.5°.
  • the vertical field of view of the vehicle rearview camera is equally divided by the optical axis, and the optical axis The upper and lower sides are each 32°.
  • the aspect ratio of the rearview mirror inside the car is 5:1, and the aspect ratio of the central control screen is 4:3.
  • the in-vehicle imaging system supports streaming scene modes and reversing scene modes.
  • the schematic diagram can be as shown in Figure 6A, where OS is the center of the image sensor, O L is the center of the imaging lens module, S S is the size range of the image sensor, and SL is the maximum imaging range of the imaging lens module .
  • the horizontal field of view of the vehicle-mounted rear-view camera is between -62.5° and +62.5°, and the vertical field of view is between +11.5° and -52.5°.
  • the observation range of the streaming media scene mode needs to be centered and symmetrical and sensitive to image distortion. Therefore, for the streaming media scene mode, the flow can be determined based on the image plane of the image sensor and the offset position of the imaging lens module. The position of the center of the cropped image corresponding to the media scene mode on the image sensor, so that the center of the cropped image corresponding to the streaming media scene mode is coaxial with the optical axis of the imaging lens module to ensure the image quality in the streaming media scene mode To reduce image distortion.
  • the reversing scene mode requires asymmetric observation range and is not sensitive to image distortion. Therefore, for the reversing scene mode, the field of view below the horizontal plane of the optical axis of the rear camera of the vehicle can be increased as much as possible to reduce the blind spot on the ground behind the vehicle.
  • the image area corresponding to the reversing scene will have dark corners (that is, the part of the rectangular area in the figure that exceeds the circular area).
  • the left and right borders of the image area can be translated in a direction close to the center position to obtain the image area (S reversing ) as shown in FIG. 6B.
  • the horizontal viewing angle determined by the image processing chip is between -62.5° and +62.5°, and the vertical viewing angle is between -11.5° and +11.5°.
  • the horizontal field angle determined by the image processing chip is between -55° and +55°, and the vertical field angle is between +11.5° and -52.5°.
  • FIG. 7 and FIGS. 8A to 8C The schematic diagrams of the field of view (including the horizontal field of view and the vertical field of view) of the exemplary streaming scene mode and the reversing scene mode can be shown in FIG. 7 and FIGS. 8A to 8C.
  • FIG. 8A is a side view of a schematic view of a real vehicle perspective distribution
  • FIG. 8B is a top view of a schematic view of a real vehicle perspective distribution
  • FIG. 8C is a rear view of a schematic view of a real vehicle perspective distribution.
  • the position information of the cropped image corresponding to the streaming scene mode in the image sensor, and the position information of the cropped image corresponding to the reversing scene mode in the image sensor can be shown in FIG. 6B, where the cropping corresponding to the streaming scene mode
  • the position of the image in the image sensor overlaps the position of the cropped image corresponding to the reversing scene mode in the image sensor;
  • the resolution of the cropped image corresponding to the streaming scene mode is 1920 ⁇ 384, that is, the image size is 1920 pixels ⁇ 384 Pixels;
  • the resolution of the cropped image corresponding to the reverse scene mode is 1750 ⁇ 1080.
  • the image processor can cut the collected image according to the scene mode to be displayed, based on the position information of the cropped image in the scene mode in the image sensor, and send the cropped image to The corresponding image display is displayed.
  • the cropped image corresponding to the streaming media scene mode can be displayed through the rearview mirror; the cropped image corresponding to the reversing scene mode can be displayed through the central control screen.
  • the on-board imaging system can be triggered to obtain the cropped image corresponding to the streaming media scene mode.
  • the image processing chip For example, sending an image display instruction for the cropped image of the streaming media scene mode to the image processing chip in the vehicle rear view camera, and the image display instruction carries the identification information of the streaming media scene mode; the image processing chip receives the image display instruction , Determine that the current working scene mode is the streaming media scene mode, at this time, the image processing chip can determine the position information of the cropped image corresponding to the streaming media scene mode on the image sensor, and based on the position information, the vehicle rear view camera collects The image is cropped to obtain the cropped image corresponding to the streaming media scene mode, and then the cropped image corresponding to the streaming media scene mode is transmitted to the interior rearview mirror, and the interior rearview mirror compares the received cropped image To display.
  • the on-board imaging system can be triggered to obtain the cropped image corresponding to the reversing scene mode.
  • the image processing chip For example, sending an image display instruction for the cropped image of the reversing scene mode to the image processing chip in the vehicle rear view camera, and the image display instruction carries the identification information of the reversing scene mode; the image processing chip receives the image display instruction and determines The current working scene mode is the reverse scene mode. At this time, the image processing chip can determine the position information of the cropped image corresponding to the reverse scene mode on the image sensor, and cut the image collected by the vehicle rear view camera based on the position information , Obtain the cropped image corresponding to the reversing scene mode, and then transmit the cropped image corresponding to the reversing scene mode to the central control screen, and the central control screen displays the received cropped image.
  • FIG. 9 is a schematic flowchart of an imaging method provided by an embodiment of this application. As shown in FIG. 9, the imaging method may include the following steps:
  • Step S900 The image acquisition unit acquires an image.
  • an in-vehicle imaging system is taken as an example.
  • the image acquisition unit is a vehicle-mounted rear-view camera
  • the image processor is an image processing chip built in the vehicle-mounted rear-view camera
  • the image display includes an in-vehicle rear-view mirror and a central control screen.
  • the on-board rear-view camera collects images/videos behind the vehicle.
  • the position information of the cropped images corresponding to different scene modes on the image sensor may be pre-configured in the imaging system in the form of a mapping table.
  • the built-in image processing chip in the on-board rear view camera can determine the position information of the cropped image corresponding to the streaming media scene on the image sensor through the pre-configured mapping table, and compare the position information on the on-board rear view camera based on the position information.
  • the image collected by the camera is cropped to obtain the cropped image corresponding to the streaming media scene; when reversing, the built-in image processing chip in the on-board rear view camera can determine the cropped image corresponding to the reversing scene on the image sensor through the pre-configured mapping table Based on the position information on the vehicle, the image collected by the vehicle rear view camera is cropped based on the position information to obtain a cropped image corresponding to the reversing scene.
  • the built-in image processing chip in the on-board rear view camera can determine the field of view of the cropped image corresponding to the streaming media scene, and determine the cropped image corresponding to the streaming media scene according to the field of view. According to the field angle and the offset position between the center of the image sensor and the optical axis of the imaging lens module, determine the position of the center of the cropped image corresponding to the streaming media scene on the image sensor, and then according to the streaming media The size of the cropped image corresponding to the scene and the position of the center of the cropped image on the image sensor determine the position information of the cropped image on the image sensor.
  • the built-in image processing chip in the on-board rear view camera can determine the field of view of the cropped image corresponding to the reversing scene, and determine the size of the cropped image corresponding to the reversing scene according to the field of view. According to the field of view and the offset position between the center of the image sensor and the optical axis of the imaging lens module, determine the position of the center of the cropped image corresponding to the reversing scene on the image sensor, and then cut according to the reversing scene The size of the image and the position of the center of the cropped image on the image sensor determine the position information of the cropped image on the image sensor.
  • Step S920 The image processor transmits the obtained cropped image to the corresponding image display based on the scene mode.
  • image displays corresponding to different scene modes may be different; or, the same image display may display cropped images of different scene modes by way of scene mode switching.
  • the image processing chip built in the rear view camera of the vehicle transmits the cropped image to the rear view mirror based on the media stream scene; when the vehicle is reversing, the built-in rear view camera of the vehicle is built-in Based on the reversing scene, its image processing chip transmits the cropped image to the central control screen.
  • Step S930 The image display displays the received cropped image.
  • the interior rearview mirror displays the received road conditions behind the vehicle and images/media streams of the vehicle conditions; when reversing, the central control screen displays the received images/media streams of the lower rear of the vehicle.
  • the center of the image sensor in the image acquisition unit and the optical axis of the imaging lens module in the image acquisition unit are not coaxial, but have horizontal and/or vertical directions.
  • the offset on the image sensor, that is, the image plane of the image sensor is offset relative to the imaging lens module, forming a biased optical path system.
  • the field of view of the image acquisition unit is asymmetric.
  • the field angle of the upper part will be larger than the field angle of the lower part.
  • the more the image plane of the image sensor is biased downward relative to the imaging lens module the greater the deviation between the upper half of the field of view and the lower half of the field of view.
  • the image surface of the image sensor can be divided into different areas to achieve image collection with different fields of view to match the requirements of different application scenarios. Since the biased field of view will have distortion asymmetry, for scenes where the observation range needs to be centered, the image in the centered display area can be cropped from the image plane of the image sensor to ensure the image effect. For scenes where the observation range does not require symmetry and distortion is not sensitive, the image in the offset display area can be cropped from the image surface of the image sensor to reduce invalid information and increase the field of view in the focus direction of the scene.
  • the way of dividing the image plane of the image sensor may include dividing into different regions in the horizontal direction, dividing into different regions in the vertical direction, and dividing into different regions in the horizontal and vertical directions.
  • the number of divided regions can be two or more to meet the requirements of different display scenes.
  • the original image collected by the image acquisition unit can be cropped based on the scene mode that needs to be displayed to obtain the scene mode Download the image that needs to be displayed (ie, cropped image).
  • the image processor can determine the position information of the cropped images corresponding to different scene modes on the image sensor, and based on the position information, crop the images collected by the image acquisition unit to obtain cropped images corresponding to different scene modes .
  • the position information of the cropped images corresponding to different scene modes on the image sensor can be pre-configured in the imaging system.
  • different scenes can be determined according to the installation position information of the image acquisition unit (such as a vehicle-mounted camera) on the vehicle, the offset position relationship of the image plane in the image acquisition unit relative to the imaging lens module, and the image display requirements in different scene modes
  • the position information of the cropped image corresponding to the mode on the image surface of the image sensor.
  • the position information of the cropped image on the image sensor described in the embodiments of this application refers to the position information of the cropped image on the image surface of the image sensor.
  • the right is the positive direction of the abscissa axis, and the vertical downward is the coordinate information in the coordinate system of the positive direction of the ordinate axis.
  • the imaging system may support at least two scene modes, and the position information of the cropped images corresponding to different scene modes on the image sensor is not completely the same.
  • the position information on the image sensor of the cropped image corresponding to the different scene modes is different.
  • the position information of the cropped images corresponding to the three different scene modes on the image sensor can be different, or the cropped images corresponding to the two scene modes can be located on the image sensor.
  • the position information is the same, and the position information of the cropped image corresponding to the remaining one scene mode on the image sensor is different from the position information of the cropped image corresponding to the two scene modes on the image sensor.
  • the scene modes supported by the imaging system include scene modes 1 to 3.
  • the position information of the cropped image on the image sensor corresponding to scene modes 1 and 2 is the same, and the position information of the cropped image on the image sensor corresponding to scene mode 3 ,
  • the cropped images corresponding to scenes 1 and 2 have different position information on the image sensor.
  • the image processor When the image processor obtains the cropped images corresponding to different scene modes, it can also transmit the obtained cropped images to the corresponding image display based on the scene mode, and the image display displays the received cropped images.
  • the image displays corresponding to different scene modes may be different; or, the same image display may display cropped images of different scene modes by way of scene mode switching.
  • the image processor can set scene mode 1
  • the corresponding cut image is sent to the image display 1 for display, and the cut image corresponding to the scene mode 2 is sent to the image display 2 for display.
  • the image processor can send the cropped image corresponding to scene mode 1 to the image display 1 switched to scene mode 1 for display,
  • the cropped image corresponding to scene mode 2 is sent to the image display 1 switched to scene mode 2 for display.
  • the imaging system when the imaging system includes multiple image displays, some or all of the multiple image displays may support displaying cropped images corresponding to multiple different scene modes.
  • image display 1 can be used to display the cropped images corresponding to scene mode 1 and scene mode 2 through scene mode switching.
  • the image is cropped, and the image display 2 is used to display the cropped image corresponding to scene mode 3.
  • the imaging system supports scene modes 1 to 4, and the imaging system includes image display 1 and image display 2, and image display 1 can be used to display the cropped images corresponding to scene mode 1 and scene mode 2 through scene mode switching.
  • the image display 2 can be used to display the cropped image corresponding to scene mode 3 and the cropped image corresponding to scene mode 4 through scene mode switching.
  • step S910 the image processor determines the position information of the cropped images corresponding to different scene modes on the image sensor, which can be implemented through the following steps:
  • Step S911 For any scene mode, determine the field of view of the cropped image corresponding to the scene mode.
  • the horizontal field of view of the cropped image determined by the built-in image processing chip in the vehicle rearview camera is between -62.5° and +62.5°, and the vertical field of view is between -11.5 ° to +11.5°; for reversing scenes, the horizontal field of view of the cropped image determined by the built-in image processing chip in the car rearview camera is between -55° and +55°, and the vertical field of view is between -55° and +55° Between +11.5° and -52.5°.
  • Step S912 Determine the size of the cropped image corresponding to the scene mode according to the angle of view.
  • the horizontal field of view of the vehicle-mounted rear-view camera is between -62.5° and +62.5°, and the vertical field of view is between +11.5° and -52.5°. Therefore, for streaming media scenes, the width of the cropped image is the width of the original image collected, and the height is 23/64 of the height of the original collected image; for the reversing scene, the width of the cropped image is 0.88*original image width, height Is the height of the original image collected.
  • Step S913 Determine the position of the center of the cropped image corresponding to the scene mode on the image sensor according to the field of view and the offset position between the center of the image sensor and the optical axis of the imaging lens module.
  • the horizontal field of view of the vehicle rear view camera is between -62.5° and +62.5°, and the vertical field of view is between -32° and + Between 32°.
  • the horizontal field of view of the vehicle rearview camera is between -62.5° and +62.5°, and the vertical field of view is between +11.5° and -52.5°.
  • the horizontal field angle of the vehicle rear view camera is between -63.5° and +61.5°, and the horizontal offset corresponds to one pixel The angle is 0.1; if the center of the image sensor is vertically offset by 10 pixels relative to the optical axis of the imaging lens module, the vertical field of view of the rear-view camera is between -33° and +31°, then the vertical direction The angle corresponding to one pixel offset is 0.2.
  • the horizontal field of view of the cropped image determined by the built-in image processing chip in the car rearview camera is between -62.5° and +62.5°, and the vertical field of view is between -11.5° and +11.5°.
  • the center of the cropped image corresponding to the streaming media scene is vertically offset from the center of the image sensor by 10 pixels, and the center of the cropped image corresponding to the streaming media scene is horizontally offset from the center of the image sensor as 0 pixels.
  • the horizontal field of view angle determined by the image processing chip built in the car rearview camera is between -55° and +55°, and the vertical field of view angle is between +11.5° and -52.5°, then,
  • the center of the cropped image corresponding to the reversing scene is offset vertically from the center of the image sensor as 205 pixels, and the center of the cropped image corresponding to the reversing scene is offset horizontally from the center of the image sensor as 0 pixels.
  • Step S914 Determine the position information of the cropped image on the image sensor according to the size of the cropped image corresponding to the scene mode and the position of the center of the cropped image on the image sensor.
  • the image sensor If the size of the image surface of the image sensor is 1920 ⁇ 1080, the top left vertex of the image surface of the image sensor is the coordinate origin, the horizontal to the right is the positive direction of the abscissa axis, and the vertical downward is the positive direction of the ordinate axis, then the image sensor The coordinates of the center are (960,540).
  • the coordinates of the center of the corresponding cropped image are (960,550). If the size of the cropped image is 1920 ⁇ 384, the coordinates of the top left vertex of the cropped image are (0,358), the coordinates of the bottom right vertex are (1920,742), the coordinates of the bottom left vertex are (0,742), and the coordinates of the top right vertex are Is (1920,358).
  • the coordinates of the center of the corresponding cropped image are (960,745). If the size of the cropped image is 1750 ⁇ 1080, the coordinates of the top left vertex of the cropped image are (85,205), the coordinates of the bottom right vertex are (1835,1285), the coordinates of the bottom left vertex are (85,1285), and the top right vertex is The coordinates of is (1835,205).
  • the image processor can determine the field angle of the cropped image corresponding to the scene mode, and determine the field angle corresponding to the scene mode according to the field angle. The size of the cropped image.
  • the field of view (including the horizontal field of view and the vertical field of view) of the cropped image corresponding to different scene modes may be pre-stored in the image processor 120, and the image processor 120 obtains the field of view of the cropped image.
  • the size of the cropped image can be determined based on the ratio of the field of view of the cropped image to the field of view of the image acquisition unit 110 and the size of the captured original image.
  • the image processor can determine the position of the center of the cropped image corresponding to the scene mode on the image sensor according to the field of view and the offset position between the center of the image sensor and the optical axis of the imaging lens module .
  • the offset position between the center of the image sensor and the optical axis of the imaging lens module may be pre-stored in the image processor 120.
  • the image processor may determine the horizontal direction and the vertical direction respectively. The direction is offset by an angle corresponding to one pixel.
  • the position of the center of the cropped image on the image sensor can be determined.
  • the position information of the cropped image on the image sensor can be determined.
  • the center coordinates of the cropped image are (c, d), c ⁇ a/2, d ⁇ b/2
  • the coordinates of the upper left vertex of the cropped image are (ca/2, db/2)
  • the coordinates of the lower right vertex are (c+a/2, d+b/2)
  • the coordinates of the lower left vertex are (ca/2, d+b/2)
  • the coordinates of the upper right vertex are The coordinates are (c+a/2, db/2).
  • the image processor determining position information on the image sensor of the cropped images corresponding to different scene modes may include:
  • the pre-configured mapping table For any scene mode, query the pre-configured mapping table according to the scene mode to determine the position information of the cropped image corresponding to the scene mode on the image sensor; the pre-configured mapping table records the scene mode and the cropped image. The corresponding relationship of the position information of the cut image on the image sensor.
  • the position information of the cropped images corresponding to different scene modes on the image sensor can be pre-configured (according to experimental results or experience). Setting) and store it in the form of a table (which can be called a mapping table), and then, in the subsequent process, for any scene mode, you can query the pre-configured mapping table based on the scene mode to determine the scene mode corresponding The position information of the cropped image on the image sensor.
  • step S914 after determining the position information of the cropped image on the image sensor, the following steps may be further included:
  • Step S915 Based on the location information, determine the image area corresponding to the location information in the image collected by the image collection unit.
  • a streaming media scene determines the image area corresponding to the quadrilateral with four points (0,358), (0,742), (1920,358), and (1920,742) as vertices in the image collected by the vehicle rear view camera;
  • Step S916 Adjust the boundary of the image area according to the imaging feature information of the image area.
  • the imaging feature information may include, but is not limited to, one or more of the proportion of invalid information in the image area, the degree of image distortion, and the distribution of the vignetting area of the image.
  • the image processing chip built in the vehicle rear view camera determines that the position information of the cropped image has a proportion of invalid information in the corresponding image area in the captured original image exceeds a preset threshold, it can be identified that the invalid information is in The distribution in the image area, if the invalid information is distributed on the left and right sides of the image area, the left and right borders of the image area in the collected original image can be adjusted to be closer to the center, that is, the left border of the image area is shifted to the right To shift the right boundary of the image area to the left.
  • the image processing chip built in the vehicle rearview camera determines that the position information of the cropped image is in the image area corresponding to the original image collected.
  • the vignetting area is distributed in the lower left corner and the lower right corner of the image area.
  • cutting the image collected by the image collecting unit based on the position information may include:
  • the position information of the cropped image corresponding to the scene mode on the image sensor is determined in the above manner, the position information can be collected according to the position information.
  • the imaging feature information of the corresponding image area in the original image is adjusted to the boundary of the image area of the original image collected to reduce the invalid information in the image area of the original image collected or/and improve the original image collected.
  • the image quality of this image area of the image is adjusted to the boundary of the image area of the original image collected to reduce the invalid information in the image area of the original image collected or/and improve the original image collected.
  • the imaging feature information may include, but is not limited to, one or more of the proportion of invalid information in the image area, the degree of image distortion, and the distribution of the vignetting area of the image.
  • the image processor determines that the position information of the cropped image has a proportion of invalid information in the image area corresponding to the captured original image exceeds the preset threshold,
  • the distribution of invalid information in the image area can be identified, and based on the distribution of the invalid information in the image area, the boundary of the image area of the acquired original image can be adjusted.
  • the left and right borders of the image area in the collected original image can be adjusted to be closer to the center position.
  • the boundary of the image area of the acquired original image can be adjusted based on the vignetting area distribution information to eliminate the vignetting.
  • the lower boundary of the image area of the acquired original image can be moved up, or/and, the left and right boundaries can be adjusted to The approach closer to the center position eliminates the dark corners of the image area.
  • the image processor may adjust the boundary of the image area according to the imaging feature information of the image area in the collected image according to the position information of the cropped image, and then cut the image area after the boundary adjustment. To get the cropped image corresponding to the corresponding scene mode.
  • the resolution of the designated image area of the acquired original image is adjusted in the above manner, the resolution of the designated image area has changed, and the image after the boundary adjustment is changed.
  • the resolution of the cropped image obtained by cropping the region has also changed.
  • the resolution of the cropped image can be processed into the resolution before the boundary adjustment, for example, the resolution of the specified image area after the boundary adjustment can be processed by means of upscaling or interpolation. Is the resolution before adjustment.

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Abstract

本申请提供一种成像系统及成像方法，该成像系统包括：图像采集单元、图像处理器以及图像显示器，所述图像采集单元，用于采集图像；所述图像处理器，用于确定不同场景模式对应的裁切图像在所述图像传感器上的位置信息，并基于该位置信息对所述图像采集单元采集的图像进行裁切，以得到不同场景模式对应的裁切图像；所述图像处理器，还用于基于场景模式，将得到的裁切图像传输至对应的图像显示器；所述图像显示器，用于对接收到的裁切图像进行显示。

Description

成像系统及成像方法 技术领域
本申请涉及图像处理技术领域，尤其涉及一种成像系统及成像方法。
背景技术
随着智能驾驶技术的应用发展，摄像头作为智能汽车的眼睛，其需求和要求无论从数量还是功能上，都越来越高。
针对不同应用，摄像头的视野范围、观测距离及清晰度的要求可能不同。例如，对于后视摄像头，应用于流媒体场景的摄像头与应用于倒车场景的摄像头的要求各有侧重，若需同时满足流媒体场景应用和倒车场景应用的要求，则需安装两个摄像头。
同理，其他前视或侧视摄像头也存在相同的情况，从而，导致车辆需要安装大量的摄像头，一方面带来成本的增加，另一方面影响车辆外观，且摄像头安装位置也可能产生冲突。
发明内容
有鉴于此，本申请提供一种成像系统及成像方法。
具体地，本申请是通过如下技术方案实现的：
根据本申请实施例的第一方面，提供一种成像系统，包括图像采集单元、图像处理器以及图像显示器，所述图像采集单元中的图像传感器的中心与所述图像采集单元中的成像镜头模组的光轴之间存在偏置。其中，所述图像采集单元，用于采集图像；所述图像处理器，用于确定不同场景模式对应的裁切图像在所述图像传感器上的位置信息，并基于该位置信息对所述图像采集单元采集的图像进行裁切，以得到不同场景模式对应的裁切图像，所述成像系统支持至少两个场景模式，不同场景模式对应的裁切图像在所述图像传感器上的位置信息不完全相同；所述图像处理器，还用于基于场景模式，将得到的裁切图像传输至对应的图像显示器；所述图像显示器，用于对接收到的裁切图像进行显示。
根据本申请实施例的第二方面，提供一种成像方法，应用于成像系统，所述成像系统包括图像采集单元、图像处理器以及图像显示器，所述图像采集单元中的图像传感器的中心与所述图像采集单元中的成像镜头模组的光轴之间存在偏置，所述方法包括：图像采集单元采集图像；图像处理器确定不同场景模式对应的裁切图像在所述图像传感器上的位置信息，并基于该位置信息对所述图像采集单元采集的图像进行裁切，以得到不同场景模式对应的裁切图像，所述成像系统支持至少两个场景模式，不同场景模式对应的裁切图像在所述图像传感器上的位置信息不完全相同；图像处理器基于场景模式，将得到的裁切图像传输至对应的图像显示器；图像显示器对接收到的裁切图像进行显示。
本申请实施例提供的成像系统，包括图像采集单元、图像处理器以及图像显示器，图像采集单元中的图像传感器的中心与图像采集单元中的成像镜头模组的光轴之间存 在偏置；其中：图像采集单元，用于采集图像；图像处理器，用于确定不同场景模式对应的裁切图像在所述图像传感器上的位置信息，并基于该位置信息对所述图像采集单元采集的图像进行裁切，以得到不同场景模式对应的裁切图像；其中，所述成像系统支持至少两个场景模式，不同场景模式对应的裁切图像在所述图像传感器上的位置信息不完全相同；图像处理器，还用于基于场景模式，将得到的裁切图像传输至对应的图像显示器；图像显示器，用于对接收到的裁切图像进行显示，实现了基于一个图像采集单元采集的图像获取多个不同应用场景的图像，降低了图像采集单元的安装难度，节省了图像采集单元的使用成本。
附图说明
图1是本申请一示例性实施例示出的一种成像系统的结构示意图；
图2A是图像传感器的像面相对成像镜头模组无偏置的示意，图2B-2D是本申请一示例性实施例示出的传感器像面偏置图；
图3是本申请一示例性实施例示出的一种图像采集单元的结构示意图；
图4A是图像传感器与成像镜头模组间无偏置时的成像原理图，图4B本申请一示例性实施例示出的偏置成像原理图；
图5A-5D是本申请一示例性实施例示出的偏置视野分割图；
图6A-6B是本申请一示例性实施例示出的一种车载后视摄像头的应用实例的实现示意图；
图7是本申请一示例性实施例示出的一种流媒体场景模式以及倒车场景模式的视场角示意图；
图8A～8C是本申请一示例性实施例示出的车载后视摄像头的实车视角分布示意图；
图9是本申请一示例性实施例示出的一种成像方法的流程示意图；
图10是本申请一示例性实施例示出的一种图像处理器确定不同场景模式对应的裁切图像在图像传感器上的位置信息的流程示意图；
图11是本申请一示例性实施例示出的另一种图像处理器确定不同场景模式对应的裁切图像在图像传感器上的位置信息的流程示意图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本申请相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本申请的一些方面相一致的装置和方法的例子。
在本申请使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请。在本申请和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。
为了使本领域技术人员更好地理解本申请实施例提供的技术方案，并使本申请实施例的上述目的、特征和优点能够更加明显易懂，下面结合附图对本申请实施例中技术方案作进一步详细的说明。
请参见图1，为本申请实施例提供的一种成像系统的结构示意图，如图1所示，该成像系统包括图像采集单元110、图像处理器120以及图像显示器130。
示例性的，在本申请实施例中，为了适应不同场景的成像需求，图像采集单元110中的图像传感器(Sensor)的中心与图像采集单元110中的成像镜头模组的光轴不共轴，而是存在水平和/或垂直方向上的偏移(即存在偏置)，即图像传感器的像面相对成像镜头模组存在偏置，形成偏置光路系统，其示意图可以参见图2B-2D。
需要说明的是，本申请实施例中，图像传感器的像面与成像镜头模组所在平面相互平行，上述图像传感器的中心相对成像镜头模组的光轴存在的水平和/或垂直方向上的偏移，是在图像传感器的像面和成像镜头模组所在平面与水平面垂直，且偏移后的图像传感器的像面依然保持与成像镜头模组所在平面相互平行的情况下进行的，但本申请并不对此进行限定。
图像传感器的像面相对成像镜头模组不存在偏置的示意图可以如图2A所示，图像传感器的像面相对成像镜头模组存在垂直偏置、水平偏置以及垂直和水平偏置的示意图可以分别如图2B、2C以及2D所示；其中，S1为成像镜头模组的最大成像范围，S2为图像传感器的像面的尺寸范围。
请参见图3，在一个示例中，以图像采集单元110为车载摄像头为例，其可以包括摄像头信号连接线111、摄像头结构底壳112、驱动电路板113、摄像头结构上壳114、图像传感器115、成像镜头模组116等部件。
示例性的，成像镜头模组116由实现成像的光学镜片、隔圈、镜筒、压帽、遮光片以及红外截止滤光片等组成，用于将实际场景按比例进行放大或缩小，在图像传感器115上形成清晰画面。
图像传感器115为包括一系列像素阵列的CMOS(Complementary Metal Oxide Semiconductor，互补金属氧化物半导体)或CCD(Charge-coupled Device，电荷耦合器件)器件，用于将成像镜头模组116采集的光学图像信号进行光电转换，形成可用于传输的图片及视频流。
驱动电路板113用于提供电路器件的驱动。
摄像头结构底壳112和摄像头结构上壳114用于提供各部件的支撑固定，以及防尘防水功能。
摄像头信号连接线111用于与车身电路相连，提供摄像头的电源输入及信号传输。
本申请实施例中，由于图像传感器的像面相对成像镜头模组存在偏置，因此，图像采集单元110的视场角不对称。
当图像传感器的像面相对成像镜头模组存在水平方向的偏置时，图像采集单元110的水平视场角不再相对于第一指定平面对称；当图像传感器的像面相对成像镜头模组存 在垂直方向的偏置时，图像采集单元110的垂直视场角不再相对于第二指定平面对称。
其中，当图像传感器的像面与水平面垂直时，第一指定平面为光轴所在平面，且该平面与水平面垂直；第二指定平面为光轴所在水平面。示例性的，图像采集单元110的视场角是指以成像镜头模组为顶点，以被测目标的物像可通过镜头的最大范围的两条边缘构成的夹角。视场角按照方向可分为水平视场角、垂直视场角以及对角视场角。在一实施例中，当图像传感器的像面不与水平面垂直时，第一指定平面为经过光轴并且垂直平分成像镜头模组(即分为左右两部分)的平面，第二指定平面为经过光轴并且水平平分成像镜头模组(即分为上下两部分)的平面。
例如，若图像传感器的像面相对成像镜头模组存在垂直向下的偏置，则以成像镜头模组的光轴为基准，上半部分的视场角会大于下半部分的视场角，且图像传感器的像面相对成像镜头模组向下偏置的幅度越多，上半部分的视场角与下半部分的视场角偏差越大，其示意图可以如图4B所示。而无偏置时，成像情况如图4A所示。
基于上述偏置光路系统，图像传感器的像面可分割为不同区域，实现不同视野范围的图像采集，匹配不同应用场景需求。由于偏置的视场角会存在畸变不对称的情况，因此，对于观测范围需要居中的场景需求，可以从图像传感器的像面裁切居中的显示区域中的图像，保障图像效果。而对于观测角不要求对称、畸变不敏感的场景需求，可以从图像传感器的像面裁切偏置的显示区域中的图像，减小无效信息，增大场景重点关注方向的视场角。
示例性的，图像传感器的像面的分割方式可以包括水平方向上分割为不同区域、垂直方向上分割为不同区域，以及水平和垂直方向上分割为不同区域。分割后的区域的数量可以为两块或多块，以适应不同显示场景需求，其示意图可以参见图5A-5D。
图像传感器的像面垂直方向上分割为两块区域(A1和A2)的示意图可以如图5A所示；图像传感器的像面水平方向上分割为三块区域(A3、A4和A5)的示意图可以如图5B所示；图像传感器的像面垂直方向和水平方向上分割为多块区域(A6-A8及A9-A12)的示意图可以如图5C和5D所示。
在对图像传感器的像面进行分割时，不同场景模式对应的分割区域可以存在重叠。
举例来说，以图像采集单元110为车载后视摄像头为例，考虑到车载后视摄像头的主要用途包括在车辆行驶过程中，获取车辆后方的路况、车况(可以称为流媒体场景)；以及，在倒车时，获取车辆后方(通常为停车位)是否存在障碍物等(可以称为倒车场景)；对于流媒体场景，通常需要显示车辆正后方的画面；对于倒车场景，通常需要显示车辆后方偏下的画面，对于车辆后方偏上的画面关注较少，因此，可以通过使车载后视摄像头中的图像传感器相对成像镜头模组存在垂直偏置(具体偏置位置可以根据实际需求设定)，减少车载后视摄像头在光轴所在水平面以上的视场角，增大车载后视摄像头在光轴所在水平面以下的视场角。进而，对于车载后视摄像头采集到的图像，当用于流媒体场景时，可以裁切正后方的画面；当用于倒车场景时，可以裁切后方偏下的画面。
本申请实施例中，基于上述偏置光路系统，为了适应不同场景模式的显示需求，对于图像采集单元110采集到的原始图像，可以基于需要显示的场景模式对该图像进行裁切，得到该场景模式下需要显示的图像(本文中将裁切得到的需要显示的图像称为裁切 图像)。相应地，图像处理器120可以确定不同场景模式对应的裁切图像在图像传感器上的位置信息，并基于该位置信息对图像采集单元采集的图像进行裁切，以得到不同场景模式对应的裁切图像。
在一示例中，不同场景模式对应的裁切图像在图像传感器上的位置信息可以预先配置在成像系统。
例如，可以根据图像采集单元110(如车载摄像头)在车辆上的安装位置信息、图像采集单元110中像面相对成像镜头模组的偏置位置关系，以及不同场景模式下的图像显示需求，确定不同场景模式对应的裁切图像在图像传感器的像面上的位置信息。
需要说明的是，本申请实施例中描述的裁切图像在图像传感器上的位置信息是指裁切图像在图像传感器的像面上的位置信息，例如，以图像传感器的像面的左上顶点为坐标原点，水平向右为横坐标轴正向，竖直向下为纵坐标轴正向的坐标系中的坐标信息。
在一示例中，成像系统可以支持至少两个场景模式，不同场景模式对应的裁切图像在图像传感器上的位置信息不完全相同。
在一实施例中，假设成像系统支持两个场景模式，则不同场景模式对应的裁切图像在图像传感器上的位置信息不同。
在另一实施例中，假设成像系统支持三个场景模式，则该三个不同场景模式对应的裁切图像在图像传感器上的位置信息可以各不相同，或者，其中两个场景模式对应的裁切图像在图像传感器上的位置信息相同，剩余一个场景模式对应的裁切图像在图像传感器上的位置信息与该两个场景模式对应的裁切图像在图像传感器上的位置信息不同。
例如，成像系统支持的场景模式包括场景模式1～3，场景模式1和2对应的裁切图像在图像传感器上的位置信息相同，而场景模式3对应的裁切图像在图像传感器上的位置信息，与场景1和2对应的裁切图像在图像传感器上的位置信息不同。
本申请实施例中，图像处理器120得到不同场景模式对应的裁切图像时，还可以基于场景模式，将得到的裁切图像传输至对应的图像显示器130，由图像显示器130对接收到的裁切图像进行显示。
在一示例中，不同场景模式对应的图像显示器130可以不同；或者，可以由同一图像显示器130通过场景模式切换的方式，显示不同场景模式的裁切图像。
举例来说，假设成像系统包括场景模式1和场景模式2，且成像系统中包括图像显示器1和图像显示器2，图像显示器1对应场景模式1，图像显示器2对应场景模式2，则图像处理器可以将场景模式1对应的裁切图像发送给图像显示器1进行显示，并将场景模式2对应的裁切图像发送给图像显示器2进行显示。
又举例来说，假设成像系统包括场景模式1和场景模式2，且成像系统中包括1个图像显示器，则图像处理器可以将场景模式1对应的裁切图像发送给切换为场景模式1的图像显示器1进行显示，将场景模式2对应的裁切图像发送给切换为场景模式2的图像显示器1进行显示。
在一示例中，当成像系统中存在对应多种不同场景模式的图像显示器时，将裁切图 像发送给该图像显示器时，还需要指示当前裁切图像对应的场景模式，以使图像显示器切换为该场景模式，并对接收到的裁切图像进行显示。
需要说明的是，在本申请实施例中，当成像系统中包括多个图像显示器时，该多个图像显示器中的部分或全部可以支持显示多种不同场景模式对应的裁切图像。
例如，假设成像系统支持场景模式1～3，且成像系统包括图像显示器1和图像显示器2，图像显示器1可以通过场景模式切换用于分别显示场景模式1对应的裁切图像和场景模式2对应的裁切图像，图像显示器2用于显示场景模式3对应的裁切图像。
又例如，假设成像系统支持场景模式1～4，且成像系统包括图像显示器1和图像显示器2，图像显示器1可以通过场景模式切换分别用于显示场景模式1对应的裁切图像和场景模式2对应的裁切图像，图像显示器2可以通过场景模式切换用于分别显示场景模式3对应的裁切图像和场景模式4对应的裁切图像。
在一个示例中，图像处理器120可以根据接收到的图像显示指令中携带的场景模式，获取该场景模式下的裁切图像，并通过对应的图像显示器130进行显示，即图像显示的场景模式可以通过图像显示指令通知给图像处理器120。
作为一种可能的实施例，图像处理器120确定不同场景模式对应的裁切图像在图像传感器上的位置信息，可以包括：对于任一场景模式，确定该场景模式对应的裁切图像的视场角；根据该视场角，确定该场景模式对应的裁切图像的尺寸；根据该视场角，以及图像传感器的中心与成像镜头模组的光轴之间的偏置位置，确定该场景模式对应的裁切图像的中心在图像传感器上的位置；根据该场景模式对应的裁切图像的尺寸，以及该裁切图像的中心在图像传感器上的位置，确定该裁切图像在图像传感器上的位置信息。
为了获取不同场景模式下显示的图像，对于任一场景模式，一方面，图像处理器120可以确定该场景模式对应的裁切图像的视场角，并根据该视场角，确定该场景模式对应的裁切图像的尺寸。
示例性的，不同场景模式对应的裁切图像的视场角(包括水平视场角和垂直视场角)可以预先存储在图像处理器120中，图像处理器120获取到裁切图像的视场角之后，可以基于裁切图像的视场角与图像采集单元110的视场角的比例，以及采集到的原始图像的尺寸，确定裁切图像的尺寸。
例如，假设图像采集单元110的水平视场角为120°，裁切图像的水平视场角为60°，即裁切图像的水平视场角与图像采集单元110的水平视场角的比例为1:2，则裁切图像的宽度为采集到的原始图像的1/2。
同理，假设图像采集单元110的垂直视场角为60°，裁切图像的垂直视场角为40°，即裁切图像的垂直视场角与图像采集单元110的垂直视场角的比例为2:3，则裁切图像的高度为采集到的原始图像的2/3。
假设采集到的原始图像的宽度和高度分别为W和H，则裁切图像的宽度和高度分别为W*1/2和H*2/3。
另一方面，图像处理器120可根据该视场角及图像传感器的中心与成像镜头模组的光轴之间的偏置位置，确定该场景模式对应的裁切图像的中心在图像传感器上的位置。
示例性的，图像传感器的中心与成像镜头模组的光轴之间的偏置位置可以预先存储在图像处理器120中，图像处理器获取到该偏置位置之后，可以分别确定水平方向和垂直方向上偏置一个像素对应的角度。
例如，假设未偏置情况下，图像采集单元110的垂直视场角为在-A°至+A°之间，图像传感器的中心相对成像镜头模组的光轴垂直偏置N个像素之后，图像采集单元110的垂直视场角为在-B°至+C°之间(A、B和C均为非负数，且B+C＝2A)，则垂直方向上偏置一个像素对应的角度为|C°-B°|/N。
若某场景模式的垂直视场角为在-D°至+E°之间(D和E为非负数，且D≤B，E≤C)，则该场景模式对应的裁切图像的中心相对图像传感器的中心垂直偏置的像素为：((E°-D°)-(C°-B°)*N/|C°-B°|，若为正数，则向下偏置，若为负数，则向上偏置。同理，如图像传感器的中心相对成像镜头模组的光轴存在水平偏置，可以确定该场景模式对应的裁切图像的中心相对图像传感器的中心水平偏置的像素。
进而，可以确定裁切图像的中心在图像传感器上的位置。
当确定了该场景模式对应的裁切图像的尺寸，以及该裁切图像的中心在图像传感器上的位置，则可以确定该裁切图像在图像传感器上的位置信息。
假设裁切图像的尺寸为a*b，裁切图像的中心坐标为(c，d)，c≥a/2，d≥b/2，则裁切图像的左上顶点的坐标为(c-a/2，d-b/2)，右下顶点的坐标为(c+a/2，d+b/2)，左下顶点的坐标为(c-a/2，d+b/2)，右上顶点的坐标为(c+a/2，d-b/2)。
作为另一种可能的实施例，图像处理器120确定不同场景模式对应的裁切图像在图像传感器上的位置信息，可以包括：对于任一场景模式，根据该场景模式查询预先配置的映射表，以确定该场景模式对应的裁切图像在所述图像传感器上的位置信息；该预先配置的映射表中记录有场景模式与裁切图像在图像传感器上的位置信息的对应关系。
示例性的，为了提高不同场景模式对应的裁切图像在图像传感器上的位置信息的确定效率，可以预先配置不同场景模式对应的裁切图像在图像传感器上的位置信息(可以根据实验结果或经验设定)，并将其以表格(可以称为映射表)的形式存储，进而，在后续流程中，对于任一场景模式，可以基于该场景模式查询预先配置的映射表，确定该场景模式对应的裁切图像在图像传感器上的位置信息。
在一个示例中，上述确定裁切图像在图像传感器上的位置信息之后，还可以包括：基于该位置信息，确定图像采集单元采集的图像中与该位置信息对应的图像区域；根据该图像区域的成像特征信息，对该图像区域的边界进行调整。上述基于该位置信息对图像采集单元采集的图像进行裁切，包括：对边界调整后的图像区域进行裁切。
为了提高裁切图像的成像质量，对于任一场景模式，在按照上述方式确定了该场景模式对应的裁切图像在图像传感器上的位置信息之后，可以根据该位置信息在采集到的原始图像中对应的图像区域的成像特征信息，对采集到的原始图像的该图像区域的边界进行调整，以减少采集到的原始图像的该图像区域内的无效信息或/和提高采集到的原始图像的该图像区域的图像质量。
在一示例中，该成像特征信息可以包括但不限于图像区域内的无效信息占比、图像 畸变程度以及图像暗角区域分布等信息中的一个或多个。
举例来说，以成像特征信息为无效信息占比为例，当图像处理器确定裁切图像的位置信息在采集到的原始图像中对应的图像区域中的无效信息占比超过预设阈值时，可以识别无效信息在该图像区域中的分布，并基于该无效信息在图像区域中的分布，对采集到的原始图像的该图像区域的边界进行调整。
例如，无效信息分布在图像区域的左右两侧，则可以将采集到的原始图像中该图像区域左右边界调整为更靠近中心位置，即将该图像区域左边的边界向右平移，将该图像区域的右边的边界向左平移。
又举例来说，以成像特征信息为图像暗角区域分布信息为例，则可以基于暗角区域分布信息，对采集到的原始图像的该图像区域的边界进行调整，以消除暗角。
例如，暗角区域分布在采集到的原始图像的该图像区域的左下角和右下角，则可以通过将采集到的原始图像的该图像区域的下边界上移，或/和，左右边界调整为更靠近中心位置的方式，消除图像区域的暗角。示例性的，图像处理器120根据裁切图像的位置信息在采集到的图像中的图像区域的成像特征信息，对该图像区域的边界进行调整之后，可以对边界调整后的图像区域进行裁切，以得到相应场景模式对应的裁切图像。
需要说明的是，在本申请实施例中，由于按照上述方式对采集到的原始图像的指定图像区域的边界进行了调整之后，该指定图像区域的分辨率发生了变化，对边界调整后的图像区域进行裁切得到的裁切图像的分辨率也发生了变化。在对裁切图像进行显示之前，可以将该裁切图像的分辨率处理为边界调整前的分辨率，例如，可以通过拉升或插值的方式，将边界调整后的指定图像区域的分辨率处理为调整前的分辨率。
为了使本领域技术人员更好地理解本申请实施例提供的技术方案，下面结合具体实例对本申请实施例提供的成像系统的工作原理进行说明。
在该实施例中，以车载成像系统为例。在该车载成像系统中，图像采集单元为车载后视摄像头，图像处理器为车载后视摄像头中内置的图像处理芯片，图像显示器包括车内后视镜以及中控屏。
车载后视摄像头的图像传感器采用1/2.8”(即芯片的对角线长度为2.8分之1英寸)芯片，分辨率1920×1080；成像镜头模组采用2.1mm镜头(即镜头的焦距为2.1mm)。
在图像传感器的像面与成像镜头模组不存在偏置的情况下，车载后视摄像头的水平视场角为在-62.5°至+62.5°之间，垂直视场角在-32°至+32°之间，即车载后视摄像头的水平视场角被光轴平分，且光轴左侧和右侧各为62.5°，车载后视摄像头的垂直视场角被光轴平分，且光轴上方和下方各为32°。
车内后视镜的长宽比为5:1，中控屏的长宽比为4:3。
在该实施例中，车载成像系统支持流媒体场景模式和倒车场景模式，为了适应不同场景模式的显示需求，车载后视摄像头中的图像传感器的像面与成像镜头模组之间存在垂直偏置，其示意图可以如图6A所示，其中，O S为图像传感器的中心，O L为成像镜头模组的中心，S S为图像传感器的尺寸范围，S L为成像镜头模组的最大成像范围。
基于上述偏置，车载后视摄像头的水平视场角为在-62.5°至+62.5°之间，垂直视场角为在+11.5°至-52.5°之间。
在该实施例中，流媒体场景模式观测范围需要居中对称，且对图像畸变较为敏感，因此，对于流媒体场景模式，可以基于图像传感器的像面与成像镜头模组的偏置位置，确定流媒体场景模式对应的裁切图像的中心在图像传感器上的位置，以使流媒体场景模式对应的裁切图像的中心与成像镜头模组的光轴共轴，保证流媒体场景模式下的图像质量，减少图像畸变。
倒车场景模式观测范围要求不对称，且对图像畸变不敏感，因此，对于倒车场景模式，可以尽量增大车辆后方摄像头光轴水平面以下的视场角，减小车辆后方地面盲区。
此外，由于图像传感器的像面与成像镜头模组存在偏置，车载后视摄像头采集到的图像中会存在暗角(如图6A所示的图像传感器的尺寸范围超出成像镜头模组的最大成像范围的区域)，因此，在场景模式对应的图像区域中存在暗角时，需要基于暗角对该图像区域进行边界调整，以消除暗角。
以图6A所示场景为例，由于图像传感器的像面与成像镜头模组存在偏置，导致倒车场景对应的图像区域会存在暗角(即图中矩形区域超出圆形区域的部分)，为了消除倒车场景对应的图像区域中的暗角，可以将该图像区域的左右边界向靠近中心位置的方向平移，得到如图6B中图像区域(S 倒车)。
基于上述需求，对于流媒体场景模式，图像处理芯片确定的水平视场角为在-62.5°至+62.5°之间，垂直视场角为在-11.5°至+11.5°之间。
对于倒车后视场景，图像处理芯片确定的水平视场角为在-55°至+55°之间，垂直视场角为在+11.5°至-52.5°之间。
示例性的流媒体场景模式以及倒车场景模式的视场角(包括水平视场角和垂直视场角)的示意图可以如图7和图8A～8C所示。
其中，图8A所示的为实车视角分布示意图的侧视图；图8B所示的为实车视角分布示意图的俯视图；图8C所示的为实车视角分布示意图的后视图。
流媒体场景模式对应的裁切图像在图像传感器中的位置信息，以及倒车场景模式对应的裁切图像在图像传感器中的位置信息可以如图6B所示，其中，流媒体场景模式对应的裁切图像在图像传感器中的位置与倒车场景模式对应的裁切图像在图像传感器中的位置存在重叠；流媒体场景模式对应的裁切图像的分辨率为1920×384，即图像大小为1920像素×384像素；倒车场景模式对应的裁切图像的分辨率为1750×1080。
在该实施例中，图像处理器可以根据待显示的场景模式，基于该场景模式下的裁切图像在图像传感器中的位置信息，对采集到的图像进行裁切，并将裁切图像发送至对应的图像显示器中显示。
在一示例中，对于流媒体场景模式对应的裁切图像，可以通过车内后视镜进行显示；对于倒车场景模式对应的裁切图像，可以通过中控屏进行显示。
举例来说，当车辆正常行驶时，可以触发车载成像系统获取流媒体场景模式对 应的裁切图像。
例如，向车载后视摄像头中的图像处理芯片发送针对流媒体场景模式的裁切图像的图像显示指令，该图像显示指令中携带流媒体场景模式的标识信息；图像处理芯片接收到该图像显示指令，确定当前工作的场景模式为流媒体场景模式，此时，图像处理芯片可以确定流媒体场景模式对应的裁切图像在图像传感器上的位置信息，并基于该位置信息对车载后视摄像头采集的图像进行裁切，得到流媒体场景模式对应的裁切图像，进而，将该流媒体场景模式对应的裁切图像传输至车内后视镜，由车内后视镜对接收到的裁切图像进行显示。
当车辆倒车时，可以触发车载成像系统获取倒车场景模式对应的裁切图像。
例如，向车载后视摄像头中的图像处理芯片发送针对倒车场景模式的裁切图像的图像显示指令，该图像显示指令中携带倒车场景模式的标识信息；图像处理芯片接收到该图像显示指令，确定当前工作的场景模式为倒车场景模式，此时，图像处理芯片可以确定倒车场景模式对应的裁切图像在图像传感器上的位置信息，并基于该位置信息对车载后视摄像头采集的图像进行裁切，得到倒车场景模式对应的裁切图像，进而，将该倒车场景模式对应的裁切图像传输至中控屏，由中控屏对接收到的裁切图像进行显示。
请参见图9，为本申请实施例提供的一种成像方法的流程示意图，如图9所示，该成像方法可以包括以下步骤：
步骤S900、图像采集单元采集图像。
在一实施例中，以车载成像系统为例。图像采集单元为车载后视摄像头，图像处理器为车载后视摄像头中内置的图像处理芯片，图像显示器包括车内后视镜以及中控屏。车辆运行时，车载后视摄像头采集车辆后方的图像/视频。步骤S910、图像处理器确定不同场景模式对应的裁切图像在图像传感器上的位置信息，并基于该位置信息对所述图像采集单元采集的图像进行裁切，以得到不同场景模式对应的裁切图像。
在车辆行驶过程中，获取车辆后方的路况、车况，此时为流媒体场景；在倒车时，获取车辆后方(通常为停车位)是否存在障碍物等，此时为倒车场景。
在一实施例中，不同场景模式对应的裁切图像在图像传感器上的位置信息可以以映射表的形式预先配置在成像系统。车辆正常行驶时，车载后视摄像头中内置的图像处理芯片可以通过预先配置的映射表确定流媒体场景对应的裁切图像在图像传感器上的位置信息，并基于该位置信息对所述车载后视摄像头采集的图像进行裁切，以得到流媒体场景对应的裁切图像；倒车时，车载后视摄像头中内置的图像处理芯片可以通过预先配置的映射表确定倒车场景对应的裁切图像在图像传感器上的位置信息，并基于该位置信息对所述车载后视摄像头采集的图像进行裁切，以得到倒车场景对应的裁切图像。
在一实施例中，车辆正常行驶时，车载后视摄像头中内置的图像处理芯片可以确定流媒体场景对应的裁切图像的视场角，根据该视场角确定流媒体场景对应的裁切图像的尺寸，根据该视场角以及图像传感器的中心与成像镜头模组的光轴之间的偏置位置，确定流媒体场景对应的裁切图像的中心在图像传感器上的位置，然后根据流媒体场景对应的裁切图像的尺寸以及该裁切图像的中心在图像传感器上的位置，确定该裁切图 像在图像传感器上的位置信息。
在一实施例中，车辆倒车时，车载后视摄像头中内置的图像处理芯片可以确定倒车场景对应的裁切图像的视场角，根据该视场角确定倒车场景对应的裁切图像的尺寸，根据该视场角以及图像传感器的中心与成像镜头模组的光轴之间的偏置位置，确定倒车场景对应的裁切图像的中心在图像传感器上的位置，然后根据倒车场景对应的裁切图像的尺寸以及该裁切图像的中心在图像传感器上的位置，确定该裁切图像在图像传感器上的位置信息。
步骤S920、图像处理器基于场景模式，将得到的裁切图像传输至对应的图像显示器。
在一示例中，不同场景模式对应的图像显示器可以不同；或者，可以由同一图像显示器通过场景模式切换的方式，显示不同场景模式的裁切图像。
在一示例中，当车辆正常行驶时，车载后视摄像头中内置的图像处理芯片基于媒体流场景，将得到的裁切图像传输至车内后视镜；在倒车时，车载后视摄像头中内置的图像处理芯片基于倒车场景，将得到的裁切图像传输至中控屏。
步骤S930、图像显示器对接收到的裁切图像进行显示。
正常行驶时，车内后视镜对接收到的车辆后方路况、车况图像/媒体流进行显示；倒车时，中控屏对接收到的车辆后下方的图像/媒体流进行显示。
在本申请实施例中，为了适应不同场景的成像需求，图像采集单元中的图像传感器的中心与图像采集单元中的成像镜头模组的光轴不共轴，而是存在水平和/或垂直方向上的偏移，即图像传感器的像面相对成像镜头模组存在偏置，形成偏置光路系统。
由于图像传感器的像面相对成像镜头模组存在偏置，因此，图像采集单元的视场角不对称。
例如，若图像传感器的像面相对成像镜头模组存在垂直向下的偏置，则以成像镜头模组的光轴为基准，上半部分的视场角会大于下半部分的视场角，且图像传感器的像面相对成像镜头模组向下偏置的幅度越多，上半部分的视场角与下半部分的视场角偏差越大。
基于上述偏置光路系统，图像传感器的像面可分割为不同区域，实现不同视野范围的图像采集，匹配不同应用场景需求。由于偏置的视场角会存在畸变不对称的情况，因此，对于观测范围需要居中的场景需求，可以从图像传感器的像面裁切居中的显示区域中的图像，保障图像效果。而对于观测范围不要求对称、畸变不敏感的场景需求，可以从图像传感器的像面裁切偏置的显示区域中的图像，减小无效信息，增大场景重点关注方向的视场角。
示例性的，图像传感器的像面的分割方式可以包括水平方向上分割为不同区域、垂直方向上分割为不同区域，以及水平和垂直方向上分割为不同区域。分割后的区域的数量可以为两块或多块，以适应不同显示场景需求。
本申请实施例中，基于上述偏置光路系统，为了适应不同场景模式的显示需求， 对于图像采集单元采集到的原始图像，可以基于需要显示的场景模式对该图像进行裁切，得到该场景模式下需要显示的图像(即裁切图像)。
相应地，图像处理器可以确定不同场景模式对应的裁切图像在图像传感器上的位置信息，并基于该位置信息对图像采集单元采集的图像进行裁切，以得到不同场景模式对应的裁切图像。
不同场景模式对应的裁切图像在图像传感器上的位置信息可以预先配置在成像系统。
例如，可以根据图像采集单元(如车载摄像头)在车辆上的安装位置信息、图像采集单元中像面相对成像镜头模组的偏置位置关系，以及不同场景模式下的图像显示需求，确定不同场景模式对应的裁切图像在图像传感器的像面上的位置信息。
本申请实施例中描述的裁切图像在图像传感器上的位置信息是指裁切图像在图像传感器的像面上的位置信息，例如，以图像传感器的像面的左上顶点为坐标原点，水平向右为横坐标轴正向，竖直向下为纵坐标轴正向的坐标系中的坐标信息。
在一示例中，成像系统可以支持至少两个场景模式，不同场景模式对应的裁切图像在图像传感器上的位置信息不完全相同。
假设成像系统支持两个场景模式，则不同场景模式对应的裁切图像在图像传感器上的位置信息不同。
假设成像系统支持三个场景模式，则该三个不同场景模式对应的裁切图像在图像传感器上的位置信息可以各不相同，或者，其中两个场景模式对应的裁切图像在图像传感器上的位置信息相同，剩余一个场景模式对应的裁切图像在图像传感器上的位置信息与该两个场景模式对应的裁切图像在图像传感器上的位置信息不同。
例如，成像系统支持的场景模式包括场景模式1～3，场景模式1和2对应的裁切图像在图像传感器上的位置信息相同，而场景模式3对应的裁切图像在图像传感器上的位置信息，与场景1和2对应的裁切图像在图像传感器上的位置信息不同。
图像处理器得到不同场景模式对应的裁切图像时，还可以基于场景模式，将得到的裁切图像传输至对应的图像显示器，由图像显示器对接收到的裁切图像进行显示。
不同场景模式对应的图像显示器可以不同；或者，可以由同一图像显示器通过场景模式切换的方式，显示不同场景模式的裁切图像。
假设成像系统包括场景模式1和场景模式2，且成像系统中包括图像显示器1和图像显示器2，图像显示器1对应场景模式1，图像显示器2对应场景模式2，则图像处理器可以将场景模式1对应的裁切图像发送给图像显示器1进行显示，并将场景模式2对应的裁切图像发送给图像显示器2进行显示。
假设成像系统包括场景模式1和场景模式2，且成像系统中包括1个图像显示器，则图像处理器可以将场景模式1对应的裁切图像发送给切换为场景模式1的图像显示器1进行显示，将场景模式2对应的裁切图像发送给切换为场景模式2的图像显示器1进行显示。
在一示例中，当成像系统中存在对应多种不同场景模式的图像显示器时，将裁切图像发送给该图像显示器时，还需要指示当前裁切图像对应的场景模式，以使图像显示器切换为该场景模式，并对接收到的裁切图像进行显示。
在本申请实施例中，当成像系统中包括多个图像显示器时，该多个图像显示器中的部分或全部可以支持显示多种不同场景模式对应的裁切图像。
例如，假设成像系统支持场景模式1～3，且成像系统包括图像显示器1和图像显示器2，图像显示器1可以通过场景模式切换用于分别显示场景模式1对应的裁切图像和场景模式2对应的裁切图像，图像显示器2用于显示场景模式3对应的裁切图像。
又例如，假设成像系统支持场景模式1～4，且成像系统包括图像显示器1和图像显示器2，图像显示器1可以通过场景模式切换分别用于显示场景模式1对应的裁切图像和场景模式2对应的裁切图像，图像显示器2可以通过场景模式切换用于分别显示场景模式3对应的裁切图像和场景模式4对应的裁切图像。
作为一种可能的实施例，如图10所示，步骤S910中，图像处理器确定不同场景模式对应的裁切图像在图像传感器上的位置信息，可以通过以下步骤实现：
步骤S911、对于任一场景模式，确定该场景模式对应的裁切图像的视场角。
在一示例中，对于流媒体场景，车载后视摄像头中内置的图像处理芯片确定的裁切图像的水平视场角为在-62.5°至+62.5°之间，垂直视场角为在-11.5°至+11.5°之间；对于倒车场景，车载后视摄像头中内置的图像处理芯片确定的裁切图像的水平视场角为在-55°至+55°之间，垂直视场角为在+11.5°至-52.5°之间。
步骤S912、根据该视场角，确定该场景模式对应的裁切图像的尺寸。
在一示例中，车载后视摄像头的水平视场角为在-62.5°至+62.5°之间，垂直视场角为在+11.5°至-52.5°之间。因此，对于流媒体场景，裁切图像的宽度为采集到的原始图像宽度，高度为采集到的原始图像高度的23/64；对于倒车场景，裁切图像的宽度为0.88*原始图像宽度，高度为采集到的原始图像高度。
步骤S913、根据该视场角，以及图像传感器的中心与成像镜头模组的光轴之间的偏置位置，确定该场景模式对应的裁切图像的中心在图像传感器上的位置。
在图像传感器的像面与成像镜头模组不存在偏置的情况下，车载后视摄像头的水平视场角为在-62.5°至+62.5°之间，垂直视场角在-32°至+32°之间。偏置后，车载后视摄像头的水平视场角为在-62.5°至+62.5°之间，垂直视场角为在+11.5°至-52.5°之间。
若图像传感器的中心相对成像镜头模组的光轴水平偏置20个像素之后，车载后视摄像头的水平场视角为在-63.5°至+61.5°之间，则水平方向上偏置一个像素对应的角度为0.1；若图像传感器的中心相对成像镜头模组的光轴垂直偏置10个像素之后，后视摄像头的垂直视场角为在-33°至+31°之间，则垂直方向上偏置一个像素对应的角度为0.2。
对于流媒体场景，车载后视摄像头中内置的图像处理芯片确定的裁切图像的水 平视场角为在-62.5°至+62.5°之间，垂直视场角为在-11.5°至+11.5°之间，那么，流媒体场景对应的裁切图像的中心相对图像传感器的中心垂直偏置的像素为10，流媒体场景对应的裁切图像的中心相对图像传感器的中心水平偏置的像素为0。
对于倒车场景，车载后视摄像头中内置的图像处理芯片确定的水平视场角为在-55°至+55°之间，垂直视场角为在+11.5°至-52.5°之间，那么，倒车场景对应的裁切图像的中心相对图像传感器的中心垂直偏置的像素为205，倒车场景对应的裁切图像的中心相对图像传感器的中心水平偏置的像素为0。
步骤S914、根据该场景模式对应的裁切图像的尺寸，以及该裁切图像的中心在图像传感器上的位置，确定该裁切图像在图像传感器上的位置信息。
若图像传感器的像面的尺寸为1920×1080，以图像传感器的像面的左上顶点为坐标原点，水平向右为横坐标轴正向，竖直向下为纵坐标轴正向，则图像传感器的中心的坐标为(960,540)。
对于流媒体场景，对应的裁切图像的中心的坐标为(960,550)。若裁切图像的尺寸为1920×384，则裁切图像的左上顶点的坐标为(0,358)，右下顶点的坐标为(1920,742)，左下顶点的坐标为(0,742)，右上顶点的坐标为(1920,358)。
对于倒车场景，对应的裁切图像的中心的坐标为(960,745)。若裁切图像的尺寸为1750×1080，则裁切图像的左上顶点的坐标为(85,205)，右下顶点的坐标为(1835,1285)，左下顶点的坐标为(85,1285)，右上顶点的坐标为(1835,205)。
为了获取不同场景模式下显示的图像，对于任一场景模式，一方面，图像处理器可以确定该场景模式对应的裁切图像的视场角，并根据该视场角，确定该场景模式对应的裁切图像的尺寸。
示例性的，不同场景模式对应的裁切图像的视场角(包括水平视场角和垂直视场角)可以预先存储在图像处理器120中，图像处理器120获取到裁切图像的视场角之后，可以基于裁切图像的视场角与图像采集单元110的视场角的比例，以及采集到的原始图像的尺寸，确定裁切图像的尺寸。
另一方面，图像处理器可以根据该视场角以及图像传感器的中心与成像镜头模组的光轴之间的偏置位置，确定该场景模式对应的裁切图像的中心在图像传感器上的位置。
示例性的，图像传感器的中心与成像镜头模组的光轴之间的偏置位置可以预先存储在图像处理器120中，图像处理器获取到该偏置位置之后，可以分别确定水平方向和垂直方向上偏置一个像素对应的角度。
进而，可以确定裁切图像的中心在图像传感器上的位置。
当确定了该场景模式对应的裁切图像的尺寸，以及该裁切图像的中心在图像传感器上的位置，则可以确定该裁切图像在图像传感器上的位置信息。
举例来说，假设裁切图像的尺寸为a*b，裁切图像的中心坐标为(c，d)，c≥a/2，d≥b/2，则裁切图像的左上顶点的坐标为(c-a/2，d-b/2)，右下顶点的坐标为(c+a/2， d+b/2)，左下顶点的坐标为(c-a/2，d+b/2)，右上顶点的坐标为(c+a/2，d-b/2)。
作为另一种可能的实施例，步骤S910中，图像处理器确定不同场景模式对应的裁切图像在图像传感器上的位置信息，可以包括：
对于任一场景模式，根据该场景模式查询预先配置的映射表，以确定该场景模式对应的裁切图像在所述图像传感器上的位置信息；该预先配置的映射表中记录有场景模式与裁切图像在图像传感器上的位置信息的对应关系。
示例性的，为了提高不同场景模式对应的裁切图像在图像传感器上的位置信息的确定效率，可以预先配置不同场景模式对应的裁切图像在图像传感器上的位置信息(可以根据实验结果或经验设定)，并将其以表格(可以称为映射表)的形式存储，进而，在后续流程中，对于任一场景模式，可以基于该场景模式查询预先配置的映射表，确定该场景模式对应的裁切图像在图像传感器上的位置信息。
在一个示例中，如图11所示，步骤S914中，确定裁切图像在图像传感器上的位置信息之后，还可以包括以下步骤：
步骤S915、基于该位置信息，确定图像采集单元采集的图像中与该位置信息对应的图像区域。
在一示例中，对于流媒体场景，确定车载后视摄像头采集的图像中(0,358)、(0,742)、(1920,358)和(1920,742)四个点为顶点的四边形对应的图像区域；对于倒车场景，确定车载后视摄像头采集的图像中(85,205)、(85,1285)、(1835,205)和(1835,1285)四个点为顶点的四边形对应的图像区域。
步骤S916、根据该图像区域的成像特征信息，对该图像区域的边界进行调整。
在一示例中，成像特征信息可以包括但不限于图像区域内的无效信息占比、图像畸变程度以及图像暗角区域分布等信息中的一个或多个。
在一示例中，当车载后视摄像头内置的图像处理芯片确定裁切图像的位置信息在采集到的原始图像中对应的图像区域中的无效信息占比超过预设阈值时，可以识别无效信息在该图像区域中的分布，若无效信息分布在图像区域的左右两侧，则可以将采集到的原始图像中该图像区域左右边界调整为更靠近中心位置，即将该图像区域左边的边界向右平移，将该图像区域的右边的边界向左平移。
在一示例中，车载后视摄像头内置的图像处理芯片确定裁切图像的位置信息在采集到的原始图像中对应的图像区域中暗角区域分布在该图像区域的左下角和右下角，则可以通过将采集到的原始图像的该图像区域的下边界上移，或/和，左右边界调整为更靠近中心位置的方式，消除图像区域的暗角。
步骤S910中，基于该位置信息对图像采集单元采集的图像进行裁切，可以包括：
对边界调整后的图像区域进行裁切。
示例性的，为了提高裁切图像的成像质量，对于任一场景模式，在按照上述方式确定了该场景模式对应的裁切图像在图像传感器上的位置信息之后，可以根据该位置信息在采集到的原始图像中对应的图像区域的成像特征信息，对采集到的原始图像该图 像区域的边界进行调整，以减少采集到的原始图像的该图像区域内的无效信息或/和提高采集到的原始图像的该图像区域的图像质量。
在一示例中，该成像特征信息可以包括但不限于图像区域内的无效信息占比、图像畸变程度以及图像暗角区域分布等信息中的一个或多个。
举例来说，以成像特征信息为无效信息占比为例，当图像处理器确定裁切图像的位置信息在采集到的原始图像中对应的图像区域中的无效信息占比超过预设阈值时，可以识别无效信息在该图像区域中的分布，并基于该无效信息在图像区域中的分布，对采集到的原始图像的该图像区域的边界进行调整。
例如，无效信息分布在图像区域的左右两侧，则可以将采集到的原始图像中该图像区域左右边界调整为更靠近中心位置。
又举例来说，以成像特征信息为图像暗角区域分布信息为例，则可以基于暗角区域分布信息，对采集到的原始图像的该图像区域的边界进行调整，以消除暗角。
例如，暗角区域分布在采集到的原始图像的该图像区域的左下角和右下角，则可以通过将采集到的原始图像的该图像区域的下边界上移，或/和，左右边界调整为更靠近中心位置的方式，消除图像区域的暗角。
示例性的，图像处理器根据裁切图像的位置信息在采集到的图像中的图像区域的成像特征信息，对该图像区域的边界进行调整之后，可以对边界调整后的图像区域进行裁切，以得到相应场景模式对应的裁切图像。
需要说明的是，在本申请实施例中，由于按照上述方式对采集到的原始图像的指定图像区域的边界进行了调整之后，该指定图像区域的分辨率发生了变化，对边界调整后的图像区域进行裁切得到的裁切图像的分辨率也发生了变化。在对裁切图像进行显示之前，可以将该裁切图像的分辨率处理为边界调整前的分辨率，例如，可以通过拉升或插值的方式，将边界调整后的指定图像区域的分辨率处理为调整前的分辨率。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上所述仅为本申请的较佳实施例而已，并不用以限制本申请，凡在本申请的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本申请保护的范围之内。

Claims (20)

  1. 一种成像系统，包括：
    图像采集单元，所述图像采集单元中的图像传感器的中心与所述图像采集单元中的成像镜头模组的光轴之间存在偏置，所述图像采集单元用于采集图像；
    图像处理器，用于确定不同场景模式对应的裁切图像在所述图像传感器上的位置信息，并基于该位置信息对所述图像采集单元采集的图像进行裁切，以得到不同场景模式对应的裁切图像，所述成像系统支持至少两个场景模式，不同场景模式对应的裁切图像在所述图像传感器上的位置信息不完全相同，所述图像处理器还用于基于场景模式，将得到的裁切图像传输至对应的图像显示器；以及
    所述图像显示器，用于对接收到的裁切图像进行显示。
  2. 根据权利要求1所述的成像系统，其中，所述图像处理器确定不同场景模式对应的裁切图像在所述图像传感器上的位置信息，包括：
    对于任一场景模式，
    确定该场景模式对应的裁切图像的视场角；
    根据该视场角，确定该场景模式对应的裁切图像的尺寸；
    根据该视场角，以及所述图像传感器的中心与所述成像镜头模组的光轴之间的偏置位置，确定该场景模式对应的裁切图像的中心在所述图像传感器上的位置；
    根据该场景模式对应的裁切图像的尺寸，以及该裁切图像的中心在所述图像传感器上的位置，确定该裁切图像在所述图像传感器上的位置信息。
  3. 根据权利要求1所述的成像系统，其中，所述图像处理器确定不同场景模式对应的裁切图像在所述图像传感器上的位置信息，包括：
    对于任一场景模式，根据该场景模式查询预先配置的映射表，以确定该场景模式对应的裁切图像在所述图像传感器上的位置信息；
    所述预先配置的映射表中记录有场景模式与裁切图像在图像传感器上的位置信息的对应关系。
  4. 根据权利要求1-3中任一项所述的成像系统，其中，
    所述图像处理器确定不同场景模式对应的裁切图像在所述图像传感器上的位置信息之后，还包括：
    基于所述位置信息，确定所述图像采集单元采集的图像中与该位置信息对应的图像区域；
    根据所述图像区域的成像特征信息，对所述图像区域的边界进行调整；
    所述图像处理器基于该位置信息对所述图像采集单元采集的图像进行裁切，包括：
    对边界调整后的图像区域进行裁切。
  5. 根据权利要求4所述的成像系统，其中，所述图像区域的成像特征信息包括以下之一或多个：
    所述图像区域内的无效信息占比，
    图像畸变程度，以及
    图像暗角区域分布。
  6. 根据权利要求4所述的成像系统，其中，所述图像处理器还用于将该裁切图像的分辨率处理为边界调整前的分辨率。
  7. 根据权利要求1-6任一项所述的成像系统，其中，
    不同场景模式对应不同的图像显示器；或，
    不同场景模式对应相同的图像显示器。
  8. 根据权利要求1-6任一项所述的成像系统，其中，当所述成像系统中包括多个图像显示器时，所述多个图像显示器中的部分或全部支持显示多种不同场景模式对应的裁切图像。
  9. 根据权利要求1所述的成像系统，其中，所述图像处理器配置为接收图像显示指令，所述图像显示指令包括图像显示的场景模式的信息。
  10. 根据权利要求1-3任一项所述的成像系统，其中，
    所述图像采集单元包括车载后视摄像头，
    所述图像显示器包括车内后视镜和中控屏，
    所述图像处理器确定不同场景模式对应的裁切图像在所述图像传感器上的位置信息，包括：
    确定流媒体场景模式对应的裁切图像在所述图像传感器上的位置信息，并基于该位置信息对所述车载后视摄像头采集的图像进行裁切，以得到流媒体场景模式对应的裁切图像；或，
    确定倒车场景模式对应的裁切图像在所述图像传感器上的位置信息，并基于该位置信息对所述车载后视摄像头采集的图像进行裁切，以得到倒车场景模式对应的裁切图像。
  11. 根据权利要求10所述的成像系统，其中，所述图像处理器基于场景模式，将得到的裁切图像传输至对应的图像显示器，包括：
    将流媒体场景模式对应的裁切图像发送给所述车内后视镜；或，
    将倒车场景模式对应的裁切图像发送给所述中控屏。
  12. 一种成像方法，应用于成像系统，所述成像系统包括图像采集单元、图像处理器以及图像显示器，所述图像采集单元中的图像传感器的中心与所述图像采集单元中的成像镜头模组的光轴之间存在偏置，所述方法包括：
    所述图像采集单元采集图像；
    所述图像处理器确定不同场景模式对应的裁切图像在所述图像传感器上的位置信息，并基于该位置信息对所述图像采集单元采集的图像进行裁切，以得到不同场景模式对应的裁切图像；其中，所述成像系统支持至少两个场景模式，不同场景模式对应的裁切图像在所述图像传感器上的位置信息不完全相同；
    所述图像处理器基于场景模式，将得到的裁切图像传输至对应的图像显示器；
    所述图像显示器对接收到的裁切图像进行显示。
  13. 根据权利要求12所述的方法，其中，所述图像处理器确定不同场景模式对应的裁切图像在所述图像传感器上的位置信息，包括：
    对于任一场景模式，确定该场景模式对应的裁切图像的视场角；
    根据该视场角，确定该场景模式对应的裁切图像的尺寸；
    根据该场景模式，以及所述图像传感器的中心与所述成像镜头模组的光轴之间的偏置位置，确定该场景模式对应的裁切图像的中心在所述图像传感器上的位置；
    根据该场景模式对应的裁切图像的尺寸，以及该裁切图像的中心在所述图像传 感器上的位置，确定该裁切图像在所述图像传感器上的位置信息。
  14. 根据权利要求12所述的方法，其中，所述图像处理器确定不同场景模式对应的裁切图像在所述图像传感器上的位置信息，包括：
    对于任一场景模式，根据该场景模式查询预先配置的映射表，以确定该场景模式对应的裁切图像在所述图像传感器上的位置信息；所述预先配置的映射表中记录有场景模式与裁切图像在图像传感器上的位置信息的对应关系。
  15. 根据权利要求12-14中任一项所述的方法，其中，
    所述图像处理器确定不同场景模式对应的裁切图像在图像传感器上的位置信息之后，还包括：
    基于所述位置信息，确定所述图像采集单元采集的图像中与该位置信息对应的图像区域；
    根据所述图像区域的成像特征信息，对所述图像区域的边界进行调整；
    所述图像处理器基于该位置信息对所述图像采集单元采集的图像进行裁切，包括：
    对边界调整后的图像区域进行裁切。
  16. 根据权利要求15所述的方法，其中，所述图像区域的成像特征信息包括以下之一或多个：
    所述图像区域内的无效信息占比，
    图像畸变程度，以及
    图像暗角区域分布。
  17. 根据权利要求15所述的方法，还包括：
    所述图像处理器将该裁切图像的分辨率处理为边界调整前的分辨率。
  18. 根据权利要求12-17任一项所述的方法，其中，
    不同场景模式对应不同的图像显示器；或，
    不同场景模式对应相同的图像显示器。
  19. 根据权利要求12-17任一项所述的方法，其中，当所述成像系统中包括多个图像显示器时，所述多个图像显示器中的部分或全部支持显示多种不同场景模式对应的裁切图像。
  20. 根据权利要求12所述的方法，其中，所述图像处理器接收图像显示指令，所述图像显示指令包括图像显示的场景模式的信息。
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