CN111325201A - Image processing method and device, movable equipment, unmanned aerial vehicle remote controller and system - Google Patents
Image processing method and device, movable equipment, unmanned aerial vehicle remote controller and system Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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Abstract
The embodiment of the invention discloses an image processing method and device, movable equipment, an unmanned aerial vehicle remote controller and an unmanned aerial vehicle system, which are used for providing a method capable of simultaneously and smoothly processing a plurality of image functions and a method for processing a tracking frame in an image. The method provided by the embodiment of the invention comprises the following steps: converting a source image data stream into at least two sub-image data streams; and processing a first sub-image data stream of the sub-image data streams through a Central Processing Unit (CPU), and processing a second sub-image data stream of the sub-image data streams through a Graphics Processing Unit (GPU). The embodiment of the invention also provides an image processing device, a movable device, an unmanned aerial vehicle remote controller and an unmanned aerial vehicle system, which can simultaneously and smoothly process a plurality of image functions, process the size of a tracking frame set by a user in the image of a tracked target and send a prompt. The position of the fiducial points in the tracking frame may also be adjusted.
Description
The present application is a divisional application of an invention with application number 201610799109.5 filed in 2016, 08 and 31 months, and including an image processing method, an image processing device, a mobile device, an unmanned aerial vehicle remote controller, and an unmanned aerial vehicle remote control system
Technical Field
The invention relates to the technical field of images, in particular to an image processing method, an image processing device, a movable device, an unmanned aerial vehicle remote controller and an unmanned aerial vehicle system.
Background
At present, the video functions of recording, live broadcasting, displaying, tracking a target and the like by using an intelligent terminal and a matched mobile device are more and more common. For example, images acquired by a matched unmanned aerial vehicle or a handheld cloud deck can be watched through the intelligent terminal. However, in the prior art, in the process of simultaneously carrying out a plurality of video data processing tasks such as video recording, live broadcasting, display, target tracking and the like, the problem that the video data stream cannot simultaneously support the simultaneous carrying out of the plurality of tasks exists. In addition, in the image of the tracking target, if the tracking frame set by the user has improper size setting, correct and effective prompt cannot be given. When the target is tracked, the selected reference point is inaccurate when the target is tracked due to the time variation of the composition central point, so that the task of tracking the target fails.
Disclosure of Invention
The embodiment of the invention provides an image processing method, an image processing device, a movable device, an unmanned aerial vehicle remote controller and an unmanned aerial vehicle system, which are used for providing a method capable of simultaneously and smoothly processing a plurality of image functions, a size processing and prompting method for a tracking frame in an image and an adjusting method for a reference point of the tracking frame.
In view of the above, a first aspect of the present invention provides an image processing method, including:
converting a source image data stream into at least two sub-image data streams;
a first sub-image data stream of the sub-image data streams is processed by a Central Processing Unit (CPU), and a second sub-image data stream of the sub-image data streams is processed by a Graphics Processing Unit (GPU).
With reference to the first aspect, in a first possible implementation manner of the present invention, before processing a first sub-image data stream of a sub-image data stream by a central processing unit CPU and processing a second sub-image data stream of the sub-image data stream by a graphics processing unit GPU, the method further includes:
and transmitting the first sub-image data stream to a CPU Buffer, and transmitting the second sub-image data stream to a GPU Buffer.
With reference to the first aspect and the first possible implementation manner of the first aspect, in a second possible implementation manner of the present invention, the first sub video data stream includes a video and live data stream, and/or the second sub video data stream includes a data stream for displaying and tracking a target.
With reference to the first aspect and the first to second possible implementation manners of the first aspect, in a third possible implementation manner of the present invention, the second sub-image data stream includes a data stream of a tracking target, and the image processing method further specifically includes:
and judging whether the size of the tracking frame for tracking the target meets a first preset condition or not according to the preset condition.
With reference to the first aspect and the first to third possible implementation manners of the first aspect, in a fourth possible implementation manner of the present invention, the first preset condition is:
if the ratio of the width pixel value to the length pixel value or the ratio of the length pixel value to the width pixel value of the tracking frame is smaller than a first preset threshold value, further judging the product of the width pixel value and the length pixel value;
and if the ratio of the width pixel value to the length pixel value or the ratio of the length pixel value to the width pixel value of the tracking frame is larger than a first preset threshold value, adjusting the width pixel value and/or the length pixel value.
With reference to the first aspect and the first to fourth possible implementation manners of the first aspect, in a fifth possible implementation manner of the present invention, if a ratio of a width pixel value to a length pixel value of the tracking frame or a ratio of a length pixel value to a width pixel value is smaller than a first predetermined threshold, further determining a magnitude of a product of the width pixel value and the length pixel value, specifically includes:
if the product of the pixel value of the width and the pixel value of the length is less than a second predetermined threshold, the tracking frame is prompted to be too small.
With reference to the first aspect and the first to fifth possible implementation manners of the first aspect, in a sixth possible implementation manner of the present invention, if a ratio of a pixel value of the width to a pixel value of the length of the tracking frame or a ratio of a pixel value of the length to a pixel value of the width of the tracking frame is greater than a first predetermined threshold, adjusting the pixel value of the width and/or the pixel value of the length specifically includes:
if the width pixel value is larger, increasing the length pixel value to the ratio of the width pixel value to the first preset threshold value;
if the length pixel value is larger, the width pixel value is increased to the ratio of the length pixel value to the first predetermined threshold value.
With reference to the first aspect and the first to sixth possible implementation manners of the first aspect, in a seventh possible implementation manner of the present invention, the first preset condition is:
if the product of the width pixel value and the length pixel value is smaller than a second preset threshold value, prompting that the tracking frame is too small;
if the product of the pixel value of the width and the pixel value of the length is greater than a second predetermined threshold, it is checked whether the ratio of the pixel value of the width and the pixel value of the length or the ratio of the pixel value of the length and the pixel value of the width is less than the first predetermined threshold.
With reference to the first aspect and the first to seventh possible implementation manners of the first aspect, in an eighth possible implementation manner of the present invention, if a product of a pixel value of the width and a pixel value of the length is greater than a second predetermined threshold, checking whether a ratio of the pixel value of the width to the pixel value of the length or a ratio of the pixel value of the length to the pixel value of the width is smaller than the first predetermined threshold, specifically includes:
if the ratio of the pixel value of the width to the pixel value of the length or the ratio of the pixel value of the width to the pixel value of the length of the tracking frame is greater than a first predetermined threshold,
if the width pixel value is larger, increasing the length pixel value to the ratio of the width pixel value to the first preset threshold value;
if the length pixel value is larger, the width pixel value is increased to the ratio of the length pixel value to the first predetermined threshold value.
With reference to the first aspect and the first to eighth possible implementation manners of the first aspect, in a ninth possible implementation manner of the present invention, the tracking frame is rectangular, polygonal, elliptical, or circular, the width is a maximum dimension of the tracking frame in the width direction, and the length is a maximum dimension of the tracking frame in the length direction.
With reference to the first aspect and the first to ninth possible implementation manners of the first aspect, in a tenth possible implementation manner of the present invention, before determining whether the wide pixel value and the high pixel value of the tracking frame satisfy the first preset condition, the method further includes:
when displaying the image frame of the data stream for tracking the target, generating a tracking frame according to the action information of the user.
With reference to the first aspect and the first to tenth possible implementation manners of the first aspect, in an eleventh possible implementation manner of the present invention, the second sub-image data stream includes a data stream of a tracking target, and the image processing method further specifically includes:
calculating the central point data of the received image frame of the data stream for tracking the target at intervals of a preset fixed period;
and updating the reference point position of the image frame of the data stream for tracking the target according to the central point data.
With reference to the first aspect and the first to eleventh possible implementation manners of the first aspect, in a twelfth possible implementation manner of the present invention, updating the reference point position of the image frame of the data stream used for tracking the target according to the center point data includes:
comparing the offset of the coordinate of the datum point position and the central point data;
and adjusting the coordinates of the reference point position according to the offset.
The second aspect of the present invention provides an image processing apparatus, the image processing apparatus comprising:
the conversion module is used for converting the source image data stream into at least two sub-image data streams;
and the processing module is used for processing a first sub-image data stream of the sub-image data stream through the central processing unit CPU and processing a second sub-image data stream of the sub-image data stream through the graphic processing unit GPU.
With reference to the second aspect, in a first possible implementation manner of the present invention, the image processing apparatus further includes:
and the transmission module is used for transmitting the first sub-image data stream to a CPU Buffer and transmitting the second sub-image data stream to a GPU Buffer.
With reference to the second aspect and the first possible implementation manner of the second aspect, in a second possible implementation manner of the present invention, the first sub-video data stream includes a video and live data stream, and/or the second sub-video data stream includes a data stream for displaying and tracking a target.
With reference to the second aspect and the first to second possible implementation manners of the second aspect, in a third possible implementation manner of the present invention, the second sub-image data stream includes a data stream of a tracking target, and the image processing apparatus further includes:
and the first judgment module is used for judging whether the size of the tracking frame for tracking the target meets a first preset condition or not according to the preset condition.
With reference to the second aspect and the first to third possible implementation manners of the second aspect, in a fourth possible implementation manner of the present invention, the first determining module includes:
a first judgment unit configured to judge whether a ratio of a pixel value of the width to a pixel value of the length of the tracking frame or a ratio of a pixel value of the length to a pixel value of the width is smaller than a first predetermined threshold;
a second judging unit configured to further judge a magnitude of a product of the pixel value of the width and the pixel value of the length if the first judging unit judges that a ratio of the pixel value of the width and the pixel value of the length or a ratio of the pixel value of the length and the pixel value of the width of the tracking frame is smaller than a first predetermined threshold;
the image processing device further comprises an adjusting module:
the adjusting module is used for adjusting the pixel value of the width and/or the pixel value of the length if the first judging module judges that the ratio of the pixel value of the width to the pixel value of the length of the tracking frame or the ratio of the pixel value of the width to the pixel value of the length is larger than a first preset threshold value.
With reference to the second aspect and the first to fourth possible implementation manners of the second aspect, in a fifth possible implementation manner of the present invention, the image processing apparatus further includes:
and the prompting module is used for prompting that the tracking frame is too small if the first judging module judges that the product of the pixel value of the width and the pixel value of the length is smaller than a second preset threshold value.
With reference to the second aspect and the first to fifth possible implementations of the second aspect, in a sixth possible implementation of the present invention, the adjusting module includes:
a first adjusting unit, configured to increase the length pixel value to a ratio of the width pixel value to a first predetermined threshold value if the width pixel value is larger;
and the second adjusting unit is used for increasing the pixel value of the width to the ratio of the pixel value of the length to the first preset threshold value if the pixel value of the length is larger.
With reference to the second aspect and the first to sixth possible implementation manners of the second aspect, in a seventh possible implementation manner of the present invention, the image processing apparatus further includes:
and the checking module is used for checking whether the ratio of the width pixel value to the length pixel value or the ratio of the length pixel value to the width pixel value is smaller than a first preset threshold value or not if the first judging module judges that the product of the width pixel value and the length pixel value is larger than a second preset threshold value.
With reference to the second aspect and the first to seventh possible implementation manners of the second aspect, in an eighth possible implementation manner of the present invention, the first adjusting unit is further configured to increase the pixel value of the length to the ratio of the pixel value of the width to the first predetermined threshold if the checking module determines that the ratio of the pixel value of the width to the pixel value of the length or the ratio of the pixel value of the length to the pixel value of the width of the tracking frame is greater than the first predetermined threshold, and if the pixel value of the width is greater than the first predetermined threshold;
the second adjusting unit is further configured to increase the pixel value of the width to the ratio of the pixel value of the length to the pixel value of the first predetermined threshold if the checking module determines that the ratio of the pixel value of the width to the pixel value of the length of the tracking frame or the ratio of the pixel value of the length to the pixel value of the width is greater than the first predetermined threshold, and if the pixel value of the length is greater than the first predetermined threshold.
With reference to the second aspect and the first to eighth possible implementation manners of the second aspect, in a ninth possible implementation manner of the present invention, the tracking frame is rectangular, polygonal, elliptical, or circular, the width is a maximum dimension of the tracking frame in the width direction, and the length is a maximum dimension of the tracking frame in the length direction.
With reference to the second aspect and the first to ninth possible implementation manners of the second aspect, in a tenth possible implementation manner of the present invention, the display device further displays a video frame of a data stream for tracking a target, and the video processing device further includes:
and the generating module is used for generating a tracking frame according to the action information of the user when the display device displays the image frame of the data stream for tracking the target.
With reference to the second aspect and the first to tenth possible implementation manners of the second aspect, in an eleventh possible implementation manner of the present invention, the second sub-image data stream includes a data stream of a tracking target, and the image processing apparatus further includes:
the calculation module is used for calculating the central point data of the image frame of the data stream for tracking the target;
and the updating module is used for updating the reference point position of the image frame of the data stream for tracking the target according to the central point data.
With reference to the second aspect and the first to eleventh possible implementation manners of the second aspect, in a twelfth possible implementation manner of the present invention, the update module includes:
the comparison unit is used for comparing the offset of the position of the reference point with the coordinate of the central point data;
and the offset adjusting unit is used for adjusting the coordinates of the reference point position according to the offset.
With reference to the second aspect and the first to twelfth possible implementation manners of the second aspect, in a thirteenth possible implementation manner of the present invention, the movable device is a handheld tripod head or an unmanned aerial vehicle.
A third aspect of the present invention provides a mobile device, comprising an image acquisition device, a display device and the image processing device of any one of the above, wherein the image acquisition device is used for acquiring source image data, and the display device is used for displaying image data.
In this embodiment, the image acquisition device is a camera, and the display device is a display screen.
With reference to the third aspect and the first possible implementation manner of the third aspect, in a second possible implementation manner of the present invention, the second sub-picture data stream includes a data stream of a tracking target,
the acquisition device is used for acquiring a source image data stream every fixed preset period;
the image processing apparatus includes:
the transmission module is used for transmitting the data stream of the tracking target in the source image data stream which is transmitted regularly to the calculation module;
the calculation module is used for calculating the central point data of the image frame of the data stream of the tracking target according to the data stream of the tracking target transmitted by the transmission module; and
and the updating module is used for updating the reference point position of the image frame of the data stream for tracking the target according to the central point data.
With reference to the third aspect and the first to second possible implementation manners of the third aspect, in a third possible implementation manner of the present invention, the movable device is a handheld pan/tilt head.
The invention provides an unmanned aerial vehicle remote controller, which comprises a receiving device, a display device and the image processing device, wherein the receiving device is used for receiving image data acquired by a shooting device of an unmanned aerial vehicle, the display device is used for displaying the image data, and the image processing device is used for processing the image.
The invention provides an unmanned aerial vehicle system in a fifth aspect, which comprises an unmanned aerial vehicle remote controller and an unmanned aerial vehicle, wherein the unmanned aerial vehicle remote controller comprises a display device, and the unmanned aerial vehicle comprises an image acquisition device.
According to the technical scheme, the embodiment of the invention has the following advantages:
the embodiment of the invention provides an image processing method, an image processing device, a movable device, an unmanned aerial vehicle remote controller and an unmanned aerial vehicle system. In addition, when the user starts the function of tracking the target to watch the image of the tracked target, whether the size of the tracking frame set by the user meets the condition is judged. Thereby adjusting or giving a prompt so that the user can correctly set the size of the tracking frame. And acquiring central point data of a video frame of the image data stream of the tracking target, and adjusting the position of a reference point of the image data stream for the tracking target according to the central point data to improve the accuracy of the tracking target.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of an apparatus assembly according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an embodiment of an image processing method according to the present invention;
FIG. 3 is a schematic diagram of another embodiment of an image processing method according to an embodiment of the invention;
FIG. 4 is a schematic diagram of an image processing method according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of another embodiment of an image processing method according to an embodiment of the invention;
FIG. 6 is a schematic diagram of another practical application of an image processing method according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of another embodiment of an image processing method according to an embodiment of the invention;
FIG. 8 is a schematic diagram of another practical application of an image processing method according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of another embodiment of an image processing method according to an embodiment of the invention;
FIG. 10 is a schematic diagram of one embodiment of a removable device, in accordance with embodiments of the present invention;
fig. 11 is a schematic diagram of an embodiment of a remote controller of an unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The embodiment of the invention provides an image processing method and movable equipment, which are mainly used in the technical field of image processing, can simultaneously perform a plurality of image processing tasks and perform optimization processing on a tracking frame input by a user when performing an image task of tracking a target.
In practical application, the embodiment of the invention can work by matching the intelligent terminal with the movable equipment. Referring to fig. 1, fig. 1 is a schematic diagram of an apparatus assembly according to an embodiment of the invention. The user can watch the images through the intelligent terminal, the images are collected through the movable equipment, and the images are collected through the movable equipment and transmitted to the intelligent terminal after being processed. The movable device may be an unmanned aerial vehicle, a handheld cradle head, an unmanned vehicle, an unmanned ship, etc., and is not limited in particular. Since the image data needs to be processed after the mobile device has collected the image data, the following describes in detail an image processing method provided by an embodiment of the present invention with reference to fig. 2, where the embodiment of the present invention includes:
the mobile device captures images and converts the resulting images into a source image data stream. After the source image data stream is obtained, the source image data stream is converted into at least two sub-image data streams, and the number of the sub-image data streams is not specifically limited herein.
when the mobile device converts the source image data stream and obtains at least two sub-image data streams, different sub-image data streams are respectively transmitted to the CPU and the GPU for subsequent processing. At least one path of sub-image data flow is transmitted to the CPU for processing, and at least one path of sub-image data flow is transmitted to the GPU for processing. For convenience, the sub-video data stream transmitted to the CPU for processing is referred to as a first sub-video data stream, and the sub-video data stream transmitted to the GPU for processing is referred to as a second sub-video data stream. And the sub-image data stream transmitted to the CPU for processing is used for video recording and live broadcasting, and the sub-image data stream transmitted to the GPU for processing is used for displaying and tracking the target. By reasonably distributing the image data stream to the CPU and the GPU for processing and reasonably scheduling the GPU and the CPU under multithreading, different functions of video recording, live broadcasting, displaying, target tracking and the like can be simultaneously and smoothly carried out. In addition, the display direction of the image to be displayed can be optimized, so that the picture display of different functions such as video recording, live broadcasting, display, target tracking and the like can be kept consistent. Specifically, a predetermined fixed image display direction may be set when the video recording function is started; the image display direction can be adjusted in real time according to the direction of the current equipment in the live broadcast; when the target is displayed and tracked, the image display direction can be adjusted by considering the current equipment direction and the camera direction together. The consistency of the image display pictures in different functions of video recording, live broadcasting, displaying, target tracking and the like can be ensured through the setting and adjustment of the image display direction.
In an embodiment of the present invention, before transmitting the first sub-image data stream to the CPU for Processing and the second sub-image data stream to the GPU for Processing, the first sub-image data stream may be transmitted to a CPU Buffer (Central Processing Unit Buffer) and the second sub-image data stream may be transmitted to a GPU Buffer (Graphics Processing Unit Buffer), respectively. This is explained below with reference to fig. 3.
In the embodiment of the present invention, step 301 is the same as step 201, and step 303 is the same as step 202, which is not described herein again.
after the mobile device converts the source image data stream into the sub-image data streams, different sub-image data streams may be transmitted to the CPU Buffer and the GPU Buffer, respectively, and then the sub-image data streams are stored in the CPU Buffer and the GPU Buffer, respectively. When the sub-image data streams stored in the CPU Buffer and the GPU Buffer reach a certain threshold, the CPU and the GPU may take away the corresponding sub-image data streams, respectively. Therefore, the CPU and the GPU can conveniently take complete data away in a unified mode, and the buffering effect is achieved.
Referring to fig. 4, fig. 4 is a schematic diagram of image data stream transmission. After the source image data stream is obtained, the source image data stream is converted into two paths of sub-image data streams and respectively transmitted to a CPU Buffer and a GPU Buffer, and then respectively transmitted to the CPU and the GPU for functions of video recording, live broadcasting, displaying, target tracking and the like.
In an embodiment of the present invention, when the user starts the function of tracking the target to view the image of the tracked target, the user is required to set a corresponding tracking frame for tracking the target. The following describes the setting of the trace frame, the condition of whether the trace frame is valid, and the processing method with reference to fig. 5.
the user may instruct the device to generate the tracking frame by issuing motion information, where the motion information may include a sliding or pulling motion of a finger on the screen, or a motion of clicking a specific key, and is not limited in this respect. The generated tracking frame may be rectangular, polygonal, elliptical, circular, and is not limited herein.
The ratio of the pixel value to the pixel value of the width is less than a first predetermined threshold;
after the tracking frame is generated, whether the size of the tracking frame meets a first preset condition is judged. The first preset condition herein may be that the ratio of the pixel value of the width to the pixel value of the length of the tracking frame or the ratio of the pixel value of the length to the pixel value of the width is smaller than a first predetermined threshold.
when the ratio of the width pixel value to the length pixel value or the ratio of the length pixel value to the width pixel value of the tracking frame is smaller than a first predetermined threshold, whether the magnitude of the product of the width pixel value and the length pixel value of the tracking frame is smaller than a second predetermined threshold is further judged.
and when the ratio of the width pixel value to the length pixel value or the ratio of the length pixel value to the width pixel value of the tracking frame is larger than a first preset threshold value, adjusting the width pixel value and/or the length pixel value. The specific adjustment method may be as follows: if the width pixel value is larger, increasing the length pixel value to the ratio of the width pixel value to the first preset threshold value; if the length pixel value is larger, the width pixel value is increased to the ratio of the length pixel value to the first predetermined threshold value. After the adjustment is completed, step 503 is executed to determine whether the product of the adjusted width pixel value and the adjusted length pixel value is smaller than a second predetermined threshold.
when the size of the product of the pixel value of the width and the pixel value of the length of the tracking frame is smaller than a second preset threshold value, prompt information is displayed to prompt a user that the tracking frame is too small. And after receiving the prompt message, the user can generate a new tracking frame again through the action message.
In practical applications, reference may be made to an embodiment of the present invention, where reference is made to fig. 6, where the first predetermined threshold is set to 3 and the second predetermined threshold is set to 1000. After the tracking frame is generated, it is first determined whether the ratio of the width pixel value to the length pixel value of the tracking frame and the ratio of the length pixel value to the width pixel value of the tracking frame are less than 3. And if the ratio of the width pixel value to the length pixel value and the ratio of the length pixel value to the width pixel value are both less than 3, further judging whether the product of the width pixel value and the length pixel value is less than 1000. If yes, a prompt message is sent to prompt that the tracking box is too small. For example, the width of the generated tracking frame has a pixel value of 25 and the length has a pixel value of 35. Since the ratio of the width pixel value to the length pixel value and the ratio of the length pixel value to the width pixel value are both less than 3, it is further determined whether the product of the width pixel value and the length pixel value is less than 1000. Since the product of the width pixel value and the length pixel value is 875, less than 1000, the user is eventually prompted that the tracking box is too small.
When the ratio of the width pixel value to the length pixel value of the tracking frame is greater than 3, the length pixel value is adjusted to 1/3 of the width pixel value. When the ratio of the length pixel value to the width pixel value is greater than 3, the width pixel value is adjusted to 3/1 of the length pixel value. After the adjustment is completed, the step of judging whether the product of the pixel value of the width and the pixel value of the length is less than 1000 is carried out.
In one embodiment of the present invention, the determination of the condition on whether the trace frame is valid and the processing method may be changed by changing the first preset condition. The following description is made with reference to fig. 7.
In the embodiment of the present invention, step 701 is the same as step 501, step 702 is the same as step 503, step 703 is the same as step 505, and step 704 is the same as step 502, which is not described again here.
and when the ratio of the width pixel value to the length pixel value or the ratio of the length pixel value to the width pixel value of the tracking frame is larger than a first preset threshold value, adjusting the width pixel value and/or the length pixel value. The specific adjustment method may be as follows: if the width pixel value is larger, increasing the length pixel value to the ratio of the width pixel value to the first preset threshold value; if the length pixel value is larger, the width pixel value is increased to the ratio of the length pixel value to the first predetermined threshold value.
In practical applications, reference may be made to an embodiment of the present invention, where reference is made to fig. 8, where the first predetermined threshold is set to 3 and the second predetermined threshold is set to 1000. After the tracking frame is generated, whether the product of the width pixel value and the length pixel value is smaller than 1000 is judged, and if so, a prompt message is sent to prompt that the tracking frame is too small. For example, the width of the generated tracking frame has a pixel value of 25 and the length has a pixel value of 35. Since the product of the width pixel value and the length pixel value is 875, less than 1000, the user is eventually prompted that the tracking box is too small. If the product of the width pixel value and the length pixel value is greater than 1000, it is further determined whether the ratio of the width pixel value to the length pixel value and the ratio of the length pixel value to the width pixel value of the tracking frame is less than 3. If the ratio of the width pixel value to the length pixel value of the tracking frame is greater than 3, the length pixel value is adjusted to 1/3 of the width pixel value. When the ratio of the length pixel value to the width pixel value is greater than 3, the width pixel value is adjusted to 3/1 of the length pixel value.
In one embodiment of the invention, the center point data of the received image frame of the data stream for tracking the target is calculated every preset fixed period. The reference point position of the image frame of the data stream for tracking the target may be updated based on the center point data. The following description is made with reference to fig. 9.
after the center point data is calculated, the coordinates of the reference point position of the image frame of the data stream for tracking the target are compared with the offset of the coordinates of the center point data, for example, the offset of the horizontal axis coordinate and the vertical axis coordinate is compared. The reference point is a reference point for tracking a target, and the setting of the reference point can affect the accuracy of tracking the target.
and obtaining the offset of the coordinates of the reference point position and the coordinates of the central point data, and adjusting the coordinates of the reference point position according to the offset. For example, if the horizontal axis coordinate offset of the coordinate of the reference point position and the coordinate of the center point data is x, and the vertical axis coordinate offset is y, the coordinate of the reference point position is adjusted according to x and y, and the specific adjustment method and formula are not specifically limited herein.
For ease of understanding, the mobile device in the embodiments of the present invention is described in detail below with reference to fig. 10. The mobile equipment comprises an image acquisition device, a display device and an image processing device, wherein the image acquisition device is used for acquiring source image data, the display device is used for displaying the image data, the image processing device is used for processing the image data, and the image processing device is used for processing the image data through the following steps:
the image processing apparatus includes:
the conversion module 1001 is configured to convert a source image data stream into at least two sub-image data streams.
The processing module 1002 is configured to process a first sub-image data stream of the sub-image data stream through the CPU, and process a second sub-image data stream of the sub-image data stream through the GPU.
In an embodiment of the present invention, the image processing apparatus further includes:
the transmission module 1003 is configured to transmit the first sub-image data stream to a CPU Buffer, and transmit the second sub-image data stream to a GPU Buffer.
In an embodiment of the present invention, the first sub video data stream includes a video and live data stream, and/or the second sub video data stream includes a data stream for displaying and tracking a target.
In an embodiment of the present invention, the image processing apparatus further includes:
the first judging module 1004 is configured to judge whether the size of the tracking frame of the tracking target meets a first preset condition according to the preset condition.
In an embodiment of the present invention, the second sub-image data stream includes a data stream of a tracking target, and the first determining module 1004 further includes:
a first judging unit 10041, configured to judge whether a ratio of a pixel value of the width to a pixel value of the length or a ratio of a pixel value of the length to a pixel value of the width of the tracking frame is smaller than a first predetermined threshold.
A second determining unit 10042, configured to, if the first determining unit 10041 determines that the ratio of the width pixel value and the length pixel value of the tracking frame or the ratio of the length pixel value and the width pixel value is smaller than the first predetermined threshold, further determine the size of the product of the width pixel value and the length pixel value.
In the embodiment of the present invention, the image processing apparatus further includes an adjusting module 1008:
the adjusting module 1008 is configured to adjust the width pixel value and/or the length pixel value if the first determining module 1004 determines that the ratio of the width pixel value to the length pixel value or the ratio of the width pixel value to the length pixel value of the tracking frame is greater than a first predetermined threshold.
In an embodiment of the present invention, the image processing apparatus further includes:
a prompting module 1005, configured to prompt that the tracking frame is too small if the first determining module 1004 determines that the product of the pixel value of the width and the pixel value of the length is smaller than the second predetermined threshold.
In this embodiment of the present invention, the adjusting module 1008 further includes:
the first adjusting unit 10081 is configured to, if the pixel value of the width is larger, increase the pixel value of the length to a ratio of the pixel value of the width to the first predetermined threshold.
The second adjusting unit 10082 is configured to, if the length pixel value is larger, increase the width pixel value to a ratio of the length pixel value to the first predetermined threshold value.
In an embodiment of the present invention, the image processing apparatus further includes:
a checking module 1006, configured to check whether a ratio of the width pixel value to the length pixel value or a ratio of the length pixel value to the width pixel value is smaller than a first predetermined threshold value if the first determining module 1004 determines that a product of the width pixel value and the length pixel value is larger than a second predetermined threshold value.
In this embodiment of the present invention, the first adjusting unit 10081 is further configured to, if the checking module 1006 determines that the ratio between the width pixel value and the length pixel value of the tracking frame or the ratio between the length pixel value and the width pixel value is greater than a first predetermined threshold, and if the width pixel value is greater, increase the length pixel value to the ratio between the width pixel value and the first predetermined threshold.
The second adjusting unit 10082 is further configured to, if the checking module 1006 determines that the ratio of the width pixel value to the length pixel value of the tracking frame or the ratio of the length pixel value to the width pixel value is greater than the first predetermined threshold, and if the length pixel value is greater, increase the width pixel value to the ratio of the length pixel value to the first predetermined threshold.
In the embodiment of the invention, the tracking frame is rectangular, polygonal, elliptical or circular, the width is the maximum size of the tracking frame along the width direction, and the length is the maximum size along the length direction.
In an embodiment of the present invention, the image processing apparatus further includes:
a generating module 1007, configured to generate a trace frame according to the motion information of the user when the display device displays the video frame of the data stream for performing the trace target.
In an embodiment of the present invention, the image capturing apparatus further includes:
the calculating module 1009 is configured to calculate center point data of the image frame of the data stream of the tracking target.
The updating module 1010 is configured to update the reference point position of the image frame of the data stream for tracking the target according to the center point data.
In this embodiment of the present invention, the update module 1010 includes:
a comparison unit 10101 for comparing the offset of the reference point position and the coordinate of the center point data.
And an offset adjusting unit 10102 for adjusting the coordinates of the reference point position according to the offset amount.
In the embodiment of the invention, the movable equipment can be a handheld cloud deck, an unmanned aerial vehicle, an unmanned ship and the like.
It can be understood that the image acquiring device is configured to acquire a source image data stream every fixed preset period;
a transmission module 1003 of the image processing apparatus, configured to transmit a data stream of a tracking target in the source image data stream that is transmitted periodically to a calculation module 1009;
a calculating module 1009, configured to calculate central point data of the image frame of the data stream of the tracking target according to the data stream of the tracking target transmitted by the transmitting module 1003; and
an updating module 1010, configured to update a reference point position of the image frame of the data stream for tracking the target according to the center point data.
In addition, referring to fig. 11, the present invention further provides an unmanned aerial vehicle remote controller, which includes a receiving device 2001, a display device 2003, and an image processing device 2005 as described above. The receiving device 2001 is used for receiving image data acquired by a shooting device of the unmanned aerial vehicle, the display device 2003 is used for displaying the image data, and the image processing device 2005 is used for processing the image.
In addition, the invention also provides an unmanned aerial vehicle system, which comprises an unmanned aerial vehicle remote controller and an unmanned aerial vehicle, wherein the unmanned aerial vehicle remote controller comprises a display device, and the unmanned aerial vehicle comprises an image acquisition device.
If the image processing device is located on the unmanned aerial vehicle remote controller, the unmanned aerial vehicle transmits the acquired image data to the unmanned aerial vehicle remote controller so that the image processing device of the unmanned aerial vehicle remote controller can process the image; if the image processing device is located on the unmanned aerial vehicle, the image processing device on the unmanned aerial vehicle processes the image.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (29)
1. An image processing method, comprising:
when displaying the image frame of the data stream for tracking the target, generating a tracking frame according to the action information of the user;
and judging whether the size of the tracking frame meets a first preset condition according to the pixel value of the width and the pixel value of the length of the tracking frame, wherein the first preset condition is used for determining whether the tracking frame is effective.
2. The image processing method of claim 1, further comprising:
converting a source image data stream into at least two sub-image data streams;
and processing a first sub-image data stream of the sub-image data streams through a Central Processing Unit (CPU), and processing a second sub-image data stream of the sub-image data streams through a Graphics Processing Unit (GPU).
3. The image processing method of claim 2, wherein processing a first sub-image data stream of the sub-image data streams by a Central Processing Unit (CPU), and before processing a second sub-image data stream of the sub-image data streams by a Graphics Processing Unit (GPU), further comprises:
and transmitting the first sub-image data stream to a Central Processing Unit (CPU) Buffer, and transmitting the second sub-image data stream to a Graphics Processing Unit (GPU) Buffer.
4. The video processing method according to claim 2, wherein the first sub-video data stream comprises a video and live video data stream, and/or the second sub-video data stream comprises a target-displaying and tracking data stream.
5. The image processing method of claim 1, wherein the first predetermined condition is:
if the ratio of the width pixel value to the length pixel value or the ratio of the length pixel value to the width pixel value of the tracking frame is smaller than a first preset threshold value, further judging the product of the width pixel value and the length pixel value;
and if the ratio of the width pixel value to the length pixel value or the ratio of the length pixel value to the width pixel value of the tracking frame is larger than a first preset threshold value, adjusting the width pixel value and/or the length pixel value.
6. The image processing method of claim 5, wherein if a ratio of a width pixel value to a length pixel value or a ratio of a length pixel value to a width pixel value of the tracking frame is smaller than a first predetermined threshold, further determining a magnitude of a product of the width pixel value and the length pixel value, specifically comprises:
if the product of the width pixel value and the length pixel value is less than a second predetermined threshold, the tracking frame is prompted to be too small.
7. The image processing method of claim 5, wherein if a ratio of a width pixel value to a length pixel value or a ratio of a length pixel value to a width pixel value of the tracking frame is greater than a first predetermined threshold, adjusting the width pixel value and/or the length pixel value comprises:
if the width pixel value is larger, increasing the length pixel value to the ratio of the width pixel value to the first preset threshold value;
if the length pixel value is larger, the width pixel value is increased to the ratio of the length pixel value to the first predetermined threshold value.
8. The image processing method of claim 1, wherein the first predetermined condition is:
if the product of the pixel value of the width and the pixel value of the length is smaller than a second preset threshold value, prompting that the tracking frame is too small;
if the product of the pixel value of the width and the pixel value of the length is larger than a second preset threshold value, checking whether the ratio of the pixel value of the width to the pixel value of the length or the ratio of the pixel value of the length to the pixel value of the width is smaller than a first preset threshold value.
9. The image processing method of claim 8, wherein if the product of the width pixel value and the length pixel value is greater than a second predetermined threshold, checking whether the ratio of the width pixel value to the length pixel value or the ratio of the length pixel value to the width pixel value is less than a first predetermined threshold, specifically comprises:
if the ratio of the pixel value of the width to the pixel value of the length or the ratio of the pixel value of the width to the pixel value of the length of the tracking frame is greater than a first predetermined threshold,
if the width pixel value is larger, increasing the length pixel value to the ratio of the width pixel value to the first preset threshold value;
if the length pixel value is larger, the width pixel value is increased to the ratio of the length pixel value to the first predetermined threshold value.
10. The image processing method as claimed in claim 1, wherein the tracking frame is rectangular, polygonal, elliptical, or circular, the width is a maximum dimension of the tracking frame along a width direction, and the length is a maximum dimension of the tracking frame along a length direction.
11. The image processing method of claim 1, further comprising:
calculating the central point data of the received image frame of the data stream for tracking the target at intervals of a preset fixed period;
and updating the reference point position of the image frame of the data stream for tracking the target according to the central point data.
12. The image processing method of claim 11, wherein said updating the reference point position of the image frame of the data stream for tracking the target according to the center point data comprises:
comparing the position of the datum point with the offset of the coordinate of the central point data;
and adjusting the coordinate of the datum position according to the offset.
13. An image processing apparatus, comprising:
the generating module is used for generating a tracking frame according to the action information of the user when the display device displays the image frame of the data stream for tracking the target;
the first judging module is used for judging whether the size of the tracking frame meets a first preset condition according to the pixel value of the width and the pixel value of the length of the tracking frame, and the first preset condition is used for determining whether the tracking frame is effective.
14. The image processing apparatus of claim 13, further comprising:
the conversion module is used for converting the source image data stream into at least two sub-image data streams;
and the processing module is used for processing a first sub-image data stream of the sub-image data stream through a Central Processing Unit (CPU) and processing a second sub-image data stream of the sub-image data stream through a Graphics Processing Unit (GPU).
15. The image processing device as claimed in claim 14, further comprising:
and the transmission module is used for transmitting the first sub-image data stream to a Central Processing Unit (CPU) Buffer and transmitting the second sub-image data stream to a Graphics Processing Unit (GPU) Buffer.
16. The image processing apparatus as claimed in claim 14, wherein the first sub-image data stream comprises a video and live data stream, and/or the second sub-image data stream comprises a target-displaying and tracking data stream.
17. The image processing device as claimed in claim 13, wherein the first determining module comprises:
a first judgment unit configured to judge whether a ratio of a pixel value of the width to a pixel value of the length or a ratio of a pixel value of the length to a pixel value of the width of the tracking frame is smaller than a first predetermined threshold;
a second judging unit, configured to further judge a magnitude of a product of a pixel value of the width and a pixel value of the length if the first judging unit judges that a ratio of the pixel value of the width and the pixel value of the length or a ratio of the pixel value of the length and the pixel value of the width of the tracking frame is smaller than a first predetermined threshold;
the image processing device further comprises an adjusting module:
and the adjusting module is used for adjusting the pixel value of the width and/or the pixel value of the length if the first judging module judges that the ratio of the pixel value of the width to the pixel value of the length of the tracking frame or the ratio of the pixel value of the width to the pixel value of the length is larger than a first preset threshold value.
18. The image processing device as claimed in claim 17, further comprising:
and the prompting module is used for prompting that the tracking frame is too small if the first judging module judges that the product of the pixel value of the width and the pixel value of the length is smaller than a second preset threshold value.
19. The image processing device as claimed in claim 17, wherein the adjusting module comprises:
a first adjusting unit, configured to increase the length pixel value to a ratio of the width pixel value to a first predetermined threshold value if the width pixel value is larger;
and the second adjusting unit is used for increasing the pixel value of the width to the ratio of the pixel value of the length to the first preset threshold value if the pixel value of the length is larger.
20. The image processing device as claimed in claim 13, further comprising:
and the checking module is used for checking whether the ratio of the width pixel value to the length pixel value or the ratio of the length pixel value to the width pixel value is smaller than a first preset threshold value or not if the first judging module judges that the product of the width pixel value and the length pixel value is larger than a second preset threshold value.
21. The image processing device as claimed in claim 20, wherein the image processing device further comprises an adjustment module, the adjustment module comprising a first adjustment unit and a second adjustment unit; the first adjusting unit is further configured to increase the length pixel value to the width pixel value to the first predetermined threshold value if the checking module determines that the ratio of the width pixel value to the length pixel value or the ratio of the length pixel value to the width pixel value is greater than the first predetermined threshold value, and if the width pixel value is greater than the first predetermined threshold value;
the second adjusting unit is further configured to increase the pixel value of the width to the ratio of the pixel value of the length to the pixel value of the width of the tracking frame if the checking module determines that the ratio of the pixel value of the width to the pixel value of the length or the ratio of the pixel value of the length to the pixel value of the width is greater than a first predetermined threshold, and if the pixel value of the length is greater than the first predetermined threshold.
22. The image processing device as claimed in claim 13, wherein the tracking frame is rectangular, polygonal, elliptical, or circular, the width is a maximum dimension of the tracking frame in a width direction, and the length is a maximum dimension of the tracking frame in a length direction.
23. The image processing device as claimed in claim 13, further comprising:
the calculation module is used for calculating the central point data of the image frame of the data stream of the tracking target;
and the updating module is used for updating the reference point position of the image frame of the data stream for tracking the target according to the central point data.
24. The image processing device as claimed in claim 23, wherein the update module comprises:
the comparison unit is used for comparing the position of the reference point with the offset of the coordinate of the central point data;
and the offset adjusting unit is used for adjusting the coordinates of the reference point position according to the offset.
25. A mobile device comprising image acquisition means for acquiring source image data, display means for displaying the image data, and image processing means according to any one of claims 13 to 24.
26. The mobile device according to claim 25, wherein the image capturing means is configured to capture the source image data stream once every fixed preset period;
the image processing apparatus includes:
the transmission module is used for transmitting the data stream of the tracking target in the source image data stream which is transmitted regularly to the calculation module;
the calculation module is used for calculating the central point data of the image frame of the data stream of the tracking target according to the data stream of the tracking target transmitted by the transmission module; and
and the updating module is used for updating the reference point position of the image frame of the data stream for tracking the target according to the central point data.
27. The movable apparatus of claim 25, wherein the movable apparatus is a handheld pan/tilt head.
28. An unmanned aerial vehicle remote controller, comprising a receiving device, a display device and the image processing device of any one of claims 13-24, wherein the receiving device is used for receiving image data acquired by a shooting device of an unmanned aerial vehicle, the display device is used for displaying the image data, and the image processing device is used for processing the image.
29. An unmanned aerial vehicle system, comprising an unmanned aerial vehicle remote control and an unmanned aerial vehicle, the unmanned aerial vehicle remote control comprising a display device, the unmanned aerial vehicle comprising an image acquisition device, characterized in that the unmanned aerial vehicle remote control and/or unmanned aerial vehicle further comprises an image processing device according to any of claims 13-24.
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