CN113747198B - Unmanned aerial vehicle cluster video picture rendering and post-processing method, medium and device - Google Patents
Unmanned aerial vehicle cluster video picture rendering and post-processing method, medium and device Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
- H04N21/20—Servers specifically adapted for the distribution of content, e.g. VOD servers; Operations thereof
- H04N21/23—Processing of content or additional data; Elementary server operations; Server middleware
- H04N21/234—Processing of video elementary streams, e.g. splicing of video streams, manipulating MPEG-4 scene graphs
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
- H04N21/40—Client devices specifically adapted for the reception of or interaction with content, e.g. set-top-box [STB]; Operations thereof
- H04N21/43—Processing of content or additional data, e.g. demultiplexing additional data from a digital video stream; Elementary client operations, e.g. monitoring of home network or synchronising decoder's clock; Client middleware
- H04N21/44—Processing of video elementary streams, e.g. splicing a video clip retrieved from local storage with an incoming video stream, rendering scenes according to MPEG-4 scene graphs
- H04N21/44012—Processing of video elementary streams, e.g. splicing a video clip retrieved from local storage with an incoming video stream, rendering scenes according to MPEG-4 scene graphs involving rendering scenes according to scene graphs, e.g. MPEG-4 scene graphs
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D10/00—Energy efficient computing, e.g. low power processors, power management or thermal management
Abstract
The invention provides a method, medium and device for rendering and post-processing video pictures of an unmanned aerial vehicle cluster, which relate to the technical field of image processing, can avoid the problem of large time consumption caused by adopting a computer CPU to perform data decoding and information post-processing, effectively improve the rendering processing efficiency and meet the requirement of real-time; the method adopts a shader to carry out rendering treatment and information post-treatment on video streams or pictures; for video streams: carrying out hardware decoding on the data packet downloaded by the unmanned aerial vehicle to extract first shell data, packaging YUV compressed data in the first shell data into second shell data for rendering, and adjusting the attribute of the second shell data into a color former resource; for pictures: decompressing the downloaded picture to obtain YUV data, and performing format conversion calculation by using a shader; finally, the corresponding texture of the shader resource enters a custom shader pipeline for information post-processing flow. The technical scheme provided by the invention is suitable for the image processing process.
Description
Technical Field
The invention relates to the technical field of image processing, in particular to a method, medium and device for rendering and post-processing video pictures of unmanned aerial vehicle clusters.
Background
Along with the continuous improvement of the data bandwidth brought by the unmanned aerial vehicle cluster, the video data volume downloaded to the ground station by the carried task load is increased, and higher-quality video data can be provided for information processing software. Taking the data stream downloaded to the ground station device by the unmanned aerial vehicle load as H.264 data as an example, due to the characteristic of large high-definition video data volume, the time consumption of the data decoding calculation process by means of the CPU of the computer is large in the past, the requirement of video data instantaneity cannot be met, meanwhile, the calculation resource of a processor is greatly occupied, and the use of other unmanned aerial vehicle modules such as information processing and the like is not facilitated.
Microsoft proposes a complete set of specifications for video hardware decoding, which indicates that the current mainstream technology aims at a general efficient processing means of high-definition video data, and the research on the video data by means of OpenCL is documented to realize decoding, but the research on efficient rendering and post-processing of the decoded data is lacking. It can be seen that decoding of high definition video data with hardware support has become an effective technical approach, and efficient display rendering and post-processing techniques of hard decoded data compatible therewith have become highly desirable to address and implement.
The display rendering of the relatively common high-definition video hard decoding data directly depends on a fixed pipeline mode to directly display the data such as data format conversion of the display data, but the rendering data cannot be acquired and post-processed in the fixed pipeline, so that the flexibility of data operation is lost, and the subsequent information processing aiming at the rendering data is not facilitated.
Accordingly, there is a need to develop a method, medium, and apparatus for unmanned aerial vehicle cluster video picture rendering and post-processing that addresses the deficiencies of the prior art to solve or mitigate one or more of the problems described above.
Disclosure of Invention
In view of the above, the invention provides a method, medium and device for rendering and post-processing video pictures of an unmanned aerial vehicle cluster, which can avoid the problem of large time consumption caused by adopting a computer CPU to perform data decoding and information post-processing, effectively improve the rendering efficiency and meet the requirement of video data instantaneity.
On one hand, the invention provides a method for rendering and post-processing video pictures of unmanned aerial vehicle clusters, which is characterized in that a shader is adopted in the method for rendering and post-processing video streams or pictures.
In aspects and any one of the possible implementations described above, there is further provided an implementation, the processing the video stream with the shader includes:
s1, carrying out hardware decoding on a data packet downloaded by an unmanned aerial vehicle, and extracting first shell data;
s2, packaging YUV compressed data in the first shell data into second shell data for rendering, and realizing data conversion;
s3, adjusting the attribute of the second shell data into a shader resource;
s4, enabling the corresponding texture of the shader resource to enter a custom shader pipeline for information post-processing flow.
In aspects and any one of the possible implementations as described above, there is further provided an implementation, the step of processing the picture with a shader includes:
s1, decompressing a single picture obtained by downloading to obtain YUV data;
s2, performing format conversion calculation on YUV data by using a shader;
s3, enabling the corresponding texture of the shader resource to enter a custom shader pipeline for information post-processing flow.
In the aspects and any possible implementation manner as described above, there is further provided an implementation manner, where the specific content of step S1 includes: and decoding and acquiring shell data of the data packet by using Directx hardware.
Aspects and any one of the possible implementations described above, further providing an implementation in which the intelligence post-processing is either or both of pixel-by-pixel post-processing and multi-layer post-processing.
Aspects and any one of the possible implementations as described above, further provide an implementation, where the multi-layer post-processing specifically includes: rendering the information of the multiple layers by adopting a parallel rendering mode; creating a plurality of shader processing pipelines similar to a layer, wherein each pipeline is responsible for rendering processing of subdivided information, and the shader processing pipelines are integrated to form a final rendering result.
Aspects and any one of the possible implementations as described above, further providing an implementation, the pixel-by-pixel post-processing implementation being: and (3) carrying out rendering processing by connecting a plurality of pixel shaders in series, wherein the processing result of the last pixel shader is used as input data of the next pixel shader.
Aspects and any of the foregoing, further providing an implementation, the intelligence post-processing flow includes defogging processing and tracking of interest objects.
In another aspect, the invention provides a computer readable storage medium comprising instructions that when run on a computer cause the computer to perform the method of unmanned aerial vehicle cluster video picture rendering and post-processing as described in any of the above.
In yet another aspect, the present invention provides an apparatus for rendering and post-processing video pictures of a cluster of unmanned aerial vehicles, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: the processor, when executing the computer program, implements the steps of any of the methods described above.
Compared with the prior art, one of the technical schemes has the following advantages or beneficial effects: the problem of large time consumption in the calculation process caused by data decoding and information post-processing by adopting a CPU of a computer is avoided, and the requirement of video data instantaneity can be met;
the other technical scheme has the following advantages or beneficial effects: the large-area occupation of the computing resource of the processor is not needed, and the processor is favorably used by other unmanned plane modules such as information processing and the like;
the other technical scheme has the following advantages or beneficial effects: the method of combining data hardware accelerated decoding with non-hardware direct rendering is abandoned, and the copy operation of a large amount of data is effectively reduced.
Of course, it is not necessary for any of the products embodying the invention to achieve all of the technical effects described above at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic workflow diagram of a unmanned aerial vehicle cluster multi-path video data stream parsing rendering process according to an embodiment of the present invention;
FIG. 2 is a flow chart of a multi-step pixel shader post-processing provided in one embodiment of the invention;
FIG. 3 is a schematic block diagram of an intelligence display rendering of a multi-rendering pipeline provided by one embodiment of the invention;
fig. 4 is a schematic block diagram of a hardware YUV data conversion and rendering pipeline provided in one embodiment of the present invention.
Detailed Description
For a better understanding of the technical solution of the present invention, the following detailed description of the embodiments of the present invention refers to the accompanying drawings.
It should be understood that the described embodiments are merely some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
The method for rendering and post-processing the video pictures of the unmanned aerial vehicle clusters solves the problems of decoding and display rendering pressure caused by large data volume video images of the unmanned aerial vehicle clusters, and simultaneously designs a set of information post-processing method aiming at the technology, so that the method can solve the data processing pressure of the unmanned aerial vehicle clusters and reserve a stronger information post-processing operation space in the later period.
The main workflow of unmanned aerial vehicle cluster multichannel video data stream analysis rendering process is as shown in fig. 1, unmanned aerial vehicle download data package to video memory equipment, and video memory equipment processes the data package, and to video stream mode, the steps include:
step 1, initializing multipath DirectX hardware acceleration decoding to obtain respective Surface (namely first shell data);
step 2, encapsulating the YUV compressed data in the Surface obtained in the previous step into the Surface (namely second shell data) for rendering, so as to realize data conversion;
aiming at the fact that decoded image data is stored in a surface acquired by a decoder, the data cannot be directly used for displaying and rendering, one-step surface-to-surface format conversion is needed, and a converted target format is a render target, namely a target to be rendered;
step 3, converting each Surface attribute into a shader resource;
and 4, enabling the corresponding textures of the plurality of shader resources to enter a unified custom shader pipeline for information post-processing flow.
Under the restriction of certain algorithms, platforms and other conditions, the feedback of the video stream cannot be satisfied, and only the sparse feedback of the pictures can be performed, so that the overall cluster bandwidth pressure is reduced; therefore, an effective acceleration process is required for compressed data in the picture mode, that is, a picture downloading mode, and the steps for the picture downloading mode include:
step 1, decompressing a single JPEG picture obtained by downloading to obtain YUV data;
step 2, carrying out format conversion calculation on the YUV data before display rendering, wherein a conversion equation refers to the ITU-R BT.601 standard, and the process can be processed in parallel at a high speed through a pixel shader;
and 3, enabling the corresponding textures of the plurality of shader resources to enter a unified custom shader pipeline for information post-processing flow.
The post-processing of the information processing video data of the unmanned aerial vehicle cluster in the shader has two types of post-processing designs, wherein the first type is the post-processing design operated by pixel, and as shown in fig. 2, the pixel processing process of a plurality of pass of the shader is shown: the output pixel of each pass is used as the input of the next pass, and the pixel-by-pixel operation is carried out through the shaders of a plurality of pass to realize the post-processing operation for the video image; the second type is a multi-layer post-processing design, as shown in fig. 3, which is a multi-layer parallel method outside the pixel-by-pixel multi-pass processing flow in relation to fig. 2; the method of fig. 2 completes pixel processing by connecting a plurality of pass in series, while fig. 3 parallels a plurality of processing procedures such as fig. 2, thereby realizing the effects of common calculation of a plurality of layers, layer stacking and centralized rendering display.
In order to cope with the method that only a picture mode of downloading key frames is often adopted under the limitation of downlink bandwidth, the data format is a JPEG picture format, the video stream processing flow cannot be directly applied, and the solution method (design see fig. 4) is as follows: and carrying out data texture processing on the image and completing hardware-accelerated pixel calculation to obtain a complete downloaded image.
1. DirectX custom data stream processing pipeline design
The high-definition video H.264 stream is decoded into a shell data format which is suitable for a DirectX rendering interface in a staged way by means of a hard decoding function which is realized in an open source decoding library FFMPEG and conforms to the DXVA specification, and the shell data format is a data source for display rendering and post-processing after the hard decoding.
After the preliminary hard decoded shell data is acquired, two key points need to be considered for subsequent display rendering: firstly, considering the acceleration characteristic of display rendering, the hardware-decoded shell data needs to avoid copying operation to a memory as much as possible when the display rendering is performed, and the data operation in the memory is more efficient; secondly, on the premise of not copying the video memory decoding data, the post-rendering processing capacity of the custom display aiming at the video memory data is also required to be reserved.
The display rendering of the relatively common high-definition video hard decoding data directly depends on a fixed pipeline mode to directly display the data such as data format conversion of the display data, and the rendering data cannot be acquired and post-processed in the fixed pipeline, so that the flexibility of data operation is lost, and the subsequent information processing aiming at the rendering data is not facilitated.
By adopting the custom pipeline design shown in fig. 1, the hard decoded data is used as a shader resource to be accessed into the custom pipeline, so that the needed custom operation of the data is completed, and meanwhile, the whole process avoids data copying to a memory and improves the processing efficiency.
2. Information post-processing of cluster multipath high definition video data
The post-processing of the information of the unmanned aerial vehicle cluster needs to perform the post-processing of the algorithm on the acquired video data, such as the real-time defogging processing of the video, the tracking and marking of the interest targets in the video, and the like. The foregoing decoding of high definition video data hardware has completed rendering shader pipeline design and the decoded shell data is accessed into the shader as shader resources. Post-processing is the process of operating the shader resource.
The post-processing of the information post-processing video data of the unmanned aerial vehicle cluster in the shader comprises two types, wherein one type is to directly utilize the efficient parallelization advantage of the shader to directly process pixel by pixel, and the process is independent and parallel to the multipath data of the cluster. For example, video real-time hardware defogging; another class is layer rendering, which creates multiple shader processing pipelines like layers, as multiple informative data renderings.
Pixel-by-pixel algorithmic processing of video data often requires multiple pixel shaders in series to complete, with the processing result of the last pixel shader serving as an input resource for subsequent processing.
The information rendering design mode of the multiple layers is parallel connection, and each independent pipeline is responsible for rendering and processing of one piece of subdivided information, and the final rendering result is integrated.
3. Hardware acceleration processing method in cluster downloading picture mode
Under the restriction of certain algorithms, platforms and other conditions, the feedback of the video stream cannot be satisfied, and only the sparse feedback of the pictures can be performed, so that the overall cluster bandwidth pressure is reduced; therefore, an efficient acceleration process is required for compressed data in the picture mode.
Taking YUV compression format as an example, format conversion calculation is needed before display rendering, and the conversion equation refers to the ITU-R bt.601 standard:
the constant part is as follows:
the above formula shows that the conversion process is performed pixel by pixel, and the conversion process is obviously suitable for being completed by using a parallelization processing mode of a display card (the algorithm design corresponding to pixel by pixel processing is calculated pixel by pixel, the calculation flow is designed, and all pixels are completed simultaneously when running in a shader of the display card, so that the parallel effect is achieved).
4. Comparison and analysis of experimental results
Finally, according to an actual unmanned aerial vehicle cluster flight video autonomous reconnaissance test, the method verifies that the method comprises the following steps: wherein the number of clusters is 12, 3 of which are real-time video streams and 9 of which are picture download modes (limited by telemetry downlink bandwidth). The test results of rendering display using the method of the present invention and the prior art method are shown in table 1. The invention maintains great efficiency advantage in the aspects of unmanned aerial vehicle cluster video processing and information post-processing.
TABLE 1
| Content of test | CPU image and information processing method thereof | Results of the invention |
| Average frame number for video stream rendering | 4.8 frame/second | 23.3 frames/second |
| Average frame number for picture rendering | 0.4 frame/second | 1.9 frame/second |
The method, medium and device for rendering and post-processing the video pictures of the unmanned aerial vehicle clusters provided by the embodiment of the application are described in detail. The above description of embodiments is only for aiding in understanding the method of the present application and its core ideas; meanwhile, as those skilled in the art will have modifications in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.
Certain terms are used throughout the description and claims to refer to particular components. Those of skill in the art will appreciate that a hardware manufacturer may refer to the same component by different names. The description and claims do not take the form of an element differentiated by name, but rather by functionality. As referred to throughout the specification and claims, the terms "comprising," including, "and" includes "are intended to be interpreted as" including/comprising, but not limited to. By "substantially" is meant that within an acceptable error range, a person skilled in the art is able to solve the technical problem within a certain error range, substantially achieving the technical effect. The description hereinafter sets forth the preferred embodiment for carrying out the present application, but is not intended to limit the scope of the present application in general, for the purpose of illustrating the general principles of the present application. The scope of the present application is defined by the appended claims.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a product or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such product or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a commodity or system comprising such elements.
It should be understood that the term "and/or" as used herein is merely one relationship describing the association of the associated objects, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
While the foregoing description illustrates and describes the preferred embodiments of the present application, it is to be understood that this application is not limited to the forms disclosed herein, but is not to be construed as an exclusive use of other embodiments, and is capable of many other combinations, modifications and environments, and adaptations within the scope of the teachings described herein, through the foregoing teachings or through the knowledge or skills of the relevant art. And that modifications and variations which do not depart from the spirit and scope of the present invention are intended to be within the scope of the appended claims.
Claims (8)
1. A method for rendering and post-processing video pictures of an unmanned aerial vehicle cluster is characterized in that a shader is adopted in the method for rendering and post-processing information of video streams or pictures; when the method is limited by an algorithm and a platform condition, and cannot meet the feedback requirement of a video stream, a picture downloading mode is adopted, and a shader processes pictures;
the step of processing the video stream with the shader includes:
s1.1, performing hardware decoding on a data packet downloaded by an unmanned aerial vehicle, and extracting first shell data;
s1.2, packaging YUV compressed data in the first shell data into second shell data for rendering, and realizing data conversion;
s1.3, adjusting the attribute of the second shell data into a shader resource;
s1.4, enabling the corresponding texture of the shader resource to enter a custom shader pipeline for information post-processing flow;
the step of processing the picture with the shader includes:
s2.1, decompressing the downloaded single JPEG picture to obtain YUV data;
s2.2, performing format conversion calculation on YUV data by using a shader;
s2.3, enabling the corresponding texture of the shader resource to enter a custom shader pipeline for information post-processing flow.
2. The method for rendering and post-processing video pictures of unmanned aerial vehicle clusters according to claim 1, wherein the specific content of step S1.1 comprises: and decoding and acquiring shell data of the data packet by using Directx hardware.
3. The method of claim 1, wherein the intelligence post-processing is any one or both of pixel-by-pixel post-processing and multi-layer post-processing.
4. The method for rendering and post-processing video pictures of unmanned aerial vehicle clusters according to claim 3, wherein the multi-layer post-processing specifically comprises: rendering the information of the multiple layers by adopting a parallel rendering mode; creating a plurality of shader processing pipelines similar to a layer, wherein each pipeline is responsible for rendering processing of subdivided information, and the shader processing pipelines are integrated to form a final rendering result.
5. A method of unmanned aerial vehicle cluster video picture rendering and post-processing according to claim 3, wherein the pixel-by-pixel post-processing is implemented as: and (3) carrying out rendering processing by connecting a plurality of pixel shaders in series, wherein the processing result of the last pixel shader is used as input data of the next pixel shader.
6. The method of claim 1, wherein the intelligence post-processing flow includes defogging and tracking of interest objects.
7. A computer readable storage medium comprising instructions which, when run on a computer, cause the computer to perform the method of unmanned aerial vehicle cluster video picture rendering and post-processing of any of claims 1-6.
8. An apparatus for rendering and post-processing video pictures of a cluster of unmanned aerial vehicles, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: the processor, when executing the computer program, implements the steps of the method according to any one of claims 1-6.
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