CN107454327A - Image processing method, device, system and equipment - Google Patents
Image processing method, device, system and equipment Download PDFInfo
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- CN107454327A CN107454327A CN201710734489.9A CN201710734489A CN107454327A CN 107454327 A CN107454327 A CN 107454327A CN 201710734489 A CN201710734489 A CN 201710734489A CN 107454327 A CN107454327 A CN 107454327A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract
The embodiment of the present disclosure provides a kind of image processing method, and applied to image processing equipment or system including at least two image acquisition units, the visual angle with predetermined angle is overlapping between each described image collecting unit；Described image processing method includes：Obtain the initial pictures of each described image collecting unit collection；Splicing is carried out to the initial pictures of each described image collecting unit collection, obtains spliced target image；The target image is transmitted to display terminal.Due to having the visual angle of predetermined angle overlapping between each image acquisition units, therefore there is overlapping region between the initial pictures of each image acquisition units collection, each initial pictures can be spliced according to the overlapping region, the angle of visual field of target image that the embodiment of the present disclosure finally obtains displaying is more than the angle of visual field of each initial pictures displaying, can avoid in the prior art camera be placed in the problem of underwater angle of visual field diminishes.
Description
Technical field
The embodiment of the present disclosure is related to image processing field, more particularly to a kind of image processing method, device, system and sets
It is standby.
Background technology
At present, underwater installation completes the collection of underwater picture by the following method：By being placed in underwater camera collection figure
Picture, the image collected is subjected to coding transmission to terminal, the image that the coding that terminal will receive is gathered after instead decoding,
Then the image is shown again.
Due to the refractive index factor of water, general camera is placed in can obtain the image that the angle of visual field diminishes under water, can not realize compared with
The display effect of big angle of visual field image.
The content of the invention
The embodiment of the present disclosure provides a kind of image processing method, device, system and equipment, can make the target finally obtained
The angle of visual field of image shows be more than each initial pictures displaying the angle of visual field, can avoid in the prior art camera be placed in underwater visual field
The problem of angle diminishes.
In a first aspect, the disclosure provides a kind of image processing method, applied to including at least two image acquisition units
Underwater picture processing equipment or system, have between each described image collecting unit the visual angle of predetermined angle overlapping；Described image
Processing method includes：
Obtain the initial pictures of each described image collecting unit collection；
Splicing is carried out to the initial pictures of each described image collecting unit collection, obtains spliced target image；
The target image is transmitted to display terminal.
Second aspect, the disclosure provides a kind of image processing apparatus, applied to including at least two image acquisition units
Underwater picture processing equipment or system, have between each described image collecting unit the visual angle of predetermined angle overlapping；Described image
Processing unit includes：
First acquisition unit, for obtaining the initial pictures of each described image collecting unit collection；
Concatenation unit, the initial pictures for being gathered to each described image collecting unit carry out splicing, spliced
Target image afterwards；
Transmission unit, for the target image to be transmitted to display terminal.
The third aspect, the disclosure provides a kind of image processing equipment, applied to including at least two image acquisition units
Underwater picture processing system, have between each described image collecting unit the visual angle of predetermined angle overlapping；Described image processing is set
It is standby to include：
Memory；
One or more processors；And
One or more modules, one or more of modules are stored in the memory and are configured to by described
One or more processors control, and one or more of modules are used for the instruction for performing following steps：
Obtain the initial pictures of each described image collecting unit collection；
Splicing is carried out to the initial pictures of each described image collecting unit collection, obtains spliced target image；
The target image is transmitted to display terminal.
Fourth aspect, the disclosure provide a kind of image processing system, including：At least two image acquisition units, with it is described
The underwater picture processing unit and be connected with the underwater picture processing unit aobvious that at least two image acquisition units connect
Show terminal；Wherein, the underwater picture processing unit includes：
First acquisition unit, for obtaining the initial pictures of each described image collecting unit collection；
Concatenation unit, the initial pictures for being gathered to each described image collecting unit carry out splicing, spliced
Target image afterwards；
Transmission unit, for the target image to be transmitted to display terminal.
The image processing method that the embodiment of the present disclosure provides can obtain the initial of at least two image acquisition units collection
Image is simultaneously spliced, and obtains target image.Due to having the visual angle of predetermined angle overlapping between each image acquisition units, therefore respectively
There is overlapping region between the initial pictures of image acquisition units collection, each initial pictures can be carried out according to the overlapping region
Splicing, the angle of visual field for the target image displaying that the embodiment of the present disclosure finally obtains are more than the angle of visual field of each initial pictures displaying, energy
Enough avoid in the prior art camera be placed in the problem of underwater angle of visual field diminishes.
Brief description of the drawings
, below will be to embodiment or existing in order to illustrate more clearly of the embodiment of the present disclosure or technical scheme of the prior art
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are this public affairs
Some embodiments opened, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the schematic diagram for the image processing method that some embodiments of the disclosure provide；
Fig. 2 is the scheme of installation for the image acquisition units that some embodiments of the disclosure provide；
Fig. 3 is the schematic diagram for the image processing method that the embodiment of the disclosure one provides；
Fig. 4 is the schematic diagram for the image processing method that another embodiment of the disclosure provides；
Fig. 5 is the schematic diagram for the image processing method that disclosure another embodiment provides；
Fig. 6 is the schematic diagram for the image mosaic processing method that some embodiments of the disclosure provide；
Fig. 7 is the structural representation for the image processing apparatus that some embodiments of the disclosure provide；
Fig. 8 is the structural representation of the disclosure image processing apparatus that some embodiments provide in addition；
Fig. 9 is the structural representation for the image processing equipment that some embodiments of the disclosure provide.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present disclosure clearer, below in conjunction with the embodiment of the present disclosure
In accompanying drawing, the technical scheme in the embodiment of the present disclosure is clearly and completely described, it is clear that described embodiment is
Disclosure part of the embodiment, rather than whole embodiments.Based on the embodiment in the disclosure, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belong to the scope of disclosure protection.
Referring to Fig. 1, the image processing method that some embodiments of the disclosure provide is shown, applied to including at least two
The underwater picture processing equipment or system of image acquisition units, there is the visual angle of predetermined angle between each described image collecting unit
Overlapping, the predetermined angle can specifically be set according to actual conditions, and the disclosure does not limit.In an optional embodiment, figure
As the setting of collecting unit can be so that as shown in Fig. 2 image acquisition units can be camera A and B in Fig. 2, wherein L be expressed as each phase
The angle of visual field of machine, as shown in Figure 2, camera A, B visual angle field have the overlapping w of visual field.In the image processing method shown in Fig. 1,
Image processing equipment or system can be underwater installation or system, and the equipment or system can be by when performing image processing method
Set under water.It is understood that the equipment or system can be applied in the other application scene such as waterborne, the figure
As processing method can be with as follows.
In step 102, the initial pictures that each described image collecting unit gathers are obtained.
In step 104, splicing is carried out to the initial pictures of each described image collecting unit collection, obtained spliced
Target image.
In step 106, the target image is transmitted to display terminal.
The image processing method that the embodiment of the present disclosure provides can obtain the initial of at least two image acquisition units collection
Image is simultaneously spliced, and obtains target image.Due to having the visual angle of predetermined angle overlapping between each image acquisition units, therefore respectively
There is overlapping region between the initial pictures of image acquisition units collection, each initial pictures can be carried out according to the overlapping region
Splicing, the angle of visual field for the target image displaying that the embodiment of the present disclosure finally obtains are more than the angle of visual field of each initial pictures displaying, energy
Enough avoid in the prior art camera be placed in the problem of underwater angle of visual field diminishes.
In above-mentioned some optional embodiments, the initial pictures to the collection of each described image collecting unit are spelled
Connecing processing includes：The split-join model according to corresponding to determining the type of display terminal, using the split-join model of determination to each figure
The initial pictures gathered as collecting unit carry out splicing.Optionally, the type of display terminal can be plane display terminal
Such as light-emitting diode display, it can also be VR display terminals such as wear-type VR equipment, can also be curve display terminal such as OLED
Display.It should be appreciated that the type of display terminal can specifically be set according to actual conditions, the disclosure does not limit.Should also
When understanding, in some embodiments of the disclosure, display terminal can be at least one, and its type can also be at least one
Kind.
Optionally, the split-join model according to corresponding to determining the type of display terminal includes：If the type of display terminal
For plane display terminal, it is determined that corresponding split-join model be plain splice model；If with or, the type of display terminal be VR
Display terminal, it is determined that corresponding split-join model be sphere split-join model.It is to be understood that split-join model can be according to aobvious
Show that the display needs of terminal are specifically set, the disclosure does not limit.
Referring to Fig. 3, in an above-mentioned optional embodiment, when the type of display terminal is plane display terminal, this
The image processing method that open embodiment provides can be with as follows.
In step 302, the initial pictures that each described image collecting unit gathers are obtained.
In step 303, the type of display terminal is obtained.Herein, the type of display terminal is plane display terminal.
In step 304, the split-join model according to corresponding to determining the type of display terminal is plain splice model, is adopted as putting down
The initial pictures that face split-join model gathers to each described image collecting unit carry out splicing, obtain spliced target figure
Picture.
In step 306, the target image is transmitted to display terminal.
The image processing method that the embodiment of the present disclosure provides can obtain the initial of at least two image acquisition units collection
Image is simultaneously spliced, and obtains target image.Due to having the visual angle of predetermined angle overlapping between each image acquisition units, therefore respectively
There is overlapping region between the initial pictures of image acquisition units collection, each initial pictures can be carried out according to the overlapping region
Splicing, the angle of visual field for the target image displaying that the embodiment of the present disclosure finally obtains are more than the angle of visual field of each initial pictures displaying, energy
Enough avoid in the prior art camera be placed in the problem of underwater angle of visual field diminishes.
The VR Display Techniques of existing underwater scene are directed to, image is gathered by autonomous camera, possesses first person,
But image, which is shown, can follow camera motion and change, rather than follow user's viewing visual angle to change and change, easily produce spinning sensation.
To avoid this problem, the embodiment of the present disclosure has made further improvement.Referring to Fig. 4, in an above-mentioned optional embodiment, when
The type of display terminal is VR display terminals, and optionally, the VR display terminals are to wear VR equipment.In the present embodiment, VR
Display terminal can include motion state measuring unit, for measuring the rotational angle of VR display terminals.The embodiment of the present disclosure carries
The image processing method of confession can be with as follows.
In step 402, the initial pictures that each described image collecting unit gathers are obtained.
In step 403, the type of display terminal is obtained.Herein, the type of display terminal is VR display terminals.
In step 404, the split-join model according to corresponding to determining the type of display terminal is sphere split-join model, is adopted as ball
The initial pictures that face split-join model gathers to each described image collecting unit carry out splicing, obtain spliced target figure
Picture.
In step 406, the target image is transmitted to display terminal.
In step 407, the rotational angle of display terminal is obtained, determines that the target image turns according to corresponding to rotational angle
Dynamic display image.
In step 408, according to the default display angle of visual field, the left and right cutting radius for rotating display image is determined.
In step 409, rotation display image described to left and right is cut, and obtains matching the mesh at the final visual angle of display terminal
Mark display image.
The angle of visual field for the target image displaying that the embodiment of the present disclosure finally obtains is more than the angle of visual field of each initial pictures displaying,
Can avoid in the prior art camera be placed in the problem of underwater angle of visual field diminishes.In addition, at the image that the embodiment of the present disclosure provides
Reason method can also can cut display according to the movement angle of display terminal from target image, so as to whole according to display
It is VR display images that the movement angle at end, which changes target display image, can provide and change and become with the image acquisition units angle of visual field
The display effect of change, simulation really view and admire experience, reduce the spinning sensation of beholder under water.
It should be appreciated that display terminal can be at least one, its type can also be at least one.For example, at this
In disclosed some embodiments, display terminal can be the plane display terminal and VR display terminals in previous embodiment, for
Display terminal with least two types, can sequentially or synchronously it be performed respectively for the step of image progress splicing, then
Obtained each target image is correspondingly transmitted to display terminal.Optionally, referring to Fig. 5, the image that the embodiment of the present disclosure provides
Processing method can be with as follows.
In step 502, the initial pictures that each described image collecting unit gathers are obtained.
In step 503, the type of display terminal is obtained.Herein, the type of display terminal is plane display terminal and VR
Display terminal.
, can order or synchronously execution respectively for the step of image progress splicing for two kinds of display terminals.It is optional
, for plane display terminal, in step 504, the split-join model according to corresponding to determining the type of display terminal is plain splice
Model, it is adopted as the initial pictures that plain splice model gathers to each described image collecting unit and carries out splicing, spelled
Target image after connecing.
For VR display terminals, in step 504, split-join model is spelled for sphere according to corresponding to determining the type of display terminal
Model is connect, the initial pictures that sphere split-join model gathers to each described image collecting unit is adopted as and carries out splicing, obtain
Spliced target image.
In step 506, the target image is transmitted to display terminal.
Optionally, can be for plane display terminal, step 506：Coding compression is carried out to target image, by compression
Image transmitting to display terminal show.Optionally, the mode of compression is encoded as H.264.
Step 507 can also be included for VR display terminals, after step 506 to 509.In the present embodiment, VR is shown
Terminal can include motion state measuring unit, for measuring the rotational angle of VR display terminals.
In step 507, the rotational angle of display terminal is obtained, determines that the target image turns according to corresponding to rotational angle
Dynamic display image.
In step 508, according to the default display angle of visual field, the left and right cutting radius for rotating display image is determined.
In step 509, rotation display image described to left and right is cut, and obtains matching the mesh at the final visual angle of display terminal
Mark display image.
The angle of visual field for the target image displaying that the embodiment of the present disclosure finally obtains is more than the angle of visual field of each initial pictures displaying,
Can avoid in the prior art camera be placed in the problem of underwater angle of visual field diminishes.
In addition, the image processing method that provides of the embodiment of the present disclosure can also can according to the movement angle of display terminal from
Display is cut in target image, is VR display figures so as to change target display image according to the movement angle of display terminal
Picture, can provide the display effect for changing and changing with the image acquisition units angle of visual field, and simulation is really viewed and admired experience, subtracted under water
The spinning sensation of small beholder.
Further, the embodiment of the present disclosure can also use same group of video or initial pictures to input, and final output is at most
The display terminal of type, there is provided abundant display effect, save hardware and software cost, improve display efficiency.
, can be as follows to the splicing process of initial pictures in above-mentioned some embodiments：Two and multiple images are adopted
Collect the preset field of view angle (such as setting angle) of unit (such as camera), it is known that then corresponding plane projection model and spherical projection
Model can just calculate in advance.Transition matrix between image coordinate system and projection plane/projection sphere can just calculate in advance.
By the image projection of two/multiple images collecting unit to projection plane/projection sphere, deposited between two/multiple initial pictures
In overlapping region, weighting smoothing algorithm processing splicing overlapping region can be used.Splicing the main thought of overlapping region is：It please join
Read Fig. 6, in image overlapping region the gray value Pixel of pixel by corresponding points in the two images of left and right gray value Pixel_
L (gray value of left image) and Pixel_R (gray value of right image) weighted average obtain, i.e. Pixel=k*Pixel_L+ (1-
K) * Pixel_R, wherein k are adjustable factors.Under normal circumstances 0<k<1, in overlapping region, along image 1 to the direction k of image 2
0 is faded to by 1, so as to realize the smooth registration of overlapping region.If another k=d1/ (d1+d2), wherein, d1, d2 represent weight respectively
Point in folded region is to the left margin of two images overlapping region and the distance of right margin, with pixel in image overlapping region
Gray value Pixel determination formula becomes Pixel=[d1/ (d1+d2)] * Pixel_L+ [d2/ (d1+d2)] * Pixel_R.
It should be appreciated that other algorithms or mode can be used to the splicing process of image, herein not as needed
Limit.
Referring to Fig. 7, the embodiment of the present disclosure provides a kind of image processing apparatus, can be realized by software and/or hardware, can
Be integrated in underwater picture processing equipment or system including at least two image acquisition units, each described image collecting unit it
Between have predetermined angle visual angle it is overlapping, the predetermined angle can specifically be set according to actual conditions, and the disclosure does not limit.
In one optional embodiment, the setting of image acquisition units can be as shown in the embodiment described in Fig. 1.In the image shown in Fig. 7
In processing unit, image processing equipment or system can be underwater installation or system, and the equipment or system upon execution can be by
Set under water.It is understood that the equipment or system can be applied in the other application scene such as waterborne, Fig. 7 institutes
Stating image processing apparatus includes：First acquisition unit 700, concatenation unit 701 and transmission unit 702, each procedures/modules unit
The principle of work and power is as follows.
First acquisition unit 700, for obtaining the initial pictures of each described image collecting unit collection.
Concatenation unit 701, the initial pictures for being gathered to each described image collecting unit carry out splicing, spelled
Target image after connecing.
Transmission unit 702, for the target image to be transmitted to display terminal.
The embodiment of the present disclosure can obtain the initial pictures of at least two image acquisition units collection and be spliced, and obtain
Target image.Due to having the visual angle of predetermined angle overlapping between each image acquisition units, therefore the collection of each image acquisition units
There is overlapping region between initial pictures, each initial pictures can be spliced according to the overlapping region, the embodiment of the present disclosure
The angle of visual field of the target image displaying finally obtained is more than the angle of visual field of each initial pictures displaying, can avoid phase in the prior art
Machine is placed in the problem of underwater angle of visual field diminishes.
It should be appreciated that display terminal can be at least one, its type can also be at least one.For example, at this
In disclosed some embodiments, display terminal can be plane display terminal and VR display terminals in previous embodiment.It is optional
, the type of display terminal can be plane display terminal such as light-emitting diode display, can also be VR display terminals such as wear-type
VR equipment, can also be curve display terminal such as OLED display.It should be appreciated that the type of display terminal can be according to reality
Border situation is specifically set, and the disclosure does not limit.It is to be further understood that in some embodiments of the disclosure, display terminal
Can be at least one, its type can also be at least one.
In above-mentioned some optional embodiments, the concatenation unit 701 is used for：According to the determination pair of the type of display terminal
The split-join model answered, the initial pictures gathered using the split-join model of determination to each described image collecting unit carry out stitching portion
Reason.Optionally, the concatenation unit 701 is used for：If the type of display terminal is plane display terminal, it is determined that corresponding splicing
Model is plain splice model；If with or, the type of display terminal be VR display terminals, it is determined that corresponding split-join model be
Sphere split-join model.
Referring to Fig. 8, in an above-mentioned optional embodiment, it is described if the type of display terminal is VR display terminals
Image processing apparatus also includes：
Second acquisition unit 703, for obtaining the rotational angle of display terminal, determine the target image according to angle of rotation
Display image is rotated corresponding to degree；
Determining unit 704, for according to the default display angle of visual field, determining the left and right cutting for rotating display image half
Footpath；
Unit 705 is cut, for being cut to the left and right display image that rotates, matching display terminal is obtained and finally regards
The target display image at angle.
In an above-mentioned optional embodiment, described image processing unit also includes the 3rd acquiring unit, aobvious for obtaining
Show the type of terminal.
The embodiment of the present disclosure provide image processing apparatus can correspond to perform foregoing image processing method, its operation principle and
Beneficial effect can be as shown in the embodiment of image processing method above, herein not in repeating.
The embodiment of the present disclosure also provides a kind of image processing system, including：At least two image acquisition units, with it is described extremely
The underwater picture processing unit of few two image acquisition units connection and the display being connected with the underwater picture processing unit
Terminal.The assembly of elements and the principle of work and power of each unit part that the underwater picture processing unit includes are as it was noted above, a little
Repeat no more.
Referring to Fig. 9, the embodiment of the present disclosure also provides a kind of image processing equipment, adopted applied to including at least two images
Collect the underwater picture processing system of unit, have the visual angle of predetermined angle overlapping between each described image collecting unit.The figure
As processing equipment includes：
Memory 900；
One or more processors 903；And
One or more modules 901, one or more of modules be stored in the memory and be configured to by
One or more of processor controls, one or more of modules are used for the instruction for performing following steps：
Obtain the initial pictures of each described image collecting unit collection；
Splicing is carried out to the initial pictures of each described image collecting unit collection, obtains spliced target image；
The target image is transmitted to display terminal.
In summary, the embodiment of the present disclosure can have the advantages that：
The angle of visual field for the target image displaying that the embodiment of the present disclosure finally obtains is more than the angle of visual field of each initial pictures displaying,
Can avoid in the prior art camera be placed in the problem of underwater angle of visual field diminishes；
In addition, the image processing method that provides of the embodiment of the present disclosure can also can according to the movement angle of display terminal from
Display is cut in target image, is VR display figures so as to change target display image according to the movement angle of display terminal
Picture, can provide the display effect for changing and changing with the image acquisition units angle of visual field, and simulation is really viewed and admired experience, subtracted under water
The spinning sensation of small beholder；
Further, the embodiment of the present disclosure can also use same group of video or initial pictures to input, and final output is at most
The display terminal of type, there is provided abundant display effect, save hardware and software cost, improve display efficiency.
Device embodiment described above is only schematical, wherein the unit illustrated as separating component can
To be or may not be physically separate, it can be as the part that unit is shown or may not be physics list
Member, you can with positioned at a place, or can also be distributed on multiple NEs.It can be selected according to the actual needs
In some or all of module realize the purpose of this embodiment scheme.Those of ordinary skill in the art are not paying creativeness
Work in the case of, you can to understand and implement.Through the above description of the embodiments, those skilled in the art can be with
Each embodiment is well understood can add the mode of required general hardware platform to realize by software, naturally it is also possible to logical
Cross hardware.Based on such understanding, part that above-mentioned technical proposal substantially contributes to prior art in other words can be with
The form of software product is embodied, and the computer software product can be stored in a computer-readable storage medium, such as ROM/
RAM, magnetic disc, CD etc., including some instructions to cause a computer equipment (can be personal computer, server, or
Person's network equipment etc.) perform method described in some parts of each embodiment or embodiment.
Finally it should be noted that：Above example is only to illustrate the technical scheme of the disclosure, rather than its limitations；Although
The disclosure is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from each embodiment technical scheme of the disclosure spirit and
Scope.
Claims (10)
1. a kind of image processing method, it is characterised in that at the underwater picture including at least two image acquisition units
Equipment or system are managed, has the visual angle of predetermined angle overlapping between each described image collecting unit；Described image processing method bag
Include：
Obtain the initial pictures of each described image collecting unit collection；
Splicing is carried out to the initial pictures of each described image collecting unit collection, obtains spliced target image；
The target image is transmitted to display terminal.
2. image processing method according to claim 1, it is characterised in that described to be gathered to each described image collecting unit
Initial pictures carry out splicing include：The split-join model according to corresponding to determining the type of display terminal, using the spelling of determination
Connect the initial pictures that model gathers to each described image collecting unit and carry out splicing.
3. image processing method according to claim 2, it is characterised in that described according to the determination pair of the type of display terminal
The split-join model answered includes：If the type of display terminal is plane display terminal, it is determined that corresponding split-join model be plane spell
Connect model；If with or, the type of display terminal be VR display terminals, it is determined that corresponding split-join model be sphere split-join model.
4. image processing method according to claim 3, it is characterised in that display is whole if the type of display terminal is VR
Hold, then described transmit the target image to display terminal includes afterwards：
The rotational angle of display terminal is obtained, determines that the target image rotates display image according to corresponding to rotational angle；
According to the default display angle of visual field, the left and right cutting radius for rotating display image is determined；
Rotation display image described to left and right is cut, and obtains matching the target display image at the final visual angle of display terminal.
5. a kind of image processing apparatus, it is characterised in that at the underwater picture including at least two image acquisition units
Equipment or system are managed, has the visual angle of predetermined angle overlapping between each described image collecting unit；Described image processing unit bag
Include：
First acquisition unit, for obtaining the initial pictures of each described image collecting unit collection；
Concatenation unit, the initial pictures for being gathered to each described image collecting unit carry out splicing, obtained spliced
Target image；
Transmission unit, for the target image to be transmitted to display terminal.
6. image processing apparatus according to claim 5, it is characterised in that the concatenation unit is used for：According to display eventually
Split-join model corresponding to the type determination at end, the initial graph gathered using the split-join model of determination to each described image collecting unit
As carrying out splicing.
7. image processing apparatus according to claim 6, it is characterised in that the concatenation unit is used for：If display terminal
Type be plane display terminal, it is determined that corresponding split-join model be plain splice model；If with or, display terminal class
Type is VR display terminals, it is determined that corresponding split-join model be sphere split-join model.
8. image processing apparatus according to claim 7, it is characterised in that display is whole if the type of display terminal is VR
End, then described image processing unit also includes：
Second acquisition unit, for obtaining the rotational angle of display terminal, determine that the target image is corresponding according to rotational angle
Rotation display image；
Determining unit, for according to the default display angle of visual field, determining the left and right cutting radius for rotating display image；
Unit is cut, for being cut to the left and right display image that rotates, obtains matching the mesh at the final visual angle of display terminal
Mark display image.
A kind of 9. image processing system, it is characterised in that including：At least two image acquisition units and at least two figure
The underwater picture processing unit connected as collecting unit and the display terminal that is connected with the underwater picture processing unit；Its
In, the underwater picture processing unit includes：
First acquisition unit, for obtaining the initial pictures of each described image collecting unit collection；
Concatenation unit, the initial pictures for being gathered to each described image collecting unit carry out splicing, obtained spliced
Target image；
Transmission unit, for the target image to be transmitted to display terminal.
10. a kind of image processing equipment, applied to the underwater picture processing system including at least two image acquisition units, each institute
The visual angle with predetermined angle is overlapping between stating image acquisition units；Described image processing equipment includes：
Memory；
One or more processors；And
One or more modules, one or more of modules are stored in the memory and are configured to by one
Or multiple processor controls, one or more of modules are used for the instruction for performing following steps：
Obtain the initial pictures of each described image collecting unit collection；
Splicing is carried out to the initial pictures of each described image collecting unit collection, obtains spliced target image；
The target image is transmitted to display terminal.
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