CN107959787B - Image processing method and device - Google Patents
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- CN107959787B CN107959787B CN201610901705.XA CN201610901705A CN107959787B CN 107959787 B CN107959787 B CN 107959787B CN 201610901705 A CN201610901705 A CN 201610901705A CN 107959787 B CN107959787 B CN 107959787B
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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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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformation in the plane of the image
- G06T3/40—Scaling the whole image or part thereof
- G06T3/4038—Scaling the whole image or part thereof for image mosaicing, i.e. plane images composed of plane sub-images
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- H—ELECTRICITY
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- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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- H—ELECTRICITY
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- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/28—Indexing scheme for image data processing or generation, in general involving image processing hardware
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- G06T2200/32—Indexing scheme for image data processing or generation, in general involving image mosaicing
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Abstract
The embodiment of the invention provides an image processing method and device, which are applied to an image processor in a panoramic camera, wherein the panoramic camera further comprises: the image sensor system comprises a plurality of image sensors and a data processor group, wherein the data processor group comprises at least two Central Processing Units (CPUs). When the scheme provided by the embodiment of the invention is applied to image processing, the original panoramic image is not directly subjected to image coding, but is firstly split into a plurality of original split images, and a plurality of CPUs in the data processor group respectively perform image coding on each original split image.
Description
Technical Field
The invention relates to the technical field of video monitoring, in particular to an image processing method and device.
Background
Nowadays, a user can take a panoramic image using a panoramic camera, wherein the so-called panoramic image refers to an image having a field angle in a range of 180 ° to 360 °. In general, a panoramic camera refers in particular to a video camera having a plurality of lenses and a plurality of image sensors (simply referred to as sensors).
In the related art, image acquisition is performed on each sensor of a panoramic camera to obtain each original image to be stitched, then an image processor of the panoramic camera performs stitching processing on each obtained original image to stitch each original image into an original panoramic image, then a Central Processing Unit (CPU) of the panoramic camera performs image coding on the stitched original panoramic image to remove redundant data in the original panoramic image, and finally a target panoramic image for display is obtained, and the target panoramic image is displayed through a display terminal.
Generally, the resolution of the original panoramic image obtained by stitching is often very large, and the processing capability of the CPU of the panoramic camera is limited, so that in order to ensure that the CPU can perform image coding on the original panoramic image, the resolution of the original image acquired by each sensor is often required to be reduced. It can be seen that due to the restriction of the processing capability of the CPU of the panoramic camera, the resolution of the target panoramic image obtained by the related art is low, i.e., the definition of the target panoramic image is not high.
Disclosure of Invention
An object of the embodiments of the present invention is to provide an image processing method and apparatus, so as to improve the definition of a target panoramic image on the premise of ensuring normal display of the target panoramic image.
In order to achieve the above object, an embodiment of the present invention discloses an image processing method applied to an image processor in a panoramic camera, where the panoramic camera further includes: the system comprises a plurality of image sensors and a data processor group, wherein the data processor group comprises at least two Central Processing Units (CPUs); the method comprises the following steps:
receiving original images to be spliced, which are acquired and sent by each image sensor;
splicing each original image to obtain a spliced original panoramic image;
splitting the original panoramic image into a plurality of original split images according to a preset image splitting rule;
sending each original split image to the data processor set such that: and the data processor group carries out image coding on each original split image to obtain a target split image corresponding to each original split image, corrects the time stamp corresponding to each original split image into the same time stamp and controls all target split images corresponding to the original panoramic image to be synchronously displayed according to the corrected time stamp.
Optionally, the step of splitting the original panoramic image into a plurality of original split images according to a preset image splitting rule includes:
and splitting the original panoramic image into a plurality of original split images according to at least one of the number and the processing capacity parameter value of the CPUs in the data processor group and the resolution of the original panoramic image.
Optionally, the data processor group includes a master CPU and at least one slave CPU;
the sending each original split image to the data processor complex such that: the data processor group carries out image coding on each original split image to obtain a target split image corresponding to each original split image, corrects the time stamp corresponding to each original split image into the same time stamp, and controls all target split images corresponding to the original panoramic image to carry out synchronous display according to the corrected time stamp, and the method comprises the following steps:
sending each original split image to a master CPU and a slave CPU in the data processor set, respectively, such that: the method comprises the steps that a master CPU and a slave CPU carry out image coding on original split images received by the master CPU and the slave CPU to obtain target split images corresponding to the original split images, the master CPU receives the target split images obtained and sent by the slave CPU through image coding, time stamps corresponding to the original split images are corrected to be the same by the master CPU, and all the target split images corresponding to the original panoramic images are controlled to be synchronously displayed according to the corrected time stamps.
Optionally, the step of correcting, by the main CPU, the timestamps corresponding to the original split images to be the same timestamp, and controlling all target split images corresponding to the original panoramic image to be synchronously displayed according to the corrected timestamps includes:
the main CPU corrects the received time stamp of the target split image obtained and sent by the image coding of the slave CPU according to the reference time stamp; the reference timestamp is a timestamp when the main CPU receives an original split image sent by the image processor;
the main CPU controls all target split images corresponding to the original panoramic image and synchronously displays the target split images according to target timestamps; and the target time stamp corresponding to the target split image obtained by the image coding of the main CPU is the reference time stamp, and the target time stamp corresponding to the target split image received by the main CPU is the corrected time stamp.
Optionally, the step of controlling, by the main CPU, all target split images corresponding to the original panoramic image and performing synchronous display according to a target timestamp includes:
the main CPU packs all target split images corresponding to the original panoramic image to obtain an image packet containing each target split image;
and the main CPU sends the image packet to a display terminal so that the display terminal synchronously displays all target split images corresponding to the original panoramic image according to corresponding target time stamps after decoding the received image packet.
Optionally, the target split image is: the main CPU and the slave CPU are used for obtaining images according to image parameter coding configured in the main CPU; wherein the image parameters include: exposure parameters, white balance parameters, and a color correction matrix.
Optionally, after the step of performing stitching processing on each original image and obtaining a stitched original panoramic image, the method further includes:
carrying out scaling processing for reducing resolution on the original panoramic image, and obtaining a scaled low-resolution panoramic image;
sending the low resolution panoramic image to the set of data processors such that: and the data processor group carries out image coding on the low-resolution panoramic image to obtain a target low-resolution panoramic image corresponding to the low-resolution panoramic image and controls the display of the target low-resolution panoramic image.
Optionally, after the step of performing scaling processing for reducing the resolution of the original panoramic image and obtaining a scaled low-resolution panoramic image, the method further includes:
obtaining a target low-resolution panoramic image obtained after image coding is carried out by the data processor group;
extracting a moving target in the target low-resolution panoramic image;
obtaining first pixel coordinates of the extracted moving object in the low-resolution panoramic image;
determining a target split image in which a second pixel coordinate corresponding to the first pixel coordinate is located according to the pixel coordinate corresponding relation between the target low-resolution panoramic image and each target split image;
and sending the identification information of the determined target split image to the data processor group so that the data processor group controls the determined target split image to be displayed.
Optionally, the step of sending the identification information of the determined target split image to the data processor group to enable the data processor group to control the determined target split image to be displayed includes:
detecting whether a trigger signal for controlling the determined target split image to be displayed is received;
and if so, sending the identification information of the determined target split image to the data processor group so that the data processor group controls the determined target split image to be displayed.
Optionally, the image processor is a module built based on a field programmable gate array FPGA chip.
In order to achieve the above object, an embodiment of the present invention discloses an image processing apparatus applied to an image processor in a panoramic camera, where the panoramic camera further includes: the system comprises a plurality of image sensors and a data processor group, wherein the data processor group comprises at least two Central Processing Units (CPUs); the device comprises:
the image receiving module is used for receiving the original images to be spliced, which are acquired and sent by the image sensors;
the image splicing module is used for splicing all the original images to obtain spliced original panoramic images;
the image splitting module is used for splitting the original panoramic image into a plurality of original split images according to a preset image splitting rule;
an image sending module, configured to send each original split image to the data processor group, so that: and the data processor group carries out image coding on each original split image to obtain a target split image corresponding to each original split image, corrects the time stamp corresponding to each original split image into the same time stamp and controls all target split images corresponding to the original panoramic image to be synchronously displayed according to the corrected time stamp.
Optionally, the image splitting module is specifically configured to:
and splitting the original panoramic image into a plurality of original split images according to at least one of the number and the processing capacity parameter value of the CPUs in the data processor group and the resolution of the original panoramic image.
Optionally, the data processor group includes a master CPU and at least one slave CPU;
the image sending module is specifically configured to:
sending each original split image to a master CPU and a slave CPU in the data processor set, respectively, such that: the method comprises the steps that a master CPU and a slave CPU carry out image coding on original split images received by the master CPU and the slave CPU to obtain target split images corresponding to the original split images, the master CPU receives the target split images obtained and sent by the slave CPU through image coding, time stamps corresponding to the original split images are corrected to be the same by the master CPU, and all the target split images corresponding to the original panoramic images are controlled to be synchronously displayed according to the corrected time stamps.
Optionally, the step of correcting, by the main CPU, the timestamps corresponding to the original split images to be the same timestamp, and controlling all target split images corresponding to the original panoramic image to be synchronously displayed according to the corrected timestamps includes:
the main CPU corrects the received time stamp of the target split image obtained and sent by the image coding of the slave CPU according to the reference time stamp; the reference timestamp is a timestamp when the main CPU receives an original split image sent by the image processor;
the main CPU controls all target split images corresponding to the original panoramic image and synchronously displays the target split images according to target timestamps; and the target time stamp corresponding to the target split image obtained by the image coding of the main CPU is the reference time stamp, and the target time stamp corresponding to the target split image received by the main CPU is the corrected time stamp.
Optionally, the controlling, by the main CPU, all target split images corresponding to the original panoramic image and performing synchronous display according to a target timestamp includes:
the main CPU packs all target split images corresponding to the original panoramic image to obtain an image packet containing each target split image;
and the main CPU sends the image packet to a display terminal so that the display terminal synchronously displays all target split images corresponding to the original panoramic image according to corresponding target time stamps after decoding the received image packet.
Optionally, the target split image is: the main CPU and the slave CPU are used for obtaining images according to image parameter coding configured in the main CPU; wherein the image parameters include: exposure parameters, white balance parameters, and a color correction matrix.
Optionally, the image processing apparatus further includes:
the image zooming module is used for carrying out the zooming processing of reducing the resolution ratio on the original panoramic image after the image splicing module splices all the original images and obtains the spliced original panoramic image, and obtaining the zoomed low-resolution panoramic image;
the image sending module is further configured to send the low-resolution panoramic image to the data processor group, so that: and the data processor group carries out image coding on the low-resolution panoramic image to obtain a target low-resolution panoramic image corresponding to the low-resolution panoramic image and controls the display of the target low-resolution panoramic image.
Optionally, the image processing apparatus further includes:
a panoramic image obtaining module, configured to obtain a target low-resolution panoramic image obtained after image coding is performed by the data processor group after the image scaling module performs resolution reduction scaling on the original panoramic image and obtains a scaled low-resolution panoramic image;
the target extraction module is used for extracting a moving target in the target low-resolution panoramic image;
a coordinate obtaining module, configured to obtain first pixel coordinates of the extracted moving object in the low-resolution panoramic image;
a split image determining module, configured to determine a target split image where a second pixel coordinate corresponding to the first pixel coordinate is located according to a pixel coordinate correspondence between the target low-resolution panoramic image and each target split image;
the image sending module is further configured to send the identification information of the determined target split image to the data processor group, so that the data processor group controls the determined target split image to be displayed.
Optionally, the image sending module is specifically configured to:
detecting whether a trigger signal for controlling the determined target split image to be displayed is received;
and if so, sending the identification information of the determined target split image to the data processor group so that the data processor group controls the determined target split image to be displayed.
Optionally, the image processor is a module built based on a field programmable gate array FPGA chip.
The embodiment of the invention provides an image processing method and device, which are applied to an image processor in a panoramic camera, wherein the panoramic camera further comprises: the image sensor system comprises a plurality of image sensors and a data processor group, wherein the data processor group comprises at least two Central Processing Units (CPUs). When image processing is carried out, the image processor firstly receives original images to be spliced, which are collected and sent by each image sensor, then carries out splicing processing on each original image to obtain a spliced original panoramic image, then splits the original panoramic image into a plurality of original split images according to a preset image splitting rule, and sends each original split image to the data processor group, so that the data processor group carries out image coding on each original split image to obtain a target split image corresponding to each original split image, corrects the time stamp corresponding to each original split image into the same time stamp, and controls all target split images corresponding to the original panoramic image to be synchronously displayed according to the corrected time stamp.
As can be seen from the above, when the scheme provided by the embodiment of the present invention is applied to image processing, the original panoramic image is not directly subjected to image coding, but the original panoramic image is firstly split into a plurality of original split images, and then the plurality of CPUs in the data processor set respectively perform image coding on each original split image.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flowchart of an image processing method according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating another image processing method according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating another image processing method according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an image processing apparatus according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of another image processing apparatus according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of another image processing apparatus according to an embodiment of the present invention.
Detailed Description
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.
In order to improve the definition of a target panoramic image on the premise of ensuring the normal display of the target panoramic image, the embodiment of the invention provides an image processing method and device.
First, an image processing method according to an embodiment of the present invention will be described below.
The image processing method provided by the embodiment of the invention is applied to an image processor in a panoramic camera, and the panoramic camera further comprises the following steps: the image sensor system comprises a plurality of image sensors and a data processor group, wherein the data processor group comprises at least two Central Processing Units (CPUs). For example, the image processor may be a module built based on a field programmable gate array FPGA chip, but is not limited thereto.
Specifically, the image processing method shown in fig. 1 may include the following steps:
s101: and receiving the original images to be spliced, which are acquired and sent by each image sensor.
Specifically, each original image to be stitched is acquired by using each image sensor in the panoramic camera, and each image sensor can acquire an image by using a photoelectric conversion effect, and generally, a plurality of lenses and a plurality of image sensors in the panoramic camera are used in cooperation, so that original images with a plurality of view angles can be acquired. After each raw image is captured by each image sensor, each raw image may be sent to an image processor, so that the image processor performs subsequent image processing on the received raw image.
It should be noted that before image acquisition is performed by using the image sensor, parameters of each component of the panoramic camera need to be configured, and those skilled in the art need to reasonably set the parameters of each component according to specific situations in practical applications. Furthermore, as will be understood by those skilled in the art, the image sensor is an important component of a digital camera, and is also a high-end technology Device applied to photography, and can be classified into two categories, namely, a CCD (charge coupled Device) and a CMOS (Complementary Metal-Oxide Semiconductor) according to the Device. It should be emphasized that, with respect to the specific acquisition manner of the raw images to be stitched by the image sensor, reference may be made to any one of the prior art, and no limitation is made herein.
S102: and splicing each original image to obtain a spliced original panoramic image.
Specifically, after receiving each original image sent by the image sensor, the image processor may stitch each original image into one large-resolution original panoramic image. For example, an image with a resolution greater than 1200 ten thousand may be referred to as a large-resolution image, but is not limited thereto.
In addition, in order to ensure the overall effect of the stitched original images, before the stitching processing is performed on the original images, preprocessing such as image rotation may be performed on each original image, and image processing such as image fusion may be performed on the stitched original panoramic images, for example, processing needs to be performed by using a related algorithm of image processing for image registration and seam.
It should be emphasized that, in the embodiment of the present invention, a specific implementation manner of obtaining the stitched original panoramic image by stitching each original image may refer to any prior art, which is not limited herein.
S103: and splitting the original panoramic image into a plurality of original split images according to a preset image splitting rule.
Optionally, in an implementation manner, the original panoramic image may be split into a plurality of original split images according to at least one of information of a number of CPUs in the data processor group, a processing capability parameter value, and a resolution of the original panoramic image.
For example, assuming that the size of the resolution of an image that can be processed by the CPU in the data processor group (i.e., the processing capability parameter value of the CPU) does not exceed 600 × 600, for an original panoramic image with a resolution of 1000 × 1000, the original panoramic image may be split into 4 original split images with a resolution of 500 × 500 according to the processing capability parameter value of the CPU and the resolution of the original panoramic image.
It should be noted that the above is merely an example of how to split the original panoramic image into a plurality of original split images, and should not be construed as a limitation to the specific implementation of splitting into a plurality of original split images, and any possible implementation may be applied to the present invention.
S104: sending each original split image to the data processor set such that: and the data processor group carries out image coding on each original split image to obtain a target split image corresponding to each original split image, corrects the time stamp corresponding to each original split image into the same time stamp and controls all target split images corresponding to the original panoramic image to be synchronously displayed according to the corrected time stamp.
After obtaining the original split images, in order to obtain a target panoramic image with higher resolution, each original split image may be sent to a data processor group; correspondingly, the data processor group may encode each original split image to obtain a target split image corresponding to each original split image, correct the timestamp corresponding to each original split image to be the same timestamp, and control all target split images corresponding to the original panoramic image to be synchronously displayed according to the corrected timestamps, so as to visually make all displayed target split images equal to the target panoramic image corresponding to the original panoramic image and having a higher resolution.
Optionally, in an implementation manner, the data processor group includes a master CPU and at least one slave CPU, and accordingly, the image processor may send each original split image to the master CPU and the slave CPU in the data processor group, respectively, so that: the method comprises the steps that a master CPU and a slave CPU carry out image coding on original split images received by the master CPU and the slave CPU to obtain target split images corresponding to the original split images, the master CPU receives the target split images obtained and sent by the slave CPU through image coding, time stamps corresponding to the original split images are corrected to be the same by the master CPU, and all the target split images corresponding to the original panoramic images are controlled to be synchronously displayed according to the corrected time stamps.
Specifically, in a specific implementation manner, the main CPU may control all target split images corresponding to the original panoramic image to be displayed synchronously according to the corrected timestamps in the following manner:
(1) the main CPU corrects the received time stamp of the target split image obtained and sent by the image coding of the slave CPU according to the reference time stamp; the reference timestamp is a timestamp when the main CPU receives an original split image sent by the image processor;
(2) the main CPU controls all target split images corresponding to the original panoramic image and synchronously displays the target split images according to target timestamps; and the target time stamp corresponding to the target split image obtained by the image coding of the main CPU is the reference time stamp, and the target time stamp corresponding to the target split image received by the main CPU is the corrected time stamp.
It should be noted that, for the video frame images acquired by the image sensors of the panoramic camera, when the image processor splices each original image (video frame image) into one original panoramic image, the frame number of the video frame image corresponding to the original panoramic image can be obtained, so that when the original panoramic image is divided into a plurality of original split images, the frame number of the video frame image can be carried in each original split image. Correspondingly, when the main CPU or each slave CPU obtains each original split image sent to the image processor, a corresponding relationship between the frame number of the video frame image carried in the corresponding original split image and the timestamp when the original split image is obtained can be established. It should be noted that the purpose of carrying the frame number of the video frame image is to ensure the synchronous display of the target split image corresponding to the same original panoramic image, so that the target split images corresponding to different video frame images are not displayed simultaneously on the display interface of the display terminal.
Specifically, the main CPU may control all target split images corresponding to the original panoramic image in the following manner, and perform synchronous display according to a target timestamp:
the main CPU packs all target split images corresponding to the original panoramic image to obtain an image packet containing each target split image;
and the main CPU sends the image packet to a display terminal so that the display terminal synchronously displays all target split images corresponding to the original panoramic image according to corresponding target time stamps after decoding the received image packet.
It should be noted that the main CPU may perform the packing processing on each target split image by using a proprietary protocol agreed by those skilled in the art or a public protocol known by those skilled in the art, and the adopted packing protocol is not limited herein, and any possible implementation manner may be applied to the present invention.
In addition, since each target split image is finally displayed synchronously to display a complete target panoramic image for the user, before image coding is performed on each original split image by using different CPUs in the data processor group, each image parameter can be synchronized, so that the target split images coded by the CPUs have consistency in image effect. Specifically, the master CPU may calculate and obtain corresponding image parameters by using an existing image parameter calculation method, store the image parameters in a storage unit of the panoramic camera, switch to the slave CPU1 by using a multi-way switching device, trigger the slave CPU1 to read the image parameters stored by the master CPU in the storage unit, and so on, sequentially trigger the other slave CPUs to read the image parameters stored by the master CPU in the storage unit, and perform synchronization according to the obtained image parameters after the master CPU and each slave CPU obtain the corresponding image parameters.
Optionally, the target split image may be: the main CPU and the slave CPU are used for obtaining images according to image parameter coding configured in the main CPU; wherein the image parameters include: exposure parameters, white balance parameters, and a color correction matrix. Of course, it is reasonable that the image parameters of the master CPU and the slave CPU may have a difference within a certain range without affecting the visual effect.
It should be noted that the 3 image parameters listed above are only examples, and should not constitute a limitation to the image parameters, and those skilled in the art need to select suitable specific image parameters according to the specific situation in the practical application. As can be seen from the above, when the scheme provided by the embodiment of the present invention is applied to image processing, the original panoramic image is not directly subjected to image coding, but the original panoramic image is firstly split into a plurality of original split images, and then the plurality of CPUs in the data processor set respectively perform image coding on each original split image.
As shown in fig. 2, another image processing method provided in the embodiment of the present invention may further include, after step S102, the following steps based on the embodiment of the method shown in fig. 1:
s105: and carrying out scaling processing for reducing the resolution of the original panoramic image, and obtaining a scaled low-resolution panoramic image.
Specifically, the resolution of the original panoramic image obtained by stitching the original images is usually very high and often exceeds the processing capability of one CPU, and here, the original panoramic image may be scaled by using an image processing algorithm for reducing the image resolution in the prior art, so as to obtain a low-resolution panoramic image corresponding to the original panoramic image.
S106: sending the low resolution panoramic image to the set of data processors such that: and the data processor group carries out image coding on the low-resolution panoramic image to obtain a target low-resolution panoramic image corresponding to the low-resolution panoramic image and controls the display of the target low-resolution panoramic image.
It should be noted that the low-resolution panoramic image may be image-encoded by a master CPU or a slave CPU in the data processor group, and it is emphasized that, when the low-resolution panoramic image is image-encoded by the slave CPU, the slave CPU needs to transmit the encoded target low-resolution panoramic image to the master CPU and control the display of the target low-resolution panoramic image by the master CPU.
As can be seen from the above, when the scheme provided by the embodiment of the present invention is applied to image processing, in addition to all the beneficial effects of the method embodiment shown in fig. 1, a target low-resolution panoramic image corresponding to the original panoramic image can be obtained, and compared with the original panoramic image, the resolution of the target low-resolution panoramic image is greatly reduced, and is easily within the processing capability of the image resolution that can be processed by the CPU, and is suitable for an application scenario with low resolution requirements on the panoramic image.
As shown in fig. 3, another image processing method provided for the embodiment of the present invention, on the basis of the embodiment of the method shown in fig. 2, after step S106, may further include the following steps:
s107: and obtaining a target low-resolution panoramic image obtained after image coding is carried out by the data processor group.
Specifically, when the data processor group performs image coding on the low-resolution panoramic image, a target low-resolution panoramic image with the redundant data removed and the low data amount is obtained, and the image processor needs to first obtain the target low-resolution panoramic image sent by the data processor group so as to perform subsequent related image processing on the target low-resolution panoramic image.
S108: and extracting the moving target in the target low-resolution panoramic image.
It should be noted that, for a video frame image, when a moving object in a target low-resolution panoramic image is extracted, the moving object in the current target low-resolution panoramic image may be extracted by combining with a previous video frame image corresponding to the target low-resolution panoramic image, and specifically, the moving object may include: people, vehicles, and the like, the embodiments of the present invention do not need to be limited to specific moving objects, and those skilled in the art need to make appropriate settings according to the specific situation in practical applications.
S109: obtaining first pixel coordinates of the extracted moving object in the low-resolution panoramic image.
Specifically, after a moving object is extracted from a target low-resolution panoramic image, an image area where the moving object is located may be obtained, and then a first pixel coordinate of the moving object in a first-resolution panoramic image may be determined by using a method in the prior art, for example, a central point of the image area where the moving object is located may be determined as the first pixel coordinate corresponding to the moving object, and of course, other feasible implementation manners may also be available.
S110: and determining a target split image in which a second pixel coordinate corresponding to the first pixel coordinate is located according to the pixel coordinate corresponding relation between the target low-resolution panoramic image and each target split image.
Specifically, the target low-resolution panoramic image and each of the target split images are obtained by performing a series of image processing on the same original panoramic image, and from the viewpoint of image content, the target low-resolution panoramic image is identical to the target panoramic images corresponding to all of the target split images, so that a pixel coordinate correspondence relationship between the target low-resolution panoramic image and each of the target split images can be established. Thus, after the first pixel coordinate of the moving target in the target low-resolution full-depth image is obtained, each target split image including the moving target, that is, the target split image in which the second pixel coordinate corresponding to the first pixel coordinate is located, can be determined according to the established corresponding relationship.
S111: and sending the identification information of the determined target split image to the data processor group so that the data processor group controls the determined target split image to be displayed.
Specifically, after determining each target split image including the moving target, identification information carried by the target split image, for example, a frame number of a video frame image, may be sent to the data processor group, so that the data processor group may control the determined target split image to be displayed.
In one implementation, the image processor detects whether a trigger signal for controlling the determined target split image to be displayed is received; and if so, sending the identification information of the determined target split image to the data processor group so that the data processor group controls the determined target split image to be displayed.
It should be noted that, the above only illustrates a specific way in which the data processor group controls the determined target split image to be displayed, but other feasible implementations are also possible, for example, the data processor group may also directly display the target split image when receiving the identification information of the determined target split image sent by the image processor, without detecting whether a trigger signal is received, which is also feasible.
As can be seen from the above, when the scheme provided by the embodiment of the present invention is applied to image processing, in addition to having all the advantages of the method embodiment shown in fig. 2, the method can also perform image analysis on the obtained target low-resolution panoramic image, for example, extract a moving target in the image, which not only meets the requirement of a user on displaying a high-resolution panoramic image, but also meets the requirement on performing image analysis on the panoramic image, and can also perform high-definition local image display on the extracted moving target.
Next, an image processing apparatus according to an embodiment of the present invention will be described.
The image processing device provided by the embodiment of the invention is applied to an image processor in a panoramic camera, and the panoramic camera further comprises: the image sensor system comprises a plurality of image sensors and a data processor group, wherein the data processor group comprises at least two Central Processing Units (CPUs). The image processor is a module built based on a field programmable gate array FPGA chip.
Specifically, the image processing apparatus shown in fig. 4 may include the following modules:
the image receiving module 21 is configured to receive original images to be stitched, which are acquired and sent by each image sensor;
the image splicing module 22 is configured to splice the original images to obtain spliced original panoramic images;
the image splitting module 23 is configured to split the original panoramic image into a plurality of original split images according to a preset image splitting rule;
an image sending module 24, configured to send each original split image to the data processor group, so that: and the data processor group carries out image coding on each original split image to obtain a target split image corresponding to each original split image, corrects the time stamp corresponding to each original split image into the same time stamp and controls all target split images corresponding to the original panoramic image to be synchronously displayed according to the corrected time stamp.
As can be seen from the above, when the scheme provided by the embodiment of the present invention is applied to image processing, the original panoramic image is not directly subjected to image coding, but the original panoramic image is firstly split into a plurality of original split images, and then the plurality of CPUs in the data processor set respectively perform image coding on each original split image.
The image splitting module 23 is specifically configured to:
and splitting the original panoramic image into a plurality of original split images according to at least one of the number and the processing capacity parameter value of the CPUs in the data processor group and the resolution of the original panoramic image.
In one embodiment of the present invention, the data processor group comprises a master CPU and at least one slave CPU;
the image sending module 24 is specifically configured to:
sending each original split image to a master CPU and a slave CPU in the data processor set, respectively, such that: the method comprises the steps that a master CPU and a slave CPU carry out image coding on original split images received by the master CPU and the slave CPU to obtain target split images corresponding to the original split images, the master CPU receives the target split images obtained and sent by the slave CPU through image coding, time stamps corresponding to the original split images are corrected to be the same by the master CPU, and all the target split images corresponding to the original panoramic images are controlled to be synchronously displayed according to the corrected time stamps.
In one implementation, the step of correcting, by the main CPU, the time stamps corresponding to the original split images to be the same time stamp, and controlling all target split images corresponding to the original panoramic image to be synchronously displayed according to the corrected time stamps includes:
the main CPU corrects the received time stamp of the target split image obtained and sent by the image coding of the slave CPU according to the reference time stamp; the reference timestamp is a timestamp when the main CPU receives an original split image sent by the image processor;
the main CPU controls all target split images corresponding to the original panoramic image and synchronously displays the target split images according to target timestamps; and the target time stamp corresponding to the target split image obtained by the image coding of the main CPU is the reference time stamp, and the target time stamp corresponding to the target split image received by the main CPU is the corrected time stamp.
Specifically, the step of controlling, by the main CPU, all target split images corresponding to the original panoramic image and performing synchronous display according to a target timestamp includes:
the main CPU packs all target split images corresponding to the original panoramic image to obtain an image packet containing each target split image;
and the main CPU sends the image packet to a display terminal so that the display terminal synchronously displays all target split images corresponding to the original panoramic image according to corresponding target time stamps after decoding the received image packet.
Wherein the target split image is: the main CPU and the slave CPU are used for obtaining images according to image parameter coding configured in the main CPU; wherein the image parameters include: exposure parameters, white balance parameters, and a color correction matrix.
As shown in fig. 5, another image processing apparatus provided in the embodiment of the present invention may further include the following modules based on the embodiment of the apparatus shown in fig. 4:
the image scaling module 25 is configured to, after the image stitching module stitches each original image and obtains a stitched original panoramic image, perform resolution reduction scaling on the original panoramic image and obtain a scaled low-resolution panoramic image;
the image sending module 24 is further configured to send the low-resolution panoramic image to the data processor group, so that: and the data processor group carries out image coding on the low-resolution panoramic image to obtain a target low-resolution panoramic image corresponding to the low-resolution panoramic image and controls the display of the target low-resolution panoramic image.
As can be seen from the above, when the scheme provided by the embodiment of the present invention is applied to image processing, in addition to the overall beneficial effects of the apparatus embodiment shown in fig. 4, a target low-resolution panoramic image corresponding to the original panoramic image can be obtained, and compared with the original panoramic image, the resolution of the target low-resolution panoramic image is greatly reduced, and is easily within the processing capability of the image resolution that can be processed by the CPU, and is suitable for an application scenario with low requirements on the resolution of the panoramic image.
As shown in fig. 6, a further image processing apparatus provided in the embodiment of the present invention may further include the following modules based on the embodiment of the apparatus shown in fig. 5:
a panoramic image obtaining module 26, configured to obtain a target low-resolution panoramic image obtained after image coding is performed by the data processor group after the image scaling module 25 performs resolution-reduction scaling processing on the original panoramic image and obtains a scaled low-resolution panoramic image;
a target extraction module 27, configured to extract a moving target in the target low-resolution panoramic image;
a coordinate obtaining module 28, configured to obtain first pixel coordinates of the extracted moving object in the low-resolution panoramic image;
a split image determining module 29, configured to determine a target split image where a second pixel coordinate corresponding to the first pixel coordinate is located according to a pixel coordinate corresponding relationship between the target low-resolution panoramic image and each target split image;
the image sending module 24 is further configured to send the identification information of the determined target split image to the data processor group, so that the data processor group controls the determined target split image to be displayed.
As can be seen from the above, when the scheme provided by the embodiment of the present invention is applied to image processing, in addition to having all the advantages of the apparatus embodiment shown in fig. 5, the obtained low-resolution panoramic image of the target may be subjected to image analysis, for example, a moving target in the image may be extracted, which not only meets the requirements of the user on displaying the high-resolution panoramic image, but also meets the requirements on analyzing the panoramic image, and may also perform high-resolution local image display on the extracted moving target.
In one implementation, the image sending module 24 is specifically configured to:
detecting whether a trigger signal for controlling the determined target split image to be displayed is received;
and if so, sending the identification information of the determined target split image to the data processor group so that the data processor group controls the determined target split image to be displayed.
For the apparatus embodiment, since it is substantially similar to the method embodiment, it is described relatively simply, and reference may be made to some descriptions of the method embodiment for relevant points.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Those skilled in the art will appreciate that all or part of the steps in the above method embodiments may be implemented by a program to instruct relevant hardware to perform the steps, and the program may be stored in a computer-readable storage medium, referred to herein as a storage medium, such as: ROM/RAM, magnetic disk, optical disk, etc.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (14)
1. An image processing method applied to an image processor in a panoramic camera, the panoramic camera further comprising: a plurality of image sensors and a data processor group, the data processor group comprising a master CPU and at least one slave CPU; the method comprises the following steps:
receiving original images to be spliced, which are acquired and sent by each image sensor;
splicing each original image to obtain a spliced original panoramic image;
splitting the original panoramic image into a plurality of original split images according to a preset image splitting rule;
sending each original split image to a master CPU and a slave CPU in the data processor set, respectively, such that: the method comprises the steps that a master CPU and a slave CPU carry out image coding on original split images received by the master CPU and the slave CPU to obtain target split images corresponding to the original split images, the master CPU receives the target split images obtained and sent by the slave CPU through image coding, the master CPU corrects timestamps corresponding to the original split images into the same timestamp, and controls all the target split images corresponding to the original panoramic images to be synchronously displayed according to the corrected timestamp;
carrying out scaling processing for reducing resolution on the original panoramic image, and obtaining a scaled low-resolution panoramic image;
sending the low resolution panoramic image to the set of data processors such that: the data processor group carries out image coding on the low-resolution panoramic image to obtain a target low-resolution panoramic image corresponding to the low-resolution panoramic image and controls the display of the target low-resolution panoramic image;
obtaining a target low-resolution panoramic image obtained after image coding is carried out by the data processor group;
extracting a moving target in the target low-resolution panoramic image;
obtaining first pixel coordinates of the extracted moving object in the low-resolution panoramic image;
determining a target split image in which a second pixel coordinate corresponding to the first pixel coordinate is located according to the pixel coordinate corresponding relation between the target low-resolution panoramic image and each target split image;
and sending the identification information of the determined target split image to the data processor group so that the data processor group controls the determined target split image to be displayed.
2. The method according to claim 1, wherein the step of splitting the original panoramic image into a plurality of original split images according to a preset image splitting rule comprises:
and splitting the original panoramic image into a plurality of original split images according to at least one of the number and the processing capacity parameter value of the CPUs in the data processor group and the resolution of the original panoramic image.
3. The method according to claim 1, wherein the step of the main CPU correcting the time stamps corresponding to the original split images to be the same time stamp, and controlling all the target split images corresponding to the original panoramic image to be synchronously displayed according to the corrected time stamps comprises:
the main CPU corrects the received time stamp of the target split image obtained and sent by the image coding of the slave CPU according to the reference time stamp; the reference timestamp is a timestamp when the main CPU receives an original split image sent by the image processor;
the main CPU controls all target split images corresponding to the original panoramic image and synchronously displays the target split images according to target timestamps; and the target time stamp corresponding to the target split image obtained by the image coding of the main CPU is the reference time stamp, and the target time stamp corresponding to the target split image received by the main CPU is the corrected time stamp.
4. The method according to claim 3, wherein the step of controlling all target split images corresponding to the original panoramic image by the main CPU and synchronously displaying the target split images according to the target time stamps comprises:
the main CPU packs all target split images corresponding to the original panoramic image to obtain an image packet containing each target split image;
and the main CPU sends the image packet to a display terminal so that the display terminal synchronously displays all target split images corresponding to the original panoramic image according to corresponding target time stamps after decoding the received image packet.
5. The method of claim 1, wherein the target split image is: the main CPU and the slave CPU are used for obtaining images according to image parameter coding configured in the main CPU; wherein the image parameters include: exposure parameters, white balance parameters, and a color correction matrix.
6. The method according to claim 1, wherein the step of sending the identification information of the determined target split image to the data processor group so that the data processor group controls the determined target split image to be displayed comprises:
detecting whether a trigger signal for controlling the determined target split image to be displayed is received;
and if so, sending the identification information of the determined target split image to the data processor group so that the data processor group controls the determined target split image to be displayed.
7. The method according to any one of claims 1 to 6, wherein the image processor is a module built on the basis of a Field Programmable Gate Array (FPGA) chip.
8. An image processing apparatus applied to an image processor in a panoramic camera, the panoramic camera further comprising: a plurality of image sensors and a data processor group, the data processor group comprising a master CPU and at least one slave CPU; the device comprises:
the image receiving module is used for receiving the original images to be spliced, which are acquired and sent by the image sensors;
the image splicing module is used for splicing all the original images to obtain spliced original panoramic images;
the image splitting module is used for splitting the original panoramic image into a plurality of original split images according to a preset image splitting rule;
an image sending module, configured to send each original split image to a master CPU and a slave CPU in the data processor group, respectively, so that: the method comprises the steps that a master CPU and a slave CPU carry out image coding on original split images received by the master CPU and the slave CPU to obtain target split images corresponding to the original split images, the master CPU receives the target split images obtained and sent by the slave CPU through image coding, the master CPU corrects timestamps corresponding to the original split images into the same timestamp, and controls all the target split images corresponding to the original panoramic images to be synchronously displayed according to the corrected timestamp;
the image zooming module is used for carrying out the zooming processing of reducing the resolution ratio on the original panoramic image after the image splicing module splices all the original images and obtains the spliced original panoramic image, and obtaining the zoomed low-resolution panoramic image;
the image sending module is further configured to send the low-resolution panoramic image to the data processor group, so that: the data processor group carries out image coding on the low-resolution panoramic image to obtain a target low-resolution panoramic image corresponding to the low-resolution panoramic image and controls the display of the target low-resolution panoramic image;
a panoramic image obtaining module, configured to obtain a target low-resolution panoramic image obtained after image coding is performed by the data processor group after the image scaling module performs resolution reduction scaling on the original panoramic image and obtains a scaled low-resolution panoramic image;
the target extraction module is used for extracting a moving target in the target low-resolution panoramic image;
a coordinate obtaining module, configured to obtain first pixel coordinates of the extracted moving object in the low-resolution panoramic image;
a split image determining module, configured to determine a target split image where a second pixel coordinate corresponding to the first pixel coordinate is located according to a pixel coordinate correspondence between the target low-resolution panoramic image and each target split image;
the image sending module is further configured to send the identification information of the determined target split image to the data processor group, so that the data processor group controls the determined target split image to be displayed.
9. The apparatus of claim 8, wherein the image splitting module is specifically configured to:
and splitting the original panoramic image into a plurality of original split images according to at least one of the number and the processing capacity parameter value of the CPUs in the data processor group and the resolution of the original panoramic image.
10. The apparatus according to claim 8, wherein the main CPU corrects the time stamps corresponding to the original split images to be the same time stamp, and controls all the target split images corresponding to the original panoramic image to be synchronously displayed according to the corrected time stamps, and includes:
the main CPU corrects the received time stamp of the target split image obtained and sent by the image coding of the slave CPU according to the reference time stamp; the reference timestamp is a timestamp when the main CPU receives an original split image sent by the image processor;
the main CPU controls all target split images corresponding to the original panoramic image and synchronously displays the target split images according to target timestamps; and the target time stamp corresponding to the target split image obtained by the image coding of the main CPU is the reference time stamp, and the target time stamp corresponding to the target split image received by the main CPU is the corrected time stamp.
11. The apparatus of claim 10, wherein the main CPU controls all target split images corresponding to the original panoramic image to be displayed synchronously according to a target timestamp, and the method comprises:
the main CPU packs all target split images corresponding to the original panoramic image to obtain an image packet containing each target split image;
and the main CPU sends the image packet to a display terminal so that the display terminal synchronously displays all target split images corresponding to the original panoramic image according to corresponding target time stamps after decoding the received image packet.
12. The apparatus of claim 8, wherein the target split image is: the main CPU and the slave CPU are used for obtaining images according to image parameter coding configured in the main CPU; wherein the image parameters include: exposure parameters, white balance parameters, and a color correction matrix.
13. The apparatus of claim 8, wherein the image sending module is specifically configured to:
detecting whether a trigger signal for controlling the determined target split image to be displayed is received;
and if so, sending the identification information of the determined target split image to the data processor group so that the data processor group controls the determined target split image to be displayed.
14. The device according to any one of claims 8-13, wherein the image processor is a module built on a Field Programmable Gate Array (FPGA) chip.
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