CN110674665A - Image processing method and device, forest fire prevention system and electronic equipment - Google Patents

Image processing method and device, forest fire prevention system and electronic equipment Download PDF

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CN110674665A
CN110674665A CN201810721160.3A CN201810721160A CN110674665A CN 110674665 A CN110674665 A CN 110674665A CN 201810721160 A CN201810721160 A CN 201810721160A CN 110674665 A CN110674665 A CN 110674665A
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CN110674665B (en
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项鹏
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Hangzhou Hikvision Digital Technology Co Ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/13—Satellite images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
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    • G06V20/188—Vegetation
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
    • Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
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Abstract

The embodiment of the invention discloses an image processing method and device, a forest fire prevention system and electronic equipment, relates to the technical field of image processing, and facilitates the accurate acquisition of an image recognition result of a target area. The image processing method comprises the following steps: acquiring the shaking amplitude and the shaking direction of a lens of a camera relative to the reference image when the current image is shot; and determining an edge clipping area of the current image shot by the lens according to the shaking amplitude and the shaking direction and a preset edge clipping threshold. The method and the device are suitable for identifying the images shot by the camera in the environment with large wind force.

Description

Image processing method and device, forest fire prevention system and electronic equipment
Technical Field
The invention relates to the technical field of image processing, in particular to an image processing method and device, a forest fire prevention system and electronic equipment.
Background
At present, forest fires are one of the important disasters of the world in forestry, and a certain amount of forest fires occur every year, so that great loss of forestry resources and global environmental pollution are caused. Forest fires have the characteristics of sudden occurrence, randomness of disasters and large loss in a short time. Therefore, once a fire alarm occurs, the fire fighting measures must be taken at an extremely fast speed, whether the fire fighting is timely or not, and whether the decision is appropriate or not are all determined according to whether the forest fire behavior is timely or not and whether the decision measures are appropriate or not. How to realize the standardization, the scientification and the informatization of forest fire prevention work, really realizes early discovery and early solves the hidden condition of fire. Digital forest fire prevention monitoring becomes a necessary means for discovering as soon as possible and eliminating the hidden condition of forest fire.
In the existing forest fire prevention system, the camera is severely shaken due to the fact that the camera is arranged in a severe place and has high wind, the analysis of an intelligent algorithm is greatly influenced, errors of the intelligent algorithm of smoke and fire analysis are directly large, and more alarming false alarms are generated.
Disclosure of Invention
In view of this, embodiments of the present invention provide an image processing method and apparatus, a forest fire prevention system, and an electronic device, which are convenient for obtaining an image recognition result of a target area more accurately during subsequent image recognition.
In a first aspect, an embodiment of the present invention provides an image processing method, including: acquiring the shaking amplitude and the shaking direction of a lens of a camera relative to the reference image when the current image is shot; and determining an edge clipping area of the current image shot by the lens according to the shaking amplitude and the shaking direction and a preset edge clipping threshold.
According to a specific implementation manner of the embodiment of the present invention, the acquiring a shake amplitude and a shake direction of a lens of a camera when shooting a current image relative to when shooting a reference image includes: acquiring a shake angle or a shake displacement amount of a lens of a camera in a horizontal direction when shooting a current image relative to when shooting a reference image, and a shake direction to the right or left in the horizontal direction; and/or acquiring a shake angle or a shake displacement amount of a lens of the camera in an up-down direction when the current image is captured, and a shake direction in an up-down direction or a down direction with respect to when the reference image is captured.
According to a specific implementation manner of the embodiment of the present invention, the acquiring a shake angle of a lens of a camera in a horizontal direction when shooting a current image relative to when shooting a reference image includes: acquiring a shooting horizontal angle of a lens of a camera at a reference position and a shooting horizontal angle at a current position, and acquiring a shake angle of the lens of the camera in a horizontal direction relative to a shooting reference image when the lens of the camera shoots a current image according to a difference value between the shooting horizontal angle of the lens of the camera at the reference position and the shooting horizontal angle at the current position; the shooting horizontal angle of the lens of the camera at the current position is an included angle of an optical axis of the lens between the current position and the initial position in the horizontal direction, and the shooting horizontal angle of the lens of the camera at the reference position is an included angle of the optical axis of the lens between the reference position and the initial position in the horizontal direction; or acquiring a horizontal angle of the pan-tilt head at the reference position and a horizontal angle of the pan-tilt head at the current position, and acquiring a shake angle of a lens of the camera in the horizontal direction relative to the shooting of the reference image when the current image is shot according to a difference value between the horizontal angle of the pan-tilt head at the reference position and the horizontal angle of the pan-tilt head at the current position; the camera is installed on the cloud deck, when the cloud deck is at a reference position, an image shot by the camera is a reference image, and when the cloud deck is at a current position, an image shot by the camera is a current image;
the acquiring a shake angle of a lens of the camera in an up-down direction when shooting a current image relative to when shooting a reference image, includes: acquiring a shooting pitch angle of a lens of a camera at a reference position and a shooting pitch angle at a current position, and acquiring a shaking angle of the lens of the camera in the vertical direction relative to the shooting of a reference image when the current image is shot according to a difference value between the shooting pitch angle of the lens of the camera at the reference position and the shooting pitch angle at the current position; the shooting pitch angle of the lens of the camera at the current position is an included angle of an optical axis of the lens between the current position and the initial position in the vertical direction, and the shooting pitch angle of the lens of the camera at the reference position is an included angle of the optical axis of the lens between the reference position and the initial position in the vertical direction; or acquiring a pitch angle of the holder at the reference position and a pitch angle at the current position, and obtaining a shake angle of a lens of the camera in the vertical direction relative to the shooting of the reference image when the current image is shot according to a difference value between the pitch angle of the holder at the reference position and the pitch angle at the current position; the camera is installed on the cloud deck, when the cloud deck is at a reference position, the image shot by the camera is a reference image, and when the cloud deck is at a current position, the image shot by the camera is a current image.
According to a specific implementation manner of the embodiment of the present invention, the acquiring a shake displacement amount of a lens of a camera in a horizontal direction when shooting a current image relative to when shooting a reference image includes: acquiring a reference image and a current image shot by a lens of a camera; comparing the horizontal coordinate value of the reference point in the image with the horizontal coordinate value in the current image to obtain the shake displacement of the lens of the camera in the horizontal direction relative to the shooting of the reference image when the current image is shot;
the acquiring a shake displacement amount of a lens of a camera in an up-down direction when shooting a current image relative to when shooting a reference image, includes: acquiring a reference image and a current image shot by a lens of a camera; and comparing the vertical coordinate value of the reference point in the image in the reference image with the vertical coordinate value in the current image to obtain the shake displacement of the lens of the camera in the vertical direction relative to the shooting of the reference image when the current image is shot.
According to a specific implementation manner of the embodiment of the present invention, the determining an edge clipping area of a current image captured by the lens according to the shake amplitude and shake direction and a preset edge clipping threshold includes: determining edge cropping proportions or cropping sizes of a left edge and a right edge of a current image shot by a camera according to a dithering angle or a dithering displacement amount of the camera in the horizontal direction when the camera shoots the current image relative to a dithering direction in the horizontal direction when the camera shoots a reference image, a dithering direction to the right or left in the horizontal direction, and a preset edge cropping threshold; and/or determining the edge cropping proportion or the cropping size of the upper edge and the lower edge of the current image shot by the camera according to the shaking angle or the shaking displacement amount of the camera lens in the vertical direction relative to the reference image shot by the camera lens, the shaking direction upwards or downwards in the vertical direction, and the preset edge cropping threshold.
According to a specific implementation manner of the embodiment of the present invention, the determining an edge cropping ratio of a left edge and a right edge of a current image shot by the lens includes: if the current image shakes to the right side in the horizontal direction relative to the reference image, determining the shaking proportion of the current image shaking to the right side in the horizontal direction relative to the reference image according to the shaking angle of the camera lens in the horizontal direction relative to the reference image when the current image is shot; subtracting a shaking proportion of the current image shaking towards the right side in the horizontal direction relative to the reference image from a preset image horizontal edge cutting proportion threshold value to obtain a left side edge cutting proportion of the current image; adding a preset image horizontal edge cutting proportion threshold value to the shaking proportion of the current image shaking towards the right side in the horizontal direction relative to the reference image to obtain the right edge cutting proportion of the current image; if the current image shakes to the left side in the horizontal direction relative to the reference image, determining the shaking proportion of the current image shaking to the left side in the horizontal direction relative to the reference image according to the shaking angle of the camera lens in the horizontal direction relative to the reference image when the current image is shot; adding a preset image horizontal edge cutting proportion threshold value to a shaking proportion of the current image shaking towards the left side in the horizontal direction relative to the reference image to obtain a left side edge cutting proportion of the current image; subtracting the shaking proportion of the current image shaking towards the left side in the horizontal direction relative to the reference image from the preset image horizontal edge cutting proportion threshold value to obtain the right edge cutting proportion of the current image;
the determining an edge cropping ratio of an upper edge and a lower edge of a current image shot by the lens comprises: if the current image shakes upwards in the vertical direction relative to the reference image, determining the shaking proportion of the current image shaking upwards in the vertical direction relative to the reference image according to the shaking angle of the camera lens in the vertical direction relative to the reference image when the current image is shot; adding a preset image upper and lower edge cutting proportion threshold value to a shaking proportion of the current image shaking upwards in the vertical direction relative to the reference image to obtain an upper edge cutting proportion of the current image; subtracting a shaking proportion of the current image shaking upwards in the vertical direction relative to the reference image from a preset image upper and lower edge cutting proportion threshold value to obtain the lower edge cutting proportion of the current image; if the current image shakes downwards in the vertical direction relative to the reference image, determining the shaking proportion of the current image shaking downwards in the vertical direction relative to the reference image according to the shaking angle of the camera lens in the vertical direction relative to the reference image when the current image is shot; subtracting a shaking ratio of the current image shaking towards the lower side in the up-down direction relative to the reference image from a preset image upper and lower edge cutting ratio threshold value to obtain the upper edge cutting ratio of the current image; adding a preset image upper and lower edge cutting proportion threshold value to a shaking proportion of the current image shaking towards the lower side in the upper and lower directions relative to the reference image to obtain the lower side edge cutting proportion of the current image;
the determining the edge cropping size of the left edge and the right edge of the current image shot by the lens comprises: if the current image shakes to the right side in the horizontal direction relative to the reference image, subtracting a preset image horizontal edge cutting size threshold value from the shaking displacement amount of the camera lens in the horizontal direction relative to the reference image when the current image is shot to obtain the left edge cutting size of the current image; adding a preset image horizontal edge cutting size threshold value to a shake displacement amount of a camera lens in the horizontal direction when a current image is shot relative to a shot reference image to obtain a right edge cutting size of the current image; if the current image shakes to the left side in the horizontal direction relative to the reference image, adding a preset image horizontal edge cutting size threshold value to a shaking displacement amount of a camera lens in the horizontal direction relative to the reference image when the current image is shot to obtain the left edge cutting size of the current image; subtracting a shake displacement amount of a camera lens in the horizontal direction when shooting a current image from a preset image horizontal edge cutting size threshold value to obtain a right edge cutting size of the current image;
the determining the edge cropping size of the upper edge and the lower edge of the current image shot by the lens comprises the following steps: if the current image shakes upwards in the vertical direction relative to the reference image, adding a preset image upper and lower edge cutting size threshold value to the shaking displacement amount of the current image shaking upwards in the vertical direction relative to the reference image to obtain the upper edge cutting size of the current image; subtracting the shaking displacement amount of the current image shaking upwards in the vertical direction relative to the reference image from the preset threshold value of the upper and lower edge cutting sizes of the image to obtain the lower edge cutting size of the current image; if the current image shakes downwards in the vertical direction relative to the reference image, subtracting a shaking displacement amount of the current image shaking downwards in the vertical direction relative to the reference image from a preset image upper and lower edge cutting size threshold value to obtain the upper edge cutting size of the current image; and adding a preset image upper and lower edge cutting size threshold value to the shaking displacement amount of the current image shaking towards the lower side in the upper and lower directions relative to the reference image to obtain the lower side edge cutting size of the current image.
According to a specific implementation manner of the embodiment of the invention, the shaking ratio F1: F1 | P2-P1|/PV of the current image shaking to the right or to the left in the horizontal direction with respect to the reference image is determined according to the following formula; wherein, P1 is the shooting horizontal angle of the lens of the camera at the reference position, and P2 is the shooting horizontal angle of the lens of the camera at the current position; or P1 is the horizontal angle of the pan-tilt head at the reference position, and P2 is the horizontal angle of the pan-tilt head at the current position; PV is the horizontal visual field angle of the camera, P2 is smaller than P1 to indicate shaking to the right, P2 is larger than P1 to indicate shaking to the left; and/or the presence of a gas in the gas,
determining a shaking ratio F2: F2 |/T2-T1 |/TV at which the current image is shaken to the upper side or the lower side in the up-down direction with respect to the reference image according to the following formula; wherein, T1 is the shooting pitch angle of the lens of the camera at the reference position, and T2 is the shooting pitch angle of the lens of the camera at the current position; or, T1 is the pitch angle of the pan/tilt head at the reference position, and T2 is the pitch angle of the pan/tilt head at the current position; TV is the vertical visual field angle of the camera, T2 being less than T1 indicates downward side shake, and T2 being greater than T1 indicates upward side shake.
According to a specific implementation manner of the embodiment of the present invention, after determining the dithering ratio of the current image to be dithered to the right or to the left in the horizontal direction with respect to the reference image, before determining the left or right edge cropping area of the current image, the method further includes: determining whether the jitter ratio of the current image jittering to the right side or the left side in the horizontal direction relative to the reference image is smaller than the image horizontal edge cropping ratio threshold value, and if so, executing the step of determining the left side or right side edge cropping area of the current image; and/or, after determining a shaking ratio at which the current image is shaken upward or downward in the up-down direction with respect to the reference image, before determining an upper or lower side edge cropping area of the current image, the method further includes: and determining whether the jitter ratio of the current image jittering towards the upper side or the lower side in the vertical direction relative to the reference image is smaller than the image upper and lower edge cropping ratio threshold value, and if so, executing the step of determining the upper side or lower side edge cropping area of the current image.
In a second aspect, an embodiment of the present invention provides an image processing apparatus, including: the camera comprises a shake acquisition unit, a shake detection unit and a shake detection unit, wherein the shake acquisition unit is used for acquiring the shake amplitude and shake direction of a camera lens when shooting a current image relative to the reference image; and the cutting area determining unit is used for determining an edge cutting area of the current image shot by the lens according to the jitter amplitude and the jitter direction and a preset edge cutting threshold value.
According to a specific implementation manner of the embodiment of the present invention, the jitter obtaining unit includes: the horizontal shaking acquisition module is used for acquiring a shaking angle or a shaking displacement amount of a lens of the camera in the horizontal direction relative to the shooting of a reference image when the lens shoots a current image, and a shaking direction to the right or left in the horizontal direction; and/or, an up-down shake acquiring module for acquiring a shake angle or a shake displacement amount of the lens of the camera in the up-down direction when shooting the current image relative to when shooting the reference image, and a shake direction in the up-down direction or in the down direction.
According to a specific implementation manner of the embodiment of the present invention, the horizontal jitter obtaining module includes: a horizontal shaking angle acquisition submodule and/or an up-down shaking angle acquisition submodule; wherein,
the horizontal jitter angle acquisition submodule is configured to:
acquiring a shooting horizontal angle of a lens of a camera at a reference position and a shooting horizontal angle at a current position, and acquiring a shake angle of the lens of the camera in a horizontal direction relative to a shooting reference image when the lens of the camera shoots a current image according to a difference value between the shooting horizontal angle of the lens of the camera at the reference position and the shooting horizontal angle at the current position; the shooting horizontal angle of the lens of the camera at the current position is an included angle of an optical axis of the lens between the current position and the initial position in the horizontal direction, and the shooting horizontal angle of the lens of the camera at the reference position is an included angle of the optical axis of the lens between the reference position and the initial position in the horizontal direction; or acquiring a horizontal angle of the pan-tilt head at the reference position and a horizontal angle of the pan-tilt head at the current position, and acquiring a shake angle of a lens of the camera in the horizontal direction relative to the shooting of the reference image when the current image is shot according to a difference value between the horizontal angle of the pan-tilt head at the reference position and the horizontal angle of the pan-tilt head at the current position; the camera is installed on the cloud deck, when the cloud deck is at a reference position, an image shot by the camera is a reference image, and when the cloud deck is at a current position, an image shot by the camera is a current image;
the up-down shaking angle acquisition submodule is used for: acquiring a shooting pitch angle of a lens of a camera at a reference position and a shooting pitch angle at a current position, and acquiring a shaking angle of the lens of the camera in the vertical direction relative to the shooting of a reference image when the current image is shot according to a difference value between the shooting pitch angle of the lens of the camera at the reference position and the shooting pitch angle at the current position; the shooting pitch angle of the lens of the camera at the current position is an included angle of an optical axis of the lens between the current position and the initial position in the vertical direction, and the shooting pitch angle of the lens of the camera at the reference position is an included angle of the optical axis of the lens between the reference position and the initial position in the vertical direction; or acquiring a pitch angle of the holder at the reference position and a pitch angle at the current position, and obtaining a shake angle of a lens of the camera in the vertical direction relative to the shooting of the reference image when the current image is shot according to a difference value between the pitch angle of the holder at the reference position and the pitch angle at the current position; the camera is installed on the cloud deck, when the cloud deck is at a reference position, the image shot by the camera is a reference image, and when the cloud deck is at a current position, the image shot by the camera is a current image.
According to a specific implementation manner of the embodiment of the present invention, the horizontal jitter obtaining module includes: a horizontal shaking displacement acquisition submodule and an up-down shaking displacement acquisition submodule; the horizontal shaking displacement acquisition submodule is used for acquiring a reference image and a current image shot by a lens of a camera; comparing the horizontal coordinate value of the reference point in the image with the horizontal coordinate value in the current image to obtain the shake displacement of the lens of the camera in the horizontal direction relative to the shooting of the reference image when the current image is shot; the up-down shaking displacement acquisition submodule is used for acquiring a reference image and a current image shot by a lens of the camera; and comparing the vertical coordinate value of the reference point in the image in the reference image with the vertical coordinate value in the current image to obtain the shake displacement of the lens of the camera in the vertical direction relative to the shooting of the reference image when the current image is shot.
According to a specific implementation manner of the embodiment of the present invention, the clipping region determining unit includes: a left and right cutting area determining module and/or an up and down cutting area determining module; the left and right clipping area determining module is used for determining the edge clipping proportion or the clipping size of the left edge and the right edge of the current image shot by the camera according to the shaking angle or the shaking displacement amount of the camera lens in the horizontal direction relative to the reference image shot in the horizontal direction, the shaking direction of the camera lens in the right or left direction in the horizontal direction and a preset edge clipping threshold; the up-down cropping area determining module is used for determining the edge cropping proportion or the cropping size of the upper side edge and the lower side edge of the current image shot by the camera according to the shaking angle or the shaking displacement amount of the camera in the up-down direction relative to the reference image shot by the camera when the current image is shot, the shaking direction in the up-down direction or the downward direction, and the preset edge cropping threshold.
According to a specific implementation manner of the embodiment of the present invention, the left and right clipping region determining module includes: a left-right cutting proportion determining submodule, a left-right cutting size determining submodule, an up-down cutting proportion determining submodule and an up-down cutting size determining submodule; wherein, the left-right cutting proportion determining submodule is used for: if the current image shakes to the right side in the horizontal direction relative to the reference image, determining the shaking proportion of the current image shaking to the right side in the horizontal direction relative to the reference image according to the shaking angle of the camera lens in the horizontal direction relative to the reference image when the current image is shot; subtracting a shaking proportion of the current image shaking towards the right side in the horizontal direction relative to the reference image from a preset image horizontal edge cutting proportion threshold value to obtain a left side edge cutting proportion of the current image; adding a preset image horizontal edge cutting proportion threshold value to the shaking proportion of the current image shaking towards the right side in the horizontal direction relative to the reference image to obtain the right edge cutting proportion of the current image; if the current image shakes to the left side in the horizontal direction relative to the reference image, determining the shaking proportion of the current image shaking to the left side in the horizontal direction relative to the reference image according to the shaking angle of the camera lens in the horizontal direction relative to the reference image when the current image is shot; adding a preset image horizontal edge cutting proportion threshold value to a shaking proportion of the current image shaking towards the left side in the horizontal direction relative to the reference image to obtain a left side edge cutting proportion of the current image; subtracting the shaking proportion of the current image shaking towards the left side in the horizontal direction relative to the reference image from the preset image horizontal edge cutting proportion threshold value to obtain the right edge cutting proportion of the current image;
the up-down cutting proportion determining submodule is used for: if the current image shakes upwards in the vertical direction relative to the reference image, determining the shaking proportion of the current image shaking upwards in the vertical direction relative to the reference image according to the shaking angle of the camera lens in the vertical direction relative to the reference image when the current image is shot; adding a preset image upper and lower edge cutting proportion threshold value to a shaking proportion of the current image shaking upwards in the vertical direction relative to the reference image to obtain an upper edge cutting proportion of the current image; subtracting a shaking proportion of the current image shaking upwards in the vertical direction relative to the reference image from a preset image upper and lower edge cutting proportion threshold value to obtain the lower edge cutting proportion of the current image; if the current image shakes downwards in the vertical direction relative to the reference image, determining the shaking proportion of the current image shaking downwards in the vertical direction relative to the reference image according to the shaking angle of the camera lens in the vertical direction relative to the reference image when the current image is shot; subtracting a shaking ratio of the current image shaking towards the lower side in the up-down direction relative to the reference image from a preset image upper and lower edge cutting ratio threshold value to obtain the upper edge cutting ratio of the current image; adding a preset image upper and lower edge cutting proportion threshold value to a shaking proportion of the current image shaking towards the lower side in the upper and lower directions relative to the reference image to obtain the lower side edge cutting proportion of the current image;
the left-right cutting size determining submodule is used for: if the current image shakes to the right side in the horizontal direction relative to the reference image, subtracting a preset image horizontal edge cutting size threshold value from the shaking displacement amount of the camera lens in the horizontal direction relative to the reference image when the current image is shot to obtain the left edge cutting size of the current image; adding a preset image horizontal edge cutting size threshold value to a shake displacement amount of a camera lens in the horizontal direction when a current image is shot relative to a shot reference image to obtain a right edge cutting size of the current image; if the current image shakes to the left side in the horizontal direction relative to the reference image, adding a preset image horizontal edge cutting size threshold value to a shaking displacement amount of a camera lens in the horizontal direction relative to the reference image when the current image is shot to obtain the left edge cutting size of the current image; subtracting a shake displacement amount of a camera lens in the horizontal direction when shooting a current image from a preset image horizontal edge cutting size threshold value to obtain a right edge cutting size of the current image;
the up-down cutting size determining submodule is used for: if the current image shakes upwards in the vertical direction relative to the reference image, adding a preset image upper and lower edge cutting size threshold value to the shaking displacement amount of the current image shaking upwards in the vertical direction relative to the reference image to obtain the upper edge cutting size of the current image; subtracting the shaking displacement amount of the current image shaking upwards in the vertical direction relative to the reference image from the preset threshold value of the upper and lower edge cutting sizes of the image to obtain the lower edge cutting size of the current image; if the current image shakes downwards in the vertical direction relative to the reference image, subtracting a shaking displacement amount of the current image shaking downwards in the vertical direction relative to the reference image from a preset image upper and lower edge cutting size threshold value to obtain the upper edge cutting size of the current image; and adding a preset image upper and lower edge cutting size threshold value to the shaking displacement amount of the current image shaking towards the lower side in the upper and lower directions relative to the reference image to obtain the lower side edge cutting size of the current image.
According to a specific implementation manner of the embodiment of the present invention, the left-right cropping ratio determining sub-module determines a dithering ratio F1: F1 | P2-P1|/PV of the current image dithering to the right or to the left in the horizontal direction with respect to the reference image according to the following formula; wherein, P1 is the shooting horizontal angle of the lens of the camera at the reference position, and P2 is the shooting horizontal angle of the lens of the camera at the current position; or P1 is the horizontal angle of the pan-tilt head at the reference position, and P2 is the horizontal angle of the pan-tilt head at the current position; PV is the horizontal visual field angle of the camera, P2 is smaller than P1 to indicate shaking to the right, P2 is larger than P1 to indicate shaking to the left; and/or the presence of a gas in the gas,
the up-down cropping ratio determining submodule is used for specifically determining the dithering ratio F2: F2 | T2-T1|/TV of the current image dithering to the upper side or the lower side in the up-down direction relative to the reference image according to the following formula; wherein, T1 is the shooting pitch angle of the lens of the camera at the reference position, and T2 is the shooting pitch angle of the lens of the camera at the current position; or, T1 is the pitch angle of the pan/tilt head at the reference position, and T2 is the pitch angle of the pan/tilt head at the current position; TV is the vertical visual field angle of the camera, T2 being less than T1 indicates downward side shake, and T2 being greater than T1 indicates upward side shake.
According to a specific implementation manner of the embodiment of the present invention, the image processing apparatus further includes: a threshold judgment unit configured to: after determining the shaking proportion of the current image shaking to the right or left in the horizontal direction relative to the reference image and before determining the left or right edge cropping area of the current image, determining whether the shaking proportion of the current image shaking to the right or left in the horizontal direction relative to the reference image is smaller than the image horizontal edge cropping proportion threshold value or not, and if so, determining the left or right edge cropping area of the current image by a left and right cropping area determination module;
and/or the presence of a gas in the gas,
after determining the dithering proportion of the current image dithering to the upper side or the lower side in the up-down direction relative to the reference image, and before determining the upper side or the lower side edge cutting area of the current image, determining whether the dithering proportion of the current image dithering to the upper side or the lower side in the up-down direction relative to the reference image is smaller than the image upper and lower edge cutting proportion threshold value, and if the dithering proportion is smaller than the image upper and lower edge cutting proportion threshold value, determining the upper side or the lower side edge cutting area of the current image by an upper and lower cutting area determination module.
In a third aspect, an embodiment of the present invention provides a forest fire prevention system, including a camera, an image processing device, and a fire recognition device; the camera is installed on the shooting of the forest site and used for acquiring images of the forest site; the image processing device is used for processing the image collected by the camera; the fire recognition device is used for recognizing the image processed by the image processing device so as to determine whether a forest site has a fire or not; the image processing apparatus is the image processing apparatus according to any one of the preceding embodiments.
In a fourth aspect, an embodiment of the present invention provides an electronic device, where the electronic device includes: the device comprises a shell, a processor, a memory, a circuit board and a power circuit, wherein the circuit board is arranged in a space enclosed by the shell, and the processor and the memory are arranged on the circuit board; a power supply circuit for supplying power to each circuit or device of the electronic apparatus; the memory is used for storing executable program codes; the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory, for executing the image processing method described in any of the foregoing embodiments.
In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium, where one or more programs are stored, and the one or more programs are executable by one or more processors to implement the image processing method according to any one of the foregoing embodiments.
The image processing method, the device, the forest fire prevention system and the electronic equipment of the embodiment of the invention have the advantages that by acquiring the shaking amplitude and the shaking direction of the camera lens when the current image is shot relative to the reference image, determining an edge clipping region of the current image shot by the lens according to the dithering amplitude and the dithering direction and a preset edge clipping threshold value, so that the edge clipping region of the current image can be clipped according to the edge clipping region of the current image, the current image is cut to obtain the cut current image, because the cut current image is the image of the middle area of the target area shot by the camera, namely the stable image, therefore, when subsequent image recognition processing is carried out according to the cut current image, the image recognition result of the target area can be obtained more accurately, namely the monitoring result of the target area can be obtained more accurately.
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 flowchart illustrating an image processing method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of step 11 in FIG. 1;
FIG. 3 is a schematic flow chart of step 12 in FIG. 1;
FIG. 4 is a diagram illustrating an embodiment of determining an edge cropping area of a current image;
FIG. 5 is a schematic structural diagram of an image processing apparatus according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of an image processing apparatus according to another embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a forest fire prevention system according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all 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.
Fig. 1 is a schematic flow chart of an image processing method according to an embodiment of the present invention, and as shown in fig. 1, the apparatus according to the embodiment may include:
and 11, acquiring the shake amplitude and shake direction of the lens of the camera when shooting the current image relative to the reference image.
In this embodiment, a camera captures an image of a target monitoring area. The target area may be a forest fire prevention monitoring area, a road traffic monitoring area, or the like.
In this embodiment, the images captured by the camera are consecutive images, and an image captured at a certain time may be used as a reference image, for example, a first captured image is used as a reference image, and an image captured at a current time later is used as a current image.
When the camera is installed in a scene with a severe environment and a large wind force, the camera may swing with the wind, thereby causing a transmission jitter phenomenon of an image photographed by the camera.
And step 12, determining an edge clipping area of the current image shot by the lens according to the shaking amplitude and the shaking direction and a preset edge clipping threshold value.
And step 13, cutting the current image according to the edge cutting area of the current image to obtain the cut current image.
In this embodiment, step 13 is an optional step. And automatically cutting the current image according to the edge cutting area of the current image, namely, automatically cutting off the edge cutting area to obtain the cut current image. For example, if the edge trimming area of the current image is 20 pixels in size, the edge of the current image with 20 pixels in size is automatically trimmed.
In this embodiment, when a current image is shot by a lens of a camera, an edge cropping area of the current image shot by the lens is determined according to a dithering amplitude and a dithering direction when a reference image is shot, and a preset edge cropping threshold, so that the current image can be cropped according to the edge cropping area of the current image to obtain a cropped current image.
In this embodiment, a plurality of, for example, 100 cut current images may be obtained over time, and in order to more accurately obtain the image recognition result (i.e., the monitoring result) of the target region, the external dimensions of each cut image are kept consistent.
In the above embodiment, the shake amplitude may be a shake angle or shake displacement amount of the lens of the camera when shooting the current image relative to when shooting the reference image, and the shake direction may be left-right shake in the horizontal direction or up-down shake in the vertical direction, specifically, referring to fig. 2, in an embodiment of the present invention, the acquiring the shake amplitude and shake direction of the lens of the camera when shooting the current image relative to when shooting the reference image (step 11) includes:
step 111, acquiring a shake angle or a shake displacement amount of a lens of the camera in a horizontal direction when shooting a current image relative to a reference image, and a shake direction to the right or left in the horizontal direction;
and/or the presence of a gas in the gas,
step 112, acquiring a shake angle or a shake displacement amount of the lens of the camera in the up-down direction when shooting the current image relative to when shooting the reference image, and a shake direction in the up-down direction up or down.
In this embodiment, the horizontal shaking direction of the current image relative to the reference image may be determined according to the offset direction of a reference point on the current image (e.g., the upper left corner of the image) relative to the same reference point on the reference image. For example, if the upper left corner of the current image is shifted to the right with respect to the upper left corner of the reference image, it may be determined that the current image is shaken to the right in the horizontal direction with respect to the reference image. Accordingly, if the upper left corner of the current image is shifted to the left with respect to the upper left corner of the reference image, it may be determined that the current image is shaken to the left in the horizontal direction with respect to the reference image.
Similarly, the up-down shaking direction of the current image relative to the reference image may be determined according to the offset direction of a reference point on the current image (e.g., the upper left corner of the image) relative to the same reference point on the reference image. For example, if the upper left corner of the current image is shifted upward with respect to the upper left corner of the reference image, it may be determined that the current image is shaken upward in the up-down direction (i.e., vertical direction) with respect to the reference image. Accordingly, if the upper left corner of the current image is shifted downward with respect to the upper left corner of the reference image, it may be determined that the current image is shaken downward in the up-down direction with respect to the reference image.
Specifically, in an embodiment of the present invention, in step 111, the obtaining a shake angle of the lens of the camera in the horizontal direction when capturing the current image relative to when capturing the reference image may include:
acquiring a shooting horizontal angle of a lens of a camera at a reference position and a shooting horizontal angle at a current position, and acquiring a shake angle of the lens of the camera in a horizontal direction relative to a shooting reference image when the lens of the camera shoots a current image according to a difference value between the shooting horizontal angle of the lens of the camera at the reference position and the shooting horizontal angle at the current position; the shooting horizontal angle of the lens of the camera at the current position is an included angle of an optical axis of the lens between the current position and the initial position in the horizontal direction, and the shooting horizontal angle of the lens of the camera at the reference position is an included angle of the optical axis of the lens between the reference position and the initial position in the horizontal direction.
When the camera is mounted on the pan/tilt head, the shake angle of the lens of the camera in the horizontal direction when shooting the current image relative to when shooting the reference image can also be obtained according to the difference value between the horizontal angle of the pan/tilt head at the reference position and the horizontal angle at the current position, specifically, in another embodiment of the present invention, in step 111, the obtaining the shake angle of the lens of the camera in the horizontal direction when shooting the current image relative to when shooting the reference image can include: acquiring a horizontal angle of a holder at a reference position and a horizontal angle of the holder at a current position, and acquiring a shake angle of a lens of a camera in a horizontal direction relative to a reference image when the camera shoots the current image according to a difference value between the horizontal angle of the holder at the reference position and the horizontal angle at the current position; the camera is installed on the cloud deck, when the cloud deck is at a reference position, the image shot by the camera is a reference image, and when the cloud deck is at a current position, the image shot by the camera is a current image.
Similarly, the acquiring the shake angle of the lens of the camera in the up-down direction relative to the shooting reference image when shooting the current image according to the difference between the shooting pitch angle of the camera in the reference position and the shooting pitch angle in the current position in step 112 may include: acquiring a shooting pitch angle of a lens of a camera at a reference position and a shooting pitch angle at a current position, and acquiring a shaking angle of the lens of the camera in the vertical direction relative to the shooting of a reference image when the current image is shot according to a difference value between the shooting pitch angle of the lens of the camera at the reference position and the shooting pitch angle at the current position; the shooting pitch angle of the lens of the camera at the current position is an included angle of an optical axis of the lens between the current position and the initial position in the vertical direction, and the shooting pitch angle of the lens of the camera at the reference position is an included angle of the optical axis of the lens between the reference position and the initial position in the vertical direction.
When the camera is installed on the pan-tilt, the shake angle of the lens of the camera in the vertical direction when shooting the current image relative to the reference image can be obtained according to the difference between the pitch angle of the pan-tilt at the reference position and the pitch angle at the current position, specifically, in an embodiment of the present invention, in step 112, the pitch angle of the pan-tilt at the reference position and the pitch angle at the current position are obtained, and the shake angle of the lens of the camera in the vertical direction when shooting the current image relative to the reference image is obtained according to the difference between the pitch angle of the pan-tilt at the reference position and the pitch angle at the current position; the camera is installed on the cloud deck, when the cloud deck is at a reference position, the image shot by the camera is a reference image, and when the cloud deck is at a current position, the image shot by the camera is a current image.
Specifically, in step 111, in an embodiment of the present invention, the obtaining a shake displacement amount of the lens of the camera in the horizontal direction when shooting the current image relative to the shake displacement amount in the horizontal direction when shooting the reference image may include: acquiring a reference image and a current image shot by a lens of a camera; and comparing the reference point in the image with the horizontal coordinate value in the reference image and the horizontal coordinate value in the current image to obtain the shake displacement of the lens of the camera in the horizontal direction relative to the shake displacement when the reference image is shot when the current image is shot.
Specifically, in step 112, in an embodiment of the present invention, the obtaining a shake displacement amount of the lens of the camera in the up-down direction when shooting the current image relative to a shake displacement amount in the up-down direction when shooting the reference image may include: acquiring a reference image and a current image shot by a lens of a camera; and comparing the vertical coordinate value of the reference point in the image in the reference image with the vertical coordinate value in the current image to obtain the shake displacement of the lens of the camera in the vertical direction relative to the shooting of the reference image when the current image is shot.
Referring to fig. 3, in an embodiment of the present invention, the determining an edge cropping area of the current image captured by the lens according to the shake magnitude and shake direction and a preset edge cropping threshold (step 12) may include:
step 121, determining an edge cropping ratio or a cropping size of a left edge and a right edge of a current image shot by a camera according to a dithering angle or a dithering displacement amount of the camera in a horizontal direction when the camera takes the current image relative to a reference image, a dithering direction of the camera in a right direction or a left direction in the horizontal direction, and a preset edge cropping threshold; and/or the presence of a gas in the gas,
and step 122, determining the edge cropping ratio or the cropping size of the upper edge and the lower edge of the current image shot by the camera according to the camera lens, relative to the camera lens, the shaking angle or the shaking displacement amount in the vertical direction, the shaking direction in the vertical direction and the upward or downward direction, and the preset edge cropping threshold value.
After the edge cutting proportion or the cutting size is determined, the edge cutting area can be determined according to the edge cutting proportion or the cutting size.
In an embodiment of the present invention, in step 121, the determining an edge cropping ratio of a left edge and a right edge of a current image captured by the lens includes:
a step 1211a, if the current image shakes to the right side in the horizontal direction relative to the reference image, determining a shaking ratio of the current image shaking to the right side in the horizontal direction relative to the reference image according to a shaking angle of a lens of the camera in the horizontal direction relative to the reference image when the current image is photographed; subtracting a shaking proportion of the current image shaking towards the right side in the horizontal direction relative to the reference image from a preset image horizontal edge cutting proportion threshold value to obtain a left side edge cutting proportion of the current image; adding a preset image horizontal edge cutting proportion threshold value to the shaking proportion of the current image shaking towards the right side in the horizontal direction relative to the reference image to obtain the right edge cutting proportion of the current image;
step 1212a, if the current image shakes to the left side in the horizontal direction relative to the reference image, determining a shaking ratio of the current image shaking to the left side in the horizontal direction relative to the reference image according to a shaking angle of a lens of the camera in the horizontal direction relative to the reference image when the current image is shot; adding a preset image horizontal edge cutting proportion threshold value to a shaking proportion of the current image shaking towards the left side in the horizontal direction relative to the reference image to obtain a left side edge cutting proportion of the current image; and subtracting the shaking proportion of the current image shaking towards the left side in the horizontal direction relative to the reference image from the preset image horizontal edge cutting proportion threshold value to obtain the right edge cutting proportion of the current image.
In an embodiment of the present invention, in step 122, the determining an edge cropping ratio of an upper edge and a lower edge of the current image captured by the lens includes:
step 1221a, if the current image is shaken upwards in the vertical direction relative to the reference image, determining a shaking ratio of the current image to the reference image; adding a preset image upper and lower edge cutting proportion threshold value to a shaking proportion of the current image shaking upwards in the vertical direction relative to the reference image to obtain an upper edge cutting proportion of the current image; subtracting a shaking proportion of the current image shaking upwards in the vertical direction relative to the reference image from a preset image upper and lower edge cutting proportion threshold value to obtain the lower edge cutting proportion of the current image;
step 1222a, if the current image shakes downwards in the up-down direction relative to the reference image, determining a shaking ratio of the current image shaking downwards in the up-down direction relative to the reference image according to a shaking angle of the lens of the camera in the up-down direction relative to the reference image when the current image is shot; subtracting a shaking ratio of the current image shaking towards the lower side in the up-down direction relative to the reference image from a preset image upper and lower edge cutting ratio threshold value to obtain the upper edge cutting ratio of the current image; and adding a preset image upper and lower edge clipping proportion threshold to a shaking proportion of the current image shaking towards the lower side in the upper and lower directions relative to the reference image to obtain the lower side edge clipping proportion of the current image.
In an optional embodiment, during specific cropping, to more conveniently determine the cropping area, the left edge cropping proportion and the right edge cropping proportion of the current image may be converted into the cropped pixels, and then the current image is cropped according to the cropped pixels to obtain the cropped current image. Specifically, the cropping the current image according to the edge cropping area of the current image to obtain the cropped current image may include: determining the left edge cutting size of the current image according to the left edge cutting proportion of the current image and the transverse pixels of the current image, and cutting the left edge of the current image according to the left edge cutting size of the current image to obtain a cut current image; or, determining the right edge cropping size of the current image according to the right edge cropping proportion of the current image and the transverse pixels of the current image, and cropping the right edge of the current image according to the right edge cropping size of the current image to obtain the cropped current image.
As an example, the left edge cropping scale of the current image may be converted to the pixel size of the left edge to be cropped according to the following formula: s1 ═ X1 × PP; wherein, S1 is the size of the pixel to be clipped at the left edge of the current image; x1 is the left edge crop scale of the current image; PP is the horizontal pixel size of the current image.
If the screen size of the current image is 1920 × 1080 pixels, the horizontal pixel (horizontal pixel) size PP is 1920 pixels, and the vertical pixel (also referred to as vertical pixel) size ZZ is 1080 pixels. For example, after conversion, if the left edge clipping pixel size of the current image is 20 pixels and the right edge clipping pixel size is 25 pixels, the edge with the size of 20 pixels on the left side of the current image is automatically clipped, and the edge with the size of 25 pixels on the right side of the current image is automatically clipped.
The manner of converting the cropping proportion of the right edge, the upper edge and the lower edge of the current image into the pixel size to be cropped is similar to the device for converting the left edge cropping proportion of the current image into the pixel size to be cropped of the left edge, and is not repeated any more.
In an embodiment of the present invention, in step 121, the determining the edge cropping size of the left edge and the right edge of the current image captured by the lens includes:
step 1211b, if the current image shakes to the right side in the horizontal direction relative to the reference image, subtracting a shaking displacement amount in the horizontal direction relative to the shooting of the reference image when the current image is shot by a lens of the camera from a preset image horizontal edge cutting size threshold value to obtain a left edge cutting size of the current image; adding a preset image horizontal edge cutting size threshold value to a shake displacement amount of a camera lens in the horizontal direction when a current image is shot relative to a shot reference image to obtain a right edge cutting size of the current image;
step 1212b, if the current image shakes to the left side in the horizontal direction relative to the reference image, adding a preset image horizontal edge clipping size threshold value to a shaking displacement amount of the lens of the camera in the horizontal direction relative to the reference image when the current image is shot, so as to obtain the left edge clipping size of the current image; and subtracting the shake displacement amount of the lens of the camera in the horizontal direction when the camera shoots the current image from the preset image horizontal edge cutting size threshold value to obtain the right edge cutting size of the current image.
In an embodiment of the present invention, in step 122, the determining the edge cropping size of the upper edge and the lower edge of the current image captured by the lens includes:
step 1221b, if the current image is shaken upwards in the vertical direction relative to the reference image, adding a preset threshold value of the upper and lower edge cropping size of the image to the shaking displacement amount of the current image shaken upwards in the vertical direction relative to the reference image to obtain the upper edge cropping size of the current image; subtracting the shaking displacement amount of the current image shaking upwards in the vertical direction relative to the reference image from the preset threshold value of the upper and lower edge cutting sizes of the image to obtain the lower edge cutting size of the current image;
step 1222b, if the current image is shaken up and down relative to the reference image, subtracting the shaking displacement of the current image shaking up and down relative to the reference image from the preset image upper and lower edge cutting size threshold to obtain the upper edge cutting size of the current image; and adding a preset image upper and lower edge cutting size threshold value to the shaking displacement amount of the current image shaking towards the lower side in the upper and lower directions relative to the reference image to obtain the lower side edge cutting size of the current image.
In the above embodiment, the image edge cropping ratio threshold or the cropping size threshold may be preset, and the specific size of the image edge cropping ratio threshold or the cropping size threshold may be configured according to the situation of field jitter, where if the jitter is strong, the threshold may be appropriately expanded, and if the jitter is small, the threshold may also be appropriately reduced.
Referring to fig. 4, in step 1211a or step 1212a, in an embodiment of the present invention, a shaking ratio F1: F1 | P2-P1|/PV at which the current image shakes to the right or left in the horizontal direction with respect to the reference image may be determined according to the following formula; wherein, P1 is the shooting horizontal angle of the lens of the camera at the reference position, and P2 is the shooting horizontal angle of the lens of the camera at the current position; PV is the horizontal visual field angle of the camera, P2 being less than P1 indicates dithering to the right, and P2 being greater than P1 indicates dithering to the left. When the camera is mounted on the pan/tilt head, P1 may also be the horizontal angle of the pan/tilt head at the reference position, and P2 may also be the horizontal angle of the pan/tilt head at the current position.
In the present embodiment, when it is determined that the shake direction in the horizontal direction is a shake to the right, the left-side edge clipping ratio X1: X1 ═ PX- | P2-P1|/PV of the current image can be obtained according to the following formula; the right edge cropping ratio of the current image, X2: X2 ═ PX + | P2-P1|/PV, can be obtained according to the following formula.
When it is determined that the shake direction in the horizontal direction is leftward shake, the left-side edge clipping ratio X3: X3 ═ PX + | P2-P1|/PV of the current image can be obtained according to the following formula; the right edge cropping ratio X4: X4 ═ PX-P2-P1 |/PV of the current image can be obtained according to the following formula. In the above formula, the meanings of P1, P2 and PV are the same as those of the corresponding parameters in the above formula; PX is an image horizontal edge clipping ratio threshold.
The image horizontal edge clipping proportion threshold PX can be preset, the specific size of the image horizontal edge clipping proportion threshold PX can be configured according to the field shaking condition, if the shaking is strong, the proportion threshold can be properly enlarged, the shaking is small, and the proportion threshold can also be properly reduced.
Referring to fig. 4, in step 1221a or step 1222a, in an embodiment of the present invention, a shaking ratio F2: F2 | T2-T1|/TV at which the current image is shaken to the upper side or the lower side in the up-down direction with respect to the reference image may be determined according to the following formula; wherein, T1 is the shooting pitch angle of the lens of the camera at the reference position, and T2 is the shooting pitch angle of the lens of the camera at the current position; TV is the vertical visual field angle of the camera, T2 being less than T1 indicates downward side shake, and T2 being greater than T1 indicates upward side shake. When the camera is mounted on the pan/tilt head, T1 may also be the pitch angle of the pan/tilt head at the reference position, and T2 may also be the pitch angle of the pan/tilt head at the current position.
In the present embodiment, when it is determined that the shake direction in the up-down direction is upward shake, the upper side edge cropping ratio Y1: Y1 ═ TX + | T2-T1|/TV of the current image can be obtained according to the following formula;
the lower edge cropping ratio Y2: Y2 TX-T2-T1/TV of the current image can be obtained according to the following formula.
When it is determined that the shake direction in the up-down direction is a down shake, the upper side edge cropping ratio Y3: Y3 of the current image may be obtained as TX-T2-T1/TV according to the following formula;
the lower edge cropping ratio Y4: Y4 ═ TX + | T2-T1|/TV for the current image can be found according to the following formula.
In the above formula, the meanings of T1, T2 and TV are the same as those in the above formula. TX is the image top and bottom edge crop scale threshold.
The image upper and lower edge cutting proportion threshold value TX can be preset, the specific size of the image upper and lower edge cutting proportion threshold value TX can be configured according to the situation of field shaking, if the shaking is strong, the proportion threshold value can be properly enlarged, the shaking is small, and the proportion threshold value can also be properly reduced.
In an embodiment of the present invention, in step 1211a or step 1212a, before determining the left or right edge cropping area of the current image after determining the dithering ratio at which the current image is dithered to the right or to the left in the horizontal direction with respect to the reference image, the method further includes: and determining whether the shaking proportion of the current image shaking to the right side or the left side in the horizontal direction relative to the reference image is smaller than the image horizontal edge cropping proportion threshold value, and if so, executing the step of determining the left side or right side edge cropping area of the current image.
The dithering proportion of the current image dithering to the right side or the left side in the horizontal direction relative to the reference image is smaller than the image horizontal edge cutting proportion threshold value, and the image dithering is indicated to be within an acceptable range; if the jitter ratio of the current image jittering to the right side or the left side in the horizontal direction relative to the reference image is larger than the image horizontal edge cutting ratio threshold value, the image jittering is over large, at the moment, the current image can be discarded, the current image is not cut and is not used for subsequent image identification, and therefore the accuracy of the subsequent image identification can be further improved.
In an embodiment of the present invention, in step 1221a or step 1222a, after determining a dithering ratio at which the current image is dithered upward or downward with respect to the reference image in an up-down direction, before determining an upper or lower edge cropping area of the current image, the method further includes: and determining whether the jitter ratio of the current image jittering towards the upper side or the lower side in the vertical direction relative to the reference image is smaller than the image upper and lower edge cropping ratio threshold value, and if so, executing the step of determining the upper side or lower side edge cropping area of the current image.
The jitter ratio of the current image jittering to the upper side or the lower side in the up-down direction relative to the reference image is smaller than the image upper and lower edge clipping ratio threshold, which indicates that the image jitter is within an acceptable range; if the jitter ratio of the current image jittering upwards or downwards relative to the reference image in the vertical direction is greater than the image upper and lower edge clipping ratio threshold, the image jittering is too large, and at the moment, the current image can be discarded, is not clipped and is not used for subsequent image recognition, so that the accuracy of subsequent image recognition can be further improved.
Referring to fig. 5, an embodiment of the present invention further provides an image processing apparatus, including: a shake acquisition unit 11, a trimming area determination unit 12, and a trimming unit 13; the camera comprises a shake acquisition unit 11, a shake detection unit and a shake detection unit, wherein the shake acquisition unit is used for acquiring the shake amplitude and shake direction of a camera lens when a current image is shot relative to the reference image; and a clipping region determining unit 12, configured to determine an edge clipping region of the current image captured by the lens according to the shake amplitude and shake direction, and a preset edge clipping threshold. And a cropping unit 13, configured to process the current image according to the edge cropping area of the current image.
In this embodiment, the clipping unit 13 is an optional module. The apparatus of this embodiment may be used to implement the technical solution of the method embodiment shown in fig. 1, and the implementation principle and the technical effect are similar, which are not described herein again.
Referring to fig. 6, in an embodiment of the present invention, the jitter obtaining unit 11 includes a horizontal jitter obtaining module 111, and/or an up-down jitter obtaining module 112; the horizontal shake acquiring module 111 is configured to acquire a shake angle or a shake displacement amount of a lens of the camera in a horizontal direction when shooting a current image relative to a reference image, and a shake direction to the right or left in the horizontal direction; and an up-down shake acquiring module 112 for acquiring a shake angle or a shake displacement amount of the lens of the camera in the up-down direction when shooting the current image, and a shake direction in the up-down direction or in the down direction with respect to when shooting the reference image.
In an embodiment of the present invention, the horizontal jitter obtaining module 111 includes: a horizontal shaking angle acquisition submodule and/or an up-down shaking angle acquisition submodule; wherein,
the horizontal jitter angle acquisition submodule is configured to:
acquiring a shooting horizontal angle of a lens of a camera at a reference position and a shooting horizontal angle at a current position, and acquiring a shake angle of the lens of the camera in a horizontal direction relative to a shooting reference image when the lens of the camera shoots a current image according to a difference value between the shooting horizontal angle of the lens of the camera at the reference position and the shooting horizontal angle at the current position; the shooting horizontal angle of the lens of the camera at the current position is an included angle of an optical axis of the lens between the current position and the initial position in the horizontal direction, and the shooting horizontal angle of the lens of the camera at the reference position is an included angle of the optical axis of the lens between the reference position and the initial position in the horizontal direction; or,
acquiring a horizontal angle of a holder at a reference position and a horizontal angle of the holder at a current position, and acquiring a shake angle of a lens of a camera in a horizontal direction relative to a reference image when the camera shoots the current image according to a difference value between the horizontal angle of the holder at the reference position and the horizontal angle at the current position; the camera is installed on the cloud deck, when the cloud deck is at a reference position, an image shot by the camera is a reference image, and when the cloud deck is at a current position, an image shot by the camera is a current image;
the up-down shaking angle acquisition submodule is used for:
acquiring a shooting pitch angle of a lens of a camera at a reference position and a shooting pitch angle at a current position, and acquiring a shaking angle of the lens of the camera in the vertical direction relative to the shooting of a reference image when the current image is shot according to a difference value between the shooting pitch angle of the lens of the camera at the reference position and the shooting pitch angle at the current position; the shooting pitch angle of the lens of the camera at the current position is an included angle of an optical axis of the lens between the current position and the initial position in the vertical direction, and the shooting pitch angle of the lens of the camera at the reference position is an included angle of the optical axis of the lens between the reference position and the initial position in the vertical direction; or,
acquiring a pitch angle of a holder at a reference position and a pitch angle at a current position, and acquiring a shake angle of a lens of a camera in the vertical direction relative to the shooting of a reference image when the camera shoots the current image according to a difference value between the pitch angle of the holder at the reference position and the pitch angle at the current position; the camera is installed on the cloud deck, when the cloud deck is at a reference position, the image shot by the camera is a reference image, and when the cloud deck is at a current position, the image shot by the camera is a current image.
In an embodiment of the present invention, the horizontal jitter obtaining module 111 includes: a horizontal shaking displacement acquisition submodule and an up-down shaking displacement acquisition submodule; wherein,
the horizontal shake displacement acquisition submodule is used for acquiring a reference image and a current image shot by a lens of the camera; comparing the horizontal coordinate value of the reference point in the image with the horizontal coordinate value in the current image to obtain the shake displacement of the lens of the camera in the horizontal direction relative to the shooting of the reference image when the current image is shot;
the up-down shaking displacement acquisition submodule is used for acquiring a reference image and a current image shot by a lens of the camera; and comparing the vertical coordinate value of the reference point in the image in the reference image with the vertical coordinate value in the current image to obtain the shake displacement of the lens of the camera in the vertical direction relative to the shooting of the reference image when the current image is shot.
Referring to fig. 6, in an embodiment of the present invention, the clipping region determining unit 12 includes: a left-right cropping zone determining module 121, and/or a top-bottom cropping zone determining module 122; wherein,
a left-right cropping area determining module 121, configured to determine an edge cropping ratio or a cropping size of a left edge and a right edge of a current image captured by a camera according to a shake angle or a shake displacement amount of the camera in a horizontal direction when capturing the current image, a shake direction to the right or left in the horizontal direction when capturing a reference image, and a preset edge cropping threshold;
the vertical cropping area determining module 122 is configured to determine an edge cropping ratio or a cropping size of an upper edge and a lower edge of the current image captured by the camera according to a dithering angle or a dithering displacement amount in a vertical direction when the camera lens captures the current image, a dithering direction in a vertical direction upwards or downwards relative to a reference image, and a preset edge cropping threshold.
In an embodiment of the present invention, the left and right clipping region determining module 121 includes: a left-right cutting proportion determining submodule, a left-right cutting size determining submodule, an up-down cutting proportion determining submodule and an up-down cutting size determining submodule; wherein,
the left-right cutting proportion determining submodule is used for:
if the current image shakes to the right side in the horizontal direction relative to the reference image, determining the shaking proportion of the current image shaking to the right side in the horizontal direction relative to the reference image according to the shaking angle of the camera lens in the horizontal direction relative to the reference image when the current image is shot; subtracting a shaking proportion of the current image shaking towards the right side in the horizontal direction relative to the reference image from a preset image horizontal edge cutting proportion threshold value to obtain a left side edge cutting proportion of the current image; adding a preset image horizontal edge cutting proportion threshold value to the shaking proportion of the current image shaking towards the right side in the horizontal direction relative to the reference image to obtain the right edge cutting proportion of the current image;
if the current image shakes to the left side in the horizontal direction relative to the reference image, determining the shaking proportion of the current image shaking to the left side in the horizontal direction relative to the reference image according to the shaking angle of the camera lens in the horizontal direction relative to the reference image when the current image is shot; adding a preset image horizontal edge cutting proportion threshold value to a shaking proportion of the current image shaking towards the left side in the horizontal direction relative to the reference image to obtain a left side edge cutting proportion of the current image; subtracting the shaking proportion of the current image shaking towards the left side in the horizontal direction relative to the reference image from the preset image horizontal edge cutting proportion threshold value to obtain the right edge cutting proportion of the current image;
the up-down cutting proportion determining submodule is used for:
if the current image shakes upwards in the vertical direction relative to the reference image, determining the shaking proportion of the current image shaking upwards in the vertical direction relative to the reference image according to the shaking angle of the camera lens in the vertical direction relative to the reference image when the current image is shot; adding a preset image upper and lower edge cutting proportion threshold value to a shaking proportion of the current image shaking upwards in the vertical direction relative to the reference image to obtain an upper edge cutting proportion of the current image; subtracting a shaking proportion of the current image shaking upwards in the vertical direction relative to the reference image from a preset image upper and lower edge cutting proportion threshold value to obtain the lower edge cutting proportion of the current image;
if the current image shakes downwards in the vertical direction relative to the reference image, determining the shaking proportion of the current image shaking downwards in the vertical direction relative to the reference image according to the shaking angle of the camera lens in the vertical direction relative to the reference image when the current image is shot; subtracting a shaking ratio of the current image shaking towards the lower side in the up-down direction relative to the reference image from a preset image upper and lower edge cutting ratio threshold value to obtain the upper edge cutting ratio of the current image; adding a preset image upper and lower edge cutting proportion threshold value to a shaking proportion of the current image shaking towards the lower side in the upper and lower directions relative to the reference image to obtain the lower side edge cutting proportion of the current image;
the left-right cutting size determining submodule is used for:
if the current image shakes to the right side in the horizontal direction relative to the reference image, subtracting a preset image horizontal edge cutting size threshold value from the shaking displacement amount of the camera lens in the horizontal direction relative to the reference image when the current image is shot to obtain the left edge cutting size of the current image; adding a preset image horizontal edge cutting size threshold value to a shake displacement amount of a camera lens in the horizontal direction when a current image is shot relative to a shot reference image to obtain a right edge cutting size of the current image;
if the current image shakes to the left side in the horizontal direction relative to the reference image, adding a preset image horizontal edge cutting size threshold value to a shaking displacement amount of a camera lens in the horizontal direction relative to the reference image when the current image is shot to obtain the left edge cutting size of the current image; subtracting a shake displacement amount of a camera lens in the horizontal direction when shooting a current image from a preset image horizontal edge cutting size threshold value to obtain a right edge cutting size of the current image;
the up-down cutting size determining submodule is used for:
if the current image shakes upwards in the vertical direction relative to the reference image, adding a preset image upper and lower edge cutting size threshold value to the shaking displacement amount of the current image shaking upwards in the vertical direction relative to the reference image to obtain the upper edge cutting size of the current image; subtracting the shaking displacement amount of the current image shaking upwards in the vertical direction relative to the reference image from the preset threshold value of the upper and lower edge cutting sizes of the image to obtain the lower edge cutting size of the current image;
if the current image shakes downwards in the vertical direction relative to the reference image, subtracting a shaking displacement amount of the current image shaking downwards in the vertical direction relative to the reference image from a preset image upper and lower edge cutting size threshold value to obtain the upper edge cutting size of the current image; and adding a preset image upper and lower edge cutting size threshold value to the shaking displacement amount of the current image shaking towards the lower side in the upper and lower directions relative to the reference image to obtain the lower side edge cutting size of the current image.
Referring to fig. 4, in an embodiment of the present invention, the left-right cropping ratio determining sub-module determines a dithering ratio F1: F1 | P2-P1|/PV of the current image dithering to the right or to the left in the horizontal direction with respect to the reference image, specifically according to the following formula; wherein, P1 is the shooting horizontal angle of the lens of the camera at the reference position, and P2 is the shooting horizontal angle of the lens of the camera at the current position; or P1 is the horizontal angle of the pan-tilt head at the reference position, and P2 is the horizontal angle of the pan-tilt head at the current position; PV is the horizontal visual field angle of the camera, P2 is smaller than P1 to indicate shaking to the right, P2 is larger than P1 to indicate shaking to the left; and/or the presence of a gas in the gas,
the up-down cropping ratio determining submodule is used for specifically determining the dithering ratio F2: F2 | T2-T1|/TV of the current image dithering to the upper side or the lower side in the up-down direction relative to the reference image according to the following formula; wherein, T1 is the shooting pitch angle of the lens of the camera at the reference position, and T2 is the shooting pitch angle of the lens of the camera at the current position; or, T1 is the pitch angle of the pan/tilt head at the reference position, and T2 is the pitch angle of the pan/tilt head at the current position; TV is the vertical visual field angle of the camera, T2 being less than T1 indicates downward side shake, and T2 being greater than T1 indicates upward side shake.
In the present embodiment, when it is determined that the shake direction in the horizontal direction is a shake to the right, the left-side edge clipping ratio X1: X1 ═ PX- | P2-P1|/PV of the current image can be obtained according to the following formula;
the right edge cropping ratio of the current image, X2: X2 ═ PX + | P2-P1|/PV, can be obtained according to the following formula.
When it is determined that the shake direction in the horizontal direction is leftward shake, the left-side edge clipping ratio X3: X3 ═ PX + | P2-P1|/PV of the current image can be obtained according to the following formula;
the right edge cropping ratio X4: X4 ═ PX-P2-P1 |/PV of the current image can be obtained according to the following formula.
In the above formula, the meanings of P1, P2 and PV are the same as those of the corresponding parameters in the above formula; PX is an image horizontal edge clipping ratio threshold.
The image horizontal edge clipping proportion threshold PX can be preset, the specific size of the image horizontal edge clipping proportion threshold PX can be configured according to the field shaking condition, if the shaking is strong, the proportion threshold can be properly enlarged, the shaking is small, and the proportion threshold can also be properly reduced.
In the present embodiment, when it is determined that the shake direction in the up-down direction is upward shake, the upper side edge cropping ratio Y1: Y1 ═ TX + | T2-T1|/TV of the current image can be obtained according to the following formula;
the lower edge cropping ratio Y2: Y2 TX-T2-T1/TV of the current image can be obtained according to the following formula.
When it is determined that the shake direction in the up-down direction is a down shake, the upper side edge cropping ratio Y3: Y3 of the current image may be obtained as TX-T2-T1/TV according to the following formula;
the lower edge cropping ratio Y4: Y4 ═ TX + | T2-T1|/TV for the current image can be found according to the following formula.
In the above formula, the meanings of T1, T2, and TV are the same as those of the corresponding parameters in the above formula. TX is the image top and bottom edge crop scale threshold.
The image upper and lower edge cutting proportion threshold value TX can be preset, the specific size of the image upper and lower edge cutting proportion threshold value TX can be configured according to the situation of field shaking, if the shaking is strong, the proportion threshold value can be properly enlarged, the shaking is small, and the proportion threshold value can also be properly reduced.
In an embodiment of the present invention, the image processing apparatus further includes: a threshold judgment unit configured to:
after determining the dithering ratio of the current image to the reference image to dither to the right or left in the horizontal direction, and before determining the left or right edge cropping zone of the current image, determining whether the dithering ratio of the current image to dither to the right or left in the horizontal direction to the reference image is smaller than the image horizontal edge cropping ratio threshold, if so, determining the left or right edge cropping zone of the current image by the left or right cropping zone determining module 121;
and/or the presence of a gas in the gas,
after determining the dithering ratio of the current image dithering upward or downward in the up-down direction relative to the reference image, and before determining the upper-side or lower-side edge cropping area of the current image, determining whether the dithering ratio of the current image dithering upward or downward in the up-down direction relative to the reference image is smaller than the image upper-side or lower-side edge cropping ratio threshold, and if the dithering ratio is smaller than the image upper-side or lower-side edge cropping ratio threshold, determining the upper-side or lower-side edge cropping area of the current image by the upper-side or lower-side cropping area determining module 122.
The dithering proportion of the current image dithering to the right side or the left side in the horizontal direction relative to the reference image is smaller than the image horizontal edge cutting proportion threshold value, and the image dithering is indicated to be within an acceptable range; if the jitter ratio of the current image jittering to the right side or the left side in the horizontal direction relative to the reference image is larger than the image horizontal edge cutting ratio threshold value, the image jittering is over large, at the moment, the current image can be discarded, the current image is not cut and is not used for subsequent image identification, and therefore the accuracy of the subsequent image identification can be further improved.
Similarly, the dithering proportion of the current image dithering to the upper side or the lower side in the up-down direction relative to the reference image is smaller than the image upper and lower edge cutting proportion threshold value, which indicates that the image dithering is within an acceptable range; if the jitter ratio of the current image jittering upwards or downwards relative to the reference image in the vertical direction is greater than the image upper and lower edge clipping ratio threshold, the image jittering is too large, and at the moment, the current image can be discarded, is not clipped and is not used for subsequent image recognition, so that the accuracy of subsequent image recognition can be further improved.
Referring to fig. 7, an embodiment of the present invention further provides a forest fire prevention system, which includes a camera 21, an image processing device 22, and a fire recognition device 23; the camera 21 is installed on shooting of a forest site and used for collecting images of the forest site; the image processing device 22 is used for processing the image collected by the camera; the fire recognition device 23 is configured to recognize the image processed by the image processing device to determine whether a fire occurs in a forest field; the image processing apparatus is the image processing apparatus according to any one of the preceding embodiments.
The system of this embodiment may be used to implement the technical solution of the method embodiment shown in fig. 1, and the implementation principle and the technical effect are similar, which are not described herein again.
Fig. 8 is a schematic structural diagram of an embodiment of an electronic device of the present invention, which can implement the processes of the embodiments shown in fig. 1, fig. 2, and fig. 4 of the present invention, and as shown in fig. 8, the electronic device may include: the device comprises a shell 41, a processor 42, a memory 43, a circuit board 44 and a power circuit 45, wherein the circuit board 44 is arranged inside a space enclosed by the shell 41, and the processor 42 and the memory 43 are arranged on the circuit board 44; a power supply circuit 45 for supplying power to each circuit or device of the electronic apparatus; the memory 43 is used for storing executable program code; the processor 42 executes a program corresponding to the executable program code by reading the executable program code stored in the memory 43, for executing the image processing method described in any of the foregoing embodiments.
For the specific execution process of the above steps by the processor 42 and the steps further executed by the processor 42 by running the executable program code, reference may be made to the description of the embodiments shown in fig. 1, fig. 2 and fig. 3 of the present invention, which is not described herein again.
The electronic device exists in a variety of forms, including but not limited to:
(1) personal computer device: the equipment belongs to the category of personal computers, has calculation and processing functions and generally has the characteristic of mobile internet access.
(2) A server: the device for providing the computing service comprises a processor, a hard disk, a memory, a system bus and the like, and the server is similar to a general computer architecture, but has higher requirements on processing capacity, stability, reliability, safety, expandability, manageability and the like because of the need of providing high-reliability service.
(3) And other electronic equipment with data interaction function.
Embodiments of the present invention also provide a computer-readable storage medium storing one or more programs, which are executable by one or more processors to implement the image processing method according to any of the foregoing embodiments.
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, apparatus, article, or device 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, apparatus, article, or device. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, apparatus, article, or device that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments.
In particular, as for the device embodiment, since it is substantially similar to the device embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the device embodiment.
For convenience of description, the above devices are described separately in terms of functional division into various units/modules. Of course, the functionality of the units/modules may be implemented in one or more software and/or hardware implementations of the invention.
It will be understood by those skilled in the art that all or part of the processes of the apparatuses implementing the embodiments described above can be implemented by using a computer program to instruct related hardware, where the program can be stored in a computer-readable storage medium, and when executed, the program can include the processes of the embodiments of the apparatuses described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (19)

1. An image processing method, comprising:
acquiring the shaking amplitude and the shaking direction of a lens of a camera relative to the reference image when the current image is shot;
and determining an edge clipping area of the current image shot by the lens according to the shaking amplitude and the shaking direction and a preset edge clipping threshold.
2. The image processing method according to claim 1, wherein the acquiring a shake magnitude and a shake direction of the lens of the camera with respect to a reference image when the current image is captured comprises:
acquiring a shake angle or a shake displacement amount of a lens of a camera in a horizontal direction when shooting a current image relative to when shooting a reference image, and a shake direction to the right or left in the horizontal direction; and/or the presence of a gas in the gas,
a shake angle or a shake displacement amount in the up-down direction and a shake direction in the up-down direction or down direction with respect to when the reference image is taken are acquired by a lens of the camera when the current image is taken.
3. The image processing method according to claim 2,
the acquiring a shake angle of a lens of the camera in a horizontal direction when shooting a current image relative to when shooting a reference image, includes:
acquiring a shooting horizontal angle of a lens of a camera at a reference position and a shooting horizontal angle at a current position, and acquiring a shake angle of the lens of the camera in a horizontal direction relative to a shooting reference image when the lens of the camera shoots a current image according to a difference value between the shooting horizontal angle of the lens of the camera at the reference position and the shooting horizontal angle at the current position; the shooting horizontal angle of the lens of the camera at the current position is an included angle of an optical axis of the lens between the current position and the initial position in the horizontal direction, and the shooting horizontal angle of the lens of the camera at the reference position is an included angle of the optical axis of the lens between the reference position and the initial position in the horizontal direction; or,
acquiring a horizontal angle of a holder at a reference position and a horizontal angle of the holder at a current position, and acquiring a shake angle of a lens of a camera in a horizontal direction relative to a reference image when the camera shoots the current image according to a difference value between the horizontal angle of the holder at the reference position and the horizontal angle at the current position; the camera is installed on the cloud deck, when the cloud deck is at a reference position, an image shot by the camera is a reference image, and when the cloud deck is at a current position, an image shot by the camera is a current image;
the acquiring a shake angle of a lens of the camera in an up-down direction when shooting a current image relative to when shooting a reference image, includes:
acquiring a shooting pitch angle of a lens of a camera at a reference position and a shooting pitch angle at a current position, and acquiring a shaking angle of the lens of the camera in the vertical direction relative to the shooting of a reference image when the current image is shot according to a difference value between the shooting pitch angle of the lens of the camera at the reference position and the shooting pitch angle at the current position; the shooting pitch angle of the lens of the camera at the current position is an included angle of an optical axis of the lens between the current position and the initial position in the vertical direction, and the shooting pitch angle of the lens of the camera at the reference position is an included angle of the optical axis of the lens between the reference position and the initial position in the vertical direction; or,
acquiring a pitch angle of a holder at a reference position and a pitch angle at a current position, and acquiring a shake angle of a lens of a camera in the vertical direction relative to the shooting of a reference image when the camera shoots the current image according to a difference value between the pitch angle of the holder at the reference position and the pitch angle at the current position; the camera is installed on the cloud deck, when the cloud deck is at a reference position, the image shot by the camera is a reference image, and when the cloud deck is at a current position, the image shot by the camera is a current image.
4. The image processing method according to claim 2,
the acquiring a shake displacement amount of a lens of a camera in a horizontal direction when shooting a current image relative to when shooting a reference image, includes: acquiring a reference image and a current image shot by a lens of a camera; comparing the horizontal coordinate value of the reference point in the image with the horizontal coordinate value in the current image to obtain the shake displacement of the lens of the camera in the horizontal direction relative to the shooting of the reference image when the current image is shot;
the acquiring a shake displacement amount of a lens of a camera in an up-down direction when shooting a current image relative to when shooting a reference image, includes: acquiring a reference image and a current image shot by a lens of a camera; and comparing the vertical coordinate value of the reference point in the image in the reference image with the vertical coordinate value in the current image to obtain the shake displacement of the lens of the camera in the vertical direction relative to the shooting of the reference image when the current image is shot.
5. The image processing method according to claim 2, wherein the determining an edge cropping area of the current image captured by the lens according to the shake magnitude and shake direction and a preset edge cropping threshold comprises:
determining edge cropping proportions or cropping sizes of a left edge and a right edge of a current image shot by a camera according to a dithering angle or a dithering displacement amount of the camera in the horizontal direction when the camera shoots the current image relative to a dithering direction in the horizontal direction when the camera shoots a reference image, a dithering direction to the right or left in the horizontal direction, and a preset edge cropping threshold; and/or the presence of a gas in the gas,
the edge cropping proportion or the cropping size of the upper side edge and the lower side edge of the current image shot by the camera is determined according to the shaking angle or the shaking displacement amount of the camera lens in the vertical direction relative to the reference image, the shaking direction upwards or downwards in the vertical direction, and the preset edge cropping threshold value.
6. The image processing method according to claim 5, wherein the determining the edge cropping ratio of the left edge and the right edge of the current image shot by the lens comprises:
if the current image shakes to the right side in the horizontal direction relative to the reference image, determining the shaking proportion of the current image shaking to the right side in the horizontal direction relative to the reference image according to the shaking angle of the camera lens in the horizontal direction relative to the reference image when the current image is shot; subtracting a shaking proportion of the current image shaking towards the right side in the horizontal direction relative to the reference image from a preset image horizontal edge cutting proportion threshold value to obtain a left side edge cutting proportion of the current image; adding a preset image horizontal edge cutting proportion threshold value to the shaking proportion of the current image shaking towards the right side in the horizontal direction relative to the reference image to obtain the right edge cutting proportion of the current image;
if the current image shakes to the left side in the horizontal direction relative to the reference image, determining the shaking proportion of the current image shaking to the left side in the horizontal direction relative to the reference image according to the shaking angle of the camera lens in the horizontal direction relative to the reference image when the current image is shot; adding a preset image horizontal edge cutting proportion threshold value to a shaking proportion of the current image shaking towards the left side in the horizontal direction relative to the reference image to obtain a left side edge cutting proportion of the current image; subtracting the shaking proportion of the current image shaking towards the left side in the horizontal direction relative to the reference image from the preset image horizontal edge cutting proportion threshold value to obtain the right edge cutting proportion of the current image;
the determining an edge cropping ratio of an upper edge and a lower edge of a current image shot by the lens comprises:
if the current image shakes upwards in the vertical direction relative to the reference image, determining the shaking proportion of the current image shaking upwards in the vertical direction relative to the reference image according to the shaking angle of the camera lens in the vertical direction relative to the reference image when the current image is shot; adding a preset image upper and lower edge cutting proportion threshold value to a shaking proportion of the current image shaking upwards in the vertical direction relative to the reference image to obtain an upper edge cutting proportion of the current image; subtracting a shaking proportion of the current image shaking upwards in the vertical direction relative to the reference image from a preset image upper and lower edge cutting proportion threshold value to obtain the lower edge cutting proportion of the current image;
if the current image shakes downwards in the vertical direction relative to the reference image, determining the shaking proportion of the current image shaking downwards in the vertical direction relative to the reference image according to the shaking angle of the camera lens in the vertical direction relative to the reference image when the current image is shot; subtracting a shaking ratio of the current image shaking towards the lower side in the up-down direction relative to the reference image from a preset image upper and lower edge cutting ratio threshold value to obtain the upper edge cutting ratio of the current image; adding a preset image upper and lower edge cutting proportion threshold value to a shaking proportion of the current image shaking towards the lower side in the upper and lower directions relative to the reference image to obtain the lower side edge cutting proportion of the current image;
the determining the edge cropping size of the left edge and the right edge of the current image shot by the lens comprises:
if the current image shakes to the right side in the horizontal direction relative to the reference image, subtracting a preset image horizontal edge cutting size threshold value from the shaking displacement amount of the camera lens in the horizontal direction relative to the reference image when the current image is shot to obtain the left edge cutting size of the current image; adding a preset image horizontal edge cutting size threshold value to a shake displacement amount of a camera lens in the horizontal direction when a current image is shot relative to a shot reference image to obtain a right edge cutting size of the current image;
if the current image shakes to the left side in the horizontal direction relative to the reference image, adding a preset image horizontal edge cutting size threshold value to a shaking displacement amount of a camera lens in the horizontal direction relative to the reference image when the current image is shot to obtain the left edge cutting size of the current image; subtracting a shake displacement amount of a camera lens in the horizontal direction when shooting a current image from a preset image horizontal edge cutting size threshold value to obtain a right edge cutting size of the current image;
the determining the edge cropping size of the upper edge and the lower edge of the current image shot by the lens comprises the following steps:
if the current image shakes upwards in the vertical direction relative to the reference image, adding a preset image upper and lower edge cutting size threshold value to the shaking displacement amount of the current image shaking upwards in the vertical direction relative to the reference image to obtain the upper edge cutting size of the current image; subtracting the shaking displacement amount of the current image shaking upwards in the vertical direction relative to the reference image from the preset threshold value of the upper and lower edge cutting sizes of the image to obtain the lower edge cutting size of the current image;
if the current image shakes downwards in the vertical direction relative to the reference image, subtracting a shaking displacement amount of the current image shaking downwards in the vertical direction relative to the reference image from a preset image upper and lower edge cutting size threshold value to obtain the upper edge cutting size of the current image; and adding a preset image upper and lower edge cutting size threshold value to the shaking displacement amount of the current image shaking towards the lower side in the upper and lower directions relative to the reference image to obtain the lower side edge cutting size of the current image.
7. The image processing method according to claim 6, wherein a shake ratio F1 for the current image to shake to the right or left in the horizontal direction with respect to the reference image is determined according to the following formula:
F1＝|P2-P1|/PV；
wherein, P1 is the shooting horizontal angle of the lens of the camera at the reference position, and P2 is the shooting horizontal angle of the lens of the camera at the current position; or P1 is the horizontal angle of the pan-tilt head at the reference position, and P2 is the horizontal angle of the pan-tilt head at the current position; PV is the horizontal visual field angle of the camera, P2 is smaller than P1 to indicate shaking to the right, P2 is larger than P1 to indicate shaking to the left;
and/or the presence of a gas in the gas,
the shake proportion F2 at which the current image is shaken upward or downward in the up-down direction with respect to the reference image is determined according to the following formula:
F2＝|T2-T1|/TV；
wherein, T1 is the shooting pitch angle of the lens of the camera at the reference position, and T2 is the shooting pitch angle of the lens of the camera at the current position; or, T1 is the pitch angle of the pan/tilt head at the reference position, and T2 is the pitch angle of the pan/tilt head at the current position; TV is the vertical visual field angle of the camera, T2 being less than T1 indicates downward side shake, and T2 being greater than T1 indicates upward side shake.
8. The image processing method according to claim 6, wherein before determining the left or right edge clipping region of the current image after determining the dithering ratio at which the current image is dithered to the right or to the left in the horizontal direction with respect to the reference image, the method further comprises:
determining whether the jitter ratio of the current image jittering to the right side or the left side in the horizontal direction relative to the reference image is smaller than the image horizontal edge cropping ratio threshold value, and if so, executing the step of determining the left side or right side edge cropping area of the current image;
and/or the presence of a gas in the gas,
after determining a shaking ratio at which the current image is shaken to the upper side or the lower side in the up-down direction with respect to the reference image, before determining the upper side or the lower side edge clipping region of the current image, the method further includes:
and determining whether the jitter ratio of the current image jittering towards the upper side or the lower side in the vertical direction relative to the reference image is smaller than the image upper and lower edge cropping ratio threshold value, and if so, executing the step of determining the upper side or lower side edge cropping area of the current image.
9. An image processing apparatus characterized by comprising:
the camera comprises a shake acquisition unit, a shake detection unit and a shake detection unit, wherein the shake acquisition unit is used for acquiring the shake amplitude and shake direction of a camera lens when shooting a current image relative to the reference image;
and the cutting area determining unit is used for determining an edge cutting area of the current image shot by the lens according to the jitter amplitude and the jitter direction and a preset edge cutting threshold value.
10. The image processing apparatus according to claim 9, wherein the shake acquisition unit includes:
the horizontal shaking acquisition module is used for acquiring a shaking angle or a shaking displacement amount of a lens of the camera in the horizontal direction relative to the shooting of a reference image when the lens shoots a current image, and a shaking direction to the right or left in the horizontal direction; and/or the presence of a gas in the gas,
and the up-down shaking acquisition module is used for acquiring a shaking angle or a shaking displacement amount of the lens of the camera in the up-down direction relative to the reference image shooting direction when the current image is shot and the shaking direction in the up-down direction or in the down direction.
11. The image processing apparatus according to claim 10, wherein the horizontal shaking acquisition module includes: a horizontal shaking angle acquisition submodule and/or an up-down shaking angle acquisition submodule; wherein,
the horizontal jitter angle acquisition submodule is configured to:
acquiring a shooting horizontal angle of a lens of a camera at a reference position and a shooting horizontal angle at a current position, and acquiring a shake angle of the lens of the camera in a horizontal direction relative to a shooting reference image when the lens of the camera shoots a current image according to a difference value between the shooting horizontal angle of the lens of the camera at the reference position and the shooting horizontal angle at the current position; the shooting horizontal angle of the lens of the camera at the current position is an included angle of an optical axis of the lens between the current position and the initial position in the horizontal direction, and the shooting horizontal angle of the lens of the camera at the reference position is an included angle of the optical axis of the lens between the reference position and the initial position in the horizontal direction; or,
acquiring a horizontal angle of a holder at a reference position and a horizontal angle of the holder at a current position, and acquiring a shake angle of a lens of a camera in a horizontal direction relative to a reference image when the camera shoots the current image according to a difference value between the horizontal angle of the holder at the reference position and the horizontal angle at the current position; the camera is installed on the cloud deck, when the cloud deck is at a reference position, an image shot by the camera is a reference image, and when the cloud deck is at a current position, an image shot by the camera is a current image;
the up-down shaking angle acquisition submodule is used for:
acquiring a shooting pitch angle of a lens of a camera at a reference position and a shooting pitch angle at a current position, and acquiring a shaking angle of the lens of the camera in the vertical direction relative to the shooting of a reference image when the current image is shot according to a difference value between the shooting pitch angle of the lens of the camera at the reference position and the shooting pitch angle at the current position; the shooting pitch angle of the lens of the camera at the current position is an included angle of an optical axis of the lens between the current position and the initial position in the vertical direction, and the shooting pitch angle of the lens of the camera at the reference position is an included angle of the optical axis of the lens between the reference position and the initial position in the vertical direction; or,
acquiring a pitch angle of a holder at a reference position and a pitch angle at a current position, and acquiring a shake angle of a lens of a camera in the vertical direction relative to the shooting of a reference image when the camera shoots the current image according to a difference value between the pitch angle of the holder at the reference position and the pitch angle at the current position; the camera is installed on the cloud deck, when the cloud deck is at a reference position, the image shot by the camera is a reference image, and when the cloud deck is at a current position, the image shot by the camera is a current image.
12. The image processing apparatus according to claim 10, wherein the horizontal shaking acquisition module includes: a horizontal shaking displacement acquisition submodule and an up-down shaking displacement acquisition submodule; wherein,
the horizontal shake displacement acquisition submodule is used for acquiring a reference image and a current image shot by a lens of the camera; comparing the horizontal coordinate value of the reference point in the image with the horizontal coordinate value in the current image to obtain the shake displacement of the lens of the camera in the horizontal direction relative to the shooting of the reference image when the current image is shot;
the up-down shaking displacement acquisition submodule is used for acquiring a reference image and a current image shot by a lens of the camera; and comparing the vertical coordinate value of the reference point in the image in the reference image with the vertical coordinate value in the current image to obtain the shake displacement of the lens of the camera in the vertical direction relative to the shooting of the reference image when the current image is shot.
13. The image processing apparatus according to claim 10, wherein the clipping region determining unit includes: a left and right cutting area determining module and/or an up and down cutting area determining module; wherein,
a left and right clipping region determining module, configured to determine an edge clipping ratio or a clipping size of a left edge and a right edge of a current image captured by a camera according to a shake angle or a shake displacement amount of the camera in a horizontal direction when the camera captures the current image, a shake direction of the camera to the right or left in the horizontal direction, and a preset edge clipping threshold;
the up-down cropping area determining module is used for determining the edge cropping proportion or the cropping size of the upper side edge and the lower side edge of the current image shot by the camera according to the shaking angle or the shaking displacement amount of the camera in the up-down direction relative to the reference image shot by the camera when the current image is shot, the shaking direction in the up-down direction or the downward direction, and the preset edge cropping threshold.
14. The image processing apparatus according to claim 13, wherein the left-right trimming region determining module includes: a left-right cutting proportion determining submodule, a left-right cutting size determining submodule, an up-down cutting proportion determining submodule and an up-down cutting size determining submodule; wherein,
the left-right cutting proportion determining submodule is used for:
if the current image shakes to the right side in the horizontal direction relative to the reference image, determining the shaking proportion of the current image shaking to the right side in the horizontal direction relative to the reference image according to the shaking angle of the camera lens in the horizontal direction relative to the reference image when the current image is shot; subtracting a shaking proportion of the current image shaking towards the right side in the horizontal direction relative to the reference image from a preset image horizontal edge cutting proportion threshold value to obtain a left side edge cutting proportion of the current image; adding a preset image horizontal edge cutting proportion threshold value to the shaking proportion of the current image shaking towards the right side in the horizontal direction relative to the reference image to obtain the right edge cutting proportion of the current image;
if the current image shakes to the left side in the horizontal direction relative to the reference image, determining the shaking proportion of the current image shaking to the left side in the horizontal direction relative to the reference image according to the shaking angle of the camera lens in the horizontal direction relative to the reference image when the current image is shot; adding a preset image horizontal edge cutting proportion threshold value to a shaking proportion of the current image shaking towards the left side in the horizontal direction relative to the reference image to obtain a left side edge cutting proportion of the current image; subtracting the shaking proportion of the current image shaking towards the left side in the horizontal direction relative to the reference image from the preset image horizontal edge cutting proportion threshold value to obtain the right edge cutting proportion of the current image;
the up-down cutting proportion determining submodule is used for:
if the current image shakes upwards in the vertical direction relative to the reference image, determining the shaking proportion of the current image shaking upwards in the vertical direction relative to the reference image according to the shaking angle of the camera lens in the vertical direction relative to the reference image when the current image is shot; adding a preset image upper and lower edge cutting proportion threshold value to a shaking proportion of the current image shaking upwards in the vertical direction relative to the reference image to obtain an upper edge cutting proportion of the current image; subtracting a shaking proportion of the current image shaking upwards in the vertical direction relative to the reference image from a preset image upper and lower edge cutting proportion threshold value to obtain the lower edge cutting proportion of the current image;
if the current image shakes downwards in the vertical direction relative to the reference image, determining the shaking proportion of the current image shaking downwards in the vertical direction relative to the reference image according to the shaking angle of the camera lens in the vertical direction relative to the reference image when the current image is shot; subtracting a shaking ratio of the current image shaking towards the lower side in the up-down direction relative to the reference image from a preset image upper and lower edge cutting ratio threshold value to obtain the upper edge cutting ratio of the current image; adding a preset image upper and lower edge cutting proportion threshold value to a shaking proportion of the current image shaking towards the lower side in the upper and lower directions relative to the reference image to obtain the lower side edge cutting proportion of the current image;
the left-right cutting size determining submodule is used for:
if the current image shakes to the right side in the horizontal direction relative to the reference image, subtracting a preset image horizontal edge cutting size threshold value from the shaking displacement amount of the camera lens in the horizontal direction relative to the reference image when the current image is shot to obtain the left edge cutting size of the current image; adding a preset image horizontal edge cutting size threshold value to a shake displacement amount of a camera lens in the horizontal direction when a current image is shot relative to a shot reference image to obtain a right edge cutting size of the current image;
if the current image shakes to the left side in the horizontal direction relative to the reference image, adding a preset image horizontal edge cutting size threshold value to a shaking displacement amount of a camera lens in the horizontal direction relative to the reference image when the current image is shot to obtain the left edge cutting size of the current image; subtracting a shake displacement amount of a camera lens in the horizontal direction when shooting a current image from a preset image horizontal edge cutting size threshold value to obtain a right edge cutting size of the current image;
the up-down cutting size determining submodule is used for:
if the current image shakes upwards in the vertical direction relative to the reference image, adding a preset image upper and lower edge cutting size threshold value to the shaking displacement amount of the current image shaking upwards in the vertical direction relative to the reference image to obtain the upper edge cutting size of the current image; subtracting the shaking displacement amount of the current image shaking upwards in the vertical direction relative to the reference image from the preset threshold value of the upper and lower edge cutting sizes of the image to obtain the lower edge cutting size of the current image;
if the current image shakes downwards in the vertical direction relative to the reference image, subtracting a shaking displacement amount of the current image shaking downwards in the vertical direction relative to the reference image from a preset image upper and lower edge cutting size threshold value to obtain the upper edge cutting size of the current image; and adding a preset image upper and lower edge cutting size threshold value to the shaking displacement amount of the current image shaking towards the lower side in the upper and lower directions relative to the reference image to obtain the lower side edge cutting size of the current image.
15. The image processing apparatus according to claim 14, wherein the left-right cropping ratio determining sub-module determines a dithering ratio F1 for dithering the current image to the right or to the left in the horizontal direction with respect to the reference image, in particular according to the following formula:
F1＝|P2-P1|/PV；
wherein, P1 is the shooting horizontal angle of the lens of the camera at the reference position, and P2 is the shooting horizontal angle of the lens of the camera at the current position; or P1 is the horizontal angle of the pan-tilt head at the reference position, and P2 is the horizontal angle of the pan-tilt head at the current position; PV is the horizontal visual field angle of the camera, P2 is smaller than P1 to indicate shaking to the right, P2 is larger than P1 to indicate shaking to the left;
and/or the presence of a gas in the gas,
the up-down cropping ratio determining submodule determines a dithering ratio F2 at which the current image dithers up or down in the up-down direction with respect to the reference image, specifically according to the following formula:
F2＝|T2-T1|/TV；
wherein, T1 is the shooting pitch angle of the lens of the camera at the reference position, and T2 is the shooting pitch angle of the lens of the camera at the current position; or, T1 is the pitch angle of the pan/tilt head at the reference position, and T2 is the pitch angle of the pan/tilt head at the current position; TV is the vertical visual field angle of the camera, T2 being less than T1 indicates downward side shake, and T2 being greater than T1 indicates upward side shake.
16. The image processing apparatus according to claim 14, further comprising: a threshold judgment unit configured to:
after determining the shaking proportion of the current image shaking to the right or left in the horizontal direction relative to the reference image and before determining the left or right edge cropping area of the current image, determining whether the shaking proportion of the current image shaking to the right or left in the horizontal direction relative to the reference image is smaller than the image horizontal edge cropping proportion threshold value or not, and if so, determining the left or right edge cropping area of the current image by a left and right cropping area determination module;
and/or the presence of a gas in the gas,
after determining the dithering proportion of the current image dithering to the upper side or the lower side in the up-down direction relative to the reference image, and before determining the upper side or the lower side edge cutting area of the current image, determining whether the dithering proportion of the current image dithering to the upper side or the lower side in the up-down direction relative to the reference image is smaller than the image upper and lower edge cutting proportion threshold value, and if the dithering proportion is smaller than the image upper and lower edge cutting proportion threshold value, determining the upper side or the lower side edge cutting area of the current image by an upper and lower cutting area determination module.
17. A forest fire prevention system is characterized by comprising a camera, an image processing device and a fire recognition device; wherein,
the camera is arranged on the shooting of the forest site and is used for acquiring images of the forest site;
the image processing device is used for processing the image collected by the camera;
the fire recognition device is used for recognizing the image processed by the image processing device so as to determine whether a forest site has a fire or not;
wherein the image processing apparatus is the image processing apparatus of any one of the preceding claims 9 to 16.
18. An electronic device, characterized in that the electronic device comprises: the device comprises a shell, a processor, a memory, a circuit board and a power circuit, wherein the circuit board is arranged in a space enclosed by the shell, and the processor and the memory are arranged on the circuit board; a power supply circuit for supplying power to each circuit or device of the electronic apparatus; the memory is used for storing executable program codes; the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory, for executing the image processing method of any one of the preceding claims.
19. A computer-readable storage medium, characterized in that the computer-readable storage medium stores one or more programs which are executable by one or more processors to implement the image processing method of any preceding claim.
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