CN111386710A - Image processing method, device, equipment and storage medium - Google Patents

Image processing method, device, equipment and storage medium Download PDF

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Publication number
CN111386710A
CN111386710A CN201880069059.2A CN201880069059A CN111386710A CN 111386710 A CN111386710 A CN 111386710A CN 201880069059 A CN201880069059 A CN 201880069059A CN 111386710 A CN111386710 A CN 111386710A
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image
original
size
ground control
adjusting
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CN201880069059.2A
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Chinese (zh)
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朱涛
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/40—Client devices specifically adapted for the reception of or interaction with content, e.g. set-top-box [STB]; Operations thereof
    • H04N21/43—Processing of content or additional data, e.g. demultiplexing additional data from a digital video stream; Elementary client operations, e.g. monitoring of home network or synchronising decoder's clock; Client middleware
    • H04N21/44—Processing of video elementary streams, e.g. splicing a video clip retrieved from local storage with an incoming video stream, rendering scenes according to MPEG-4 scene graphs

Abstract

The embodiment of the invention provides an image processing method, a device, equipment and a storage medium, wherein a ground control end is used for simultaneously acquiring a shot image of a shooting device of an unmanned aerial vehicle and a shot image of a ground shooting device in communication connection with the ground control end, and superposing the shot image of the ground shooting device to the shot image of the shooting device of the unmanned aerial vehicle, or superposing the shot image of the shooting device of the unmanned aerial vehicle to the shot image of the ground shooting device, so that the superposed images simultaneously comprise the shot image of the shooting device of the unmanned aerial vehicle and the shot image of the ground shooting device, the shot image of the ground shooting device can comprise images of people such as a flyer, a commentator, a host and the like, and can also comprise images of scenery around the ground control end, and a user can see the shooting environment of the unmanned aerial vehicle and the shooting environment of the ground shooting device in one image simultaneously, thereby improving the sense of presence of the environment surrounding the ground control end.

Description

Image processing method, device, equipment and storage medium Technical Field
The embodiment of the invention relates to the field of unmanned aerial vehicles, in particular to an image processing method, device, equipment and storage medium.
Background
In the prior art, shooting equipment mounted on a movable platform such as an unmanned aerial vehicle can be used for aerial photography, and the unmanned aerial vehicle can send image information of aerial photography of the shooting equipment to a ground control terminal such as a remote controller.
In some application scenarios, the user may wish to see the captured images of the drone and the images around the ground control. For example, when the unmanned aerial vehicle shoots a news event, the host reports the news event around the ground control end synchronously, and the user wants to view the news event and the host at the same time. However, when the unmanned aerial vehicle flies, the ground control end may be at a place far away from the unmanned aerial vehicle, so that the image information of the aerial shooting device may not have the picture around the ground control end, and the user cannot see the shooting picture of the unmanned aerial vehicle and the picture around the ground control end at the same time, thereby reducing the existence sense of the surrounding environment of the ground control end.
Disclosure of Invention
The embodiment of the invention provides an image processing method, device, equipment and storage medium, which are used for improving the existence sense of the surrounding environment of a ground control end.
The first aspect of the embodiments of the present invention provides an image processing method, applied to a ground control end, including:
acquiring a first image and a second image, wherein the first image is one of a shot image of a shooting device of an unmanned aerial vehicle and a shot image of a ground shooting device in communication connection with a ground control end, and the second image is another image different from the first image in the shot image of the shooting device of the unmanned aerial vehicle and the shot image of the ground shooting device in communication connection with the ground control end;
and superposing the second image to the first image to obtain a third image.
A second aspect of an embodiment of the present invention provides a ground control terminal, including: the device comprises a memory, a processor and a first communication interface;
the first communication interface is used for being in communication connection with a ground shooting device;
the memory is used for storing program codes;
the processor, invoking the program code, when executed, is configured to:
acquiring a first image and a second image, wherein the first image is one of a shot image of a shooting device of an unmanned aerial vehicle and a shot image of a ground shooting device in communication connection with the ground control end, and the second image is another image different from the first image in the shot image of the shooting device of the unmanned aerial vehicle and the shot image of the ground shooting device in communication connection with the ground control end;
and superposing the second image to the first image to obtain a third image.
A third aspect of embodiments of the present invention is to provide a computer-readable storage medium, on which a computer program is stored, the computer program being executed by a processor to implement the method of the first aspect.
The method, apparatus, device and storage medium for image processing provided in this embodiment obtain the captured image of the camera of the unmanned aerial vehicle and the captured image of the ground camera in communication connection with the ground control end through the ground control end at the same time, and superimpose the captured image of the ground camera onto the captured image of the camera of the unmanned aerial vehicle, or superimpose the captured image of the camera of the unmanned aerial vehicle onto the captured image of the ground camera, so that the superimposed images include the captured image of the camera of the unmanned aerial vehicle and the captured image of the ground camera at the same time, the captured image of the ground camera may include images of people such as a flyer, a commentator and a host, and may also include images of scenery around the ground control end, so that a user can see the captured environment of the unmanned aerial vehicle and the captured environment of the ground camera in one image at the same time, thereby improving the sense of presence of the environment surrounding the ground control end.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is a schematic diagram of an application scenario provided in an embodiment of the present invention;
FIG. 2 is a flow chart of a method of image processing provided by an embodiment of the invention;
FIG. 3 is a diagram illustrating an image processing method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of another image processing provided by an embodiment of the present invention;
FIG. 5 is a diagram illustrating another exemplary image processing method according to an embodiment of the present invention;
FIG. 6 is a diagram illustrating another exemplary image processing method according to an embodiment of the present invention;
FIG. 7 is a diagram illustrating still another exemplary image processing method according to an embodiment of the present invention;
FIG. 8 is a diagram illustrating yet another exemplary image processing method according to an embodiment of the present invention;
FIG. 9 is a diagram illustrating yet another exemplary image processing method according to an embodiment of the present invention;
fig. 10 is a structural diagram of a ground control end according to an embodiment of the present invention.
Reference numerals:
10: an unmanned aerial vehicle; 11: a photographing device; 12: a holder;
13: a communication interface; 14: a ground control end; 15: a ground shooting device;
16: a server; 31: a first image; 32: a second image;
33: an image; 34: a third image; 41: an image;
42: a third image; 61: an image; 71: an image;
100: a ground control end; 101: a memory; 102: a processor;
103: a first communication interface; 104: a second communication interface.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all 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.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
The embodiment of the invention provides an image processing method. The image processing method can be applied to a ground control end of an unmanned aerial vehicle, and the ground control end can be a remote controller, a mobile phone, a tablet personal computer and other equipment. As shown in fig. 1, the unmanned aerial vehicle 10 is equipped with a camera 11, the camera 11 is connected to the body of the unmanned aerial vehicle 10 through a support component, such as a cradle head 12, the unmanned aerial vehicle 10 can send an image captured by the camera 11 to a ground control terminal 14 through a communication interface 13, in this embodiment, the ground control terminal 14 is in communication connection with a ground camera 15, in some embodiments, the ground camera 15 may be integrated in the ground control terminal 14, for example, the ground camera 15 may be disposed on the ground control terminal 14. In other embodiments, the ground camera 15 may be a camera externally connected to the ground control terminal 14. In this embodiment, the ground control end 14 may receive an image captured by the capturing device 11 of the unmanned aerial vehicle 10, and may also receive an image captured by the ground capturing device 15, and the ground control end 14 may perform image processing on the image captured by the capturing device 11 and the image captured by the ground capturing device 15, and the method of the image processing will be described in detail through a specific embodiment.
Fig. 2 is a flowchart of an image processing method according to an embodiment of the present invention. As shown in fig. 2, the method in this embodiment may include:
step S201, a first image and a second image are obtained, wherein the first image is one of a shooting image of a shooting device of an unmanned aerial vehicle and a shooting image of a ground shooting device in communication connection with a ground control end, and the second image is another image different from the first image in the shooting image of the shooting device of the unmanned aerial vehicle and the shooting image of the ground shooting device in communication connection with the ground control end.
As shown in fig. 1, the ground control terminal 14 may receive an image captured by the capturing device 11 of the unmanned aerial vehicle 10, and may also receive an image captured by the ground capturing device 15, where the image captured by the capturing device 11 may specifically be an aerial image of the unmanned aerial vehicle 10 during flight. The image captured by the ground capturing device 15 may specifically be an image around the ground control end 14, for example, an image of a person such as a flyer, a commentator, or a presenter near the ground control end 14, and/or an image of a scene around the ground control end 14. Alternatively, one of the image captured by the image capturing device 11 and the image captured by the ground image capturing device 15 may be referred to as a first image, and the other of the image captured by the image capturing device 11 and the image captured by the ground image capturing device 15 may be referred to as a second image. That is, the first image may be an image captured by the camera 11 and the second image may be an image captured by the ground camera 15, or the first image may be an image captured by the ground camera 15 and the second image may be an image captured by the camera 11.
Optionally, the ground control terminal and the ground shooting device are in communication connection in a wireless communication mode or a wired communication mode. As shown in fig. 1, the ground control terminal 14 and the ground camera 15 may be communicatively connected by a wired communication method, or may be communicatively connected by a wireless communication method.
When the ground control terminal 14 and the ground photographing device 15 are in communication connection in a WIreless communication mode, the WIreless communication mode may specifically be a WIreless-Fidelity (WIFI) communication mode.
When the ground control terminal is in communication connection with the ground shooting device in a wired communication mode, a connection interface of the ground control terminal and the ground shooting device comprises at least one of the following components: a Composite Video Broadcast Signal (CVBS) Interface, a High Definition Multimedia Interface (IDMI), a digital component Serial Interface (SDI), a Mobile Industry Processor Interface (MIPI), and a Universal Serial Bus (USB) Interface.
In addition, when the ground control end 14 and the ground camera 15 are in communication connection through at least one interface of CVBS, IDMI, SDI, and MIPI, the image acquired by the ground control end 14 from the ground camera 15 is the original image captured by the ground camera 15, that is, the original image captured by the ground camera 15 can be sent to the ground control end 14 through at least one interface of CVBS, IDMI, SDI, and MIPI without being encoded.
In addition, when the ground control terminal 14 and the ground shooting device 15 are in communication connection through at least one of USB and WIFI, the image acquired by the ground control terminal 14 from the ground shooting device 15 is a coded image, that is, the original image shot by the ground shooting device 15 needs to be coded, for example, coded by an h.264 coding method to obtain a coded image, and further, the coded image is sent to the ground control terminal 14 through at least one of USB and WIFI.
In addition, the unmanned aerial vehicle 10 may encode the image captured by the capturing device 11, for example, encode the image by an h.264 encoding method to obtain an encoded image, and further transmit the encoded image to the ground control terminal 14 by at least one of a wireless communication method, for example, WIFI, and Software Defined Radio (SDR).
Therefore, when the ground control end 14 receives the coded image transmitted by the unmanned aerial vehicle 10 and/or the coded image transmitted by the ground shooting device 15, the ground control end 14 needs to decode the coded image to obtain an original image.
As one implementation, the acquiring the first image and the second image includes: receiving a first coded image sent by one of the unmanned aerial vehicle and the ground shooting device; decoding the first encoded image to obtain the first image; and/or receiving a second coded image sent by the other one of the unmanned aerial vehicle and the ground shooting device; decoding the second encoded image to obtain the second image.
For example, the image captured by the ground camera 15 may be referred to as a first image, the image captured by the camera 11 of the unmanned aerial vehicle 10 may be referred to as a second image, and the ground camera 15 may transmit the first image to the ground control terminal 14, or transmit a coded image of the first image to the ground control terminal 14, where the coded image of the first image is referred to as a first coded image. In some embodiments, the drone 10 may send the second image to the ground control 14, or send a coded image of the second image to the ground control 14, where the coded image of the second image is denoted as the second coded image.
One possible scenario is: the ground shooting device 15 sends the first coded image to the ground control end 14, and the unmanned aerial vehicle 10 sends the second image to the ground control end 14, and at this moment, the ground control end 14 needs to decode the first coded image to obtain the first image.
Another possible scenario is: the ground shooting device 15 sends the first image to the ground control end 14, and the unmanned aerial vehicle 10 sends the second coded image to the ground control end 14, and at this moment, the ground control end 14 needs to decode the second coded image to obtain the second image.
Yet another possible scenario is: the ground camera 15 sends a first coded image to the ground control end 14, and the unmanned aerial vehicle 10 sends a second coded image to the ground control end 14, and at this moment, the ground control end 14 needs to decode the first coded image to obtain the first image, and decodes the second coded image to obtain the second image.
And S202, superposing the second image to the first image to obtain a third image.
If the first image is an image captured by the image capturing device 11 and the second image is an image captured by the ground image capturing device 15, the image captured by the image capturing device 11 may be used as a main screen, the image captured by the ground image capturing device 15 may be used as an auxiliary screen, and the image captured by the ground image capturing device 15 may be superimposed on the image captured by the image capturing device 11 to obtain a third image.
If the first image is an image captured by the ground imaging device 15 and the second image is an image captured by the imaging device 11, the image captured by the ground imaging device 15 may be used as a main screen, the image captured by the imaging device 11 may be used as an auxiliary screen, and the image captured by the imaging device 11 may be superimposed on the image captured by the ground imaging device 15 to obtain a third image.
It will be appreciated that the superimposition may be implemented using a pixel superimposition algorithm.
The present embodiment is schematically described below, taking as an example that the first image is an image captured by the imaging device 11 and the second image is an image captured by the ground imaging device 15.
Optionally, the superimposing the second image onto the first image to obtain a third image includes: adjusting an original size of the first image and/or the second image such that the size of the first image is larger than the size of the second image after adjustment; after the adjustment, the second image is superimposed on the first image to obtain the third image.
For example, the size of the first image captured by the capturing device 11 may be different from or the same as the size of the second image captured by the ground capturing device 15, and before the second image is superimposed on the first image, the original sizes of the first image and the second image need to be adjusted, so that the size of the first image is larger than that of the second image after the adjustment. After the adjustment, the third image is obtained by superimposing the second image on the first image.
As shown in fig. 3, 31 represents a first image captured by the capturing device 11, 32 represents a second image captured by the ground capturing device 15, the size of the second image 32 is equal to that of the first image 31, in other embodiments, the size of the second image 32 may be larger than that of the first image 31, in which case, the size of the first image 31 and/or the size of the second image 32 need to be adjusted, and after the adjustment, the second image is superimposed on the first image to obtain the third image.
One possible implementation is: the second image 32 is subjected to reduction processing, and 33 denotes an image obtained by reducing the second image 32, as shown in fig. 3. The image 33 obtained by reducing the second image 32 is superimposed on the first image 31 to obtain a third image 34.
Another possible implementation is: as shown in fig. 4, 41 denotes an image obtained by enlarging the first image 31, and the third image 42 is obtained by superimposing the second image 32 on the image 41 obtained by enlarging the first image 31.
Yet another possible implementation is: as shown in fig. 5, 33 denotes an image obtained by reducing the second image 32, 41 denotes an image obtained by enlarging the first image 31, and the image 33 obtained by reducing the second image 32 is superimposed on the image 41 obtained by enlarging the first image 31 to obtain a third image 42.
In some embodiments, the superimposing the second image onto the first image to obtain the third image includes superimposing the second image onto a preset position in the first image to obtain the third image. Optionally, the preset position is determined according to an original size of the first image or an adjusted size of the first image.
For example, when the second image 32 is superimposed on the first image 31 after the size of the first image 31 and/or the size of the second image 32 are adjusted so that the size of the first image 31 is larger than the size of the second image 32, specifically, the second image 32 is superimposed on a preset position in the first image 31 to obtain a third image. For example, the second image 32 is superimposed on the lower left corner of the first image 31. In some embodiments, the preset position is determined according to the original size of the first image 31 or the adjusted size of the first image 31.
In other embodiments, the size of the first image 31 may be larger than the size of the second image 32, and a ratio of the size of the first image 31 to the size of the second image 32 is larger than a preset ratio, or an absolute value of a difference between the size of the first image 31 and the size of the second image 32 is larger than a preset difference, the third image may be obtained by directly superimposing the second image 32 on the first image 31 without adjusting the size of the first image 31 and/or the size of the second image 32, and specifically, the third image is obtained by superimposing the second image 32 on a preset position in the first image 31.
In some embodiments, after superimposing the second image onto the first image to obtain a third image, the method further includes: displaying the third image on a display component.
As shown in fig. 3, after the image 33 obtained by reducing the second image 32 is superimposed on the first image 31 to obtain the third image 34, the third image 34 may be further displayed on the display unit. The display component may specifically be a screen of the ground control terminal 14, or may also be a display device, such as a display screen, externally connected to the ground control terminal 14. Similarly, a third image 42, as shown in fig. 4 and 5, may also be displayed on the display assembly.
In the embodiment, the ground control terminal acquires the shot image of the shooting device of the unmanned aerial vehicle and the shot image of the ground shooting device in communication connection with the ground control terminal at the same time, and superimposes the shot image of the ground shooting device on the shot image of the shooting device of the unmanned aerial vehicle, or, the shot image of the shooting device of the unmanned aerial vehicle is superposed into the shot image of the ground shooting device, so that the superposed images simultaneously comprise the shot images of the shooting device of the unmanned aerial vehicle and the shot images of the ground shooting device, the shooting image of the ground shooting device can comprise the images of the objects such as the flyer, the commentator, the host and the like, and can also comprise the images of the scenery around the ground control end, so that a user can see the shooting environment of the unmanned aerial vehicle and the shooting environment of the ground shooting device in one image, and the existence sense of the surrounding environment of the ground control end is improved.
The embodiment of the invention provides an image processing method. On the basis of the embodiment shown in fig. 2, the adjusting the original size of the first image and/or the second image includes: and adjusting the original size of the second image according to the original size of the first image.
Specifically, as shown in fig. 3, the original size of the second image 32 is adjusted according to the original size of the first image 31 while keeping the size of the first image 31 unchanged.
Optionally, the adjusting the original size of the second image according to the original size of the first image includes several possible implementation manners as follows:
one possible implementation is: adjusting the original height of the second image according to the original size of the first image; and adjusting the original width of the second image according to the adjusted height of the second image and the ratio of the original height to the original width of the second image.
As shown in fig. 6, when the original height of the second image 32 is adjusted according to the original size of the first image 31, specifically, the original height of the second image 32 may be adjusted according to the original height of the first image 31, for example, the original height of the first image 31 is denoted as H, and the original height of the second image 32 is adjusted according to the original height H of the first image 31, so that the height of the adjusted second image 32 is smaller than H, 61 represents an image obtained by adjusting the height of the second image 32, and the height of the adjusted second image 32 is denoted as H, for example, H is equal to one quarter of H. Further, the width of the image 61 is adjusted according to the adjusted height h of the second image 32 and the ratio of the original height to the original width of the second image 32, so as to obtain the image 33.
Another possible implementation is: adjusting the original width of the second image according to the original size of the first image; and adjusting the original height of the second image according to the adjusted width of the second image and the ratio of the original height to the original width of the second image.
As shown in fig. 7, when the original width of the second image 32 is adjusted according to the original size of the first image 31, specifically, the original width of the second image 32 may be adjusted according to the original width of the first image 31, for example, the original width of the first image 31 is denoted as W, and the original width of the second image 32 is adjusted according to the original width W of the first image 31, so that the width of the adjusted second image 32 is smaller than W, 71 denotes an image obtained by adjusting the width of the second image 32, and the width of the adjusted second image 32 is denoted as W, for example, W is equal to one quarter of W. Further, the height of the image 71 is adjusted according to the adjusted width w of the second image 32 and the ratio of the original height of the second image 32 to the original width, so as to obtain the image 33.
After the third image is obtained by superimposing the second image on the first image, the method further includes: resizing the third image according to at least one resolution supported by a display component. As shown in fig. 6 or 7, the image 33 obtained by performing the reduction processing on the second image 32 is superimposed on the first image 31 to obtain the third image 34, the size of the third image 34 is the same as the original size of the first image 31, when the third image 34 is displayed on the display module, the resolution of the display module may not match with the resolution of the main picture, that is, the resolution of the first image 31, at this time, the size of the third image 34 needs to be adjusted according to the resolution of the display module, specifically, the display module may support at least one resolution, and the size of the third image 34 is adjusted according to the at least one resolution supported by the display module.
The resizing the third image according to at least one resolution supported by a display component includes: determining a target resolution closest to a resolution of the first image from at least one resolution supported by the display component; and adjusting the size of the third image according to the target resolution.
For example, a target resolution closest to the resolution of the first image 31 is determined from the at least one resolution supported by the display assembly, and the third image 34 is resized according to the target resolution. For example, the resolutions supported by the display component include: 320 x 240 and 640 x 480, the resolution of the first image 31 is 640 x 640, the resolution 640 x 480 supported by the display assembly is closer to the resolution of the first image 31 than the resolution 320 x 240 supported by the display assembly, and the third image 34 is resized according to the resolution 640 x 480 supported by the display assembly to reduce the scaling of the third image 34 to make the third image 34 less distorted. At the same time, the current resolution of the display element is adjusted to 640 x 480.
In this embodiment, the original size of the second image is adjusted through the original size of the first image, the adjusted second image is superimposed on the first image to obtain the third image, the size of the third image is further adjusted according to at least one resolution supported by the display component, so that the size of the third image can be adapted to the resolution supported by the display component, and in addition, a target resolution closest to the resolution of the first image is determined from the at least one resolution supported by the display component; and adjusting the size of the third image according to the target resolution, so that the scaling of scaling the third image can be reduced, and the third image is less distorted.
The embodiment of the invention provides an image processing method. On the basis of the embodiment shown in fig. 2, the adjusting the original size of the first image and/or the second image includes: adjusting an original size of the first image; and adjusting the original size of the second image according to the adjusted size of the first image.
As shown in fig. 5, the first image 31 is enlarged to obtain an image 41, the original size of the second image 32 is adjusted according to the size of the image 41 to obtain an image 33, and the image 33 is superimposed on the image 41 to obtain a third image 42.
Optionally, the adjusting the original size of the first image includes: the original size of the first image is adjusted according to at least one resolution supported by a display component.
For example, the first image 31 is a main screen of the display module, the resolution of the first image 31 and the resolution of the display module may not match, and at this time, the original size of the first image 31 needs to be adjusted according to the resolution of the display module, specifically, the display module may support at least one resolution, and the original size of the first image 31 is adjusted according to the at least one resolution supported by the display module.
Optionally, the adjusting the original size of the first image according to at least one resolution supported by the display component includes: determining a target resolution closest to a resolution of the first image from at least one resolution supported by the display component; adjusting the original size of the first image according to the target resolution.
For example, a target resolution closest to the resolution of the first image 31 is determined from at least one resolution supported by the display component, and the original size of the first image 31 is adjusted according to the target resolution, for example, the resolution supported by the display component includes: 320 x 240 and 640 x 480, the resolution of the first image 31 is 640 x 640, the resolution 640 x 480 supported by the display assembly is closer to the resolution of the first image 31 than the resolution 320 x 240 supported by the display assembly, and the size of the first image 31 is adjusted according to the resolution 640 x 480 supported by the display assembly to reduce the scaling of the first image 31 to make the first image 31 less distorted. At the same time, the current resolution of the display element is adjusted to 640 x 480.
Optionally, the adjusting the original size of the second image according to the adjusted size of the first image includes the following feasible implementation manners:
one possible implementation is: adjusting the original height of the second image according to the adjusted size of the first image; and adjusting the original width of the second image according to the adjusted height of the second image and the ratio of the original height to the original width of the second image.
As shown in fig. 8, when the original size of the first image 31 is adjusted according to the resolution of the display module to obtain the image 41, and the original height of the second image 32 is adjusted according to the size of the image 41, specifically, the original height of the second image 32 may be adjusted according to the height of the image 41, for example, the height of the image 41 is denoted as H, and the original height of the second image 32 is adjusted according to the height H of the image 41, so that the height of the adjusted second image 32 is smaller than H, 61 denotes an image obtained by adjusting the height of the second image 32, and the height of the adjusted second image 32 is denoted as H, for example, H is equal to one fourth of H. Further, the width of the image 61 is adjusted according to the adjusted height h of the second image 32 and the ratio of the original height to the original width of the second image 32, so as to obtain the image 33.
Another possible implementation is: adjusting the original width of the second image according to the adjusted size of the first image; and adjusting the original height of the second image according to the adjusted width of the second image and the ratio of the original height to the original width of the second image.
As shown in fig. 9, when the original width of the second image 32 is adjusted according to the size of the image 41, the original width of the second image 32 may be specifically adjusted according to the width of the image 41, for example, the width of the image 41 is denoted as W, and the original width of the second image 32 is adjusted according to the width W of the image 41, so that the width of the adjusted second image 32 is smaller than W, 71 denotes the image with the adjusted width of the second image 32, and the width of the adjusted second image 32 is denoted as W, for example, W is equal to one quarter of W. Further, the height of the image 71 is adjusted according to the adjusted width w of the second image 32 and the ratio of the original height of the second image 32 to the original width, so as to obtain the image 33.
As shown in fig. 8 or fig. 9, the original size of the first image 31 is adjusted according to the resolution of the display component to obtain the image 41, that is, the size of the image 41 is already adapted to the resolution of the display component, so when the image 33 is superimposed on the image 41 to obtain the third image 42, the size of the third image 42 is the same as the size of the image 41, and therefore, the size of the third image 42 is also adapted to the resolution of the display component, and the size of the third image 42 may not be adjusted again.
In the embodiment, by determining a target resolution closest to the resolution of the first image from at least one resolution supported by the display module, and adjusting the original size of the first image according to the target resolution, the scaling for scaling the first image can be reduced, so that the first image is less distorted.
The embodiment of the invention provides an image processing method. On the basis of the above embodiment, after superimposing the second image on the first image to obtain a third image, the method further includes: and operating an application program in the ground control terminal, and executing sharing operation on the third image through the application program.
As shown in fig. 1, the ground control 14 may be installed with an application program, where the application program may be an instant messaging application program, such as wechat, Facebook, tremble, and the like, and the ground control 14 may start to run the application program according to a user starting operation on the application program, and perform a sharing operation on the third image through the application program.
In some embodiments, after superimposing the second image onto the first image to obtain a third image, the method further includes: and sending the third image to at least one of a live broadcast device, a relay broadcast device and a server.
For example, the ground control end 14 may further send the third image to at least one of a live device, a relay device, and a server, and the live device may send the third image to a television station to realize live television. Alternatively, the live device may live the third image. The relay device can transmit the third image to a television station to realize television relay.
Optionally, the ground control end 14 receives a first image sent by the unmanned aerial vehicle 10 in real time and a second image shot by the ground shooting device 15, the ground control end 14 may superimpose the second image onto the first image in real time to obtain a third image, and send the third image to the server 16 in real time, or the ground control end 14 encodes the third image in real time to obtain an encoded image, and sends the encoded image to the server 16, the server 16 may specifically be a streaming media server, and other user terminals may download the third image from the streaming media server.
This embodiment is through in the shooting image with ground shooting device superposes the shooting image of unmanned aerial vehicle's shooting device, perhaps, superpose the shooting image of unmanned aerial vehicle's shooting device to the shooting image of ground shooting device, and share the operation to the image execution after the stack through the application program in this ground control end, perhaps, send this image after the stack to at least one in live broadcast equipment, rebroadcasting equipment and the server through this ground control end, realized the live broadcast to this image after the stack, rebroadcasting or share.
The embodiment of the invention provides a ground control terminal. Fig. 10 is a structural diagram of a ground control end according to an embodiment of the present invention, and as shown in fig. 10, the ground control end 100 includes: a memory 101, a processor 102 and a first communication interface 103; the first communication interface 103 is used for being in communication connection with a ground shooting device; the memory 101 is used for storing program codes; the processor 102 invokes the program code, which when executed, performs the following: acquiring a first image and a second image, wherein the first image is one of a shot image of a shooting device of an unmanned aerial vehicle and a shot image of a ground shooting device in communication connection with the ground control end, and the second image is another image different from the first image in the shot image of the shooting device of the unmanned aerial vehicle and the shot image of the ground shooting device in communication connection with the ground control end; and superposing the second image to the first image to obtain a third image.
Optionally, after the processor 102 superimposes the second image on the first image to obtain a third image, the processor is further configured to: displaying the third image on a display component.
Optionally, when the processor 102 superimposes the second image onto the first image to obtain a third image, the method is specifically configured to: adjusting an original size of the first image and/or the second image such that the size of the first image is larger than the size of the second image after adjustment; after the adjustment, the second image is superimposed on the first image to obtain the third image.
Optionally, when the processor 102 adjusts the original size of the first image and/or the second image, it is specifically configured to: and adjusting the original size of the second image according to the original size of the first image.
Optionally, when the processor 102 adjusts the original size of the second image according to the original size of the first image, the processor is specifically configured to: adjusting the original height of the second image according to the original size of the first image; and adjusting the original width of the second image according to the adjusted height of the second image and the ratio of the original height to the original width of the second image.
Optionally, when the processor 102 adjusts the original size of the second image according to the original size of the first image, the processor is specifically configured to: adjusting the original width of the second image according to the original size of the first image; and adjusting the original height of the second image according to the adjusted width of the second image and the ratio of the original height to the original width of the second image.
Optionally, after the processor 102 superimposes the second image on the first image to obtain the third image, the processor is further configured to: resizing the third image according to at least one resolution supported by a display component.
Optionally, the processor 102 is specifically configured to, when adjusting the size of the third image according to at least one resolution supported by the display component: determining a target resolution closest to a resolution of the first image from at least one resolution supported by the display component; and adjusting the size of the third image according to the target resolution.
Optionally, when the processor 102 adjusts the original size of the first image and/or the second image, it is specifically configured to: adjusting an original size of the first image; and adjusting the original size of the second image according to the adjusted size of the first image.
Optionally, when the processor 102 adjusts the original size of the first image, it is specifically configured to: the original size of the first image is adjusted according to at least one resolution supported by a display component.
Optionally, when the processor 102 adjusts the original size of the first image according to at least one resolution supported by the display component, the processor is specifically configured to: determining a target resolution closest to a resolution of the first image from at least one resolution supported by the display component; adjusting the original size of the first image according to the target resolution.
Optionally, when the processor 102 adjusts the original size of the second image according to the adjusted size of the first image, the processor is specifically configured to: adjusting the original height of the second image according to the adjusted size of the first image; and adjusting the original width of the second image according to the adjusted height of the second image and the ratio of the original height to the original width of the second image.
Optionally, when the processor 102 adjusts the original size of the second image according to the adjusted size of the first image, the processor is specifically configured to: adjusting the original width of the second image according to the adjusted size of the first image; and adjusting the original height of the second image according to the adjusted width of the second image and the ratio of the original height to the original width of the second image.
Optionally, when the processor 102 superimposes the second image onto the first image to obtain the third image, the method is specifically configured to: and superposing the second image to a preset position in the first image to obtain a third image.
Optionally, the preset position is determined according to an original size of the first image or an adjusted size of the first image.
Optionally, the ground control end further includes: a second communication interface; when the processor 102 acquires the first image and the second image, it is specifically configured to: receiving a first coded image sent by one of the unmanned aerial vehicle and the ground shooting device through a second communication interface 104; decoding the first encoded image to obtain the first image; and/or, receiving a second coded image sent by the other of the unmanned aerial vehicle and the ground shooting device through a second communication interface 104; decoding the second encoded image to obtain the second image.
Optionally, the ground control terminal and the ground shooting device are in communication connection in a wireless communication mode or a wired communication mode.
Optionally, the connection interface between the ground control end and the ground shooting device includes at least one of the following: composite synchronous video broadcast signal CVBS interface, high definition multimedia interface IDMI, digital component serial interface SDI, mobile industry processor interface MIPI and universal serial bus USB interface.
Optionally, after the processor 102 superimposes the second image on the first image to obtain a third image, the processor is further configured to: and operating an application program in the ground control terminal, and executing sharing operation on the third image through the application program.
Optionally, the ground control end further includes: a second communication interface; after the processor 102 superimposes the second image on the first image to obtain a third image, the processor is further configured to: and sending the third image to at least one of the live device, the relay device and the server through the second communication interface 104.
Optionally, the first communication interface 103 and the second communication interface 104 may be the same interface or different interfaces.
The specific principle and implementation manner of the ground control end provided by the embodiment of the invention are similar to those of the above embodiments, and are not described herein again.
In the embodiment, the ground control terminal acquires the shot image of the shooting device of the unmanned aerial vehicle and the shot image of the ground shooting device in communication connection with the ground control terminal at the same time, and superimposes the shot image of the ground shooting device on the shot image of the shooting device of the unmanned aerial vehicle, or, the shot image of the shooting device of the unmanned aerial vehicle is superposed into the shot image of the ground shooting device, so that the superposed images simultaneously comprise the shot images of the shooting device of the unmanned aerial vehicle and the shot images of the ground shooting device, the shooting image of the ground shooting device can comprise the images of the objects such as the flyer, the commentator, the host and the like, and can also comprise the images of the scenery around the ground control end, so that a user can see the shooting environment of the unmanned aerial vehicle and the shooting environment of the ground shooting device in one image, and the existence sense of the surrounding environment of the ground control end is improved.
In addition, the present embodiment also provides a computer-readable storage medium on which a computer program is stored, the computer program being executed by a processor to implement the method of image processing described in the above embodiment.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (41)

  1. An image processing method is applied to a ground control terminal, and is characterized by comprising the following steps:
    acquiring a first image and a second image, wherein the first image is one of a shot image of a shooting device of an unmanned aerial vehicle and a shot image of a ground shooting device in communication connection with a ground control end, and the second image is another image different from the first image in the shot image of the shooting device of the unmanned aerial vehicle and the shot image of the ground shooting device in communication connection with the ground control end;
    and superposing the second image to the first image to obtain a third image.
  2. The method of claim 1, wherein superimposing the second image onto the first image after obtaining a third image further comprises:
    displaying the third image on a display component.
  3. The method according to claim 1 or 2, wherein superimposing the second image into the first image results in a third image comprising:
    adjusting an original size of the first image and/or the second image such that the size of the first image is larger than the size of the second image after adjustment;
    after the adjustment, the second image is superimposed on the first image to obtain the third image.
  4. The method of claim 3, wherein the resizing the first image and/or the second image comprises:
    and adjusting the original size of the second image according to the original size of the first image.
  5. The method of claim 4, wherein the resizing the second image based on the original size of the first image comprises:
    adjusting the original height of the second image according to the original size of the first image;
    and adjusting the original width of the second image according to the adjusted height of the second image and the ratio of the original height to the original width of the second image.
  6. The method of claim 4, wherein the resizing the second image based on the original size of the first image comprises:
    adjusting the original width of the second image according to the original size of the first image;
    and adjusting the original height of the second image according to the adjusted width of the second image and the ratio of the original height to the original width of the second image.
  7. The method according to any of claims 4-6, wherein said superimposing the second image onto the first image after obtaining the third image further comprises:
    resizing the third image according to at least one resolution supported by a display component.
  8. The method of claim 7, wherein resizing the third image according to at least one resolution supported by a display component comprises:
    determining a target resolution closest to a resolution of the first image from at least one resolution supported by the display component;
    and adjusting the size of the third image according to the target resolution.
  9. The method of claim 3, wherein the resizing the first image and/or the second image comprises:
    adjusting an original size of the first image;
    and adjusting the original size of the second image according to the adjusted size of the first image.
  10. The method of claim 9, wherein the resizing the first image comprises:
    the original size of the first image is adjusted according to at least one resolution supported by a display component.
  11. The method of claim 10, wherein the resizing the first image according to the at least one resolution supported by the display component comprises:
    determining a target resolution closest to a resolution of the first image from at least one resolution supported by the display component;
    adjusting the original size of the first image according to the target resolution.
  12. The method according to any one of claims 9-11, wherein the adjusting the original size of the second image according to the adjusted size of the first image comprises:
    adjusting the original height of the second image according to the adjusted size of the first image;
    and adjusting the original width of the second image according to the adjusted height of the second image and the ratio of the original height to the original width of the second image.
  13. The method according to any one of claims 9-11, wherein the adjusting the original size of the second image according to the adjusted size of the first image comprises:
    adjusting the original width of the second image according to the adjusted size of the first image;
    and adjusting the original height of the second image according to the adjusted width of the second image and the ratio of the original height to the original width of the second image.
  14. The method of claim 3, wherein superimposing the second image into the first image results in the third image comprising:
    and superposing the second image to a preset position in the first image to obtain a third image.
  15. The method according to claim 14, wherein the preset position is determined according to an original size of the first image or an adjusted size of the first image.
  16. The method of any one of claims 1-15, wherein the acquiring the first image and the second image comprises:
    receiving a first coded image sent by one of the unmanned aerial vehicle and the ground shooting device;
    decoding the first encoded image to obtain the first image; and/or the presence of a gas in the gas,
    receiving a second coded image sent by the other one of the unmanned aerial vehicle and the ground shooting device;
    decoding the second encoded image to obtain the second image.
  17. The method of any one of claims 1 to 16, wherein the ground control terminal and the ground camera are communicatively connected by wireless communication or wired communication.
  18. The method of claim 17, wherein the connection interface between the ground control terminal and the ground camera comprises at least one of:
    composite synchronous video broadcast signal CVBS interface, high definition multimedia interface IDMI, digital component serial interface SDI, mobile industry processor interface MIPI and universal serial bus USB interface.
  19. The method of claim 1, wherein superimposing the second image onto the first image after obtaining a third image further comprises:
    and operating an application program in the ground control terminal, and executing sharing operation on the third image through the application program.
  20. The method of claim 1, wherein superimposing the second image onto the first image after obtaining a third image further comprises:
    and sending the third image to at least one of a live broadcast device, a relay broadcast device and a server.
  21. A ground control terminal, comprising: the device comprises a memory, a processor and a first communication interface;
    the first communication interface is used for being in communication connection with a ground shooting device;
    the memory is used for storing program codes;
    the processor, invoking the program code, when executed, is configured to:
    acquiring a first image and a second image, wherein the first image is one of a shot image of a shooting device of an unmanned aerial vehicle and a shot image of a ground shooting device in communication connection with the ground control end, and the second image is another image different from the first image in the shot image of the shooting device of the unmanned aerial vehicle and the shot image of the ground shooting device in communication connection with the ground control end;
    and superposing the second image to the first image to obtain a third image.
  22. The ground control terminal of claim 21, wherein the processor is further configured to, after superimposing the second image onto the first image to obtain a third image:
    displaying the third image on a display component.
  23. The ground control terminal according to claim 21, wherein when the processor superimposes the second image onto the first image to obtain a third image, the processor is specifically configured to:
    adjusting an original size of the first image and/or the second image such that the size of the first image is larger than the size of the second image after adjustment;
    after the adjustment, the second image is superimposed on the first image to obtain the third image.
  24. The ground control terminal according to claim 23, wherein the processor adjusts the original size of the first image and/or the second image, in particular to:
    and adjusting the original size of the second image according to the original size of the first image.
  25. The ground control terminal according to claim 24, wherein the processor adjusts the original size of the second image according to the original size of the first image, and is specifically configured to:
    adjusting the original height of the second image according to the original size of the first image;
    and adjusting the original width of the second image according to the adjusted height of the second image and the ratio of the original height to the original width of the second image.
  26. The ground control terminal according to claim 24, wherein the processor adjusts the original size of the second image according to the original size of the first image, and is specifically configured to:
    adjusting the original width of the second image according to the original size of the first image;
    and adjusting the original height of the second image according to the adjusted width of the second image and the ratio of the original height to the original width of the second image.
  27. The ground control tip of any one of claims 24-26, wherein the processor superimposes the second image onto the first image after obtaining the third image, and is further configured to:
    resizing the third image according to at least one resolution supported by a display component.
  28. The ground control terminal of claim 27, wherein the processor is configured to, when resizing the third image according to at least one resolution supported by the display component, specifically:
    determining a target resolution closest to a resolution of the first image from at least one resolution supported by the display component;
    and adjusting the size of the third image according to the target resolution.
  29. The ground control terminal according to claim 23, wherein the processor adjusts the original size of the first image and/or the second image, in particular to:
    adjusting an original size of the first image;
    and adjusting the original size of the second image according to the adjusted size of the first image.
  30. The ground control terminal of claim 29, wherein the processor is configured to, when adjusting the original size of the first image, in particular:
    the original size of the first image is adjusted according to at least one resolution supported by a display component.
  31. The ground control terminal according to claim 30, wherein the processor is configured to adjust the original size of the first image according to at least one resolution supported by the display module, and is specifically configured to:
    determining a target resolution closest to a resolution of the first image from at least one resolution supported by the display component;
    adjusting the original size of the first image according to the target resolution.
  32. The ground control terminal according to any one of claims 29 to 31, wherein the processor is configured to adjust an original size of the second image according to the adjusted size of the first image, and specifically configured to:
    adjusting the original height of the second image according to the adjusted size of the first image;
    and adjusting the original width of the second image according to the adjusted height of the second image and the ratio of the original height to the original width of the second image.
  33. The ground control terminal according to any one of claims 29 to 31, wherein the processor is configured to adjust an original size of the second image according to the adjusted size of the first image, and specifically configured to:
    adjusting the original width of the second image according to the adjusted size of the first image;
    and adjusting the original height of the second image according to the adjusted width of the second image and the ratio of the original height to the original width of the second image.
  34. The ground control terminal according to claim 23, wherein when the processor superimposes the second image onto the first image to obtain the third image, the processor is specifically configured to:
    and superposing the second image to a preset position in the first image to obtain a third image.
  35. The ground control terminal of claim 34, wherein the preset position is determined according to an original size of the first image or an adjusted size of the first image.
  36. The ground control end according to any one of claims 21-35, further comprising: a second communication interface;
    when the processor acquires the first image and the second image, the processor is specifically configured to:
    receiving a first coded image sent by one of the unmanned aerial vehicle and the ground shooting device through the second communication interface;
    decoding the first encoded image to obtain the first image; and/or the presence of a gas in the gas,
    receiving a second coded image sent by the other of the unmanned aerial vehicle and the ground shooting device through the second communication interface;
    decoding the second encoded image to obtain the second image.
  37. The ground control terminal according to any one of claims 21-36, wherein the ground control terminal and the ground camera are communicatively connected by wireless communication or wired communication.
  38. The ground control terminal according to claim 37, wherein the connection interface between the ground control terminal and the ground camera comprises at least one of:
    composite synchronous video broadcast signal CVBS interface, high definition multimedia interface IDMI, digital component serial interface SDI, mobile industry processor interface MIPI and universal serial bus USB interface.
  39. The ground control terminal of claim 21, wherein the processor is further configured to, after superimposing the second image onto the first image to obtain a third image:
    and operating an application program in the ground control terminal, and executing sharing operation on the third image through the application program.
  40. The ground control terminal of claim 21, further comprising: a second communication interface;
    the processor is further configured to, after superimposing the second image onto the first image to obtain a third image:
    and sending the third image to at least one of a live broadcast device, a relay broadcast device and a server through the second communication interface.
  41. A computer-readable storage medium, having stored thereon a computer program for execution by a processor to perform the method of any one of claims 1-20.
CN201880069059.2A 2018-11-30 2018-11-30 Image processing method, device, equipment and storage medium Pending CN111386710A (en)

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