CN112104817B - Endoscope and method for rotating image collected by endoscope - Google Patents
Endoscope and method for rotating image collected by endoscope Download PDFInfo
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- CN112104817B CN112104817B CN201910459343.7A CN201910459343A CN112104817B CN 112104817 B CN112104817 B CN 112104817B CN 201910459343 A CN201910459343 A CN 201910459343A CN 112104817 B CN112104817 B CN 112104817B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/2628—Alteration of picture size, shape, position or orientation, e.g. zooming, rotation, rolling, perspective, translation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
- G02B23/2476—Non-optical details, e.g. housings, mountings, supports
- G02B23/2484—Arrangements in relation to a camera or imaging device
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
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Abstract
The invention relates to an endoscope and an endoscope collected image rotation method. The endoscope comprises a gyroscope, and a central rotating shaft of the gyroscope is perpendicular to a display screen of the endoscope. The method comprises the following steps: acquiring a rotation angle of a gyroscope in an endoscope, and taking the rotation angle as a rotation angle to be acquired by an endoscope camera to acquire an acquired image; rotating the collected image according to the rotation angle to be acquired; and displaying the rotated acquired image. According to the invention, the gyroscope is arranged, so that no matter how the endoscope rotates, the front view of the acquired image can be always displayed on the display screen of the endoscope, a worker does not need to rotate the head any more, the observation is convenient, and the use experience is improved.
Description
Technical Field
The invention relates to the field of endoscopes, in particular to an endoscope and an image acquisition rotation method of the endoscope.
Background
The endoscope is used as an observation device, and is convenient for workers to observe the internal structure of the equipment. When the user uses the endoscope to observe an object in different environments, the user may touch the object irregularly or the object is different in position, the staff can rotate the endoscope according to the actual position condition of the object, but the display shows the image collected by the camera at a fixed angle in the existing endoscope, and the display screen is rotated when the endoscope is rotated, and the displayed image on the display screen does not rotate, so that the image is inclined, the head of the staff also needs to rotate to see the front view of the displayed image, and the observation is inconvenient.
Disclosure of Invention
The present invention is directed to provide an endoscope and a method for rotating an image captured by the endoscope, which address the above-mentioned drawbacks of the prior art.
The technical scheme adopted by the invention for solving the technical problem is as follows: an endoscope acquired image rotation method is constructed, and comprises the following steps:
acquiring a rotation angle of a gyroscope in an endoscope, and taking the rotation angle as a rotation angle to be acquired of an acquired image acquired by an endoscope camera;
rotating the collected image according to the angle to be rotated;
and displaying the rotated acquired image.
Further, the method for rotating the image collected by the endoscope according to the present invention, wherein the acquiring the rotation angle of the gyroscope in the endoscope comprises:
acquiring a rotation angular velocity of a gyroscope in the endoscope, and multiplying the rotation angular velocity by a preset coefficient to obtain the rotation angle.
Further, the endoscope collected image rotating method according to the present invention, wherein rotating the collected image according to the angle to be rotated includes:
and taking the center of the collected image as a rotating shaft center, wherein the collected image rotates around the rotating shaft center by the angle to be rotated, and the center of the collected image is the intersection point of the diagonals of the collected image.
Further, the endoscope collected image rotating method according to the present invention, wherein the rotating of the collected image around the rotation axis by the angle to be rotated includes:
calculating the display size of the acquired image after the acquired image is rotated by the angle to be rotated;
distributing a rotating image cache space containing the acquired image according to the display size, and setting all pixels in the rotating image cache space as pure-color pixels;
judging whether each pixel point in the coordinate system image formed after the acquired image is converted is in the image range before rotation after rotating by the angle to be rotated;
if yes, copying the data of the pixel points into corresponding pure-color pixels in the rotating image cache space;
if not, keeping the corresponding pure color pixels in the rotating image cache space unchanged.
Further, in the endoscope collected image rotation method, the coordinate system image formed after the collected image conversion is a graph formed by enclosing straight lines which are parallel to coordinate axes and are respectively located by four vertexes of the collected image after rotation by taking the four vertexes as boundary points.
Further, the method for rotating the image collected by the endoscope of the present invention, wherein the step of determining whether each pixel point in the collected image is in the image range before rotation after being rotated in a reverse direction by the angle to be rotated comprises:
establishing a collected image coordinate system of the collected image by taking the starting point of the collected image as an original point, and establishing an image rotating coordinate system by taking the center of the collected image as the original point;
converting the coordinates of the acquired image in the acquired image coordinate system into coordinates in an image rotating coordinate system;
and judging whether the coordinates of each pixel point in the coordinate system image formed after the acquired image is converted are in the image range before rotation after the image is reversely rotated by the rotation angle.
Further, the method for rotating the image collected by the endoscope comprises the following steps of copying the data of the pixel points into corresponding pure-color pixels in the rotating image cache space:
and converting the coordinates of the pixel points into the coordinates of the acquired image, and copying the data of the pixel points into corresponding pure-color pixels in the rotating image cache space.
Further, according to the method for rotating the image collected by the endoscope, the coordinate system of the collected image is a rectangular coordinate system, and the coordinate system of the image rotation is a rectangular coordinate system.
In addition, the invention also provides an endoscope, which comprises a gyroscope;
the endoscope rotates and displays the captured image using the endoscope captured image rotation method as described above.
Further, according to the image acquisition rotation method for the endoscope, the central rotating shaft of the gyroscope is perpendicular to the display screen of the endoscope.
The endoscope and the method for rotating the image collected by the endoscope have the following beneficial effects: the endoscope comprises a gyroscope, and a central rotating shaft of the gyroscope is perpendicular to a display screen of the endoscope. The method comprises the following steps: acquiring a rotation angle of a gyroscope in an endoscope, and taking the rotation angle as a rotation angle to be acquired by an endoscope camera to acquire an acquired image; rotating the collected image according to the rotation angle to be acquired; and displaying the rotated acquired image. According to the invention, the gyroscope is arranged, so that no matter how the endoscope rotates, the front view of the acquired image can be always displayed on the display screen of the endoscope, a worker does not need to rotate the head any more, the observation is convenient, and the use experience is improved.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flowchart of an embodiment of a method for rotating an image captured by an endoscope;
FIG. 2 is a flow diagram of a rotation process for an acquired image provided by an embodiment;
FIG. 3 is a flowchart of a process for determining pixel points according to one embodiment;
FIG. 4 is a schematic diagram of an embodiment of a display displaying an image captured before rotation.
Detailed Description
For a more clear understanding of the technical features, objects, and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
Examples
Referring to fig. 1 and 4, the endoscope collected image rotation method of the present embodiment is applied to an endoscope having a gyroscope whose central rotation axis is perpendicular to a display screen of the endoscope for collecting a rotation angle of the endoscope. Alternatively, the display screen in this embodiment is an LCD display screen, an LED display screen, or the like, and the interface of the display screen may be an RGB interface, an MIPI interface, or the like. Specifically, the method comprises the following steps:
s1, obtaining a rotation angle of a gyroscope in an endoscope, and taking the rotation angle as a rotation angle to be obtained by an endoscope camera to acquire an acquired image. Further, acquiring the rotation angle of the gyroscope in the endoscope includes: the rotation angular velocity of a gyroscope in the endoscope is acquired, and the rotation angular velocity is multiplied by a preset coefficient to obtain the rotation angle.
And S2, rotating the collected image according to the angle to be rotated, wherein the collected image comprises the capital letter "A" (shaded area in the figure) of the camera in the figure 4 and other blank display areas on the display screen. Further, in the endoscope collected image rotating method according to the present embodiment, rotating the collected image according to the angle to be rotated includes:
the center of the collected image is used as a rotating shaft center, the collected image rotates around the rotating shaft center to be rotated by an angle, and the center of the collected image is an intersection point of diagonal lines of the collected image.
Referring to fig. 2, in the endoscope collected image rotation method according to the present embodiment, the rotation of the collected image around the rotation axis by the angle to be rotated includes:
and S21, calculating the display size of the acquired image after the acquired image is rotated by the angle to be rotated, and multiplying the length and the width of the existing acquired image by the angle to be rotated to obtain the size of the acquired image after the rotation.
S22, allocating a rotation image buffer space buff [ ab, bd ] including the acquired image according to the display size, referring to fig. 4, the vertexes of the acquired image are a, b, c, and d, respectively, and the allocation of the rotation image buffer space is: a: buff (0, 0), b: buff (b, 0), c: buff (0, c), d: buff (d, d), and setting the coordinates of each pixel in the acquired image by analogy. All pixels in the rotating image buffer space are set as pure color pixels, and the pure color pixels are used for storing rotating pixels meeting conditions. The pure color pixels are monochrome pixels, and may be, for example, white pixels or black pixels.
And S23, judging whether each pixel point in the coordinate system image formed after the acquired image is converted is in the image range before rotation after rotating by the rotation angle.
Referring to fig. 3, in the endoscope collected image rotation method according to the embodiment, determining whether each pixel point in the collected image is in the image range before rotation after being rotated reversely by the angle to be rotated includes:
s231, establishing a collected image coordinate system of the collected image by taking the starting point of the collected image as an original point, establishing an image rotation coordinate system by taking the center of the collected image as the original point, and enabling each pixel in the collected image to have a corresponding coordinate. Referring to fig. 4, in the endoscope collected image rotation method of the present embodiment, the collected image coordinate system is a rectangular coordinate system, and the image rotation coordinate system is a rectangular coordinate system.
In fig. 4, the shadow part is an image acquired by the camera after rotating a certain angle, and it can be seen from the image that the shadow part image has been inclined. The collected image is rectangular, the length of the rectangle is ab, and the width of the rectangle is ac; the vertexes of the rectangle are a, b, c and d respectively, wherein the vertex a is the starting point of the image rotation coordinate system, and the coordinates are: a (0, 0), b (b, 0), c (0, c), d (d, d), and the coordinates of each pixel in the collected image are set by analogy.
In fig. 4, an x-o-y rectangular coordinate system is established with the center of the acquired image as the origin, wherein the x-axis is parallel to the ab-side and the y-axis is parallel to the ac-side. And setting corresponding x-o-y rectangular coordinate system coordinates for each pixel point in the collected image.
S232, converting the coordinates of the acquired image in the acquired image coordinate system into coordinates in an image rotating coordinate system;
and S233, judging whether the coordinates of each pixel point in the coordinate system image formed after the acquired image is converted are in the image range before rotation after the image is reversely rotated by the rotation angle.
Further, in the endoscope collected image rotation method of this embodiment, copying data of the pixel point into a corresponding solid-color pixel in the rotated image buffer space includes:
and converting the coordinates of the pixel points into the coordinates of the acquired image, and copying the data of the pixel points into corresponding pure-color pixels in the cache space of the rotary image.
And S24, if each pixel point in the coordinate system image formed after the acquired image conversion is rotated by the rotation angle and is in the image range before the rotation, copying the data of the pixel point into the corresponding pure-color pixel in the rotating image cache space. For example, data corresponding to an original pixel of the acquired image is copied and stored in a corresponding buffer space, such as a: buff (0, 0).
And S25, if each pixel point in the coordinate system image formed after the acquired image conversion is rotated by the rotation angle and is not in the image range before the rotation, keeping the corresponding pure color pixel in the cache space of the rotated image unchanged. I.e. the pure color pixels in the buffer space remain unchanged.
Further, in the endoscope collected image rotation method according to the embodiment, the coordinate system image formed after the collected image is converted is a graph formed by enclosing straight lines parallel to the coordinate axes and respectively where four vertexes of the collected image are located, with four vertexes of the collected image after rotation as boundary points.
And S3, displaying the rotated acquired image.
According to the embodiment, the gyroscope is arranged, no matter how the endoscope rotates, the front view of the collected image can be always displayed on the display screen of the endoscope, the worker does not need to rotate the head, observation is facilitated, and use experience is improved.
Examples
The embodiment also provides an endoscope, which comprises a gyroscope, wherein the central rotating shaft of the gyroscope is vertical to the display screen of the endoscope. The endoscope rotates and displays the captured image using the endoscope captured image rotation method as described above.
According to the embodiment, the gyroscope is arranged, so that no matter how the endoscope rotates, the front view of the collected image can be always displayed on the display screen of the endoscope, the head of a worker does not need to be rotated any more, observation is facilitated, and the use experience is improved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the components and steps of the various examples have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the claims of the present invention.
Claims (8)
1. An endoscope collected image rotation method, comprising:
acquiring a rotation angle of a gyroscope in an endoscope, and taking the rotation angle as a rotation angle to be acquired of an acquired image acquired by an endoscope camera;
rotating the collected image according to the angle to be rotated;
displaying the rotated acquired image;
the rotating the collected image according to the angle to be rotated includes:
taking the center of the collected image as a rotation axis, and rotating the collected image around the rotation axis by the angle to be rotated, wherein the center of the collected image is an intersection point of diagonals of the collected image;
the collected image rotates around the rotation axis by the rotation angle includes:
calculating the display size of the acquired image after rotating by the angle to be rotated;
distributing a rotating image cache space containing the acquired image according to the display size, and setting all pixels in the rotating image cache space as pure-color pixels;
judging whether each pixel point in the coordinate system image formed after the acquired image is converted is in the image range before rotation after rotating by the rotation angle;
if yes, copying the data of the pixel points into corresponding pure-color pixels in the rotating image cache space;
if not, keeping the corresponding pure color pixels in the rotating image cache space unchanged.
2. The endoscope captured image rotation method according to claim 1, wherein the acquiring a rotation angle of a gyroscope in an endoscope comprises:
acquiring a rotation angular velocity of a gyroscope in the endoscope, and multiplying the rotation angular velocity by a preset coefficient to obtain the rotation angle.
3. The endoscope collected image rotation method according to claim 1, wherein the coordinate system image formed by converting the collected image is a figure formed by enclosing straight lines parallel to coordinate axes and respectively including four vertexes of the collected image after rotation, with the four vertexes of the collected image being boundary points.
4. The endoscope collected image rotating method according to claim 1 or 3, wherein said judging whether each pixel point in the coordinate system image formed after the collected image conversion is within the image range before rotation after rotating by the angle to be rotated comprises:
establishing a collected image coordinate system of the collected image by taking the starting point of the collected image as an original point, and establishing an image rotating coordinate system by taking the center of the collected image as the original point;
converting the coordinates of the acquired image in the acquired image coordinate system into coordinates in an image rotation coordinate system;
judging whether the coordinates of each pixel point in the coordinate system image formed after the acquired image is converted are in the image range before rotation after the coordinate of each pixel point in the coordinate system image is reversely rotated by the angle to be rotated; and the coordinates of each pixel point in the coordinate system image formed after the acquired image is converted are the coordinates in the image rotating coordinate system.
5. The endoscope collected image rotation method of claim 4, wherein the copying of the data of the pixel points into corresponding solid-color pixels in the rotated image buffer space comprises:
and converting the coordinates of the pixel points into the coordinates of the acquired image, wherein the coordinates of the pixel points are the coordinates in the image rotating coordinate system, the coordinates of the acquired image are the coordinates in the acquired image coordinate system, and the data of the pixel points are copied into corresponding pure-color pixels in the rotating image cache space.
6. The endoscope captured image rotating method according to claim 3, wherein the captured image coordinate system is a rectangular coordinate system, and the image rotating coordinate system is a rectangular coordinate system.
7. An endoscope, characterized in that the endoscope comprises a gyroscope;
the endoscope rotates and displays a captured image using the endoscope captured image rotating method according to any one of claims 1 to 6.
8. The endoscope of claim 7, wherein a central axis of rotation of the gyroscope is perpendicular to a display screen of the endoscope.
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| JP2017185254A (en) * | 2017-05-23 | 2017-10-12 | ソニー株式会社 | Endoscope system, endoscopic image processing device, and image processing method |
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| JP5846385B2 (en) * | 2012-11-07 | 2016-01-20 | 国立大学法人東京工業大学 | Endoscope operation system |
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| CA2541759A1 (en) * | 2006-04-05 | 2007-10-05 | Karl Storz Development Corp. | Endoscopic imaging with indication of gravity direction |
| CN107079097A (en) * | 2014-11-06 | 2017-08-18 | 索尼公司 | Endoscopic system, image processing apparatus, image processing method and program |
| CN105125160A (en) * | 2015-08-27 | 2015-12-09 | 李翔 | Oral cavity endoscope detecting system and detecting method thereof |
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