CN112956185A - Image processing method, photographing apparatus, movable platform, and storage medium - Google Patents
Image processing method, photographing apparatus, movable platform, and storage medium Download PDFInfo
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Abstract
An image processing method, comprising the steps of: acquiring a sensor image sensed by an infrared image sensor (S110); the sensor image is stretched in the first direction and the second direction according to the first compression ratio and the second compression ratio to obtain a target image, the stretching ratio in the first direction is larger than that in the second direction (S120), the capabilities of a lens and an infrared image sensor can be fully utilized, infrared imaging or temperature measurement in a wider range is achieved, and a shooting device, a movable platform and a storage medium are further provided.
Description
Technical Field
The present disclosure relates to the field of infrared imaging technologies, and in particular, to an image processing method, a camera, a movable platform, and a storage medium.
Background
The infrared thermal imaging technology is developed based on the characteristic that any object exceeding absolute zero has thermal radiation, and generally, a thermal imaging system is used for forming a thermal image by photoelectric conversion of infrared radiation of the object, namely, the thermal image receives infrared rays emitted by the object and is restored into the object according to the intensity characteristics, so that the temperature distribution on the surface of the object can be observed conveniently.
The current infrared thermal imaging system has the same visual angle in all directions, and the capability of the system cannot be fully exerted in some scenes.
Disclosure of Invention
Based on this, the present specification provides an image processing method, a photographing apparatus, a movable platform, and a storage medium, which can make full use of capabilities of a lens and an infrared image sensor to implement infrared imaging or temperature measurement in a wider range.
In a first aspect, the present specification provides an image processing method for an image processing system, the image processing system including an infrared anamorphic lens assembly and an infrared image sensor, a first compression ratio of the infrared anamorphic lens assembly in a first direction being greater than a second compression ratio of the infrared anamorphic lens assembly in a second direction;
the method comprises the following steps:
acquiring a sensor image sensed by the infrared image sensor;
and stretching the sensor image in the first direction according to the first compression ratio, and stretching the sensor image in the second direction according to the second compression ratio to obtain a target image, wherein the stretching ratio in the first direction is greater than that in the second direction.
In a second aspect, the present specification provides a photographing apparatus including an infrared anamorphic lens assembly and an infrared image sensor, a first compression ratio of the infrared anamorphic lens assembly in a first direction being greater than a second compression ratio of the infrared anamorphic lens assembly in a second direction;
the camera further includes one or more processors, working individually or collectively, to perform the steps of:
acquiring a sensor image sensed by the infrared image sensor;
and stretching the sensor image in the first direction according to the first compression ratio, and stretching the sensor image in the second direction according to the second compression ratio to obtain a target image, wherein the stretching ratio in the first direction is greater than that in the second direction.
In a third aspect, the present specification provides a movable platform carrying a shooting device, where the shooting device includes an infrared anamorphic lens assembly and an infrared image sensor, and a first compression ratio of the infrared anamorphic lens assembly in a first direction is greater than a second compression ratio of the infrared anamorphic lens assembly in a second direction;
the movable platform further comprises one or more processors, working individually or collectively, to perform the steps of:
acquiring a sensor image sensed by the infrared image sensor;
and stretching the sensor image in the first direction according to the first compression ratio, and stretching the sensor image in the second direction according to the second compression ratio to obtain a target image, wherein the stretching ratio in the first direction is greater than that in the second direction.
In a fourth aspect, the present specification provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, causes the processor to carry out the method described above.
The embodiment of the specification provides an image processing method, a shooting device, a movable platform and a storage medium, wherein an infrared anamorphic lens assembly with a first compression ratio in a first direction larger than a second compression ratio in a second direction is adopted, so that an infrared image sensor can sense an infrared sensor image with a wider visual angle range in the first direction, and the infrared sensor image is stretched to enable the ratio of a target image in the first direction and the second direction to be consistent with that of a real shot object, and therefore, the capabilities of the lens and the infrared image sensor can be fully utilized, and infrared imaging or temperature measurement in the wider range is realized.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure as claimed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, 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 disclosure, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a schematic flowchart of an image processing method according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of the imaging process of the present image processing system;
FIG. 3 is a schematic diagram of an imaging process of an image processing system of an embodiment of the present description;
FIG. 4 is a schematic structural diagram of a negative cylindrical lens in an infrared anamorphic lens assembly according to an embodiment;
FIG. 5 is a schematic diagram of image processing in one embodiment of the present description;
fig. 6 is a schematic block diagram of a photographing apparatus provided in an embodiment of the present specification;
FIG. 7 is a schematic block diagram of a movable platform provided by an embodiment of the present description;
FIG. 8 is a diagram illustrating a scenario in which a mobile platform interacts with a terminal device according to an embodiment.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present specification without any creative effort belong to the protection scope of the present specification.
The flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
Some embodiments of the present description will be 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.
Referring to fig. 1, fig. 1 is a schematic flowchart illustrating an image processing method according to an embodiment of the present disclosure. The image processing method can be applied to an image processing system and is used for processing the shot infrared image and the like.
For example, the image processing method can be applied to a movable platform, such as an unmanned aerial vehicle, a cradle head, a cloud platform vehicle, a manned vehicle, an unmanned boat, and the like; the method can also be applied to shooting devices such as cameras, mobile phones, computers, thermal imaging equipment, infrared temperature measuring equipment and the like.
Further, unmanned vehicles can be rotor-type unmanned aerial vehicles, such as quad-rotor unmanned aerial vehicles, hexa-rotor unmanned aerial vehicles, and octa-rotor unmanned aerial vehicles, and also can be fixed-wing unmanned aerial vehicles.
Fig. 2 is a schematic diagram showing the structure of the present image processing system 10 and its imaging process.
As shown in fig. 2, the present image processing system 10 includes an infrared lens assembly 11 and an infrared image sensor 12. Specifically, the infrared lens assembly 11 includes one or more lenses that are centrosymmetric, so that the infrared lens assembly 11 compresses the image in equal proportions in all directions. The proportions of the sensor image sensed on the infrared image sensor 12 in various directions, such as the lateral direction and the longitudinal direction, are the same as the proportions of the real photographed object in various directions.
The inventor of the application finds that in some application scenes, infrared imaging has a wide viewing angle requirement on a certain direction, an infrared image sensor adopted according to the wide viewing angle requirement also has more pixels in other directions, the imaging viewing angle is also very wide, imaging caused by the increase of the pixels is not needed, and cost increase and lens capacity waste are caused.
In view of this finding, the inventors of the present application have improved an image processing system to achieve wide-angle infrared imaging in one or more directions.
As shown in fig. 3, the image processing system 20 of the present application includes an infrared anamorphic lens assembly 21 and an infrared image sensor 22, and a first compression ratio of the infrared anamorphic lens assembly 21 in a first direction 101 is greater than a second compression ratio of the infrared anamorphic lens assembly 21 in a second direction 102.
As shown in fig. 3, in the sensor image sensed by the infrared image sensor, the viewing angle in the first direction is wider, and the viewing angle in the second direction is narrower. The infrared morphing lens assembly 21 has a compression ratio in the first direction 101 to the subject larger than that in the second direction 102.
Illustratively, the infrared image sensor has 1280 pixels in the first direction 101 and 720 pixels in the second direction; the sensor image has a viewing angle of 90 to 140 degrees in the first direction 101 and 20 to 80 degrees in the second direction 102. For example, the sensor image has a viewing angle of 135 degrees in the first direction 101 and 30 degrees in the second direction 102.
In some embodiments, the infrared anamorphic lens assembly 21 includes an infrared anamorphic lens having a first compression ratio in the first direction 101 that is greater than a second compression ratio in the second direction 102.
Specifically, the radius of curvature of the infrared anamorphic lens in the first direction 101 and the radius of curvature in the second direction 102 are not equal to achieve different compression ratios. Illustratively, the included angle between the first direction 101 and the second direction 102 is greater than 30 degrees and less than 120 degrees.
Illustratively, the infrared anamorphic lens includes one or more infrared cylindrical lenses, including, for example, an infrared positive cylindrical lens and/or an infrared negative cylindrical lens. When the infrared cylindrical lens includes an infrared positive cylindrical lens, the infrared anamorphic lens further includes a negative cylindrical lens to increase a compression ratio of the infrared anamorphic lens in the direction.
Specifically, the infrared cylindrical lens comprises a coated cylindrical lens and/or a cylindrical lens made of colored glass, and can transmit light rays in an infrared band and block visible light.
In some embodiments, the infrared anamorphic lens assembly 21 includes an infrared lens and an anamorphic lens, and a first compression ratio of the anamorphic lens in the first direction 101 is greater than a second compression ratio of the anamorphic lens in the second direction 102.
Illustratively, the infrared lens includes, for example, an infrared filter that transmits light in the infrared band and blocks visible light. The infrared lens includes a coated lens and/or a lens made of a colored material such as glass or plastic, which can transmit light in the infrared band and block visible light.
Specifically, the radius of curvature of the anamorphic lens in the first direction 101 and the radius of curvature in the second direction 102 are not equal to achieve different compression ratios. Illustratively, the included angle between the first direction 101 and the second direction 102 is greater than 30 degrees and less than 120 degrees.
Illustratively, the anamorphic lens includes one or more cylindrical lenses, including, for example, a positive cylindrical lens and/or a negative cylindrical lens. When the cylindrical lens includes a positive cylindrical lens, the anamorphic lens further includes a negative cylindrical lens to increase a compression ratio of the anamorphic lens in a direction.
Fig. 4 is a schematic structural diagram of the negative cylindrical lens 201. It is understood that a first compression ratio of the negative cylindrical lens 201 in the first direction 101 is greater than a second compression ratio of the infrared anamorphic lens in the second direction 102.
Illustratively, the infrared anamorphic lens assembly may further include one or more centrosymmetric lenses, which have equal compression ratios of images in all directions; by combining the lens with central symmetry and the infrared anamorphic lens or anamorphic lens, the compression of the shot object into the lens in all directions can be realized, and the first compression ratio in the first direction is larger than the second compression ratio in the second direction, so that a sensor image can be sensed at the infrared image sensor, and the sensor image has a wider angle of view in the first direction and a narrower angle of view in the second direction.
In some embodiments, the first direction and the second direction are perpendicular.
Illustratively, when the infrared anamorphic lens assembly includes a cylindrical lens or an infrared cylindrical lens, the first direction of the infrared anamorphic lens assembly is parallel to an optical axis of the cylindrical lens or the infrared cylindrical lens having a compression ratio greater than 1, and the second direction of the infrared anamorphic lens assembly is parallel to an optical axis of the cylindrical lens or the infrared cylindrical lens having a compression ratio equal to 1. It will be appreciated that the first compression ratio is greater than 1.
Illustratively, when the plurality of cylindrical lenses and/or the infrared cylindrical lens of the infrared anamorphic lens assembly are arranged in parallel, for example, the optical axes of two cylindrical lenses having a compression ratio greater than 1 are parallel, the first direction of the infrared anamorphic lens assembly is parallel to the optical axis having a compression ratio greater than 1, and the second direction of the infrared anamorphic lens assembly is parallel to the optical axis having a compression ratio equal to 1. It will be appreciated that the first compression ratio is greater than 1.
In some embodiments, when the plurality of cylindrical lenses and/or infrared cylindrical lenses of the infrared anamorphic lens assembly are arranged with the optical axes of different cylindrical lenses and/or infrared cylindrical lenses having a compression ratio greater than 1 crossed, that is, not parallel, the first direction of the infrared anamorphic lens assembly is parallel to the optical axis of one of the cylindrical lenses and/or infrared cylindrical lenses having a compression ratio greater than 1, and the second direction is parallel to the optical axis of the other cylindrical lens and/or infrared cylindrical lens having a compression ratio greater than 1, so that an angle between the first direction and the second direction is greater than 30 degrees and less than 120 degrees can be realized. It will be appreciated that the first compression ratio is greater than 1.
Illustratively, as shown in fig. 3, the first direction is a horizontal direction and the second direction is a vertical direction.
Specifically, in some usage scenarios, a wider viewing angle is required in the horizontal direction to sufficiently acquire information of the surrounding environment. For example, when image processing system 20 is applied to a movable platform, such as an unmanned aerial vehicle, a handheld pan head, a cloud platform vehicle, a manned vehicle, an unmanned vehicle, etc., there is typically a wider viewing angle requirement in the horizontal direction in front, and there is a lower viewing angle requirement for higher or lower positions. For example, when the image processing system 20 is applied to power patrol, there is a demand for a wider viewing angle in the power line extending direction.
The infrared anamorphic lens assembly 21 can realize that the scene with a wider visual angle in one direction is compressed into the lens, and the other direction keeps a narrower visual angle; so that a sensor image having a wider viewing angle in one direction and a narrower viewing angle in the other direction can be sensed on the infrared image sensor 22 of the image processing system 20, as shown in fig. 3. The sensor image includes a wider range of infrared image information in the first direction, while still maintaining a higher accuracy in the second direction.
Specifically, please refer to fig. 1 and 5, the image processing method includes steps S110 to S120.
And step S110, acquiring a sensor image sensed by the infrared image sensor.
As previously mentioned, the viewing angle of the sensor image in the first direction is greater than the viewing angle of the sensor image in the second direction.
For example, the sensor image sensed by the infrared image sensor may be a RAW image projected by the infrared image sensor.
Step S120, stretching the sensor image in the first direction according to the first compression ratio, and stretching the sensor image in the second direction according to the second compression ratio to obtain a target image, where the stretch ratio in the first direction is greater than the stretch ratio in the second direction.
As shown in fig. 5, by stretching the sensor image in the first direction, the illustrated target image may be obtained. The proportion of the target image in each direction, such as the transverse direction and the longitudinal direction, can be the same as the proportion of the real photographed object in each direction. Therefore, the target image can more truly represent the infrared information of the shot scene.
For example, the sensor image may be stretched in the second direction, but the stretching ratio in the second direction is smaller than that in the first direction, so as to ensure that the ratio of the target image in the first direction and the second direction is consistent with the real photographed object.
Specifically, the sensor image may be stretched in the first direction by a larger proportion, and not stretched or stretched in the second direction by a smaller proportion in step S120.
In some embodiments, the method is applied to a scene where the demand for the range of viewing angles in the first direction is greater than the demand for the range of viewing angles in the second direction. The target image obtained by stretching the sensor image has a longer frame in the first direction, and a wider viewing angle can be embodied.
For example, the sensor image may be stretched in the first direction and the second direction by pixel interpolation. The sensor image is stretched in a pixel interpolation mode to obtain a target image with richer details, and infrared information contained in the target image is increased.
Illustratively, the sensor image may be stretched by cubic interpolation, filter interpolation, gaussian interpolation, bilinear interpolation, or the like.
In some embodiments, the ratio of the first compression ratio to the first direction stretch ratio is equal to the ratio of the second compression ratio to the second direction stretch ratio. So as to ensure that the proportion of the target image in the first direction and the second direction is consistent with the real shot object.
Illustratively, if the first compression ratio is three times compression and the second compression ratio is one time compression, and if the length-width ratio of the sensor image is 1:1, the viewing angle of the sensor image in the first direction is three times that in the second direction. When the sensor image is stretched at S120, if the stretch ratio in the second direction is one-time stretch, the stretch ratio in the first direction is three-time stretch.
It will be appreciated that the first compression ratio may be equal to the stretch ratio in the first direction. The proportions of the target image in the first direction and the second direction are completely consistent with the real shot object.
In some embodiments, the method further comprises: and preprocessing the sensor image to obtain a preprocessed sensor image.
For example, the data of the sensor image may be corrected and/or the defects may be removed by preprocessing, for example, a cleaner and smoother sensor image may be obtained, and the influence of noise may be reduced.
Illustratively, the pre-processing includes at least one of: response rate correction processing, bias correction processing, dead pixel removal processing and noise removal processing. Of course, other data processing methods may be used for preprocessing.
For example, the step S120 of stretching the sensor image in the first direction according to the first compression ratio and stretching the sensor image in the second direction according to the second compression ratio to obtain the target image includes: and stretching the preprocessed sensor image in the first direction according to the first compression ratio, and stretching the preprocessed sensor image in the second direction according to the second compression ratio to obtain a target image. The infrared information of the shot object can be more accurately reflected by the target image obtained by stretching the preprocessed sensor image.
In some embodiments, the method further comprises: performing at least one of the following processes on the target image: global histogram stretching, local histogram stretching, detail enhancement, pseudo-color mapping.
Illustratively, histogram statistics and probability density function accumulation are carried out on the target image of infrared imaging, and the histogram stretching of the target image is completed under the condition of a given threshold value to generate a basal body diagram, so that the overall contrast of the target image can be improved.
For example, a gradient filter operator may be used to perform filtering processing on the target image, extract detail information of the target image, perform histogram statistical stretching, and generate a detail map.
Illustratively, the base map and the detail map can be subjected to gamma transformation, and the base map and the detail map are summed in a weighted manner to generate a detail-enhanced target image.
Illustratively, the target image is subjected to pseudo color processing, so that a pseudo color image can be obtained. A pseudo-colored image may improve the ability of the image to be temperature representative.
In some embodiments, the method further comprises: and outputting a pseudo-color image according to the target image for display.
Illustratively, the image processing system 20 may be equipped with a display device, and a pseudo-color image may be displayed by the display device. Or the image processing system 20 may also transmit the pseudo-color mapped infrared image to other devices, such as a terminal for display.
The pseudo-color image can improve the temperature representation capability of the image, for example, engineering personnel can quickly and accurately judge potential problems of the shot object such as a power transmission line and the like by observing the temperature difference, measures can be taken in time, and damage and loss caused by faults of the shot object are reduced. The object image has a wider angle of view in one direction, so that the shot object can be observed more comprehensively; and the target image has higher precision in the other direction, and the pseudo-color image can keep enough temperature details.
In some embodiments, the method further comprises: and determining the temperature information of the object in the target image according to the target image. The sensor image sensed by the infrared image sensor contains the intensity of infrared rays radiated at corresponding temperature of the shot scene, and the temperature information of the shot scene can be determined according to the target image obtained by stretching the sensor image. Optionally, the temperature information in the image may also be transmitted to other devices for display.
For example, the temperature information of the object may be determined according to the temperatures corresponding to several pixels in the target image. For example, the temperature of each of the plurality of pixels is determined in the target image, and the average value obtained can be determined as the temperature information of the object.
For example, the temperature information of the object may include a temperature distribution of the object, for example, a temperature of a certain region is significantly higher than that of other regions.
For example, the temperature information of the object may further include a trend of the temperature of the object over time, and the like.
In some embodiments, the method further comprises: and executing a preset task according to the temperature information of the object.
For example, an alarm signal may be issued when the temperature of the object is too high, uneven, continuously rising, etc., such as controlling an indicator light to be on, a speaker to sound, etc.
For example, a first coordinate of a highest temperature point in a target image may be determined, a rotation angle of a pan/tilt head carrying the photographing device may be determined according to the first coordinate of the highest temperature point and a coordinate of a target position in the target image, and the pan/tilt head may be controlled to rotate according to the rotation angle to adjust that the highest temperature point in the target image at the current time is located at the target position. Therefore, the highest temperature point can be automatically tracked for shooting, and no matter how the highest temperature point changes, the highest temperature point is located at the target position in the target image, so that a user can conveniently observe the highest temperature point.
Because the target image has a wider visual angle range in one direction, the temperature in a wider range can be observed, and therefore the temperature measurement accuracy and the reliability of executing a preset task can be improved.
In the image processing system and the image processing method provided in the embodiment of the present specification, by using the infrared anamorphic lens assembly in which the first compression ratio in the first direction is greater than the second compression ratio in the second direction, the infrared image sensor can sense an infrared sensor image having a wider viewing angle range in the first direction, and the infrared sensor image is stretched to make the ratio of the target image in the first direction and the second direction consistent with that of a real object to be photographed, so that the capabilities of the lens and the infrared image sensor can be fully utilized to implement infrared imaging or temperature measurement in the wider range.
Referring to fig. 6 in conjunction with the above embodiments, fig. 6 is a schematic block diagram of a shooting device 600 according to an embodiment of the present disclosure.
As shown in fig. 6, the photographing device 600 includes an infrared morphing lens assembly 610 and an infrared image sensor 620, and a first compression ratio of the infrared morphing lens assembly 610 in a first direction is greater than a second compression ratio of the infrared morphing lens assembly 610 in a second direction.
The camera 600 further comprises one or more processors 630, the one or more processors 630 being individually or collectively operable to perform the steps of the image processing method of the foregoing embodiments.
Illustratively, the processor 630 is configured to:
acquiring a sensor image sensed by the infrared image sensor;
and stretching the sensor image in the first direction according to the first compression ratio, and stretching the sensor image in the second direction according to the second compression ratio to obtain a target image, wherein the stretching ratio in the first direction is greater than that in the second direction.
For example, the camera 600 is applied to a scene with a larger viewing angle range requirement for the first direction than for the second direction.
Illustratively, the first compression ratio is greater than 1.
Illustratively, the angle between the first direction and the second direction is greater than 30 degrees and less than 120 degrees.
Illustratively, the first direction and the second direction are perpendicular.
Illustratively, the first direction is a horizontal direction and the second direction is a vertical direction.
Illustratively, a viewing angle of the sensor image in the first direction is greater than a viewing angle of the sensor image in the second direction.
Illustratively, the sensor image is stretched in the first direction and the second direction by pixel interpolation.
Illustratively, a ratio of the first compression ratio to the first direction stretch ratio is equal to a ratio of the second compression ratio to the second direction stretch ratio.
Illustratively, the first compression ratio is equal to a stretch ratio in the first direction.
Illustratively, the processor 630 is further configured to perform the following steps: and preprocessing the sensor image to obtain a preprocessed sensor image.
The stretching the sensor image in the first direction according to the first compression ratio and stretching the sensor image in the second direction according to the second compression ratio to obtain the target image includes:
and stretching the preprocessed sensor image in the first direction according to the first compression ratio, and stretching the preprocessed sensor image in the second direction according to the second compression ratio to obtain a target image.
Illustratively, the pre-processing includes at least one of:
response rate correction processing, bias correction processing, dead pixel removal processing and noise removal processing.
Illustratively, the infrared anamorphic lens assembly includes an infrared anamorphic lens having a first compression ratio in the first direction that is greater than a second compression ratio of the infrared anamorphic lens in the second direction.
Illustratively, the infrared anamorphic lens assembly includes an infrared lens and an anamorphic lens, a first compression ratio of the anamorphic lens in the first direction is greater than a second compression ratio of the anamorphic lens in the second direction.
Illustratively, the processor 630 is further configured to perform the following steps:
and outputting a pseudo-color image according to the target image for display.
Illustratively, the processor 630 is further configured to perform the following steps:
performing at least one of the following processes on the target image:
global histogram stretching, local histogram stretching, detail enhancement, pseudo-color mapping.
Illustratively, the processor 630 is further configured to perform the following steps:
and determining the temperature information of the object in the target image according to the target image.
Illustratively, the processor 630 is further configured to perform the following steps:
and executing a preset task according to the temperature information of the object.
Illustratively, the photographing apparatus 600 includes at least one of: cameras, mobile phones, computers, thermal imaging equipment, infrared temperature measurement equipment and the like.
The specific principle and implementation of the shooting device provided in the embodiment of the present specification are similar to those of the image processing method in the foregoing embodiment, and are not described herein again.
Referring to fig. 7, fig. 7 is a schematic block diagram of a movable platform 700 according to an embodiment of the present disclosure. The movable platform 700 can mount the photographing device 800.
It is understood that the camera 800 is provided integrally with the movable platform 700, or the camera 800 can be detachably coupled to the movable platform 700.
Specifically, photographing device 800 includes infrared anamorphic lens assembly 810 and infrared image sensor 820, and a first compression ratio of infrared anamorphic lens assembly 810 in a first direction is greater than a second compression ratio of infrared anamorphic lens assembly 810 in a second direction.
As shown in fig. 7, the movable platform 700 further comprises one or more processors 701, and the one or more processors 701 may work individually or collectively to perform the steps of the image processing method of the foregoing embodiment.
Illustratively, when the camera 800 is integrally provided with the movable platform 700, the processor 701 may be provided only on the camera 800, the processor 701 may be provided only on the movable platform 700, or the processors 701 may be provided on both the camera 800 and the movable platform 700.
Illustratively, the processor 701 is configured to:
acquiring a sensor image sensed by the infrared image sensor;
and stretching the sensor image in the first direction according to the first compression ratio, and stretching the sensor image in the second direction according to the second compression ratio to obtain a target image, wherein the stretching ratio in the first direction is greater than that in the second direction.
For example, the movable platform 700 may be applied to a scene requiring a greater viewing angle range in the first direction than in the second direction.
Illustratively, the first compression ratio is greater than 1.
Illustratively, the angle between the first direction and the second direction is greater than 30 degrees and less than 120 degrees.
Illustratively, the first direction and the second direction are perpendicular.
Illustratively, the first direction is a horizontal direction and the second direction is a vertical direction.
Illustratively, a viewing angle of the sensor image in the first direction is greater than a viewing angle of the sensor image in the second direction.
Illustratively, the sensor image is stretched in the first direction and the second direction by pixel interpolation.
Illustratively, a ratio of the first compression ratio to the first direction stretch ratio is equal to a ratio of the second compression ratio to the second direction stretch ratio.
Illustratively, the first compression ratio is equal to a stretch ratio in the first direction.
Illustratively, the processor 701 is further configured to perform the following steps: and preprocessing the sensor image to obtain a preprocessed sensor image.
The stretching the sensor image in the first direction according to the first compression ratio and stretching the sensor image in the second direction according to the second compression ratio to obtain the target image includes:
and stretching the preprocessed sensor image in the first direction according to the first compression ratio, and stretching the preprocessed sensor image in the second direction according to the second compression ratio to obtain a target image.
Illustratively, the pre-processing includes at least one of:
response rate correction processing, bias correction processing, dead pixel removal processing and noise removal processing.
Illustratively, the infrared anamorphic lens assembly includes an infrared anamorphic lens having a first compression ratio in the first direction that is greater than a second compression ratio of the infrared anamorphic lens in the second direction.
Illustratively, the infrared anamorphic lens assembly includes an infrared lens and an anamorphic lens, a first compression ratio of the anamorphic lens in the first direction is greater than a second compression ratio of the anamorphic lens in the second direction.
Illustratively, the processor 701 is further configured to perform the following steps:
and outputting a pseudo-color image according to the target image for display.
Illustratively, the processor 701 is further configured to perform the following steps:
performing at least one of the following processes on the target image:
global histogram stretching, local histogram stretching, detail enhancement, pseudo-color mapping.
Illustratively, the processor 701 is further configured to perform the following steps:
and determining the temperature information of the object in the target image according to the target image.
Illustratively, the processor 701 is further configured to perform the following steps:
and executing a preset task according to the temperature information of the object.
Illustratively, the movable platform 700 includes at least one of: cloud platform, unmanned vehicles or unmanned ships and light boats etc..
The specific principle and implementation manner of the movable platform provided in the embodiment of this specification are similar to those of the image processing method in the foregoing embodiment, and are not described here again.
For example, as shown in fig. 8, the movable platform 700 obtains a sensor image sensed by the infrared image sensor 820 in real time through the mounted camera device 800, and processes the sensor image according to an image processing method; the processed image, such as an image outputting a pseudo color, is then transmitted to the terminal device 900 communicatively connected to the movable platform 700. The terminal device 900 may be, for example, a mobile phone, a computer, FPV (First Person View, First Person referred to as main viewing angle) glasses, and the like. The terminal device 900 includes a display device 910 that can display images received from the movable platform 700 for viewing by a user.
The shooting device and the movable platform provided by the embodiment of the specification enable the infrared image sensor to sense the infrared sensor image with a wider visual angle range in the first direction by adopting the infrared deformable lens assembly with the first compression ratio in the first direction being larger than the second compression ratio in the second direction, and enable the ratio of the target image in the first direction and the ratio of the target image in the second direction to be consistent with the real shot object by stretching the infrared sensor image, so that the capacities of the lens and the infrared image sensor can be fully utilized, and infrared imaging or temperature measurement in the wider range is realized.
Embodiments of the present specification also provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the image processing method of the foregoing embodiment.
For the purposes of this description, a computer-readable medium can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
For the device embodiments, since they substantially correspond to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points.
The above-described embodiments of the apparatus are merely illustrative, and 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 modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
It is to be understood that the terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the description.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present disclosure, and these modifications or substitutions should be covered within the scope of the present disclosure. Therefore, the protection scope of the present specification shall be subject to the protection scope of the claims.
Claims (56)
1. An image processing method is used for an image processing system, the image processing system comprises an infrared anamorphic lens assembly and an infrared image sensor, and a first compression ratio of the infrared anamorphic lens assembly in a first direction is larger than a second compression ratio of the infrared anamorphic lens assembly in a second direction;
the method comprises the following steps:
acquiring a sensor image sensed by the infrared image sensor;
and stretching the sensor image in the first direction according to the first compression ratio, and stretching the sensor image in the second direction according to the second compression ratio to obtain a target image, wherein the stretching ratio in the first direction is greater than that in the second direction.
2. The method of claim 1, applied to scenes where the viewing angle range requirement for the first direction is greater than the viewing angle range requirement for the second direction.
3. A method according to claim 1 or 2, characterized in that the first compression ratio is larger than 1.
4. A method according to any one of claims 1 to 3, wherein the first direction and the second direction are angled more than 30 degrees and less than 120 degrees.
5. The method of claim 4, wherein the first direction and the second direction are perpendicular.
6. The method of claim 5, wherein the first direction is a horizontal direction and the second direction is a vertical direction.
7. The method of claim 1, wherein a viewing angle of the sensor image in the first direction is greater than a viewing angle of the sensor image in the second direction.
8. The method of claim 1, wherein the sensor image is stretched in the first direction and the second direction by pixel interpolation.
9. The method of any one of claims 1 to 8, wherein a ratio of the first compression ratio to the first direction stretch ratio is equal to a ratio of the second compression ratio to the second direction stretch ratio.
10. The method of claim 9, wherein the first compression ratio is equal to a stretch ratio in the first direction.
11. The method according to any one of claims 1 to 8, further comprising: preprocessing the sensor image to obtain a preprocessed sensor image;
the stretching the sensor image in the first direction according to the first compression ratio and stretching the sensor image in the second direction according to the second compression ratio to obtain the target image includes:
and stretching the preprocessed sensor image in the first direction according to the first compression ratio, and stretching the preprocessed sensor image in the second direction according to the second compression ratio to obtain a target image.
12. The method of claim 11, wherein the pre-processing comprises at least one of:
response rate correction processing, bias correction processing, dead pixel removal processing and noise removal processing.
13. The method of any one of claims 1 to 12, wherein the infrared anamorphic lens assembly comprises an infrared anamorphic lens having a first compression ratio in the first direction that is greater than a second compression ratio of the infrared anamorphic lens in the second direction.
14. The method of any of claims 1-12, wherein the infrared anamorphic lens assembly comprises an infrared lens and an anamorphic lens, wherein a first compression ratio of the anamorphic lens in the first direction is greater than a second compression ratio of the anamorphic lens in the second direction.
15. The method according to any one of claims 1 to 14, further comprising:
and outputting a pseudo-color image according to the target image for display.
16. The method according to any one of claims 1 to 14, further comprising:
performing at least one of the following processes on the target image:
global histogram stretching, local histogram stretching, detail enhancement, pseudo-color mapping.
17. The method according to any one of claims 1 to 14, further comprising:
and determining the temperature information of the object in the target image according to the target image.
18. The method of claim 17, further comprising:
and executing a preset task according to the temperature information of the object.
19. A shooting device is characterized by comprising an infrared anamorphic lens assembly and an infrared image sensor, wherein a first compression ratio of the infrared anamorphic lens assembly in a first direction is larger than a second compression ratio of the infrared anamorphic lens assembly in a second direction;
the camera further includes one or more processors, working individually or collectively, to perform the steps of:
acquiring a sensor image sensed by the infrared image sensor;
and stretching the sensor image in the first direction according to the first compression ratio, and stretching the sensor image in the second direction according to the second compression ratio to obtain a target image, wherein the stretching ratio in the first direction is greater than that in the second direction.
20. The camera of claim 19, wherein the camera is applied to a scene where a viewing angle range requirement for the first direction is greater than a viewing angle range requirement for the second direction.
21. The imaging apparatus according to claim 19 or 20, wherein the first compression ratio is larger than 1.
22. The camera of any one of claims 19 to 21, wherein an angle between the first direction and the second direction is greater than 30 degrees and less than 120 degrees.
23. The camera of claim 22, wherein the first direction and the second direction are perpendicular.
24. The camera of claim 23, wherein the first direction is a horizontal direction and the second direction is a vertical direction.
25. The camera of claim 19, wherein a viewing angle of the sensor image in the first direction is greater than a viewing angle of the sensor image in the second direction.
26. The imaging apparatus according to claim 19, wherein the sensor image is subjected to stretching processing in the first direction and the second direction by pixel interpolation.
27. The imaging apparatus according to any one of claims 19 to 26, wherein a ratio of the first compression ratio to the first-direction stretch ratio is equal to a ratio of the second compression ratio to the second-direction stretch ratio.
28. The camera of claim 27, wherein the first compression ratio is equal to a stretch ratio in the first direction.
29. The camera of any one of claims 19 to 26, wherein the processor is further configured to perform the steps of: preprocessing the sensor image to obtain a preprocessed sensor image;
the stretching the sensor image in the first direction according to the first compression ratio and stretching the sensor image in the second direction according to the second compression ratio to obtain the target image includes:
and stretching the preprocessed sensor image in the first direction according to the first compression ratio, and stretching the preprocessed sensor image in the second direction according to the second compression ratio to obtain a target image.
30. The camera of claim 29, wherein said preprocessing comprises at least one of:
response rate correction processing, bias correction processing, dead pixel removal processing and noise removal processing.
31. The camera of any one of claims 19 to 30, wherein the infrared anamorphic lens assembly comprises an infrared anamorphic lens having a first compression ratio in the first direction that is greater than a second compression ratio of the infrared anamorphic lens in the second direction.
32. The photographing device according to any one of claims 19 to 30, wherein the infrared anamorphic lens assembly includes an infrared lens and an anamorphic lens, a first compression ratio of the anamorphic lens in the first direction is greater than a second compression ratio of the anamorphic lens in the second direction.
33. The camera of any one of claims 19 to 32, wherein the processor is further configured to perform the steps of:
and outputting a pseudo-color image according to the target image for display.
34. The camera of any one of claims 19 to 32, wherein the processor is further configured to perform the steps of:
performing at least one of the following processes on the target image:
global histogram stretching, local histogram stretching, detail enhancement, pseudo-color mapping.
35. The camera of any one of claims 19 to 32, wherein the processor is further configured to perform the steps of:
and determining the temperature information of the object in the target image according to the target image.
36. The camera of claim 35, wherein the processor is further configured to perform the steps of:
and executing a preset task according to the temperature information of the object.
37. A movable platform is characterized by carrying a shooting device, wherein the shooting device comprises an infrared deformable lens assembly and an infrared image sensor, and a first compression ratio of the infrared deformable lens assembly in a first direction is larger than a second compression ratio of the infrared deformable lens assembly in a second direction;
the movable platform further comprises one or more processors, working individually or collectively, to perform the steps of:
acquiring a sensor image sensed by the infrared image sensor;
and stretching the sensor image in the first direction according to the first compression ratio, and stretching the sensor image in the second direction according to the second compression ratio to obtain a target image, wherein the stretching ratio in the first direction is greater than that in the second direction.
38. The movable platform of claim 37, wherein the movable platform is applied to a scene where a viewing angle range requirement for the first direction is greater than a viewing angle range requirement for the second direction.
39. The movable platform of claim 37 or 38, wherein the first compression ratio is greater than 1.
40. The movable platform of any one of claims 37-39, wherein the first direction and the second direction are angled more than 30 degrees and less than 120 degrees.
41. The movable platform of claim 40, wherein the first direction and the second direction are perpendicular.
42. The movable platform of claim 41, wherein the first direction is a horizontal direction and the second direction is a vertical direction.
43. The movable platform of claim 37, wherein a viewing angle of the sensor image in the first direction is greater than a viewing angle of the sensor image in the second direction.
44. The movable platform of claim 37, wherein the sensor image is stretched in the first direction and the second direction by pixel interpolation.
45. The movable platform of any one of claims 37-44, wherein a ratio of the first compression ratio to the first direction stretch ratio is equal to a ratio of the second compression ratio to the second direction stretch ratio.
46. The movable platform of claim 45, wherein the first compression ratio is equal to a stretch ratio in the first direction.
47. The movable platform of any one of claims 37-44, wherein the processor is further configured to perform the steps of: preprocessing the sensor image to obtain a preprocessed sensor image;
the stretching the sensor image in the first direction according to the first compression ratio and stretching the sensor image in the second direction according to the second compression ratio to obtain the target image includes:
and stretching the preprocessed sensor image in the first direction according to the first compression ratio, and stretching the preprocessed sensor image in the second direction according to the second compression ratio to obtain a target image.
48. The movable platform of claim 47, wherein the pre-processing comprises at least one of:
response rate correction processing, bias correction processing, dead pixel removal processing and noise removal processing.
49. The movable platform of any one of claims 37-48, wherein the infrared anamorphic lens assembly comprises an infrared anamorphic lens having a first compression ratio in the first direction that is greater than a second compression ratio of the infrared anamorphic lens in the second direction.
50. The movable platform of any one of claims 37-48, wherein the infrared anamorphic lens assembly comprises an infrared lens and an anamorphic lens, a first compression ratio of the anamorphic lens in the first direction being greater than a second compression ratio of the anamorphic lens in the second direction.
51. The movable platform of any one of claims 37-50, wherein the processor is further configured to perform the steps of:
and outputting a pseudo-color image according to the target image for display.
52. The movable platform of any one of claims 37-50, wherein the processor is further configured to perform the steps of:
performing at least one of the following processes on the target image:
global histogram stretching, local histogram stretching, detail enhancement, pseudo-color mapping.
53. The movable platform of any one of claims 37-50, wherein the processor is further configured to perform the steps of:
and determining the temperature information of the object in the target image according to the target image.
54. The movable platform of claim 53, wherein the processor is further configured to perform the steps of:
and executing a preset task according to the temperature information of the object.
55. The movable platform of any one of claims 37-50, comprising at least one of: cloud platform, unmanned vehicles or unmanned ships and light boats.
56. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, causes the processor to implement the image processing method according to any one of claims 1 to 18.
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| Application Number | Priority Date | Filing Date | Title |
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| PCT/CN2020/085993 WO2021212342A1 (en) | 2020-04-21 | 2020-04-21 | Image processing method, camera device, movable platform and storage medium |
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| CN112956185A true CN112956185A (en) | 2021-06-11 |
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| CN202080005679.7A Pending CN112956185A (en) | 2020-04-21 | 2020-04-21 | Image processing method, photographing apparatus, movable platform, and storage medium |
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| WO (1) | WO2021212342A1 (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101833164A (en) * | 2009-03-10 | 2010-09-15 | 鸿富锦精密工业（深圳）有限公司 | Infrared mage pickup lens |
| CN104364694A (en) * | 2012-05-31 | 2015-02-18 | 索尼公司 | Infrared optical assembly and infrared image capture device |
| US20160037022A1 (en) * | 2014-07-31 | 2016-02-04 | Panasonic Intellectual Property Management Co., Ltd. | Imaging apparatus and imaging system |
| CN207557561U (en) * | 2017-11-22 | 2018-06-29 | 东莞市美光达光学科技有限公司 | A kind of passive infrared sensor wide-angle optics |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101127905B1 (en) * | 2012-01-04 | 2012-03-22 | 국방과학연구소 | An infrared camera applying optical and mechanical athermalization mechanisms |
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2020
- 2020-04-21 WO PCT/CN2020/085993 patent/WO2021212342A1/en active Application Filing
- 2020-04-21 CN CN202080005679.7A patent/CN112956185A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101833164A (en) * | 2009-03-10 | 2010-09-15 | 鸿富锦精密工业（深圳）有限公司 | Infrared mage pickup lens |
| CN104364694A (en) * | 2012-05-31 | 2015-02-18 | 索尼公司 | Infrared optical assembly and infrared image capture device |
| US20160037022A1 (en) * | 2014-07-31 | 2016-02-04 | Panasonic Intellectual Property Management Co., Ltd. | Imaging apparatus and imaging system |
| CN207557561U (en) * | 2017-11-22 | 2018-06-29 | 东莞市美光达光学科技有限公司 | A kind of passive infrared sensor wide-angle optics |
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