CN113793243A - Image data processing method, electronic device, and computer-readable storage medium - Google Patents
Image data processing method, electronic device, and computer-readable storage medium Download PDFInfo
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Abstract
The invention provides an image data processing method, an electronic device and a computer readable storage medium. The image data processing method includes: acquiring image data acquired by an image acquisition module of an image acquisition device in a preset time period; acquiring corner change data and azimuth change data of the image acquisition module in the preset time period, which are sensed by a sensing module of the image acquisition device; and using one of the rotation angle change data and the azimuth angle change data as reference data for adjusting the display direction of the image data.
Description
Technical Field
The present invention relates to the field of computer image processing technologies, and in particular, to an image data processing method, an electronic device, and a computer-readable storage medium.
Background
With the continuous development of social economy and the gradual improvement of the living standard of the public society, the computer technology is widely popularized in production and life, and particularly the computer image processing technology becomes one of the important technical types in the current computer application field.
When a computer performs image processing, an image sensor is usually used to acquire an input image and then process the image, and a general image sensor, such as a CCD or a CMOS, is usually input by actual optical projection and converted into a corresponding electrical signal to be output. When the electric signal is restored to the corresponding image, the original input image orientation feature is still retained, that is, if the image pickup position has a tilt, the corresponding tilt is also retained on the output image. In some specific use scenes, such as station operation, equipment maintenance, human body operation, personal care, physical examination, physical and chemical teaching and the like, in order to facilitate accurate, rapid and continuous operation of an operator, it is generally desirable that the direction of an image output by the output end is stable as much as possible, so that the operator can find the spatial orientation of a video object conveniently, and correct observation and operation can be realized.
Disclosure of Invention
In view of this, an embodiment of the present invention provides an image data processing method, an electronic device, and a computer-readable storage medium, including the steps of:
acquiring image data acquired by an image acquisition module of an image acquisition device in a preset time period;
acquiring corner change data and azimuth change data of the image acquisition module in the preset time period, which are sensed by a sensing module of the image acquisition device;
and using one of the rotation angle change data and the azimuth angle change data as reference data for adjusting the display direction of the image data.
In the image data processing method provided by the embodiment of the invention, the image data acquired by the image acquisition module in the preset time period, the corner change data and the azimuth change data of the image acquisition device in the preset time period, which are sensed by the sensing module, are acquired, and finally, one of the corner change data and the azimuth change data is used as the reference data of the display direction of the image data, so that the output angle of the image is always consistent, the inconvenience brought to an operator due to the rotation or shaking of the image is reduced, the screen locking purpose is achieved, the operator can keep the output image as the image with basically the same visual angle when rotating, moving or otherwise operating the image acquisition device, and the accuracy, the like of the operations such as station operation, equipment maintenance, human body operation, personal care, physical examination, physicochemical teaching and the like are ensured, Rapidity and accuracy.
According to an embodiment of the present invention, the step of using one of the rotation angle variation data and the azimuth angle variation data as reference data for adjusting the display direction of the image data includes:
judging whether the moving path of the image acquisition module is a first path or a second path in the preset time period, wherein the first path is a path from the horizontal direction to the vertical direction, and the second path is a path from the vertical direction to the horizontal direction,
if the moving path of the image acquisition module in the preset time period is the first path, judging thetaAcc-whether 90 degrees is less than or equal to a preset angle θ2If so, using the azimuth angle change data as reference data for adjusting the display direction of the image data, and if not, using the corner change data as reference data for adjusting the display direction of the image data, wherein theta2In the range of 10 to 25 degrees;
if the moving path of the image acquisition module in the preset time period is the second path, judging the thetaAcc-whether 90 degrees is less than or equal to a preset angle θ1If so, the rotation angle change data is used as reference data for adjusting the display direction of the image data, and if not, the azimuth angle change data is used as reference data for adjusting the display direction of the image data, wherein theta1In the range of 10 degrees to 25 degrees.
In the above embodiment, by determining whether the movement path of the image capturing module is the first path or the second path at the i +1 th preset time, when the image capturing device moves from the horizontal direction to the vertical direction or from the vertical direction to the horizontal direction, the output images can be processed respectively, so that the screen locking precision of the output images is improved, the image output angles are kept consistent all the time, and the operation is facilitated.
According to an embodiment of the present invention, the step of using one of the rotation angle variation data and the azimuth angle variation data as reference data for adjusting the display direction of the image data includes:
judging whether the included angle between the preset axis of the sensing module and the gravity direction in the preset time period is 0 degree or in the range from 0 to the preset angle according to the azimuth angle change data,
if yes, the turning angle change data is used as reference data for adjusting the display direction of the image data,
and if not, using the azimuth angle change data as reference data for adjusting the display direction of the image data.
According to an embodiment of the present invention, the preset angle is less than or equal to 25 degrees; the preset angle is 10 degrees.
In the above embodiment, it may be determined whether an included angle between the preset axis of the sensing module and the gravity direction in the preset time period is 0 degree or in a range from 0 to a preset angle, so that one of the corner change data and the azimuth change data is used as reference data for adjusting the display direction of the image data, which may make the calculation more efficient and the image display more accurate.
According to an embodiment of the present invention, the azimuth angle of the image capturing module includes an included angle θ between a preset axis of the sensing module and the horizontal directionAccWherein thetaAccIn the range of 0 to 90 degrees, in the step of judging whether the included angle between the preset axis of the sensing module and the gravity direction in the preset time period is 0 degree or in the range of 0 to a preset angle according to the azimuth angle change data, when the included angle is within the range of 0 to a preset angleθAccWhen the angle is 90 degrees, judging that the included angle between the preset axis of the sensing module and the gravity direction is 0 degree; when the angle theta is larger thanAccAnd when the difference value of the angle is greater than or equal to 90 degrees and the preset angle, judging that the included angle between the preset shaft of the sensing module and the gravity direction is in the range of 0 to the preset angle.
In the above embodiment, whether the included angle between the preset axis of the sensing module and the gravity direction in the preset time period is 0 degree or in the range from 0 to the preset angle is determined according to the azimuth angle change data, so that the problem that the display direction of the image data cannot be adjusted under a specific condition is avoided, the screen can be accurately locked when the image acquisition device is arranged along the gravity direction (for example, when the preset axis of the sensing module is consistent with the gravity direction), the angle of image output is kept consistent all the time, the image shaking problem is basically avoided, and the operation is facilitated.
According to an embodiment of the present invention, the processing method further includes a step of adjusting a display direction of the image data according to at least one of the rotation angle change data and the azimuth angle change data to obtain adjusted image data; the processing method also comprises the step of controlling a display to display images according to the adjusted image data; the preset time period is one frame of image acquisition time period.
In the above embodiment, the display direction of the image data is adjusted according to at least one of the rotation angle change data and the azimuth angle change data to obtain the i +1 th frame of adjusted image data, so that the display device can be controlled to directly adjust the image data according to the i +1 th frame to display, which can ensure that the directions of the output image data are substantially consistent, and is convenient for the operation of an operator.
According to an embodiment of the invention, the image capturing device is one of a hand-holdable visual otoscope, a hand-holdable visual ear-picking wand, a hand-holdable visual mouth mirror, a hand-holdable visual dental scaler, a hand-holdable visual skin instrument, or a hand-holdable visual hair instrument; the sensing module comprises a triaxial gyroscope for acquiring the corner change data and a triaxial accelerometer for acquiring the azimuth change data.
In the above embodiment, when the image data processing method is applied to the output image processing of the handheld image acquisition devices such as the handheld visual otoscope, the handheld visual ear picking rod, the handheld visual mouth mirror, the handheld visual tooth cleaner, the handheld visual skin instrument, the handheld visual hair instrument and the like, the problems of image jitter, inconvenient operation and the like in the use process of the existing handheld image acquisition devices can be effectively solved, and the operation efficiency and the user experience are improved. Further, the sensing module is including being used for acquireing the triaxial gyroscope of corner change data and being used for acquireing the triaxial accelerometer of azimuth change data, triaxial gyroscope, triaxial accelerometer are comparatively common, the reliability is high, can guarantee sensing signal's accuracy to guarantee the accuracy of image direction adjustment.
In addition, an embodiment of the present invention further provides an image data processing method, which includes the following steps:
acquiring image data acquired by an image acquisition module of an image acquisition device in a preset time period;
judging whether the included angle between the preset axis of the sensing module of the image acquisition device in the preset time period and the gravity direction is 0 degree or in the range from 0 to the preset angle,
if so, acquiring corner change data of the image acquisition module in the preset time period, which is sensed by the sensing module, and taking the corner change data as reference data for adjusting the display direction of the image data,
if not, acquiring azimuth angle change data of the image acquisition module in the preset time period, which is sensed by the sensing module, and taking the azimuth angle change data as reference data for adjusting the display direction of the image data.
In the image data processing method provided by the embodiment of the invention, the problem that the display direction of the image data cannot be adjusted under specific conditions is avoided by judging whether the included angle between the preset axis of the sensing module and the gravity direction in the preset time period is 0 degree or in the range of 0 to the preset angle, the screen can be accurately locked when the image acquisition device is arranged along the gravity direction (for example, when the preset axis of the sensing module is consistent with the gravity direction), the angle of image output is kept consistent all the time, the image jitter problem is basically avoided, and the operation is convenient. Further, when the sensing module can accurately measure the corner change data and the azimuth change data, one of the corner change data and the azimuth change data is selected as reference data for adjusting the display direction of the image data.
In addition, an embodiment of the present invention further provides an image data processing method, which includes the following steps:
acquiring image data acquired by an image acquisition module of an image acquisition device in a preset time period;
acquiring azimuth angle change data or corner change data of the image acquisition module in the preset time period, which is sensed by a sensing module of the image acquisition device;
and taking the azimuth angle change data or the rotation angle change data as reference data for adjusting the display direction of the image data.
In the image data processing method provided by the embodiment of the invention, the azimuth angle change data or the corner change data is used as the reference data for adjusting the display direction of the image data, so that the output angles of the images are consistent all the time, the inconvenience brought to operators by the rotation or shaking of the images is reduced, the purpose of screen locking is achieved, the output images are kept to be the images with basically the same visual angle all the time when the operators rotate, move or otherwise operate the image acquisition device, and the accuracy, rapidity and precision of operations such as station operation, equipment maintenance, human body operation, personal care, physical examination, physicochemical teaching and the like are ensured.
An embodiment of the present invention further provides an electronic device, where the electronic device includes a memory and a processor, where the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the processor is caused to execute any one of the image data processing methods described above.
Embodiments of the present invention also provide a computer-readable storage medium, where the computer-readable instructions, when executed by one or more processors, cause the one or more processors to perform any one of the image data processing methods described above.
In the electronic device and the computer-readable storage medium provided by the embodiment of the invention, the display direction of the image data is adjusted according to at least one of the corner change data and the azimuth change data, so that the output angle of the image can be always kept consistent, the purpose of screen locking is achieved, the image output by the image acquisition device is kept to be the image with the same visual angle when an operator rotates, moves or otherwise operates the image acquisition device, the operation of the operator is facilitated, and the accuracy, rapidity and accuracy of operations such as station operation, equipment maintenance, human body operation, personal care, physicochemical teaching and the like are guaranteed.
Drawings
FIG. 1 is a schematic block diagram of an image capture device according to the present invention;
fig. 2 is a flowchart of an image data processing method according to a first embodiment of the invention;
FIG. 3 is a schematic diagram of an imaging display process of the image data processing method of the present invention;
fig. 4 is a flowchart of an image data processing method according to a second embodiment of the present invention;
fig. 5 is a flowchart of an image data processing method according to a third embodiment of the present invention;
FIG. 6 is a schematic structural diagram of an electronic device according to an embodiment of the invention;
fig. 7 is a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first", "second" and "third" in this application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any indication of the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of the feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise. All directional indications (such as up, down, left, right, front, and rear … …) in the embodiments of the present application are only used to explain the relative positional relationship between the components, the movement, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indication is changed accordingly. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Referring to fig. 1, fig. 1 is a schematic block diagram of an image capturing device 1 according to the present invention. The image capture device 1 may be a hand-holdable image capture device including, but not limited to, one of a hand-holdable visual otoscope, a hand-holdable visual ear pick, a hand-holdable visual mouth mirror, a hand-holdable visual dental scaler, a hand-holdable visual skin instrument, or a hand-holdable visual hair instrument. The image acquisition device can be held by hand comprises an image acquisition module 111 and a sensing module 112, wherein the image acquisition module 111 can be a camera module arranged on the image acquisition device, such as a camera probe and an image sensor connected with the camera probe, and the sensing module 112 can be a sensing module with a motion measurement function, such as an angle measurement sensor (such as a gyroscope), an acceleration measurement sensor (such as an accelerometer) and the like. In this embodiment, the sensing module 112 may be disposed on the image capturing module 111 or disposed adjacent to the image capturing module 111, and the sensing module 112 may detect and obtain the rotation angle change data and the azimuth angle change data, where the rotation angle change data and the azimuth angle change data are not only the rotation angle change data and the azimuth angle change data of the sensing module 112, but also the rotation angle change data and the azimuth angle change data of the image capturing module 111.
In some embodiments, the handheld image capturing device may provide the image data captured by the image capturing module 111 and the sensing data (e.g., the rotation angle variation data and the azimuth angle variation data) obtained by the sensing module 112 to a terminal device 2 with an operation function, such as a server, a server cluster, a mobile phone, a tablet computer, a notebook computer, a desktop computer, a personal digital assistant, etc., through wired or wireless communication, such as a network cable, bluetooth, WiFi, etc., and then display an image to an operator after the terminal device 2 processes the image data and the sensing data.
In this embodiment, the terminal device 2 may be a mobile phone, a tablet computer, a notebook computer, a desktop computer, a personal digital assistant, or other devices having an arithmetic function processor 12 and an image display function display 13, the terminal device 2 may be installed with an application program for image processing, for example, APP, after the hand-held image acquisition device is in communication connection with the terminal device 2 through WiFi and the like, the image data of each frame collected by the image collecting module 111 and the rotation angle change data and the azimuth angle change data detected by the sensing module 112 are transmitted to the terminal device 2, after the application program of the terminal device 2 obtains the collected image data, the corner change data and the azimuth change data, the processor 12 controls the display 13 to display an image after processing the image data according to the rotation angle change data, the azimuth angle change data, and the like. It can be understood that, when the operator performs the operation, the display 13 may observe the image of the operated object collected by the handheld image collecting device, and the operator may change the operation direction by moving the handheld image collecting device to operate the operated object.
In other embodiments, the image capturing device and the terminal device 2 may be integrated, that is, the image capturing device 1 is provided with a processor 12 having an operation function, the image captured by the image capturing module 111 is processed by the sensing module 112, and then directly processed in the processor 12 and output to the display 13, and the display 13 is a display device for actually operating the image to the operator, and may be integrated with the image capturing device, or may be a separate display, and is connected to the image capturing device through wired or wireless communication, such as a network cable, bluetooth, WiFi, or the like.
The following description is given by taking a handheld visual ear picking rod as an example, the image data processing method of the image acquisition device 1 is described, the ear picking personnel can put the handheld visual ear picking rod into the ear canal of the person to be picked, the image acquisition module 111 acquires the image in the ear canal of the human body, the image is processed by the sensing module 112 and then transmitted to the terminal device 2 connected with the handheld visual ear picking rod, and the processor 12 of the terminal device 2 processes the image and then displays the image on the display 13.
Referring to fig. 2, fig. 2 is a flowchart of an image data processing method according to a first embodiment of the invention, it should be noted that the method of the invention is not limited to the flowchart shown in fig. 2 if substantially the same result is obtained. As described above, in some embodiments, the image capturing device 1 and the terminal device 2 are separately provided, and the image data processing method may be executed in an application program of the terminal device 2, that is, the terminal device 2 receives each frame of image data, the rotation angle change data, and the azimuth angle change data provided by the image capturing device 1 and then executes the image data processing method, but in other modified embodiments, when the image capturing device 1 is integrated with the arithmetic function processor 12, the image integration device 1 may execute the image data processing method by itself and transmit the reference data obtained by the image data processing method and each frame of image data (or each frame of image adjustment data with the display direction adjusted) to the terminal device 2, so that the display 13 of the terminal device 2 may display an image with an appropriate direction. Specifically, as shown in fig. 2, the method includes the steps of:
step S101: acquiring image data acquired by the image acquisition module 111 of the image acquisition device 1 in a preset time period.
It should be noted that the preset time period may be the acquisition time of one frame of image data, and at this time, the image data is one frame of image data; the preset time period may also be the acquisition time of two or more frames of images, and at this time, the acquired image data is the acquisition time of two or more frames of images. Specifically, the selection may be performed according to actual needs, and in this embodiment, the preset time period is mainly used as the acquisition time of one frame of image data.
In this embodiment, the image capturing module 111 may be a camera module, such as a camera probe and an image sensor, provided on the image capturing device 1, and is configured to capture an image in an ear canal. After the camera probe collects light, the image sensor converts a light image on the light-sensitive surface into an electric signal in a corresponding proportional relation with the light by utilizing the photoelectric conversion function of the photoelectric device, wherein the common image sensor comprises a CCD (charge coupled device), a CMOS (complementary metal oxide semiconductor) and the like.
Step S102: and acquiring the rotation angle change data and the azimuth angle change data of the image acquisition module 111 in the preset time period, which are sensed by the sensing module 112 of the image acquisition device 1.
It can be understood that when an operator uses the handheld visual ear picking rod to perform operation, the operation process can be decomposed into a rotation angle change motion and an azimuth angle change motion, wherein a rotation angle is also called a rotation angle, and is an included angle between a rotation line of one point and a center and a line connecting the corresponding point of the point after rotation and the rotation center when the graph performs the rotation motion, and an azimuth angle is also called a horizontal longitude and is a horizontal included angle from a north-pointing direction line of a certain point to a target direction line along a clockwise direction.
In this embodiment, the sensing module 112 may include a three-axis gyroscope for acquiring the rotation angle change data and a three-axis accelerometer for acquiring the azimuth angle change data, where the three-axis gyroscope (Gyro) is also called a micro-mechanical gyroscope, and is characterized by being capable of simultaneously performing position determination in six directions and determining the moving trajectory and acceleration in the directions. The three-axis gyroscope has the advantages of small volume, light weight, simple structure, good reliability and the like, and in short, the three-axis gyroscope has the greatest function of measuring the angular velocity so as to judge the motion state of an object. A triaxial accelerometer (Acc) is used to detect the acceleration signal. The rotation angle change data and the azimuth angle change data of the image acquisition device 1 in the preset time period, which are sensed by the sensing module 112, can be acquired through the three-axis gyroscope and the three-axis accelerometer.
The preset time period is set to be a time period between a time t0 and a time t1, and the azimuth change data may be obtained by calculating an azimuth of the image acquisition module 111 at the time t0 and an azimuth of the image acquisition device 1 at the time t1, which are sensed by the three-axis accelerometer obtaining sensing module 112, according to the azimuth of the time t0 and the azimuth of the time t 1.
And calculating quaternion angle integral according to dt, wx, wy and wz, converting the integral result into an Euler angle and accumulating, and finally converting the accumulated result into quaternion again to finally obtain the corner change data.
The azimuth angle change data is obtained by obtaining projection vectors of the triaxial accelerometer on three planes of acceleration vectors yz, zx and xy in image data acquired in an ith time period and image data acquired in a preset time period, respectively calculating an inclination angle in the X-axis direction according to tangents of an X component and the yz projection vector, calculating an inclination angle in the Y-axis direction according to tangents of the Y component and the zx projection vector, calculating an inclination angle in the Z-axis direction according to tangents of a Z component and the xy projection vector, and finally converting and calculating the inclination angle in the X-axis direction, the inclination angle in the Y-axis direction and the inclination angle in the Z-axis direction. Since the acquisition and calculation of the rotation angle change data and the azimuth angle change data are common, they are not described herein again.
Step S103: and using one of the rotation angle change data and the azimuth angle change data as reference data for adjusting the display direction of the image data.
In step S103, the display direction of the image data may be adjusted to obtain the i +1 th frame adjustment image data according to one of the rotation angle change data and the azimuth angle change data obtained by the three-axis gyroscope and the three-axis accelerometer, which is used as reference data for adjusting the display direction of the image data, so that an operator observes a screen-locked image at the same angle and in the same azimuth on the display 13, and the operation is facilitated.
When the movement of the image capturing device 1 is a steering movement, one of the rotation angle change data or the azimuth angle change data may be obtained by one of the three-axis gyroscope or the three-axis accelerometer in the sensing module 112, so as to use one of the rotation angle change data or the azimuth angle change data as a reference data for adjusting the display direction of the image data, it can be understood that the sensing module 112 may simultaneously include the three-axis gyroscope and the three-axis accelerometer, and at this time, an appropriate sensor data may be selected as a reference data according to the movement of the image capturing device 1, so that the selection of the reference data matches with the movement of the image capturing device 1, so as to make the image display more accurate, and an appropriate sensor data may also be selected as a reference data according to the actual state of the image capturing device 1, if the azimuth angle change data can be used as a calculation basis during calculation, the rotation angle change data can be selected as a calculation basis in a switching manner when the data acquisition of the triaxial accelerometer for acquiring the azimuth angle change data fails due to faults or other reasons during the use process, so that the calculation result is more accurate. It can be understood that the above is only a selection manner of this embodiment, and in practical application, appropriate sensor data may be selected or multiple sensor data may be combined for calculation according to a scene of practical application, and details are not described here. Adjusting the display direction of the image data according to one of the corner change data and the azimuth change data to obtain the i +1 th frame adjustment image data, and further controlling the display 13 to directly display according to the adjusted image data, so that the directions of the output image data are basically consistent, and the operation of an operator is facilitated.
In the image data processing method provided by the embodiment of the invention, the image data acquired by the image acquisition module 111 in the preset time period and the corner change data and the azimuth change data of the image data acquired by the image acquisition device 1 in the preset time period, which are sensed by the sensing module 112, are acquired, and finally, one of the corner change data and the azimuth change data is used as reference data for adjusting the display direction of the image data, so that the output angles of the images are always consistent, the inconvenience brought to an operator by the rotation or shaking of the image is reduced, the screen locking purpose is achieved, the operator can keep the output images always at the basically same visual angle when rotating, moving or otherwise operating the image acquisition device, and the accuracy of operations such as station operation, equipment maintenance, human body operation, personal care, physical examination, physicochemical teaching and the like is guaranteed, Rapidity and accuracy.
Specifically, in the present embodiment, step S103 includes the following:
step S311: and determining whether the movement path of the image capturing module 111 in the preset time period is a first path or a second path, if the movement path of the image capturing module 111 in the preset time period is the first path, executing step S312, and if the movement path of the image capturing module 111 in the preset time period is the second path, executing step S313.
The first path is a path from the horizontal direction to the vertical direction, that is, the operator moves the hand-held visual ear picking rod from the horizontal placement position to the vertical placement position in the ear picking operation, and the second path is a path from the vertical direction to the horizontal direction, that is, the operator moves the hand-held visual ear picking rod from the vertical placement position to the horizontal placement position in the ear picking operation.
Step S312: determine | θAcc-whether 90 degrees is less than or equal to a preset angle θ2If yes, go to step S312a, otherwise go to step S312 b.
Referring to fig. 3, fig. 3 is a schematic diagram of an imaging display process of the image data processing method of the present invention, wherein an azimuth angle of the image capturing device 1 includes an included angle θ between a preset axis of the sensing module 112 and a horizontal directionAccWherein θ isAccWithin the range of 0 to 90 degrees, it can be understood that the initial direction of the sensing module 112 can be set to be the direction coincident with the XY coordinate axis, as shown in fig. 3(a), the axis of the sensing module 112 in the direction of the X axis is set to be a preset axis, when the image acquisition device 1 moves, the image acquisition module 111 and the sensing module 112 are driven to move, and the included angle between the preset axis of the sensing module 112 and the horizontal X axis is θAccAs shown in FIG. 3(b), then θAccIn the range of 0 to 90 degrees, whereinIt is understood that the preset axis is a virtual axis, and may be an axis passing through a certain preset direction of the center of the sensing module 112 under a reference coordinate system (for example, a reference coordinate system constructed by X, Y, Z axes, where a specific X, Y, Z axis may be defined by itself according to actual needs, or an axis where an X axis and a Y axis are horizontal axes, and a Z axis is a vertical axis where a gravity direction is located). Theta2For vertical conversion of angle, theta2In the range of 10 degrees to 25 degrees (i.e., in the range of 10 degrees or more and 25 degrees or less).
Step S312 a: and taking the azimuth angle change data as reference data for adjusting the display direction of the image data.
In step S312a, when | θ |Acc-90 degrees | less than or equal to a preset angle θ2And adjusting the display direction of the image data according to the azimuth angle change data.
S312 b: and taking the rotation angle change data as reference data for adjusting the display direction of the image data.
In step S312b, when | θ |Acc-90 degrees | greater than a preset angle θ2And adjusting the display direction of the image data according to the corner change data.
Step S313: determine | θAcc-whether 90 degrees is less than or equal to a preset angle θ1If yes, step S313a is executed, and if no, step S313b is executed.
Wherein, theta1To convert the angle horizontally, theta1In the range of 10 degrees to 25 degrees.
Step S313 a: and taking the rotation angle change data as reference data for adjusting the display direction of the image data.
In step S313a, when | θ |Acc-90 degrees | less than or equal to a preset angle θ1And adjusting the display direction of the image data according to the corner change data.
Step S313 b: and taking the azimuth angle change data as reference data for adjusting the display direction of the image data.
In step S313b, when | θ |Acc-90 degrees | greater than a preset angleθ1And adjusting the display direction of the image data according to the azimuth angle change data.
In this embodiment, by determining whether the movement path of the image capturing module 111 is the first path or the second path in the preset time period, the image capturing device 1 may process the output image when moving from the horizontal direction to the vertical direction or from the vertical direction to the horizontal direction, so as to improve the screen locking precision of the output image, keep the angle of image output consistent all the time, and facilitate operation.
When the operator uses the handheld visual ear picking rod to perform operation, besides the rotation angle change motion and the azimuth angle change motion, the data of linear motion change along the preset direction, such as the gravity direction, may also be included, so that, in order to make the output image screen locking effect more accurate, the situation of linear motion along the preset direction, such as the gravity direction, needs to be considered, and in order to make the image acquisition device 1 perform image display accurately during the linear motion along the preset direction, such as the gravity direction, in another embodiment, step S103 may further include the following steps:
step S321: judging whether the included angle between the preset axis of the sensing module 112 and the gravity direction in the preset time period is 0 degree or in the range from 0 to a preset angle according to the azimuth change data, if so, executing step S322, and if not, executing step S323.
Specifically, the preset angle may be set within a range of 25 degrees or less; in this embodiment, the preset angle is 10 degrees. Wherein, in the step of determining whether the included angle between the preset axis of the sensing module 112 and the gravity direction in the preset time period is 0 degree or within the range from 0 to a preset angle according to the azimuth angle change data, when the included angle θ is larger than a preset valueAccWhen the angle is 90 degrees, the included angle between the preset axis of the sensing module 112 and the gravity direction is judged to be 0 degree; when the angle theta is larger thanAccWhen the difference between the angle greater than or equal to 90 degrees and the preset angle is larger than or equal to the difference between the angle and the preset angle, it is determined that the included angle between the preset axis of the sensing module 112 and the gravity direction is in the range from 0 to the preset angle. Such as whenThe angle thetaAccIs 88 degrees, the difference value between 90 degrees and the preset angle is 80 degrees, and the included angle thetaAccIf the angle of 88 degrees is greater than 80 degrees, it is determined that the included angle between the preset axis of the sensing module 112 and the gravity direction is in the range from 0 to the preset angle.
Step S322: and taking the rotation angle change data as reference data for adjusting the display direction of the image data.
When the included angle between the preset axis of the sensing module 112 and the gravity direction in the preset time period is judged to be 0 degree or within the range from 0 to the preset angle according to the azimuth change data obtained by the three-axis accelerometer, the operation track of the operator at the moment can be considered to be linear motion along the gravity direction, and at this moment, the display direction of the image data needs to be adjusted according to the rotation angle change data.
Step S323: and taking the azimuth angle change data as reference data for adjusting the display direction of the image data.
When it is determined that the included angle between the preset axis of the sensing module 112 and the gravity direction in the preset time period is not 0 degree or is not in the range from 0 to a preset angle according to the azimuth change data obtained by the three-axis accelerometer, the operation trajectory at the moment of the operator may be considered as a rotational motion trajectory or a motion trajectory in which rotational motion is combined with linear motion along the gravity direction, and at this time, the display direction of the image data needs to be adjusted according to one of the azimuth change data.
In this embodiment, whether the included angle between the preset axis of the sensing module 112 and the gravity direction in the preset time period is 0 degree or not is determined according to the azimuth change data, so as to avoid the problem that the display direction of the image data cannot be adjusted under a specific condition, and the screen can be accurately locked when the image acquisition device 1 is set along the gravity direction (for example, when the preset axis of the sensing module is consistent with the gravity direction), so that the angle of image output is always consistent, the image jitter problem is basically avoided, and the operation is facilitated.
Referring to fig. 4, fig. 4 is a flowchart of an image data processing method according to a second embodiment of the invention. In a second embodiment, the present invention also provides an image data processing method of the image capturing apparatus 1, which includes the steps of:
step S201: and acquiring the image data acquired by the image acquisition module 111 of the image acquisition device 1 in a preset time period.
Step S201 is similar to step S101 of the above embodiment, and is not described again here.
Step S202: and judging whether the included angle between the preset axis of the sensing module 112 of the image acquisition device 1 in the preset time period and the gravity direction is 0 degree or is in the range from 0 to the preset angle, if so, executing step S203, and if not, executing step S204.
In this embodiment, to increase the operation speed and reduce the calculation process, it may be determined whether the operation trajectory of the operator at the moment is a linear motion trajectory along the gravity direction.
Step S203: and acquiring corner change data of the image acquisition module 112 in the preset time period, which is sensed by the sensing module 112, and using the corner change data as reference data for adjusting the display direction of the image data.
In step S203, when the operation trajectory of the operator at the moment is a linear motion trajectory along the gravity direction, the rotation angle change data may be directly used as reference data for adjusting the display direction of the image data, and the specific calculation process is similar to that in step S322 of the above embodiment and is not described here again.
Step S204: acquiring azimuth angle change data of the image acquisition module 112 in the preset time period, which is sensed by the sensing module 112, and taking the azimuth angle change data as reference data for adjusting the display direction of the image data.
In step S204, when the operation trajectory of the operator at the moment is not a linear motion trajectory along the gravity direction, the azimuth angle change data of the image acquisition apparatus 1 in the preset time period, which is sensed by the sensing module 112, may be used as reference data for adjusting the display direction of the image data, and the specific calculation process is similar to that in step S323 in the above embodiment, and is not described again here.
In the image data processing method provided by the embodiment of the present invention, by determining whether the included angle between the preset axis of the sensing module 112 and the gravity direction in the preset time period is 0 degree or in the range from 0 to the preset angle, the problem that the display direction of the image data cannot be adjusted under a specific condition is avoided, and the screen can be accurately locked when the image acquisition device 1 is arranged along the gravity direction (for example, when the preset axis of the sensing module is consistent with the gravity direction), so that the angle of image output is always kept consistent, the image shaking problem is basically avoided, and the operation is facilitated. Further, when the sensing module 112 can accurately measure the rotation angle change data and the azimuth angle change data, one of the rotation angle change data and the azimuth angle change data is selected as reference data for adjusting the display direction of the image data, because the sensing module 112 in this case has more accurate sensing data, through reasonable selection, the optimal reference data can be selected under various conditions of the whole image data processing method to adjust the display direction of the image data, so that the image display effect is better.
Referring to fig. 5, fig. 5 is a flowchart of an image data processing method according to a third embodiment of the invention. In a third embodiment, the present invention also provides an image data processing method of the image capturing apparatus 1, which includes the steps of:
step S301: acquiring image data acquired by the image acquisition module 111 of the image acquisition device 1 in a preset time period.
Step S302: acquiring azimuth angle change data or rotation angle change data of the image acquisition module 1 in the preset time period, which is sensed by a sensing module 112 of the image acquisition device 1.
Steps S301 and S302 are similar to steps S101 and S102 of the above embodiments, and are not repeated here.
Step S303: and taking the azimuth angle change data or the rotation angle change data as reference data for adjusting the display direction of the image data.
In step S303, the display direction of the image data may be adjusted to obtain adjusted image data according to the rotation angle change data or the azimuth angle change data obtained by the three-axis gyroscope or the three-axis accelerometer, and the display 13 is controlled to display an image according to the adjusted image data, so that an operator observes a screen-locked image at the same angle and orientation on the display 13, and the operation is facilitated.
When the movement of the image acquisition apparatus 1 is a steering movement, the rotation angle change data or the azimuth angle change data may be acquired by the three-axis gyroscope or the three-axis accelerometer in the sensing module 112, so that the rotation angle change data or the azimuth angle change data is used as reference data for adjusting the display direction of the image data. The display direction of the image data is adjusted according to the corner change data or the azimuth change data to obtain adjusted image data, and then the display 13 can be controlled to directly display according to the adjusted image data, so that the output angle of the image is consistent all the time, the inconvenience brought to an operator by the rotation or shaking of the image is reduced, the purpose of locking the screen is achieved, the operator can keep the output image as an image with basically the same visual angle all the time when rotating, moving or otherwise operating the image acquisition device 1, and the accuracy, rapidity and precision of operations such as station operation, equipment maintenance, human body operation, personal care, body examination, physicochemical teaching and the like are guaranteed.
Referring to fig. 6, fig. 6 is a schematic structural diagram of an electronic device 30 according to an embodiment of the invention. The electronic device 30 includes a memory 32, a processor 31, and a computer program stored on the memory 32 and executable on the processor 31, and the processor 31 implements the image processing method according to any one of the first to fifth embodiments when executing the computer program.
Specifically, in the first embodiment, the processor 31 implements the following steps when executing the computer program: acquiring image data acquired by an image acquisition module in a preset time period; acquiring corner change data and azimuth change data of the image acquisition module in the preset time period, which are sensed by the sensing module; and using one of the rotation angle change data and the azimuth angle change data as reference data for adjusting the display direction of the image data.
Further, the step of using one of the rotation angle change data and the azimuth angle change data as reference data for adjusting the display direction of the image data includes: judging whether the moving path of the image acquisition module in the preset time period is a first path or a second path, wherein the first path is a path from the horizontal direction to the vertical direction, the second path is a path from the vertical direction to the horizontal direction, and if the moving path of the image acquisition module in the preset time period is the first path, judging the thetaAcc-whether 90 degrees | is less than or equal to a preset angle θ 2, if yes, using the azimuth angle change data as reference data for adjusting the display direction of the image data, and if no, using the rotation angle change data as reference data for adjusting the display direction of the image data, wherein θ 2 is in a range of 10 degrees to 25 degrees; if the moving path of the image acquisition module in the preset time period is the second path, judging thetaAcc-whether 90 degrees | is less than or equal to a preset angle θ 1, if yes, using the rotation angle change data as reference data for adjusting the display direction of the image data, and if no, using the azimuth angle change data as reference data for adjusting the display direction of the image data, wherein θ 1 is in a range of 10 degrees to 25 degrees.
Further, the step of using one of the rotation angle change data and the azimuth angle change data as reference data for adjusting the display direction of the image data includes: and judging whether an included angle between a preset axis of the sensing module and the gravity direction in the preset time period is 0 degree or in a range from 0 to a preset angle according to the azimuth angle change data, if so, using the azimuth angle change data as reference data for adjusting the display direction of the image data, and if not, using the azimuth angle change data as reference data for adjusting the display direction of the image data.
Further, the preset angle is less than or equal to 25 degrees; the preset angle is 10 degrees.
Furthermore, the azimuth angle of the image acquisition device comprises an included angle theta between a preset axis of the sensing module and the horizontal directionAccWherein thetaAccIn the range of 0 to 90 degrees, in the step of judging whether the included angle between the preset axis of the sensing module and the gravity direction in the preset time period is 0 degree or in the range of 0 to a preset angle according to the azimuth angle change data, when the included angle theta is within the range of 0 to a preset angleAccWhen the angle is 90 degrees, judging that the included angle between the preset axis of the sensing module and the gravity direction is 0 degree; when the angle theta is larger thanAccAnd when the difference value between the preset angle and the angle is less than or equal to 90 degrees, judging that the included angle between the preset shaft of the sensing module and the gravity direction is in the range from 0 to the preset angle.
Further, the processing method further includes a step of adjusting a display direction of the image data according to at least one of the rotation angle change data and the azimuth angle change data to obtain adjusted image data.
Further, the image acquisition device is one of a handheld visual otoscope, a handheld visual ear picking rod, a handheld visual mouth mirror, a handheld visual tooth cleaner, a handheld visual skin instrument or a handheld visual hair instrument; the sensing module comprises a triaxial gyroscope for acquiring the corner change data and a triaxial accelerometer for acquiring the azimuth change data.
Specifically, in the second embodiment, the processor 31, when executing the computer program, implements the following steps: acquiring the image data acquired by an image acquisition module in a preset time period; judging whether an included angle between a preset axis of the sensing module and the gravity direction in the preset time period is 0 degree or in a range from 0 to a preset angle, if so, acquiring corner change data of the image acquisition device in the preset time period sensed by the sensing module, and taking the corner change data as reference data for adjusting the display direction of the image data, otherwise, acquiring azimuth angle change data of the image acquisition device in the preset time period sensed by the sensing module, and taking the azimuth angle change data as reference data for adjusting the display direction of the image data.
Specifically, in the third embodiment, the processor 31, when executing the computer program, implements the following steps: acquiring image data acquired by an image acquisition module in a preset time period; acquiring azimuth angle change data or corner change data of the image acquisition module in the preset time period, which is sensed by the sensing module; and taking the azimuth angle change data or the rotation angle change data as reference data for adjusting the display direction of the image data.
Referring to fig. 7, fig. 7 is a schematic structural diagram of a computer-readable storage medium according to an embodiment of the invention. As shown in fig. 7, a storage medium storing computer readable instructions 41 is provided, and when executed by one or more processors, the computer readable instructions 41 cause the one or more processors to execute the image processing method according to any one of the first to fifth embodiments.
Specifically, in the first embodiment, the computer readable instructions 41, when executed by the one or more processors, cause the one or more processors to perform the steps of: acquiring image data acquired by an image acquisition module in a preset time period; acquiring corner change data and azimuth change data of the image acquisition module in the preset time period, which are sensed by the sensing module; and using one of the rotation angle change data and the azimuth angle change data as reference data for adjusting the display direction of the image data.
Further, the adjusting one of the rotation angle variation data and the azimuth angle variation dataThe step of referring to the display direction of the image data includes: judging whether the moving path of the image acquisition module in the preset time period is a first path or a second path, wherein the first path is a path from the horizontal direction to the vertical direction, the second path is a path from the vertical direction to the horizontal direction, and if the moving path of the image acquisition module in the preset time period is the first path, judging the thetaAcc-whether 90 degrees | is less than or equal to a preset angle θ 2, if yes, using the azimuth angle change data as reference data for adjusting the display direction of the image data, and if no, using the rotation angle change data as reference data for adjusting the display direction of the image data, wherein θ 2 is in a range of 10 degrees to 25 degrees; if the moving path of the image acquisition module in the preset time period is the second path, judging thetaAcc-whether 90 degrees | is less than or equal to a preset angle θ 1, if yes, using the rotation angle change data as reference data for adjusting the display direction of the image data, and if no, using the azimuth angle change data as reference data for adjusting the display direction of the image data, wherein θ 1 is in a range of 10 degrees to 25 degrees.
Further, the step of using one of the rotation angle change data and the azimuth angle change data as reference data for adjusting the display direction of the image data includes: and judging whether an included angle between a preset axis of the sensing module and the gravity direction in the preset time period is 0 degree or in a range from 0 to a preset angle according to the azimuth angle change data, if so, using the azimuth angle change data as reference data for adjusting the display direction of the image data, and if not, using the azimuth angle change data as reference data for adjusting the display direction of the image data.
Further, the preset angle is less than or equal to 25 degrees; the preset angle is 10 degrees.
Furthermore, the azimuth angle of the image acquisition device comprises an included angle theta between a preset axis of the sensing module and the horizontal directionAccWherein thetaAccIn the range of 0 to 90 degrees, said angle of orientationJudging whether the included angle between the preset axis of the sensing module and the gravity direction in the preset time period is 0 degree or in the range from 0 to the preset angle according to the change data, and if so, judging that the included angle theta is larger than the preset angleAccWhen the angle is 90 degrees, judging that the included angle between the preset axis of the sensing module and the gravity direction is 0 degree; when the angle theta is larger thanAccAnd when the difference value between the preset angle and the angle is less than or equal to 90 degrees, judging that the included angle between the preset shaft of the sensing module and the gravity direction is in the range from 0 to the preset angle.
Further, the processing method further includes a step of adjusting a display direction of the image data according to at least one of the rotation angle change data and the azimuth angle change data to obtain the adjusted image data.
Further, the image acquisition device is one of a handheld visual otoscope, a handheld visual ear picking rod, a handheld visual mouth mirror, a handheld visual tooth cleaner, a handheld visual skin instrument or a handheld visual hair instrument; the sensing module comprises a triaxial gyroscope for acquiring the corner change data and a triaxial accelerometer for acquiring the azimuth change data.
In particular, in the second embodiment, the computer readable instructions 41, when executed by the one or more processors, cause the one or more processors to perform the steps of: acquiring image data acquired by an image acquisition module in a preset time period; judging whether an included angle between a preset axis of the sensing module and the gravity direction in the preset time period is 0 degree or in a range from 0 to a preset angle, if so, acquiring corner change data of the image acquisition device in the preset time period sensed by the sensing module, and taking the corner change data as reference data for adjusting the display direction of the image data, otherwise, acquiring azimuth angle change data of the image acquisition device in the preset time period sensed by the sensing module, and taking the azimuth angle change data as reference data for adjusting the display direction of the image data.
In particular, in a third embodiment, the computer readable instructions 41, when executed by the one or more processors, cause the one or more processors to perform the steps of: acquiring image data acquired by an image acquisition module in a preset time period; acquiring azimuth angle change data or corner change data of the image acquisition module in the preset time period, which is sensed by the sensing module; and taking the azimuth angle change data or the rotation angle change data as reference data for adjusting the display direction of the image data.
The embodiments of the computer-readable storage medium of the present invention are substantially the same as the embodiments of the image data processing method and the electronic device, and are not repeated herein.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the computer program is executed. The storage medium may be a non-volatile storage medium such as a magnetic disk, an optical disk, a Read-Only Memory (ROM), or a Random Access Memory (RAM).
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (11)
1. A method of processing image data, the method comprising the steps of:
acquiring image data acquired by an image acquisition module of an image acquisition device in a preset time period;
acquiring corner change data and azimuth change data of the image acquisition module in the preset time period, which are sensed by a sensing module of the image acquisition device;
and using one of the rotation angle change data and the azimuth angle change data as reference data for adjusting the display direction of the image data.
2. The image data processing method according to claim 1, wherein the step of using one of the rotation angle change data and the azimuth angle change data as reference data for adjusting the display direction of the image data comprises:
judging whether the moving path of the image acquisition module is a first path or a second path in the preset time period, wherein the first path is a path from the horizontal direction to the vertical direction, and the second path is a path from the vertical direction to the horizontal direction,
if the moving path of the image acquisition module in the preset time period is the first path, judging thetaAcc-whether 90 degrees is less than or equal to a preset angle θ2If so, using the azimuth angle change data as reference data for adjusting the display direction of the image data, and if not, using the corner change data as reference data for adjusting the display direction of the image data, wherein theta2In the range of 10 to 25 degrees;
if the moving path of the image acquisition module in the preset time period is the second path, judging the thetaAcc-whether 90 degrees is less than or equal to a preset angle θ1If so, the rotation angle change data is used as reference data for adjusting the display direction of the image data, and if not, the azimuth angle change data is used as reference data for adjusting the display direction of the image data, wherein theta1In the range of 10 degrees to 25 degrees.
3. The image data processing method according to claim 1, wherein the step of using one of the rotation angle change data and the azimuth angle change data as reference data for adjusting the display direction of the image data comprises:
judging whether the included angle between the preset axis of the sensing module and the gravity direction in the preset time period is 0 degree or in the range from 0 to the preset angle according to the azimuth angle change data,
if yes, the turning angle change data is used as reference data for adjusting the display direction of the image data,
and if not, using the azimuth angle change data as reference data for adjusting the display direction of the image data.
4. The image data processing method according to claim 3, wherein the preset angle is 25 degrees or less; the preset angle is 10 degrees.
5. The image data processing method of claim 3, wherein the azimuth angle of the image capturing module comprises an angle θ between a preset axis of the sensing module and a horizontal directionAccWherein thetaAccIn the range of 0 to 90 degrees, in the step of judging whether the included angle between the preset axis of the sensing module and the gravity direction in the preset time period is 0 degree or in the range of 0 to a preset angle according to the azimuth angle change data, when the included angle theta is within the range of 0 to a preset angleAccWhen the angle is 90 degrees, judging that the included angle between the preset axis of the sensing module and the gravity direction is 0 degree; when the angle theta is larger thanAccAnd when the difference value of the angle is greater than or equal to 90 degrees and the preset angle, judging that the included angle between the preset shaft of the sensing module and the gravity direction is in the range of 0 to the preset angle.
6. The image data processing method according to claim 1, wherein the processing method further comprises a step of adjusting a display direction of the image data in accordance with at least one of the rotation angle change data and the azimuth angle change data to obtain adjusted image data; the processing method also comprises the step of controlling a display to display images according to the adjusted image data; the preset time period is one frame of image acquisition time period.
7. The image data processing method according to claim 1, wherein the image acquisition device is one of a hand-holdable visual otoscope, a hand-holdable visual ear-pick-up stick, a hand-holdable visual mouth mirror, a hand-holdable visual dental scaler, a hand-holdable visual skin instrument, or a hand-holdable visual hair instrument; the sensing module comprises a triaxial gyroscope for acquiring the corner change data and a triaxial accelerometer for acquiring the azimuth change data.
8. A method of processing image data, the method comprising the steps of:
acquiring image data acquired by an image acquisition module of an image acquisition device in a preset time period;
judging whether the included angle between the preset axis of the sensing module of the image acquisition device in the preset time period and the gravity direction is 0 degree or in the range from 0 to the preset angle,
if so, acquiring corner change data of the image acquisition module in the preset time period, which is sensed by the sensing module, and taking the corner change data as reference data for adjusting the display direction of the image data,
if not, acquiring azimuth angle change data of the image acquisition module in the preset time period, which is sensed by the sensing module, and taking the azimuth angle change data as reference data for adjusting the display direction of the image data.
9. A method of processing image data, the method comprising the steps of:
acquiring image data acquired by an image acquisition module of an image acquisition device in a preset time period;
acquiring azimuth angle change data or corner change data of the image acquisition module in the preset time period, which is sensed by a sensing module of the image acquisition device;
and taking the azimuth angle change data or the rotation angle change data as reference data for adjusting the display direction of the image data.
10. An electronic device, comprising a memory and a processor, wherein the memory has stored therein computer-readable instructions, which, when executed by the processor, cause the processor to perform the image data processing method of any one of claims 1 to 9.
11. A computer-readable storage medium, wherein the computer-readable instructions, when executed by one or more processors, cause the one or more processors to perform the image data processing method of any one of claims 1 to 9.
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| CN113781313A (en) | 2021-12-10 |
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