CN113874909A

CN113874909A - Image processing method and apparatus, image pickup device, portable apparatus, computer-readable storage medium

Info

Publication number: CN113874909A
Application number: CN202080038597.2A
Authority: CN
Inventors: 赵新涛; 张青涛; 庹伟
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-04-03
Filing date: 2020-04-03
Publication date: 2021-12-31
Also published as: WO2021196209A1

Abstract

An image processing method and apparatus, an image pickup device, a removable apparatus, a computer-readable storage medium, the method comprising: acquiring one or more target pixel value ranges corresponding to a specified index in an original image (S101); determining target positions of pixels having pixel values within respective target pixel value ranges in the original image (S102); performing local gray scale conversion processing on the original image to generate a first image (S103); and performing different color mapping processing on the pixel at the target position in the first image and the rest pixels respectively to generate a target image (S104). The method can improve the image display effect and ensure the accuracy of the index information reflected by the target image.

Description

Image processing method and apparatus, image pickup device, portable apparatus, computer-readable storage medium

Technical Field

The present application relates to the field of image processing, and in particular, to an image processing method and apparatus, an image capturing device, a mobile apparatus, and a computer-readable storage medium.

Background

With the development of technology, images are increasingly used in life to reflect various types of index information (for example, infrared thermal images are used to reflect temperature information of objects, etc.), wherein in order to ensure the correctness of the index information reflected by the images, it is required to ensure that pixel information in the images corresponds to the index information one by one, and the index information is intuitively fed back through information of pixels constituting the images, thereby simplifying the way for users to acquire the index information.

In some application scenarios, in the process of processing an image, in order to improve the picture display effect, the image is locally processed, but the locally processed image changes information of a part of pixels, so that correspondence between the pixel information and the index information is damaged, and the processed image cannot reflect accurate index information.

Disclosure of Invention

In view of the above, it is an object of the present invention to provide an image processing method and apparatus, an image pickup device, a portable apparatus, and a computer-readable storage medium.

First, a first aspect of the present application provides an image processing method, including:

acquiring one or more target pixel value ranges corresponding to the specified indexes in the original image;

determining a target position of a pixel having a pixel value within each of the target pixel value ranges in the original image;

performing local gray scale conversion processing on the original image to generate a first image;

and respectively carrying out different color mapping processing on the pixel at the target position and the rest pixels in the first image to generate a target image.

According to a second aspect of embodiments of the present application, there is provided an image processing apparatus comprising a memory, a processor, and a computer program stored on the memory and executable on the processor;

wherein the processor invokes the computer program, which when executed, is operable to:

According to a third aspect of the embodiments of the present application, there is provided an image pickup apparatus including:

a housing;

the lens assembly is arranged inside the shell;

the image sensor is arranged in the shell and used for sensing the light passing through the lens assembly and generating an electric signal; and the number of the first and second groups,

an image processing apparatus as described in the second aspect.

According to a fourth aspect of embodiments of the present application, there is provided a mobile device comprising:

a body;

the power system is arranged in the machine body and is used for driving the movable equipment to move; and an image pickup apparatus according to the third aspect.

According to a fifth aspect of embodiments herein, there is provided a computer-readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the method of any one of the first aspects.

The technical scheme provided by the embodiment of the application can have the following beneficial effects:

in this embodiment, first, one or more target pixel value ranges corresponding to a specified index in an original image are obtained, then target positions of pixels of pixel values in the original image within the target pixel value ranges are determined, and positioning of the pixels is achieved by using invariance of the pixel positions, so that even if the pixel values of some pixels in a generated first image are changed after local gray scale conversion processing is performed on the original image, the pixels indicated by the target pixel value ranges can be found from the first image by using the target positions, that is, correspondence between specified index information and pixel information can be ensured according to the pixel positions, it is ensured that the pixels indicated by the target pixel value ranges can be determined from the first image based on the target positions after local gray scale conversion processing, and different color mapping is performed on the pixels at the target positions and the remaining pixels in the first image respectively And performing shot processing to generate a target image, so that the accuracy of index information reflected by the target image can be ensured while the image display effect is improved.

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 application.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, 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 only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

FIG. 1 is a flow chart illustrating an image processing method for the present application according to an exemplary embodiment.

Fig. 2A is a schematic diagram illustrating a marking of a target location by a flag according to an exemplary embodiment of the present application.

Fig. 2B is a schematic diagram illustrating another example of marking a target position with a flag according to an exemplary embodiment of the present application.

FIG. 3 is a block diagram of an image processing device according to an exemplary embodiment of the present application.

Fig. 4 is a block diagram of an image pickup apparatus according to an exemplary embodiment of the present application.

FIG. 5 is a block diagram of a mobile device according to an exemplary embodiment of the present application.

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.

In some application scenes, a user can select an interested numerical range in a designated index according to the needs of the user, and then pixels corresponding to the interested numerical range in an image are displayed in a specific mode according to the corresponding relation between pixel information in the image and index information; however, in the process of processing the image, in order to improve the picture display effect, the image is locally processed, and the locally processed image changes information of a part of pixels, so that the corresponding relationship between the pixel information in the image and the index information is destroyed, so that pixels corresponding to the interested value range of the specified index in the processed image are changed, and the processed image cannot reflect accurate index information.

Here, the following description will be given taking the example of reflecting the temperature information of an object using an infrared thermal image: the user can select a temperature value range of interest (such as 37 ℃ -40 ℃) according to actual needs, and can select a target pixel corresponding to the temperature value range of interest in an image to be displayed in a specific manner (such as color display) according to the relationship between the temperature information and the pixel information (such as the corresponding relationship between the temperature value and the pixel value), for example, the target pixel comprises a pixel a, a pixel B, a pixel C, a pixel D and the like; however, in the infrared thermal image processing stage, in order to improve the image display effect, the infrared thermal image is usually processed locally, and the information of a part of pixels in the locally processed image is changed, for example, the pixel values of the pixel a and the pixel C are changed after processing, so that the pixel a and the pixel C with the changed pixel values are no longer the target pixels corresponding to the temperature value range of interest, and obviously, the temperature information reflected by the processed infrared thermal image is inaccurate.

In view of the problems of the related art, an embodiment of the present application provides an image processing method, before performing local grayscale transformation on an original image, first obtaining one or more target pixel value ranges corresponding to a specified index in the original image, where a pixel in the original image, whose pixel value is within the target pixel value range, is a target pixel corresponding to the specified index, then determining a target position of a pixel in the original image, whose pixel value is within each target pixel value range, and then after performing local grayscale transformation on the original image to obtain a first image, locating a pixel indicated by the target pixel value range, that is, a target pixel corresponding to the specified index, from the first image according to the determined target position, in this embodiment, locating the pixel is implemented by using invariance of pixel position, therefore, even if the pixel value of the pixel is changed, the pixel indicated by the target pixel value range can be found from the first image by using the target position, namely, the correspondence between the designated index information and the pixel information can be ensured according to the position of the pixel, the target pixel corresponding to the designated index can be determined from the first image based on the target position after the local gray scale conversion processing, and the accuracy of the index information reflected by the target image can be ensured while the image display effect is improved.

Accordingly, referring to fig. 1, a flowchart of an image processing method according to an exemplary embodiment is shown, where the method is applicable to an image processing apparatus, and the method includes:

in step S101, one or more target pixel value ranges corresponding to the specified index in the original image are acquired.

In step S102, a target position of a pixel having a pixel value within each of the target pixel value ranges is determined in the original image.

In step S103, a local gradation conversion process is performed on the original image to generate a first image.

In step S104, different color mapping processes are performed on the pixel at the target position in the first image and the remaining pixels, respectively, to generate a target image.

As for the target pixel value range mentioned first in step S101, it may be determined based on a numerical range of the specified index set by a user; a user can set a numerical range of the specified index according to actual needs, so that the image processing equipment determines the target pixel value range according to the numerical range of the specified index; or setting a plurality of numerical ranges of the designated index based on actual requirements, and then determining a plurality of target pixel value ranges respectively according to the plurality of numerical ranges by the image processing device.

Wherein the specified index includes, but is not limited to, temperature, air pressure, altitude, resource distribution (such as water resource, plant resource, animal resource, mineral resource or electric power resource, etc.), climate index, air temperature distribution, dryness index or regional division, etc.

In some exemplary application scenarios, for example, in industries such as search and rescue, power inspection and the like, temperature information plays an important role, and may be captured by an infrared thermal imager, pixels in an obtained infrared thermal image may be used to reflect a temperature condition, different pixel values indicate different temperature values, a user may select one or more interested temperature value ranges based on actual requirements, and then the image processing device may determine one or more target pixel value ranges corresponding to one or more temperature value ranges in the original image, so that the pixels indicated by the target pixel value ranges are displayed in a specific manner, and the user may visually know desired information, thereby optimizing user experience.

As an example, the air pressure condition may also be reflected by pixels in the image, and different pixel values indicate different air pressure values, wherein the air pressure value range of interest set by the user is converted into a target pixel value range, and in the finally output image, the pixels indicated by the target pixel value range are displayed in a specific manner, so that the user can intuitively know the desired information; as an example, the resource distribution situation may also be reflected by pixels in the image, different pixel values indicate different resource contents, the resource content range of interest set by the user is converted into a target pixel value range, and in the finally output image, the pixels indicated by the target pixel value range are displayed in a specific manner, so that the user may intuitively know the desired information.

In an exemplary embodiment, the image processing apparatus may be provided with an input device; or the input device may also be independent of the image processing apparatus, the input device may be a mobile phone, a remote controller, a computer, a personal tablet, or an intelligent wearable device, and the input device is in communication connection with the image processing apparatus; the user may input the numerical range of the specified index through the input device.

As an example, the input device may provide a touch display screen, a virtual key, a physical key, a light pen, or a mouse, for example, an interactive interface may be displayed on the touch display screen, and the numerical range of the specified index may be obtained through a user operation on the display screen.

As an example, the input device may further provide a voice collecting device such as a microphone, the microphone collects a voice signal of the user (including the utterance of the numerical range of the specified index), and the image processing apparatus recognizes the voice signal to obtain the numerical range of the specified index; according to the embodiment, the related information is acquired in a voice mode, so that the operation steps of the user are further reduced, and the use experience of the user is promoted.

In a possible implementation manner, the image processing apparatus may pre-store a correspondence relationship indicating a numerical correspondence relationship between the specified index and the pixel, for example, if the specified index is temperature, the pre-stored correspondence relationship indicates a correspondence relationship between different temperature values and different pixel values, where the pixel values include but are not limited to grayscale values or RGB values, and the like. The image processing apparatus may convert the numerical range of one or more specified indexes set by the user into one or more target pixel value ranges corresponding to the original image according to a pre-stored correspondence. In this embodiment, based on the pre-stored correspondence, a target pixel value range corresponding to the numerical range of the specified index can be accurately determined, which is beneficial to ensuring the accuracy of information reflected by the image.

It can be understood that, in the embodiment of the present application, no limitation is imposed on the representation form of the corresponding relationship, and specific setting may be performed according to an actual application scenario. For example, the correspondence may be expressed by a functional equation relationship, or may be expressed by a numerical correspondence table between the designated index and the pixel, or may be expressed by a change curve representing a numerical correspondence between the designated index and the pixel.

After acquiring the one or more target pixel value ranges, in step S102, the image processing apparatus may determine and mark target positions of pixels in the original image, the pixel values of which are within the respective target pixel value ranges, so as to subsequently achieve positioning of the pixels indicated by the target pixel value ranges by using invariance of pixel positions.

In a possible implementation manner, each pixel in the original image corresponds to a flag bit, and the target position may be marked by the flag bit. In this embodiment, the target position is recorded by the mark bit, so that the subsequent processing step is performed based on the marked target position.

In one example, the flag values of the pixels at the target position may be set to the same value, and the flag values of the remaining pixels not at the target position may be set to another value. For example, referring to fig. 2A, which is an image with a size of 4 × 4, each grid represents a pixel, as shown in fig. 2A, the flag bit value of the pixel at the target position may be set to 1, and the flag bit values of the remaining pixels not at the target position may be set to 0.

In another example, the values of the flag bits of the pixels at different target positions corresponding to different target pixel value ranges may also be set to different values, so as to perform different image processing manners subsequently for different target pixel value ranges. For example, please refer to fig. 2B, which is an image with a size of 4 × 4, each grid represents a pixel, the original image corresponds to a first target pixel value range and a second target pixel value range, a pixel with a pixel value within the first target pixel value range is located at a first target position, and a pixel with a pixel value within the second target pixel value range is located at a second target position, as shown in fig. 2B, the flag bit value of the pixel at the first target position may be set to 2, the flag bit value of the pixel at the second target position may be set to 3, and the flag bit values of the remaining pixels that are not located at the first target position nor located at the second target position may be set to 0.

In another possible implementation manner, the target position may be marked by a flag bitmap having the same size as the original image, and each pixel in the flag bitmap corresponds to a flag bit. Since the size of the flag bitmap is the same as that of the original image, pixels in the flag bitmap and pixels in the original image may correspond to each other one by one, and the target position may be marked by a flag bit of a pixel at a corresponding position in the flag bitmap. In this embodiment, the target position is recorded by the mark bit, so that the subsequent processing step is performed based on the marked target position.

In one example, the values of the flags of the pixels in the flag bitmap that are at the target position may be set to the same value, and the values of the flags of the remaining pixels in the flag bitmap that are not at the target position may be set to another value. For example, the flag bit value of the pixel at the target position in the flag bitmap may be set to 1, and the flag bit values of the remaining pixels not at the target position may be set to 0.

In another example, the flag bit values of the pixels at different target positions in the flag bitmap may also be set to different values for different target positions corresponding to different target pixel value ranges. For example, the original image corresponds to a first target pixel value range and a second target pixel value range, a pixel having a pixel value within the first target pixel value range is located at a first target position, a pixel having a pixel value within the second target pixel value range is located at a second target position, then the flag bit value of the pixel also located at the first target position in the flag bitmap is set to 2, the flag bit value of the pixel also located at the second target position in the flag bitmap is set to 3, and the flag bit values of the remaining pixels that are not located at the first target position nor located at the second target position are set to 0.

The value of the flag bit includes, but is not limited to, a number, a letter, a symbol, or a character, and may be specifically selected according to an actual application scenario.

In an embodiment, the original image may be a raw image, and in order to further improve the display effect of the image, before performing local gray-scale transformation on the original image, the original image may be subjected to global gray-scale transformation to generate a second image, and then the second image may be subjected to local gray-scale transformation to generate the first image. In the embodiment, the display effect of the image is optimized by performing the global gray level conversion processing and the local gray level conversion processing on the raw image, so that the impression experience of a user is improved.

In another embodiment, in order to further improve the display effect of the image, the image subjected to the global gray-scale transformation may be directly used, that is, the original image may be the image subjected to the global gray-scale transformation, which is beneficial to improving the viewing experience of the user.

It is understood that the type of the original image includes, but is not limited to, an infrared image, an ultrasonic image, an electromagnetic wave image, or a laser image, and the like, and is specifically selected according to the actual application scenario.

Wherein, the local gray-scale transformation processing refers to processing a local region of an image, which includes but is not limited to: local contrast stretching treatment or local reverse color treatment; the global gray-scale transformation processing refers to processing the whole image as a whole, and includes but is not limited to: global contrast stretching processing or global inversion processing, etc.

Further, after the image processing device acquires the first image, different color mapping processing is performed on the pixels and the rest of the pixels in the first image at the target position respectively to generate a target image, so that a user can only pay attention to the interested area, and the optimization of the viewing experience of the user is facilitated. In this embodiment, the pixels are positioned by using invariance of pixel positions, and even if the pixel values of some pixels are changed after local gray scale conversion processing, the target position can be used to determine the pixels indicated by the target pixel value range from the first image, that is, the correspondence between the designated index information and the pixel information can be ensured according to the positions of the pixels, and the accuracy of the index information reflected by the target image can be ensured while the image display effect is ensured.

In a possible implementation manner, the image processing device may perform color mapping processing on the pixel at the target position in the first image, and perform gray scale mapping processing on the remaining pixels not at the target position in the first image to generate the target image. In this embodiment, the target position accurately locates the pixel indicated by the target pixel value range from the first image, so as to ensure the accuracy of the index information reflected by the target image, and then the pixel at the target position in the target image is displayed in a color manner, so that the part needing the attention of the user is highlighted in color, which is beneficial to optimizing the viewing experience of the user.

Further, for a plurality of different target pixel value ranges, the image processing apparatus may perform different color mapping processing on pixels in the first image at different target positions indicated by different target pixel value ranges, respectively, to obtain target images displayed in a plurality of different colors. In this embodiment, different portions (pixels at different target positions indicated by different target pixel value ranges) focused by the user can be displayed in different colors, which is further convenient for the user to view.

In an example, the original image corresponds to a first target pixel value range and a second target pixel value range, a pixel having a pixel value within the first target pixel value range is located at a first target position, and a pixel having a pixel value within the second target pixel value range is located at a second target position. In the embodiment, different parts concerned by the user can be displayed in different color modes, so that the user can watch the parts conveniently.

It can be understood that, the embodiment of the present application does not limit what kind of color mapping process is performed on the pixels indicated by different target pixel value ranges, and the specific setting may be performed according to the actual application scenario. In one example, the user may select different color mapping processes to be performed by the pixels indicated by different target pixel value ranges according to actual needs.

In another possible implementation manner, the image processing device performs gray mapping processing and color mapping processing on the first image respectively to obtain a gray image and a color image; wherein, in the process of color mapping, the size of the image is not changed, that is, the size of the gray-scale image and the color image is the same as the size of the first image, then the pixels in the gray-scale image can be in one-to-one correspondence with the pixels in the first image, and the color image can also be in one-to-one correspondence with the pixels in the first image; the image processing device may then locate a pixel indicated by the target pixel value range from a first image based on the target position, change the pixel value of the pixel in the first image at the target position to the pixel value of the pixel at the corresponding position in the color map, and change the pixel values of the remaining pixels in the first image that are not at the target position to the pixel values of the pixels at the corresponding position in the grayscale map, resulting in the target image. In this embodiment, the target position is used to accurately position the pixel indicated by the target pixel value range from the first image, so as to ensure the accuracy of the index information reflected by the target image, and then the pixel in the target position in the first image is displayed in a color manner, so that the part needing the attention of the user is highlighted in color, which is beneficial to optimizing the viewing experience of the user.

Further, for a plurality of different target pixel value ranges, the image processing device may further perform different color mapping processing on the first image, to obtain a plurality of different color images, where the sizes of the plurality of different color images are the same as the size of the first image, and pixels in each color image correspond to pixels in the first image one to one, and then the image processing device may determine color images corresponding to pixels in different target positions indicated by different target pixel value ranges in the first image; and changing the pixel values of the pixels on the different target positions into the pixel values of the pixels at the corresponding positions in the corresponding color map. In the embodiment, different parts concerned by the user can be displayed in different color modes, so that the user can watch the parts conveniently.

As an example, the original image corresponds to a first target pixel value range and a second target pixel value range, a pixel having a pixel value within the first target pixel value range is located at a first target position, and a pixel having a pixel value within the second target pixel value range is located at a second target position, in this embodiment, the first image may be respectively subjected to 2 different color mapping processes to obtain a first color map and a second color map, assuming that the pixel located at the first target position corresponds to the first color map and the pixel located at the second target position corresponds to the second color map, further, the pixel value of the pixel located at the first target position in the first image may be changed to the pixel value of the pixel also located at the first target position in the first color map, and the pixel value of the pixel located at the second target position in the first image may be changed to the pixel value of the color pixel also located at the second target position in the second color map, resulting in a target image displayed in two different colors. In the embodiment, different parts concerned by the user can be displayed in different color modes, so that the user can watch the parts conveniently.

It can be understood that, in the embodiment of the present application, no limitation is imposed on the color map corresponding to the pixel indicated by the different target pixel value ranges, and the color map may be specifically set according to an actual application scenario. In one example, the user may select different color maps corresponding to pixels indicated by different target pixel value ranges according to actual needs.

Accordingly, referring to fig. 3, a block diagram of an image processing device according to an exemplary embodiment of the present application is shown, where the image processing device may be a mobile phone, a computer, a Personal tablet, a smart wearable device, a PDA (Personal Digital Assistant), or other device for performing image processing, and the image processing device includes: including a memory 32, a processor 31, and a computer program stored on the memory 32 and executable on the processor 31.

Wherein the processor 31 invokes the computer program, when the computer program is executed, for performing the following operations:

The Processor 31 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 32 stores a computer program of executable instructions of the image processing method, and the memory 32 may include at least one type of storage medium including a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, an optical disk, and the like. Also, the image processing apparatus 30 may cooperate with a network storage device that performs a storage function of the memory 32 through a network connection. The storage 32 may be an internal storage unit of the image processing apparatus 30, such as a hard disk or a memory of the image processing apparatus 30. The memory 32 may also be an external storage device of the image processing apparatus 30, such as a plug-in hard disk provided on the image processing apparatus 30, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 32 may also include both an internal storage unit of the image processing apparatus 30 and an external storage device. The memory 32 is used for storing computer programs and other programs and data required by the device. The memory 32 may also be used to temporarily store data that has been output or is to be output.

The various embodiments described herein may be implemented using a computer-readable medium such as computer software, hardware, or any combination thereof. For a hardware implementation, the embodiments described herein may be implemented using at least one of an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a processor, a controller, a microcontroller, a microprocessor, and an electronic unit designed to perform the functions described herein. For a software implementation, the implementation such as a process or a function may be implemented with a separate software module that allows performing at least one function or operation. The software codes may be implemented by software applications (or programs) written in any suitable programming language, which may be stored in memory and executed by the controller.

In one embodiment, each pixel in the original image corresponds to a flag bit, and the target position is marked by the flag bit.

In one embodiment, the target position is marked by a mark bitmap with the same size as the original image, and each pixel in the mark bitmap corresponds to a mark bit.

In one embodiment, the target pixel value range is determined according to a numerical range of the specified index set by a user.

In an embodiment, when one or more target pixel value ranges corresponding to an original image are obtained, the processor is specifically configured to: converting the numerical range of one or more designated indexes set by a user into one or more target pixel value ranges corresponding to the original image according to a pre-stored corresponding relation; the correspondence indicates a numerical correspondence between the specified index and the pixel.

In an embodiment, the specified indicator comprises at least one of: temperature, barometric pressure, or altitude.

In one embodiment, the processor is further configured to: carrying out global gray level transformation processing on the original image to generate a second image; and performing local gray scale conversion processing on the second image to generate the first image.

In an embodiment, the original image is a raw image.

In an embodiment, the original image is an image subjected to global gray-scale transformation.

In an embodiment, when generating the target image, the processor is specifically configured to: and carrying out color mapping processing on the pixels at the target position in the first image, and carrying out gray mapping processing on the rest pixels which are not at the target position in the first image to generate the target image.

In an embodiment, the processor is further configured to, for a plurality of different target pixel value ranges: and respectively carrying out different color mapping processing on pixels which are positioned at different target positions indicated by different target pixel value ranges in the first image.

In an embodiment, when generating the target image, the processor is specifically configured to: respectively carrying out gray mapping processing and color mapping processing on the first image to obtain a gray image and a color image; and changing the pixel value of the pixel at the target position in the first image into the pixel value of the pixel at the corresponding position in the color image, and changing the pixel values of the other pixels which are not at the target position in the first image into the pixel values of the pixels at the corresponding positions in the gray image to obtain the target image.

In an embodiment, the processor is further configured to, for a plurality of different target pixel value ranges: respectively carrying out different color mapping processing on the first image to obtain a plurality of different color images; determining color maps corresponding to pixels on different target positions indicated by different target pixel value ranges in the first image respectively; and changing the pixel values of the pixels on the different target positions into the pixel values of the pixels at the corresponding positions in the corresponding color map.

In one embodiment, the local gray scale transform process includes the operations of: stretching treatment of local contrast; the overall global gray scale transformation process includes the following operations: and (5) global contrast stretching processing.

In one embodiment, the original image comprises at least one of the following types of images: infrared images, ultrasonic images, or laser images.

Correspondingly, please refer to fig. 4, which is a schematic structural diagram of an image capturing apparatus 40 according to an exemplary embodiment of the present application, where the image capturing apparatus 40 includes:

a housing 41.

A lens assembly 42 is disposed inside the housing.

An image sensor 43 disposed inside the housing for sensing light passing through the lens assembly and generating an electrical signal; and the image processing apparatus 30 of any of the above.

Those skilled in the art will appreciate that fig. 4 is merely an example of the camera 40, and does not constitute a limitation of the camera 40, and may include more or fewer components than illustrated, or some components in combination, or different components.

The camera 40 includes, but is not limited to, a thermal infrared imager, an ultrasonic imaging device, a laser imaging device, or a video camera.

Accordingly, referring to fig. 5, a block diagram of a removable device 50 according to an exemplary embodiment of the present application is shown, where the removable device 50 includes:

a body 51;

the power system 52 is arranged inside the machine body 51 and is used for driving the movable equipment to move; and the imaging device 40 described in any one of the above.

Those skilled in the art will appreciate that FIG. 5 is merely an example of a mobile device 50 and is not intended to be limiting of the mobile device 50, and may include more or less components than those shown, or some components in combination, or different components.

In an embodiment, the movable device comprises an unmanned vehicle, an unmanned aerial vehicle, an unmanned ship, a mobile robot, or the like.

In an embodiment, the mobile device further includes a communication system, disposed inside the body 41, for enabling the mobile device to communicate with an external device; such as the communication system, for transmitting the target image to the external device for displaying the target image on the external device.

In one embodiment, the communication system is configured to facilitate wired or wireless communication between the removable device 50 and other devices. The mobile device 50 may access a wireless network based on a communication standard, such as WiFi, 3G or 4G, or a combination thereof. In an exemplary embodiment, the communication system receives a broadcast signal or broadcast associated information from an external broadcast management system via a broadcast channel. As an example, the electronic device and the removable device may establish a connection through Near Field Communication (NFC), which may be implemented based on, for example, Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, a non-transitory computer-readable storage medium comprising instructions, such as a memory comprising instructions, executable by a processor of an interaction device to perform the above method is also provided. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

Wherein the instructions in the storage medium, when executed by the processor, enable the electronic device to perform the aforementioned image processing method.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The method and apparatus provided by the embodiments of the present invention are described in detail above, and the principle and the embodiments of the present invention are explained in detail herein by using specific examples, and the description of the embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims

An image processing method, comprising:

acquiring one or more target pixel value ranges corresponding to the specified indexes in the original image;

determining a target position of a pixel having a pixel value within each of the target pixel value ranges in the original image;

performing local gray scale conversion processing on the original image to generate a first image;

and respectively carrying out different color mapping processing on the pixel at the target position and the rest pixels in the first image to generate a target image.
The method of claim 1, wherein each pixel in the original image corresponds to a flag bit, and the target location is marked by the flag bit.
The method of claim 1, wherein the target location is marked by a flag bitmap having the same size as the original image, and wherein each pixel in the flag bitmap corresponds to a flag bit.
The method according to claim 1, wherein the target pixel value range is determined according to a numerical range of the specified index set by a user.
The method of claim 1, wherein obtaining one or more target pixel value ranges in the original image corresponding to a specified metric comprises:

converting the numerical range of one or more designated indexes set by a user into one or more target pixel value ranges corresponding to the original image according to a pre-stored corresponding relation; the correspondence indicates a numerical correspondence between the specified index and the pixel.
The method of claim 1, wherein the specified metrics comprise at least one of: temperature, barometric pressure, or altitude.
The method according to claim 1, further comprising, before said local gray-scale transforming said original image:

carrying out global gray level transformation processing on the original image to generate a second image;

the performing local gray scale conversion processing on the original image to generate a first image includes:

and performing local gray scale conversion processing on the second image to generate the first image.
The method of claim 7, wherein the original image is a raw image.
The method according to claim 1, wherein the original image is an image subjected to global gray-scale transformation processing.
The method according to claim 1, wherein the performing different color mapping processes on the pixel at the target position in the first image and the remaining pixels to generate a target image comprises:

and carrying out color mapping processing on the pixels at the target position in the first image, and carrying out gray mapping processing on the rest pixels which are not at the target position in the first image to generate the target image.
The method of claim 10, wherein the color mapping the pixels at the target location in the first image for a plurality of different target pixel value ranges, further comprising:

and respectively carrying out different color mapping processing on pixels which are positioned at different target positions indicated by different target pixel value ranges in the first image.
The method according to claim 1, wherein the performing different color mapping processes on the pixel at the target position in the first image and the remaining pixels to generate a target image comprises:

respectively carrying out gray mapping processing and color mapping processing on the first image to obtain a gray image and a color image;

and changing the pixel value of the pixel at the target position in the first image into the pixel value of the pixel at the corresponding position in the color image, and changing the pixel values of the rest pixels which are not at the target position in the first image into the pixel values of the pixels at the corresponding position in the gray image to obtain the target image.
The method of claim 12, wherein said color mapping said first image to obtain a color map for a plurality of different target pixel value ranges, further comprising:

respectively carrying out different color mapping processing on the first image to obtain a plurality of different color images;

said modifying the pixel values of the pixels in the first image at the target position to the pixel values of the pixels at the corresponding position in the color map comprises:

determining color maps corresponding to pixels on different target positions indicated by different target pixel value ranges in the first image respectively;

and changing the pixel values of the pixels on the different target positions into the pixel values of the pixels at the corresponding positions in the corresponding color map.
The method according to any one of claims 7 to 9, wherein the local gray scale transformation process comprises the following operations: stretching treatment of local contrast;

the global gray scale transform process includes the operations of: and (5) global contrast stretching processing.
The method of claim 1, wherein the original image comprises at least one of the following types of images: infrared images, ultrasonic images, or laser images.
An image processing apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor;

wherein the processor invokes the computer program, which when executed, is operable to:

acquiring one or more target pixel value ranges corresponding to the specified indexes in the original image;

determining a target position of a pixel having a pixel value within each of the target pixel value ranges in the original image;

performing local gray scale conversion processing on the original image to generate a first image;

and respectively carrying out different color mapping processing on the pixel at the target position and the rest pixels in the first image to generate a target image.
The apparatus of claim 16, wherein each pixel in the original image corresponds to a flag bit, and wherein the target location is marked by the flag bit.
The apparatus of claim 16, wherein the target location is marked by a flag bitmap having the same size as the original image, and wherein each pixel in the flag bitmap corresponds to a flag bit.
The apparatus according to claim 16, wherein the target pixel value range is determined in accordance with a numerical range of the specified index set by a user.
The device of claim 16, wherein, in obtaining one or more target pixel value ranges corresponding to an original image, the processor is specifically configured to: converting the numerical range of one or more designated indexes set by a user into one or more target pixel value ranges corresponding to the original image according to a pre-stored corresponding relation; the correspondence indicates a numerical correspondence between the specified index and the pixel.
The apparatus of claim 19 or 20, wherein the specified metric comprises at least one of: temperature, barometric pressure, or altitude.
The apparatus of claim 16,

the processor is further configured to: carrying out global gray level transformation processing on the original image to generate a second image; and performing local gray scale conversion processing on the second image to generate the first image.
The apparatus of claim 22, wherein the original image is a raw image.
The apparatus of claim 16, wherein the original image is a global gray-scale transformed image.
The apparatus of claim 16,

in generating the target image, the processor is specifically configured to: and carrying out color mapping processing on the pixels at the target position in the first image, and carrying out gray mapping processing on the rest pixels which are not at the target position in the first image to generate the target image.
The device of claim 25, wherein the processor is further configured to, for a plurality of different target pixel value ranges: and respectively carrying out different color mapping processing on pixels which are positioned at different target positions indicated by different target pixel value ranges in the first image.
The apparatus of claim 16,

in generating the target image, the processor is specifically configured to: respectively carrying out gray mapping processing and color mapping processing on the first image to obtain a gray image and a color image; and changing the pixel value of the pixel at the target position in the first image into the pixel value of the pixel at the corresponding position in the color image, and changing the pixel values of the rest pixels which are not at the target position in the first image into the pixel values of the pixels at the corresponding position in the gray image to obtain the target image.
The device of claim 27, wherein the processor is further configured to, for a plurality of different target pixel value ranges: respectively carrying out different color mapping processing on the first image to obtain a plurality of different color images; determining color maps corresponding to pixels on different target positions indicated by different target pixel value ranges in the first image respectively; and changing the pixel values of the pixels on the different target positions into the pixel values of the pixels at the corresponding positions in the corresponding color map.
The apparatus according to any of claims 22 to 24, wherein the local gray scale transformation process comprises the operations of: stretching treatment of local contrast;

the overall global gray scale transformation process includes the following operations: and (5) global contrast stretching processing.
The apparatus of claim 16, wherein the original image comprises at least one of the following types of images: infrared images, ultrasonic images, or laser images.
An image pickup apparatus, comprising:

a housing;

the lens assembly is arranged inside the shell;

the image sensor is arranged in the shell and used for sensing the light passing through the lens assembly and generating an electric signal; and the number of the first and second groups,

the image processing apparatus according to any one of claims 16 to 30.
A mobile device, comprising:

a body;

the power system is arranged in the machine body and is used for driving the movable equipment to move; and the number of the first and second groups,

an image capture device as in claim 31.
A computer-readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the method of any one of claims 1 to 15.