CN114679525A - Image processing device and image acquisition system for automatic driving system - Google Patents
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/665—Control of cameras or camera modules involving internal camera communication with the image sensor, e.g. synchronising or multiplexing SSIS control signals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/268—Signal distribution or switching
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/76—Television signal recording
Abstract
The utility model relates to an image processing device and image acquisition system for automatic driving system, image processing device includes image preprocessing unit, compression processing unit and buffer memory unit, and image preprocessing unit includes image receiving module, image storage module and interrupt signal generation module; the compression processing unit comprises an interrupt signal receiving module, an image compression module and an image data transmission module; the image storage module is used for storing the target image information to the cache unit when the image receiving module receives the target image information; the interrupt signal generating module is used for sending an interrupt signal to the interrupt signal receiving module when the image storage module finishes storage; and the image compression module is used for reading the target image information from the buffer unit when the interrupt signal receiving module receives the interrupt signal, performing compression processing to obtain compressed image information, and transmitting the compressed image information to the image display device through the image data transmission module. By the aid of the method and the device, real-time performance of the image video can be improved.
Description
Technical Field
The present disclosure relates to the field of automatic driving technologies, and in particular, to an image processing device and an image capturing system for an automatic driving system.
Background
With the rapid development of the automatic driving technology, there is an increasing demand for high-definition, high-frame-rate, low-latency, and high-dynamic-range images. Currently, video data streams are generally transmitted based on RTSP (Real Time Streaming Protocol), and the transmission delay of high-definition video streams using the above method is relatively large, for example, the delay of 1080P video stream transmission is about 200ms, and the transmission delay of 8M data is higher. Therefore, it is necessary to improve the real-time performance of the image video and reduce the transmission delay.
Disclosure of Invention
In view of the above technical problems, the present disclosure provides an image processing apparatus and an image capturing system for an automatic driving system. The technical scheme of the disclosure is as follows:
according to an aspect of the embodiments of the present disclosure, an image processing apparatus for an automatic driving system is provided, where the image processing apparatus includes an image preprocessing unit, a compression processing unit, and a cache unit, the image preprocessing unit is in communication connection with the compression processing unit, the compression processing unit is connected with the cache unit, and the image preprocessing unit includes an image receiving module, an image storage module, and an interrupt signal generation module, which are sequentially connected and are constructed based on a field programmable gate array; the compression processing unit comprises an interrupt signal receiving module, an image compression module and an image data transmission module which are sequentially connected;
the image receiving module is used for receiving target image information; the image storage module is used for storing the target image information to the cache unit under the condition that the image receiving module receives the target image information; the interrupt signal generating module is used for sending an interrupt signal to the interrupt signal receiving module under the condition that the image storage module stores the target image information to the cache unit;
the image compression module is used for reading the target image information from the cache unit and compressing the target image information to obtain compressed image information under the condition that the interrupt signal receiving module receives the interrupt signal; the image data transmission module is used for transmitting the compressed image information to an image display device.
Optionally, the image preprocessing unit further includes a synchronous exposure control module, and the synchronous exposure control module is configured to send an image acquisition signal to trigger the image acquisition device to perform image acquisition.
Optionally, the synchronous exposure control module includes a positioning signal receiving submodule and a collected signal generating submodule, the positioning signal receiving submodule is connected to the collected signal generating submodule, the collected signal generating submodule is connected to an image sensor in the image collecting device, the positioning signal receiving submodule is configured to receive a positioning signal sent by a positioning system, the collected signal generating submodule is configured to generate an image collecting signal according to the positioning signal and send the image collecting signal to the image sensor, so that the image sensor performs photoelectric conversion to obtain target image information when receiving the image collecting signal, and a frequency of the image collecting signal is greater than a preset frequency.
Optionally, the image storage module includes an image format conversion sub-module and an image storage sub-module, the buffer unit includes a plurality of buffer areas, the image format conversion sub-module is connected to the image receiving module, the image storage sub-module is connected to the interrupt signal generation module, and the image format conversion sub-module is configured to perform format conversion processing on the target image information under the condition that the image receiving module receives the target image information, so as to obtain target image information in a target format; the image storage submodule is used for determining a current target storage buffer area in the plurality of buffer areas according to a preset storage sequence and storing target image information in the target format to the current target storage buffer area; the image compression module is used for determining a current target reading buffer area in the plurality of buffer areas according to a preset reading sequence under the condition that the interrupt signal receiving module receives the interrupt signal, reading the target image information from the target reading buffer area, and compressing the target image information to obtain compressed image information.
Optionally, the image preprocessing unit is connected to the compression processing unit through a bus.
Optionally, the image preprocessing unit further includes an image register configuration module, where the image register configuration module is configured to be connected to the image acquisition device, and the image register configuration module is configured to write register information into an image sensor in the image acquisition device to configure the register information.
According to another aspect of the embodiments of the present disclosure, an image capturing system for an automatic driving system is provided, where the image capturing system includes the above-mentioned image processing device and an image capturing device, the image capturing device includes an image sensor and an optical lens, the optical lens is used to capture an optical signal of a target area, and the image sensor is used to perform photoelectric conversion on the optical signal captured by the optical lens to obtain target image information.
Optionally, the frame synchronization trigger signal end of the image sensor is connected to the synchronous exposure control module in the image processing apparatus.
Optionally, the image acquisition device further includes an image signal processor, the image signal processor is configured to perform preset task processing on the target image information and send the processed target image information to the image processing device, the image sensor is connected to the image signal processor, and the image signal processor is connected to the image processing device.
Optionally, the image sensor and the image signal processor are serially transmitted through a differential signal, and the image signal processor and the image processing device are serially transmitted through a differential signal.
The technical scheme provided by the embodiment of the disclosure at least brings the following beneficial effects:
the image receiving module, the image storage module and the interrupt signal generation module which are constructed based on the field programmable gate array are used for parallel operation, the operation speed of each module can be improved, secondly, the image preprocessing process and the image compression process can be separated and processed through the cache unit, the waiting for the other processing process is avoided, the waiting time is reduced, in addition, the data transmission quantity can be reduced through image compression transmission, the transmission bandwidth requirement is reduced, the image transmission speed is improved, the transmission delay is reduced, and the real-time performance of an image video 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 disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure and are not to be construed as limiting the disclosure.
FIG. 1 is a block diagram illustrating an image processing apparatus for an autonomous driving system according to an exemplary embodiment;
FIG. 2 is a schematic diagram illustrating an image acquisition system for an autonomous driving system in accordance with an exemplary embodiment;
fig. 3 is a block diagram illustrating an image acquisition system for an automatic driving system according to an exemplary embodiment.
Detailed Description
In order to make the technical solutions of the present disclosure better understood by those of ordinary skill in the art, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings.
It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the disclosure described herein are capable of operation in sequences other than those illustrated or otherwise described herein. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
Referring to fig. 1-2, fig. 1 is a block diagram of an image processing apparatus for an automatic driving system according to an exemplary embodiment, and fig. 2 is a schematic diagram of an image acquisition system for an automatic driving system according to an exemplary embodiment, as shown in fig. 1, the image processing apparatus includes an image preprocessing unit, a compression processing unit and a buffer unit, the image preprocessing unit is in communication connection with the compression processing unit, the compression processing unit is connected with the buffer unit, and the image preprocessing unit may include an image receiving module, an image storage module and an interrupt signal generating module, which are sequentially connected and constructed based on a field programmable gate array; the compression processing unit may include an interrupt signal receiving module, an image compression module, and an image data transmission module, which are connected in sequence.
In a specific embodiment, the image preprocessing unit and the compression processing unit can be connected through a bus, so that the data transmission speed can be further improved, and the transmission delay can be reduced; specifically, an AXI (Advanced eXtensible Interface) protocol bus may be used. The compression processing unit may access the memory unit via a bus.
The image receiving module may be configured to receive target image information, the image storage module may monitor a receiving condition of the image receiving module for the target image information in real time, and the image storage module may store the target image information to the cache unit when monitoring that the image receiving module receives the target image information, where the cache unit may be a memory, for example, a double-rate synchronous dynamic random access memory; the interrupt signal generating module may be configured to send an interrupt signal to the interrupt signal receiving module when the image storage module stores the target image information in the buffer unit. Specifically, after the target image information is stored, the image storage module may send a control signal to the interrupt signal generation module, so that the interrupt signal generation module sends an interrupt signal to the interrupt signal receiving module.
In a specific embodiment, the image receiving module may be connected to an image capturing device, and the image capturing device may transmit the captured image information as the target image information to the image receiving module. The image storage module can store the target image information into a cache unit connected with the compression processing unit through the communication connection between the image preprocessing unit and the compression processing unit. The caching unit may be configured to cache the target image information. Specifically, the interrupt signal may be sent to the interrupt signal receiving module when the image storage module completes the storage of the target image information.
The image compression module can monitor the receiving condition of the interrupt signal receiving module on the interrupt signal in real time, and the image compression module can read target image information from the cache unit and compress the target image information to obtain compressed image information under the condition that the interrupt signal receiving module is monitored to receive the interrupt signal; the image data transmission module may be configured to transmit the compressed image information to an image display device.
In a specific embodiment, the interrupt signal receiving module may be configured to receive the interrupt signal sent by the interrupt signal generating module. The compressed image information may refer to image information after compression processing is performed on target image information. The image display device may display the target image corresponding to the target image information by using the compressed image information. By compressing the target image information, the transmission speed can be increased, and the requirement of transmission bandwidth can be reduced.
In the above embodiment, the image receiving module, the image storage module and the interrupt signal generation module constructed based on the field programmable gate array perform parallel operation, so that the operation speed of each module can be increased, the image preprocessing process and the image compression process can be separated through the cache unit, waiting for another processing process is avoided, and waiting time is reduced.
In one possible embodiment, the image acquisition device may comprise an image sensor. The image preprocessing unit can also comprise a synchronous exposure control module, the synchronous exposure control module can comprise a positioning signal receiving submodule and a collected signal generating submodule, the positioning signal receiving submodule is connected with the collected signal generating submodule, the collected signal generating submodule is connected with a frame synchronization trigger signal end of an image sensor in the image collecting device, and the synchronous exposure control module can be used for sending an image collecting signal to trigger the image collecting device to collect images. The positioning signal receiving submodule can be used for receiving a positioning signal sent by the positioning system, and the acquisition signal generating submodule can be used for generating an image acquisition signal according to the positioning signal and sending the image acquisition signal to the image sensor, so that the image sensor performs photoelectric conversion to obtain target image information under the condition of receiving the image acquisition signal. The synchronous exposure control module controls a frame synchronous trigger signal end of the image sensor, so that time synchronization shaking between image transmission frames can be reduced.
In a specific embodiment, the frequency of the image capturing signal may be greater than a preset frequency. The positioning signal and the image acquisition signal sent by the positioning system can be pulse signals, the acquisition signal generation submodule can generate the image acquisition signal with a preset number of pulses within one second from the beginning of the moment corresponding to the rising edge of the positioning signal, and the rising edge of the initial pulse of the image acquisition signal corresponds to the rising edge of the positioning signal; specifically, the range of the preset number of pulses may be more than 20 pulses. The frame synchronization trigger signal end of the image sensor is controlled through the synchronous exposure control module, the frequency of the image acquisition signal is larger than the preset frequency, and accurate exposure sampling can be achieved while the real-time performance of image video is improved.
In one possible embodiment, the image storage module may include an image format conversion sub-module and an image storage sub-module, the buffer unit may include a plurality of buffer areas, the image format conversion sub-module is connected to the image receiving module, the image storage sub-module is connected to the interrupt signal generation module, and the image format conversion sub-module may be configured to perform format conversion processing on the target image information to obtain the target image information in the target format, where the target format may be a YUV422 format; the image storage submodule may be configured to determine a current target storage buffer area in the multiple buffer areas according to a preset storage sequence, and store the target image information in the target format to the current target storage buffer area, where the current target storage buffer area may be a buffer area to be specifically stored in the multiple buffer areas for the target image information image storage submodule in the target format; the image compression module may be configured to, when the interrupt signal receiving module receives the interrupt signal, determine a current target read buffer area in the multiple buffer areas according to a preset read sequence, read target image information from the target read buffer area, and perform compression processing on the target image information to obtain compressed image information, where the current target read buffer area may refer to a buffer area to be currently read by the image compression module.
It is understood that the compression method in this embodiment may be H264 compression, and since the H264 compression only supports YUV422 format, the format of the target image information supports the compression method by performing format conversion processing on the target image information.
In a specific embodiment, the buffer unit may include two buffers, namely a buffer a and a buffer B. The target image information may include first target image information and second target image information. Under the condition that the image receiving module receives the first target image information, the image format conversion sub-module can perform format conversion processing on the first target image information to obtain the first target image information in the target format. The image storage submodule can determine a current target storage buffer area in the plurality of buffer areas according to a preset storage sequence; specifically, the preset storage order may be A, B, A, B, A …; the current target storage buffer area can be determined as the buffer area A according to the preset storage sequence. After determining the current target storage buffer area, storing the first target image information in the target format into the target storage buffer area (namely, buffer area a), and after the storage is finished, sending an interrupt signal to an interrupt signal receiving module by an interrupt signal generating module; after the interrupt signal is sent, the image format conversion sub-module may start to perform format conversion processing on the second target image information received by the image receiving module. After the interrupt signal receiving module receives the interrupt signal, the image compression module determines a current target reading buffer area in the plurality of buffer areas according to a preset reading sequence; specifically, the preset reading order may be A, B, A, B, A …; the current target read buffer can be determined to be buffer A according to the preset read sequence. After determining the current target reading buffer area, the image compression module may read the first target image information from the current target reading buffer area (i.e., buffer area a), and perform compression processing on the first target image information, so as to obtain compressed image information corresponding to the first target image information.
After the format conversion processing of the second target image information is completed, the image storage sub-module may determine, according to a preset storage sequence, that the current target storage buffer area is a buffer area B, and store the second target image information in the target format into the buffer area B; after the storage is finished, an interrupt signal generating module sends an interrupt signal to an interrupt signal receiving module; after the interrupt signal is sent, the image format conversion sub-module may start to perform format conversion processing on the next target image information received by the image receiving module. After the interrupt signal receiving module receives the interrupt signal, the image compression module determines the current target reading buffer area as a buffer area B according to a preset reading sequence, reads second target image information from the buffer area B, and compresses the second target image information to obtain compressed image information corresponding to the second target image information.
In the above embodiment, the buffer unit, the interrupt signal sending module and the interrupt signal receiving module separate the image receiving and format conversion process from the image compression process, so as to improve the image processing efficiency, and in addition, the buffer unit is provided with a plurality of buffer areas, so as to avoid the situation that the image information to be compressed is stored and covered by new image information.
In one possible embodiment, the image preprocessing unit further comprises an image register configuration module, the image register configuration module can be connected with an image sensor in the image acquisition device, and the image register configuration module can complete the configuration process of the image sensor by writing the register information into the image sensor; after the configuration of the image sensor is completed, image acquisition can be performed by the image acquisition device.
Referring to fig. 2-3, fig. 2 is a schematic diagram illustrating an image capturing system for an automatic driving system according to an exemplary embodiment, fig. 3 is a block diagram illustrating a structure of an image capturing system for an automatic driving system according to an exemplary embodiment, and as shown in fig. 2-3, the image capturing system includes an image processing device and an image capturing device, the image capturing device includes an image sensor and an optical lens, and the optical lens can be used for capturing an optical signal of a target area, where the target area can refer to an image capturing area directly facing the optical lens; the image sensor can be used for performing photoelectric conversion on the optical signal collected by the optical lens to obtain an electric signal corresponding to the optical signal, so as to obtain target image information.
In an optional embodiment, the image capturing device further includes an image signal processor, the image signal processor is connected to the image processing device, the image sensor is connected to the image signal processor, and the image signal processor may be configured to perform preset task processing on the target image information and send the processed target image information to the image processing device. Specifically, the image signal processor may be connected to an image receiving module of an image preprocessing unit in the image processing apparatus, and the image sensor and the image signal processor are serially transmitted by a differential signal and the image signal processor and the image processing apparatus are serially transmitted by a differential signal. The preset task processing that the image signal processor can perform may include automatic exposure control, automatic gain control, automatic white balance, color correction, dead pixel removal, and the like. The image signal processor can further improve the quality of images and realize the image signal processing of high resolution and high frame rate. In addition, different image sensors can also be adapted by the image signal processor.
In this embodiment, the scene used by the image sensor is below 50kmph, and the image sensor may be a rolling shutter starlight level sensor. By adopting the rolling shutter starlight level sensor as the image sensor, the imaging device can have a global shutter mode, small packaging, replaceable lens and an external synchronous trigger mode, can still ensure good imaging effect in a low-illumination environment, reduce the weight of hardware, reduce the overall volume and power consumption of the system, and can meet the scene requirement of small volume; in addition, based on an external synchronous triggering mode of the image sensor, a frame synchronous triggering signal end of the image sensor is connected with a synchronous exposure control module in the image processing device, and clocks required by the image sensor and the image signal processor can be provided by the image preprocessing unit, so that accurate image exposure time control can be realized.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (10)
1. The image processing device for the automatic driving system is characterized by comprising an image preprocessing unit, a compression processing unit and a cache unit, wherein the image preprocessing unit is in communication connection with the compression processing unit, the compression processing unit is connected with the cache unit, and the image preprocessing unit comprises an image receiving module, an image storage module and an interrupt signal generation module which are sequentially connected and constructed on the basis of a field programmable gate array; the compression processing unit comprises an interrupt signal receiving module, an image compression module and an image data transmission module which are sequentially connected;
the image receiving module is used for receiving target image information; the image storage module is used for storing the target image information to the cache unit under the condition that the image receiving module receives the target image information; the interrupt signal generating module is used for sending an interrupt signal to the interrupt signal receiving module under the condition that the image storage module stores the target image information to the cache unit;
the image compression module is used for reading the target image information from the cache unit and compressing the target image information to obtain compressed image information under the condition that the interrupt signal receiving module receives the interrupt signal; the image data transmission module is used for transmitting the compressed image information to an image display device.
2. The apparatus of claim 1, wherein the image preprocessing unit further comprises a synchronous exposure control module, and the synchronous exposure control module is configured to send an image capture signal to trigger the image capture device to capture an image.
3. The device according to claim 2, wherein the synchronous exposure control module includes a positioning signal receiving sub-module and a collected signal generating sub-module, the positioning signal receiving sub-module is connected to the collected signal generating sub-module, the collected signal generating sub-module is connected to the image sensor in the image capturing apparatus, the positioning signal receiving sub-module is configured to receive a positioning signal sent by a positioning system, the collected signal generating sub-module is configured to generate an image collected signal according to the positioning signal and send the image collected signal to the image sensor, so that the image sensor performs photoelectric conversion to obtain target image information when receiving the image collected signal, and a frequency of the image collected signal is greater than a preset frequency.
4. The apparatus according to claim 1, wherein the image storage module includes an image format conversion sub-module and an image storage sub-module, the buffer unit includes a plurality of buffer areas, the image format conversion sub-module is connected to the image receiving module, the image storage sub-module is connected to the interrupt signal generation module, and the image format conversion sub-module is configured to perform format conversion processing on the target image information to obtain target image information in a target format when the image receiving module receives the target image information; the image storage submodule is used for determining a current target storage buffer area in the plurality of buffer areas according to a preset storage sequence and storing target image information in the target format to the current target storage buffer area; the image compression module is used for determining a current target reading buffer area in the plurality of buffer areas according to a preset reading sequence under the condition that the interrupt signal receiving module receives the interrupt signal, reading the target image information from the target reading buffer area, and compressing the target image information to obtain compressed image information.
5. The apparatus according to claim 1, wherein the image preprocessing unit and the compression processing unit are connected by a bus.
6. The apparatus of claim 1, wherein the image preprocessing unit further comprises an image register configuration module, the image register configuration module is configured to be connected to the image capturing device, and the image register configuration module is configured to write register information into an image sensor of the image capturing device for register information configuration.
7. An image acquisition system for an automatic driving system, wherein the image acquisition system comprises the image processing device and the image acquisition device according to claims 1-6, the image acquisition device comprises an image sensor and an optical lens, the optical lens is used for acquiring an optical signal of a target area, and the image sensor is used for performing photoelectric conversion on the optical signal acquired by the optical lens to obtain target image information.
8. The system according to claim 7, wherein the frame synchronization trigger signal terminal of the image sensor is connected to a synchronous exposure control module in the image processing apparatus.
9. The system according to claim 7, wherein the image capturing device further comprises an image signal processor, the image signal processor is configured to perform a preset task processing on the target image information and send the processed target image information to the image processing device, the image sensor is connected to the image signal processor, and the image signal processor is connected to the image processing device.
10. The system of claim 9, wherein the image sensor and the image signal processor are serially transmitted by differential signals, and the image signal processor and the image processing device are serially transmitted by differential signals.
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