CN115128570B - Radar image processing method, device and equipment - Google Patents
Radar image processing method, device and equipment Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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Abstract
The invention provides a radar image processing method, a device and equipment, wherein the method comprises the following steps: acquiring pixel points of radar images of radar historical directions and pixel information of the pixel points; traversing each pixel point in the pixel points, and performing extension processing on each pixel point according to a preset extension rule and pixel information of the pixel point to obtain an extension result; and outputting and displaying the expansion result. The scheme of the invention can realize the extension of the radar echo, the extension effect is more mellow, and the display effect of the echo is improved.
Description
Technical Field
The present invention relates to the field of image processing technologies, and in particular, to a method, an apparatus, and a device for processing a radar image.
Background
The radar can detect a long-distance target in the daytime and at night, is not blocked by fog, cloud and rain, has the characteristics of all weather and all day long, and has certain penetrating power. The radar transmits electromagnetic waves, the target object reflects and scatters the electromagnetic waves after encountering the target object in the transmission process, and the radar receiver displayed by a radar screen can receive partial reflected and scattered energy.
However, the echo expansion method of the existing radar screen display usually performs smoothing processing on the echo display image, and the processed echo display image has the problems that the resolution of the radar echo is poor and the expanded echo is not smooth.
Disclosure of Invention
The technical problem to be solved by the invention is how to provide a radar image processing method, device and equipment. The radar echo extension can be realized, the extension effect is more mellow, and the display effect of the echo is improved.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a method of processing a radar image, comprising:
acquiring pixel points of radar images of radar historical directions and pixel information of the pixel points;
traversing each pixel point in the pixel points, and performing extension processing on each pixel point according to a preset extension rule and pixel information of the pixel point to obtain an extension result;
and outputting and displaying the expansion result.
Optionally, the pixel information includes: and the brightness range corresponding to the color of the pixel point.
Optionally, according to a preset extension rule and the pixel information of the pixel point, performing extension processing on each pixel point to obtain an extension result, including:
acquiring a preset echo expansion level;
and according to a preset expansion rule and the pixel information of the pixel points, performing expansion processing of the preset echo expansion level on each pixel point to obtain an expansion result.
Optionally, the preset echo expansion level corresponds to an expansion kernel and an expansion neighborhood; the extended neighborhood includes at least one extended pixel point.
Optionally, the preset echo expansion level includes: a first level, a second level, and a third level;
when the preset echo expansion level is a first level, the first expansion kernel is: a first pixel point; the first expanded neighborhood is: a first number of first extended pixel points adjacent to the adjacent edge of the pixel point;
when the preset echo expansion level is a second level, the second expansion kernel is: the second pixel points and a first number of third pixel points adjacent to the adjacent edges of the second pixel points; the second expanded neighborhood is: a second number of second extended pixel points which are the same as any vertex of the pixel points;
when the preset echo expansion level is a third level, the third expansion kernel is: the fourth pixel points, a second number of fifth pixel points which are the same as any vertex of the fourth pixel points, and a third number of sixth pixel points which are adjacent to the adjacent sides of the fifth pixel points; the third expanded neighborhood is: a second number of third extended pixel points which are the same as at least one vertex of the pixel points;
the colors of the first pixel point, the second pixel point and the fourth pixel point are all first enhanced colors, the colors of the third pixel point and the fifth pixel point are all second enhanced colors, and the color of the sixth pixel point is a third enhanced color.
Optionally, the preset expansion rule is as follows: replacing colors of high grade with colors of low grade;
the first enhanced color is of a higher level than the second enhanced color, which is of a higher level than the third enhanced color.
Optionally, according to a preset extension rule and pixel information of the pixel point, performing extension processing of the preset echo extension level on each pixel point to obtain an extension result, including:
determining a target pixel point according to the pixel point of the historical direction and the pixel information of the pixel point; the target pixel point is a pixel point of which the brightness range corresponding to the color of the pixel information is within a preset brightness range;
and according to a preset expansion rule, using the expansion check to replace each expansion pixel point of each target pixel point in the expansion neighborhood to obtain an expansion result.
The invention also provides a radar image processing device, comprising:
the acquisition module is used for acquiring pixel points of radar images of radar historical directions and pixel information of the pixel points;
the processing module is used for traversing each pixel point in the pixel points, and performing expansion processing on each pixel point according to a preset expansion rule and the pixel information of the pixel point to obtain an expansion result; and outputting and displaying the expansion result.
The present invention also provides a computing device comprising: a processor, a memory storing a computer program which, when executed by the processor, performs the method as described above.
The present invention also provides a computer-readable storage medium storing instructions which, when executed on a computer, cause the computer to perform the method as described above.
The scheme of the invention at least comprises the following beneficial effects:
obtaining pixel points of radar images of radar historical directions and pixel information of the pixel points; traversing each pixel point in the pixel points, and performing extension processing on each pixel point according to a preset extension rule and pixel information of the pixel point to obtain an extension result; outputting and displaying the expansion result; therefore, the radar echo can be expanded, the expansion effect is more mellow, and the display effect of the echo is improved; meanwhile, the echo resolution before expansion is also reserved.
Drawings
FIG. 1 is a flow chart illustrating a method for processing radar images according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating an extended kernel with a preset echo extension level as a first level according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating an extended neighborhood with a preset echo extension level as a first level in an embodiment of the present invention;
FIG. 4 is a diagram illustrating an expansion effect of presetting an echo expansion level as a first level in an embodiment of the present invention;
FIG. 5 is a diagram illustrating an extended kernel with a preset echo extension level as a second level according to an embodiment of the present invention;
FIG. 6 is a diagram illustrating an extended neighborhood with a predetermined echo extension level as a second level in an exemplary embodiment of the invention;
FIG. 7 is a diagram illustrating the effect of pre-setting the echo expansion level to a second level in an embodiment of the present invention;
FIG. 8 is a diagram illustrating an extended kernel with a preset echo extension level as a third level in an embodiment of the present invention;
FIG. 9 is a diagram illustrating an extended neighborhood with a preset echo extension level as a third level in an embodiment of the present invention;
FIG. 10 is a diagram illustrating the effect of presetting the echo expansion level as a third level in an embodiment of the present invention;
FIG. 11 is a flow chart illustrating a method for processing radar images according to an embodiment of the present invention;
FIG. 12 is a schematic diagram illustrating the effect of a first level of expansion on a radar echo image according to an embodiment of the present invention;
FIG. 13 is a diagram illustrating the effect of a second level of expansion on a radar echo image in an exemplary embodiment of the present invention;
FIG. 14 is a diagram illustrating the effect of a third level of expansion on a radar echo image in an embodiment of the present invention;
fig. 15 is a block diagram schematically illustrating a radar image processing apparatus according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
As shown in fig. 1, an embodiment of the present invention provides a radar image processing method, including:
and step 13, outputting and displaying the expansion result.
In the embodiment, traversing each pixel point in a radar image obtained by a radar in a historical azimuth, performing expansion processing on the pixel point according to a preset expansion rule and pixel information of the pixel point to obtain an expansion result, and outputting and displaying the expansion result on a display module; therefore, the radar echo can be expanded, the radar echo is enlarged, the expansion effect is more mellow, and the display effect of the echo is improved; meanwhile, due to the fact that the radar echoes are expanded through the design of different colors of the expansion kernel, the boundary between the echoes is relatively obvious, and the resolution ratio of the echoes before expansion is reserved.
It should be noted that, a display module of the radar usually has a rotation vector with the radar as an origin, which indicates the pointing direction of the antenna, and thus the direction of the target, and displays the area covered by the radar beam; the display module is preferably a flat panel display (PPI).
The historical azimuth corresponding to the radar image in the application refers to: after the rotation vector of the radar is rotated to an angular azimuth (e.g., 270 ° azimuth), an nth azimuth before the azimuth (e.g., 250 ° azimuth before 270 ° azimuth) is provided.
In an optional embodiment of the present invention, the pixel information includes: and the brightness range corresponding to the color of the pixel point.
In this embodiment, the brightness range (i.e., brightness) refers to a range in which the brightness degree of a color is located, the brightness range corresponding to the color of a pixel point is determined according to the amount of reflected light of the color, and the brightness degrees of the colors of the same hue are not necessarily the same, for example, magenta and pink both belong to a red hue, but the brightness of magenta is higher than pink; therefore, a plurality of brightness ranges are obtained based on the brightness degree division of the color, and further, based on the brightness degree of the color of the pixel point of the radar image, the brightness range corresponding to the pixel point can be determined, and pixel point information is obtained.
In an optional embodiment of the present invention, in step 12, according to a preset extension rule and pixel information of the pixel point, performing extension processing on each pixel point to obtain an extension result, where the method includes:
step 121, obtaining a preset echo expansion level;
and 121, performing expansion processing of the preset echo expansion level on each pixel point according to a preset expansion rule and the pixel information of the pixel point to obtain an expansion result.
In this embodiment, a preset echo expansion level may be preset according to a desired echo expansion effect, and in general, the higher the preset echo expansion level is, the larger the obtained expansion result is, the more round the expansion result is; and then, according to a preset expansion rule and a brightness range corresponding to the color of the pixel point, performing expansion processing of a preset echo expansion level on each pixel point to obtain an expansion result.
In an optional embodiment of the present invention, the preset echo expansion level corresponds to an expansion kernel and an expansion neighborhood; the extended neighborhood includes at least one extended pixel point.
In this embodiment, the preset echo expansion level corresponds to an expansion kernel and an expansion neighborhood, the expansion neighborhood includes at least one expansion pixel, the expansion neighborhood indicates a neighborhood to be expanded around the pixel to be expanded, and for the neighborhood to be expanded, each neighborhood is expanded through the expansion kernel.
As shown in fig. 2-4, in a specific embodiment, the pixel point with the color of the first enhanced color in fig. 2 is an expansion kernel with a preset echo expansion level as the first level, the pixel point with the brightness range of the bright color in fig. 3 is a pixel point to be expanded, the expansion neighborhood of the pixel point indicates that the pixel points adjacent to four adjacent sides of the pixel point all need to be expanded, the expansion of each neighborhood to be expanded is completed through the expansion kernel in fig. 2, and the effect after the expansion of the expansion neighborhood is completed is shown in fig. 4.
It should be noted that, in the present application, the expansion order of the expansion neighborhood is not limited, and the expansion order of the expansion neighborhood may be randomly executed or executed according to a preset order, which is not limited to this.
In an optional embodiment of the present invention, the preset echo expansion level includes: a first level, a second level, and a third level;
when the preset echo expansion level is a first level, the first expansion core is: a first pixel point; the first expanded neighborhood is: a first number of first extended pixel points adjacent to the adjacent edge of the pixel point;
when the preset echo expansion level is a second level, the second expansion kernel is: the second pixel points and a first number of third pixel points adjacent to the adjacent edges of the second pixel points; the second expanded neighborhood is: a second number of second extended pixel points which are the same as any vertex of the pixel points;
when the preset echo expansion level is a third level, the third expansion kernel is: the fourth pixel points are a second number of fifth pixel points which are the same as any vertex of the fourth pixel points, and a third number of sixth pixel points which are adjacent to the adjacent sides of the fifth pixel points; the third expanded neighborhood is: a second number of third extended pixel points which are the same as at least one vertex of the pixel points;
the colors of the first pixel point, the second pixel point and the fourth pixel point are all first enhanced colors, the colors of the third pixel point and the fifth pixel point are all second enhanced colors, and the color of the sixth pixel point is a third enhanced color.
In this embodiment, the preset echo expansion level includes a first level, a second level and a third level, and the higher the level of the preset echo expansion level is, the larger the expansion effect is, the smoother the expansion effect is;
when the preset echo expansion level is a first level, the first expansion kernel is: a first pixel point with a first enhanced color; the first expanded neighborhood is: a first number of first extended pixel points adjacent to the adjacent edge of the pixel point, wherein the first number is preferably 4;
when the preset echo expansion level is a second level, the second expansion kernel is: a second pixel point with the color of a first enhanced color and a first number of third pixel points adjacent to the adjacent edge of the second pixel point (the color of the third pixel points is a second enhanced color); the second expanded neighborhood is: a second number of second extended pixel points which are the same as any vertex of the pixel point; the first number here is preferably 4, the second number 8;
when the preset echo expansion level is a third level, the third expansion kernel is: a fourth pixel point with a color of a first enhanced color, a second number of fifth pixel points (the color of the fifth pixel points is a second enhanced color) which are the same as any vertex of the fourth pixel point, and a third number of sixth pixel points (the color of the sixth pixel points is a third enhanced color) which are adjacent to the adjacent edge of the fifth pixel points; the third expanded neighborhood is: a second number of third extended pixel points which are the same as at least one vertex of the pixel points; the first number here is preferably 4, the second number 8 and the third number 16.
In an optional embodiment of the present invention, the preset extension rule is: replacing colors of high grade with colors of low grade;
the first enhanced color is of a higher level than the second enhanced color, which is of a higher level than the third enhanced color.
In this embodiment, the expansion neighborhood of the pixel indicates a region that needs to be expanded around the pixel, each expansion neighborhood is expanded through a corresponding expansion kernel, multiple expansion of the same region may occur in the process of expanding the expansion neighborhoods in a certain order, and the expanded colors are different, at this time, the preset expansion rule needs to be followed, that is, a color with a high level replaces a color with a low level, for example, when the region a is expanded in a first expansion neighborhood, the color is replaced with a second enhanced color, and when the region a is expanded in a second expansion neighborhood, the color needs to be replaced with a first enhanced color, at this time, the current color of the region a and the level of the color to be replaced are compared, and it can be known that the level of the first enhanced color is higher than the second enhanced color, and therefore, when the region a is expanded in a second expansion neighborhood, the color is replaced with the first enhanced color.
It should be noted that a potential rule for presetting the expansion rule to replace a color with a lower color by a color with a higher level is that a color with a lower level may not be replaced by a color with a higher level.
In addition, the grade of the first enhanced color is higher than that of the second enhanced color, the grade of the second enhanced color is higher than that of the third enhanced color, and the grade of any enhanced color is higher than that of the original color of the pixel point, namely the grade of the original color of the pixel point is the lowest; in addition, the color grade of the target pixel point is the highest and cannot be replaced by any color.
In an alternative embodiment of the present invention, step 121 includes:
step 1211, determining a target pixel point according to the pixel point of the historical direction and the pixel information of the pixel point; the target pixel point is a pixel point of which the brightness range corresponding to the color of the pixel information is within a preset brightness range;
and 1212, according to a preset expansion rule, replacing each expansion pixel point of each target pixel point in the expansion neighborhood by using the expansion check to obtain an expansion result.
In the embodiment, according to pixel information of a pixel point, determining that a brightness range corresponding to the color of the pixel point is within a preset brightness range, and then determining that the pixel point is a target pixel point, based on a preset echo expansion level, determining an expansion neighborhood of the target pixel point, wherein each expansion pixel point of the expansion neighborhood is replaced by an expansion kernel according to a preset expansion rule to obtain an expansion result; and if the brightness range corresponding to the color of the pixel point is not within the preset brightness range, the pixel point is not expanded, and the next pixel point is continuously judged.
As shown in fig. 2 to 4, in a specific embodiment, the luminance range of the color of the pixel point is divided into a dark color that is lower than a preset luminance value and a bright color that is higher than the preset luminance value, each pixel point of the radar image is traversed, the pixel point of the bright color is determined as a target pixel point, and the target pixel point is expanded;
when the preset echo expansion level is the first level, a bright target pixel point is expanded, the expansion kernel of the bright target pixel point is the first pixel point with the color as the first enhanced color as shown in fig. 2, the expansion neighborhoods are 4 expansion pixel points adjacent to four adjacent sides of the bright pixel point, the expansion kernel of the target pixel point is sequentially replaced according to a certain sequence, and the expansion effect that the bright target pixel point is used as the center and the expansion neighborhoods corresponding to the target pixel point are all replaced by the expansion kernel as shown in fig. 4 can be obtained.
As shown in fig. 5 to 7, in another specific embodiment, the luminance range of the color of the pixel point is divided into a dark color below the preset luminance value and a bright color above the preset luminance value, each pixel point of the radar image is traversed, the bright pixel point is determined as a target pixel point, and the target pixel point is expanded;
when the preset echo expansion level is a second level, expanding a target pixel point with a bright color, wherein an expansion kernel of the expansion kernel is an expansion kernel formed by taking a color as a first enhanced color as shown in fig. 5, 4 third pixel points adjacent to 4 adjacent sides of the second pixel point are second enhanced colors, the expansion neighborhood is 8 expansion pixel points which are the same as any vertex of the target pixel point with the bright color, when the target pixel point is expanded according to the sequence from the expansion neighborhood 1 to the expansion neighborhood 8 shown in fig. 6, the center of the expansion kernel is replaced to the expansion neighborhood 1, and the expansion kernel is an expansion kernel formed by taking the color as the first enhanced color as the center and 4 third pixel points adjacent to 4 adjacent sides of the second pixel point as the second enhanced color, and after the replacement of the expansion neighborhood 1 is completed, the expansion neighborhood 2 and the expansion neighborhood 4 are both the second enhanced colors;
then, replacing the next expansion neighborhood 2 by replacing the expansion neighborhood 2 with the center of the expansion kernel, replacing the existing second enhancement color of the expansion neighborhood 2 with the first enhancement color because the center of the expansion kernel is the first enhancement color and the level of the first enhancement color is higher than that of the second enhancement color according to a preset expansion rule, and meanwhile, the color of the existing expansion neighborhood 1 is the first enhancement color, when the expansion neighborhood 2 is replaced with the center of the expansion kernel, the color to be replaced of the expansion neighborhood 1 is the second enhancement color, and the level of the first enhancement color is higher than that of the second enhancement color, reserving the first enhancement color of the expansion neighborhood 1 and not replacing the first enhancement color; if the color grade of the target pixel point is the highest, the color of the target pixel point is not replaced, the expansion neighborhood 3 is replaced by a second enhanced color, and by analogy, all the expansion kernel replacements of the expansion neighborhoods 1-8 are completed, so that the expansion effect that the bright pixel point is used as the center and the expansion neighborhoods corresponding to the pixel point are replaced by the expansion kernels as shown in fig. 7 can be obtained.
As shown in fig. 8 to 10, in yet another specific embodiment, the luminance range of the color of the pixel point is divided into a dark color below the preset luminance value and a bright color above the preset luminance value, each pixel point of the radar image is traversed, the bright pixel point is determined as a target pixel point, and the target pixel point is expanded;
when the preset echo expansion level is a third level, expanding a bright target pixel, wherein an expansion kernel of the expansion kernel is an expansion kernel as shown in fig. 8, the expansion kernel is formed by a fourth pixel taking a color as a first enhanced color, 8 fifth pixels which are the same as any vertex of the fourth pixel are a second enhanced color, and 4 sixth pixels which are adjacent to the adjacent side of the fifth pixel, the expansion neighborhood is 8 expansion pixels which are the same as any vertex of the bright target pixel, when the target pixel is expanded according to the sequence from the expansion neighborhood 1 to the expansion neighborhood 8 shown in fig. 9, the center of the expansion kernel is replaced to the expansion neighborhood 1, after the replacement of the expansion neighborhood 1 is completed, the expansion neighborhood 2 and the expansion neighborhood 4 are both the second enhanced color, and the expansion neighborhood 3 and the expansion neighborhood 6 are both the third enhanced color;
then, replacing the next expansion neighborhood 2 by replacing the expansion neighborhood 2 with the center of the expansion kernel, replacing the existing second enhancement color of the expansion neighborhood 2 with the first enhancement color because the center of the expansion kernel is the first enhancement color and the level of the first enhancement color is higher than that of the second enhancement color according to a preset expansion rule, and meanwhile, the color of the existing expansion neighborhood 1 is the first enhancement color, when the expansion neighborhood 2 is replaced with the center of the expansion kernel, the color to be replaced of the expansion neighborhood 1 is the second enhancement color, and the level of the first enhancement color is higher than that of the second enhancement color, reserving the first enhancement color of the expansion neighborhood 1 and not replacing the first enhancement color; if the color of the target pixel point is highest in grade, the color of the target pixel point is not replaced, the existing color of the expansion neighborhood 3 is the third enhanced color, the third enhanced color with the lower grade is replaced by the second enhanced color, and by analogy, all the expansion kernel replacements of the expansion neighborhoods 1-8 are completed, and the expansion effect that the bright-color pixel point is taken as the center and the expansion neighborhoods corresponding to the pixel point are replaced by the expansion kernels can be obtained as shown in fig. 10.
In a specific embodiment, as shown in fig. 11, the expanding of the radar return image of any one of the historical orientations of the radar includes:
in step 1152, if all the pixel values of the radar echo image in the historical azimuth are extracted, the expansion of the radar echo image in the historical azimuth may be stopped, and the process may exit.
As shown in fig. 12-14, in another specific embodiment, fig. 12 shows an expansion effect of presetting an echo expansion level as a first level, where each square is a pixel, pixel 0 indicates that the color of the pixel is a bright color, that is, pixel 0 is a bright color pixel, a completely black pixel indicates a dark color pixel, pixel 1 indicates that the pixel is expanded to a first enhanced color, and thus, an outer layer of the bright color pixel is expanded by one layer in the echo image, and the filled color is the first enhanced color;
fig. 13 shows an expansion effect of presetting the echo expansion level as a second level, where each square is a pixel, pixel 0 indicates that the color of the pixel is bright, that is, pixel 0 is a bright pixel, a completely black pixel indicates a dark pixel, pixel 1 indicates that the pixel is expanded to a first enhanced color, and pixel 2 indicates that the pixel is expanded to a second enhanced color, thus, the outer layer of the bright pixel in the echo image is expanded by two layers, the filled color is the first enhanced color and the second enhanced color, compared with the expansion effect of the first level, the echo target after the second level of expansion is larger, and the edge of the target is more smooth;
fig. 14 shows an expansion effect of presetting the echo expansion level as a third level, where each square is a pixel, pixel 0 indicates that the color of the pixel is a bright color, that is, pixel 0 is a bright-color pixel, a completely black pixel indicates a dark-color pixel, pixel 1 indicates that the pixel is expanded to a first enhanced color, pixel 2 indicates that the pixel is expanded to a second enhanced color, and pixel 3 indicates that the pixel is expanded to a third enhanced color, it is apparent that the outer layer of the bright-color pixel in the echo image is expanded by three layers, the filled colors are the first enhanced color, the second enhanced color, and the third enhanced color, compared with the expansion effects of the first level and the second level, the echo target after the third level expansion is larger, and the edge of the target is more smooth.
The embodiment of the invention obtains pixel points of radar images of radar historical directions and pixel information of the pixel points; traversing each pixel point in the pixel points, and performing extension processing on each pixel point according to a preset extension rule and pixel information of the pixel point to obtain an extension result; outputting and displaying the expansion result; the radar echo can be expanded, the expansion effect is more mellow, and the display effect of the echo is improved; meanwhile, the echo resolution before expansion is also reserved.
As shown in fig. 15, an embodiment of the present invention further provides a radar image processing apparatus 150, including:
the acquisition module 151 is configured to acquire pixel points of a radar image obtained from a radar historical azimuth and pixel information of the pixel points;
the processing module 152 is configured to traverse each of the pixel points, and perform expansion processing on each of the pixel points according to a preset expansion rule and pixel information of the pixel point to obtain an expansion result; and outputting and displaying the expansion result.
Optionally, the pixel information includes: and the brightness range corresponding to the color of the pixel point.
Optionally, according to a preset extension rule and the pixel information of the pixel point, performing extension processing on each pixel point to obtain an extension result, including:
acquiring a preset echo expansion level;
and according to a preset expansion rule and the pixel information of the pixel points, performing expansion processing of the preset echo expansion level on each pixel point to obtain an expansion result.
Optionally, the preset echo expansion level corresponds to an expansion kernel and an expansion neighborhood; the extended neighborhood includes at least one extended pixel point.
Optionally, the preset echo expansion level includes: a first level, a second level, and a third level;
when the preset echo expansion level is a first level, the first expansion kernel is: a first pixel point; the first expanded neighborhood is: a first number of first extended pixel points adjacent to the adjacent edge of the pixel point;
when the preset echo expansion level is a second level, the second expansion core is: the second pixel point and a first number of third pixel points adjacent to the adjacent edge of the second pixel point; the second expanded neighborhood is: a second number of second extended pixel points which are the same as any vertex of the pixel points;
when the preset echo expansion level is a third level, the third expansion kernel is: the fourth pixel points, a second number of fifth pixel points which are the same as any vertex of the fourth pixel points, and a third number of sixth pixel points which are adjacent to the adjacent sides of the fifth pixel points; the third expanded neighborhood is: a second number of third extended pixel points which are the same as at least one vertex of the pixel points;
the colors of the first pixel point, the second pixel point and the fourth pixel point are all first enhanced colors, the colors of the third pixel point and the fifth pixel point are all second enhanced colors, and the color of the sixth pixel point is a third enhanced color.
Optionally, the preset expansion rule is as follows: replacing colors of high grade with colors of low grade;
the first enhanced color is of a higher level than the second enhanced color, which is of a higher level than the third enhanced color.
Optionally, according to a preset extension rule and pixel information of the pixel points, performing extension processing of the preset echo extension level on each pixel point to obtain an extension result, including:
determining a target pixel point according to the pixel point of the historical direction and the pixel information of the pixel point; the target pixel point is a pixel point of which the brightness range corresponding to the color of the pixel information is within a preset brightness range;
and according to a preset expansion rule, using the expansion check to replace each expansion pixel point of each target pixel point in the expansion neighborhood to obtain an expansion result.
It should be noted that the apparatus is an apparatus corresponding to the method, and all implementation manners in the method embodiments are applicable to the embodiment of the apparatus, and the same technical effects can be achieved.
Embodiments of the present invention also provide a computing device, comprising: a processor, a memory storing a computer program which, when executed by the processor, performs the method as described above. All the implementation manners in the method embodiment are applicable to the embodiment, and the same technical effect can be achieved.
Embodiments of the present invention also provide a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the method as described above. All the implementation manners in the method embodiment are applicable to the embodiment, and the same technical effect can be achieved.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions may be stored in a computer-readable storage medium if they are implemented in the form of software functional units and sold or used as separate products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.
Furthermore, it should be noted that in the apparatus and method of the present invention, it is obvious that each component or each step may be decomposed and/or recombined. These decompositions and/or recombinations are to be regarded as equivalents of the present invention. Also, the steps of performing the series of processes described above may naturally be performed chronologically in the order described, but need not necessarily be performed chronologically, and some steps may be performed in parallel or independently of each other. It will be understood by those skilled in the art that all or any of the steps or elements of the method and apparatus of the present invention may be implemented in any computing device (including processors, storage media, etc.) or network of computing devices, in hardware, firmware, software, or any combination thereof, which can be implemented by those skilled in the art using their basic programming skills after reading the description of the present invention.
Thus, the objects of the invention may also be achieved by running a program or a set of programs on any computing device. The computing device may be a general purpose device as is well known. The object of the invention is thus also achieved solely by providing a program product comprising program code for implementing the method or the apparatus. That is, such a program product also constitutes the present invention, and a storage medium storing such a program product also constitutes the present invention. It is to be understood that the storage medium may be any known storage medium or any storage medium developed in the future. It is further noted that in the apparatus and method of the present invention, it is apparent that each component or step can be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present invention. Also, the steps of executing the series of processes described above may naturally be executed chronologically in the order described, but need not necessarily be executed chronologically. Some steps may be performed in parallel or independently of each other.
While the foregoing is directed to the preferred embodiment of the present invention, it will be appreciated by those skilled in the art that various changes and modifications may be made therein without departing from the principles of the invention as set forth in the appended claims.
Claims (6)
1. A method for processing a radar image, comprising:
acquiring pixel points of radar images of radar historical directions and pixel information of the pixel points;
traversing each pixel point in the pixel points, and performing extension processing on each pixel point according to a preset extension rule and pixel information of the pixel point to obtain an extension result;
outputting and displaying the expansion result;
wherein the pixel information includes: the brightness range corresponding to the color of the pixel point;
according to a preset extension rule and pixel information of the pixel points, each pixel point is subjected to extension processing to obtain an extension result, and the method comprises the following steps:
acquiring a preset echo expansion level;
according to a preset expansion rule and the pixel information of the pixel points, performing expansion processing of the preset echo expansion level on each pixel point to obtain an expansion result;
the preset echo expansion level corresponds to an expansion kernel and an expansion neighborhood; the extended neighborhood comprises at least one extended pixel point;
wherein the preset echo expansion level comprises: a first level, a second level, and a third level;
when the preset echo expansion level is a first level, the first expansion core is: a first pixel point; the first expanded neighborhood is: a first number of first expansion pixel points adjacent to the adjacent edge of the pixel point to be expanded;
when the preset echo expansion level is a second level, the second expansion core is: the method comprises the following steps that a second pixel point and a first number of third pixel points adjacent to the second pixel point are obtained; the second expanded neighborhood is: a second number of second expansion pixel points which are the same as any vertex of the pixel points to be expanded;
when the preset echo expansion level is a third level, the third expansion core is: the second number of fifth pixel points are the same as any vertex of the fourth pixel points, and the third number of sixth pixel points are adjacent to the adjacent side of the fifth pixel points; the third expanded neighborhood is: a second number of third extended pixel points which are the same as at least one vertex of the pixel points to be extended;
the colors of the first pixel point, the second pixel point and the fourth pixel point are all first enhanced colors, the colors of the third pixel point and the fifth pixel point are all second enhanced colors, and the color of the sixth pixel point is a third enhanced color.
2. The radar image processing method according to claim 1, wherein the preset extension rule is: replacing colors of high grade with colors of low grade;
the first enhanced color is of a higher level than the second enhanced color, which is of a higher level than the third enhanced color.
3. The radar image processing method according to claim 1 or 2, wherein performing extension processing of the preset echo extension level on each pixel point according to a preset extension rule and pixel information of the pixel point to obtain an extension result includes:
determining a target pixel point according to the pixel point of the historical direction and the pixel information of the pixel point; the target pixel point is a pixel point of which the brightness range corresponding to the color of the pixel information is within a preset brightness range;
and according to a preset expansion rule, using the expansion check to replace each expansion pixel point of each target pixel point in the expansion neighborhood so as to obtain an expansion result.
4. A radar image processing apparatus, comprising:
the acquisition module is used for acquiring pixel points of radar images of radar historical directions and pixel information of the pixel points;
the processing module is used for traversing each pixel point in the pixel points, and performing expansion processing on each pixel point according to a preset expansion rule and the pixel information of the pixel point to obtain an expansion result; outputting and displaying the expansion result;
wherein the pixel information includes: the brightness range corresponding to the color of the pixel point;
according to a preset extension rule and pixel information of the pixel points, performing extension processing on each pixel point to obtain an extension result, and the method comprises the following steps:
acquiring a preset echo expansion level;
according to a preset expansion rule and pixel information of the pixel points, performing expansion processing of the preset echo expansion level on each pixel point to obtain an expansion result;
the preset echo expansion level corresponds to an expansion kernel and an expansion neighborhood; the extension neighborhood comprises at least one extension pixel point;
wherein the preset echo expansion level comprises: a first level, a second level, and a third level;
when the preset echo expansion level is a first level, the first expansion core is: a first pixel point; the first expanded neighborhood is: a first number of first expansion pixel points adjacent to the adjacent edge of the pixel point to be expanded;
when the preset echo expansion level is a second level, the second expansion kernel is: the method comprises the following steps that a second pixel point and a first number of third pixel points adjacent to the second pixel point are obtained; the second expanded neighborhood is: a second number of second expansion pixel points which are the same as any vertex of the pixel points to be expanded;
when the preset echo expansion level is a third level, the third expansion kernel is: the second quantity of the fifth pixel points are the same as any vertex of the fourth pixel points, and the third quantity of the sixth pixel points are adjacent to the adjacent sides of the fifth pixel points; the third expanded neighborhood is: a second number of third extended pixel points which are the same as at least one vertex of the pixel points to be extended;
the colors of the first pixel point, the second pixel point and the fourth pixel point are all first enhanced colors, the colors of the third pixel point and the fifth pixel point are all second enhanced colors, and the color of the sixth pixel point is a third enhanced color.
5. A computing device, comprising: a processor, a memory storing a computer program which, when executed by the processor, performs the method of any one of claims 1 to 3.
6. A computer-readable storage medium having stored thereon instructions which, when executed on a computer, cause the computer to perform the method of any one of claims 1 to 3.
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