CN116758123A - Ocean wave image processing method and device and server - Google Patents
Ocean wave image processing method and device and server Download PDFInfo
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- CN116758123A CN116758123A CN202310454381.XA CN202310454381A CN116758123A CN 116758123 A CN116758123 A CN 116758123A CN 202310454381 A CN202310454381 A CN 202310454381A CN 116758123 A CN116758123 A CN 116758123A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
- G06T7/337—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods involving reference images or patches
Abstract
The invention discloses a wave image processing method, a wave image processing device and a wave image processing server for processing ocean detection images, wherein the processing method comprises the following steps: acquiring a wave image of a set sea area; acquiring current position information of a shooting device; calculating offset data of the shooting device according to the current position information and the initial position information of the shooting device; calibrating the wave image according to the wave image and offset data of the shooting device; and carrying out noise reduction treatment on the calibrated wave image. The ocean wave image processing method, the ocean wave image processing device and the ocean wave image processing server can calibrate the wave image, so that the wave image is more approximate to a true value, and the image processing effect is improved conveniently.
Description
Technical Field
The invention relates to the field of ocean image processing, in particular to a method, a device and a server for processing ocean wave images.
Background
Wave motion and generation are the most common physical phenomena in the ocean, and wave detection and analysis have great significance for research of the ocean, marine transportation and operation and the like. The existing wave measurement methods include an acceleration measurement method, a pressure method, a wave surface measurement method, a wave surface roughness inversion method and the like, and with the development of an image processing method, an ocean wave image processing method based on image processing gradually appears. How to further improve the wave image processing effect of the ocean is a hot spot and a difficult point of ocean wave research, and further development and breakthrough are needed.
Disclosure of Invention
The invention aims to provide a wave image processing method, device and server for ocean, which can calibrate wave images, enable the images to be closer to true values and facilitate improvement of image processing effects.
To achieve the above object, an embodiment of the present invention provides a wave image processing method of ocean for processing an ocean exploration image, the processing method including: acquiring a wave image of a set sea area; acquiring current position information of a shooting device; calculating offset data of the shooting device according to the current position information and the initial position information of the shooting device; calibrating the wave image according to the wave image and offset data of the shooting device; and performing noise reduction processing on the calibrated wave image.
In one or more embodiments of the present invention, the photographing device includes a displacement module and a photographing module, the photographing module is mounted on the displacement module, and the photographing module is capable of moving in a first direction, a second direction, and rotating in a third direction relative to the displacement module, wherein the first direction and the second direction are perpendicular to each other;
the step of obtaining the current position information of the shooting device comprises the following steps: first position information of the shooting module in the first direction, second position information of the shooting module in the second direction and rotation position information of the shooting module in the third direction are acquired.
In one or more embodiments of the present invention, the calculating of the offset data of the photographing device according to the current position information and the initial position information of the photographing device includes: calculating first offset data of the shooting module in the first direction according to the first position information and a first initial position of the shooting module in the first direction; calculating second offset data of the shooting module in the second direction according to the second position information and a second initial position of the shooting module in the second direction; calculating third offset data of the shooting module in the third direction according to the third position information and a third initial position of the shooting module in the third direction; and calculating offset data of the shooting module according to the first offset data, the second offset data and the third offset data.
In one or more embodiments of the present invention, the treatment method further includes: acquiring the first position information, the second position information and the third position information every fixed time; and establishing a three-dimensional coordinate system according to the first position information, the second position information and the third position information.
In one or more embodiments of the present invention, in the step of acquiring the wave image of the set sea area, the wave image includes pixels of a two-dimensional plane and depth information of each pixel.
In one or more embodiments of the present invention, in the step of acquiring the wave image of the set sea area, at least two sets of wave images of the set sea area are acquired, and any two adjacent sets of wave images are spaced at the same time; the processing method further comprises the following steps: and calculating the wave speed of the set sea area according to the depth information of any two adjacent wave images and the corresponding pixel points.
To achieve the above object, an embodiment of the present invention provides a wave image processing apparatus of ocean for processing an ocean exploration image, the processing apparatus including: a first acquisition module: the method comprises the steps of acquiring a wave image of a set sea area; and a second acquisition module: the method comprises the steps of acquiring current position information of a shooting device; the calculation module: the offset data of the shooting device is calculated according to the current position information and the initial position information of the shooting device; and a calibration module: the wave image calibration device is used for calibrating the wave image according to the wave image and offset data of the shooting device; and a noise reduction module: and the method is used for carrying out noise reduction processing on the calibrated wave image.
In one or more embodiments of the present invention, the photographing device includes a displacement module and a photographing module, the photographing module is mounted on the displacement module, and the photographing module is capable of moving in a first direction, a second direction, and rotating in a third direction relative to the displacement module, wherein the first direction and the second direction are perpendicular to each other.
The second acquisition module is further configured to: first position information of the shooting module in the first direction, second position information of the shooting module in the second direction and rotation position information of the shooting module in the third direction are acquired.
In one or more embodiments of the invention, the computing module is further to: calculating first offset data of the shooting module in the first direction according to the first position information and a first initial position of the shooting module in the first direction; calculating second offset data of the shooting module in the second direction according to the second position information and a second initial position of the shooting module in the second direction; calculating third offset data of the shooting module in the third direction according to the third position information and a third initial position of the shooting module in the third direction;
and calculating the offset data of the shooting module according to the first offset data, the second offset data and the third offset data.
To achieve the above object, an embodiment of the present invention provides a server including a memory and a processor, the memory having stored thereon a readable computer program, the process being capable of reading and executing the program and implementing the wave image processing method of the ocean of any one of the foregoing.
Compared with the prior art, the ocean wave image processing method, device and server according to the embodiment of the invention are as follows: the position offset data of the shooting device is calculated by acquiring the wave image of the set sea area and the current position information of the shooting device for shooting the wave image, so that the wave image is calibrated and is more approximate to the actual wave. According to the ocean wave image processing method, device and server provided by the embodiment of the invention, the influence of the displacement change of the shooting device on imaging is considered, and the wave image acquired by the shooting device is calibrated, so that the wave image processing is more similar to real ocean waves, and the image processing effect is improved.
Drawings
FIG. 1 is a schematic diagram of a server according to an embodiment of the invention;
FIG. 2 is a schematic illustration of a wave image processing method of the ocean according to an embodiment of the invention;
FIG. 3 is a schematic diagram of sub-steps of step S300 according to an embodiment of the present invention;
fig. 4 is a schematic diagram of steps S600 and S700 according to an embodiment of the invention;
fig. 5 is a schematic view of a wave image processing apparatus of the ocean according to an embodiment of the present invention.
The main reference numerals illustrate:
100-wave image processing device of ocean; 110-a first acquisition module; 120-a second acquisition module; 130-a calculation module; 140-a calibration module; 150-a noise reduction module; 200-memory; 300-processor.
Detailed Description
The following detailed description of embodiments of the invention is, therefore, to be taken in conjunction with the accompanying drawings, and it is to be understood that the scope of the invention is not limited to the specific embodiments.
Throughout the specification and claims, unless explicitly stated otherwise, the term "comprise" or variations thereof such as "comprises" or "comprising", etc. will be understood to include the stated element or component without excluding other elements or components.
As shown in fig. 1 to fig. 1, according to the ocean wave image processing method according to the preferred embodiment of the invention, actual image data is taken as a research object, so that a processing result can be more practical, and the ocean wave image processing method has better popularization and application values.
The ocean wave image processing method and the ocean wave image processing device provided by the embodiment of the invention are applied to a server, and the server can be, but is not limited to, a desktop computer, a notebook computer, a tablet computer and a mobile phone. Referring to fig. 1, a schematic structure of a marine wave image processing apparatus 100 according to an embodiment of the invention is shown. The service terminal is used for running a processing program of the ocean exploration image. The server comprises a memory 200, a processor 300 and a wave image processing means of the ocean.
The elements of the memory 200 and the processor 300 are directly or indirectly electrically connected to each other to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The marine wave image processing device 100 comprises at least one software function module which may be stored in the memory 200 in the form of software or firmware (firmware) or cured in an Operating System (OS) of a service terminal. The processor 300 is used to execute executable modules stored in the memory 200, such as software functional modules and computer programs included in the marine wave image processing device 100.
The Memory 200 may be, but is not limited to, a random access Memory (Random Access Memory, RAM), a Read Only Memory (ROM), a programmable read Only Memory (Programmable Read-Only Memory, PROM), an erasable read Only Memory (Erasable Programmable Read-Only Memory, EPROM), an electrically erasable read Only Memory (ElectricErasable Programmable Read-Only Memory, EEPROM), etc. The memory 200 is used for storing a program, and the processor 300 executes the program after receiving an execution instruction.
In addition, functional modules in the embodiments of the present invention may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.
It should be noted that in the embodiment of the invention, the ocean wave image processing method considers the influence of the displacement change of the shooting device on imaging, and the wave image acquired by the shooting device is calibrated, so that the wave image processing is more similar to real ocean waves, and the image processing effect is improved.
Referring to fig. 2, an embodiment of the present invention provides a method for processing a wave image of ocean. The specific steps are as follows.
Step S100: and acquiring a wave image of the set sea area.
It should be noted that, in the embodiment of the present invention, the detection and analysis of the waves are significant for the research of the ocean, the marine transportation and the operation, and the like, and in the step S100, the set sea area refers to the predetermined sea area to be researched. Such as a sea area where a marine transportation route is to be designed, a sea area where construction of a cross-sea bridge is to be performed, or a sea area having other research value, etc.
In the embodiment of the present invention, step S100 may acquire a wave image of a set sea area through a photographing device. Imaging modes of the photographing device include but are not limited to infrared imaging, laser imaging and the like, and the imaging principle of the photographing device is not particularly required or limited.
Step S200: and acquiring the current position information of the shooting device.
In the embodiment of the present invention, the photographing device may be installed near the set sea area, and may be capable of photographing the position of the wave image of the set sea area. Because the air flow on the sea changes more and more, the position of the shooting device can change along with the change of the air flow, and the fluctuation of the sea water also has an effect on the change of the shooting device.
In the embodiment of the invention, the shooting device comprises a displacement module and a shooting module, wherein the shooting module is arranged on the displacement module, and can move along a first direction and a second direction relative to the displacement module and rotate along a third direction, and the first direction and the second direction are mutually perpendicular. At this time, the step S200 of acquiring the current position information of the photographing device may include the substep S210: first position information of the shooting module in a first direction, second position information of the shooting module in a second direction and rotation position information of the shooting module in a third direction are acquired.
It should be noted that, in the embodiment of the present invention, the displacement module is used for moving the shooting module, that is, the current position information of the shooting module can be obtained conveniently and simply through the displacement module, thereby being helpful to improving the calculation efficiency and reducing the calculation complexity. In this embodiment, the photographing module is movable in the first direction and the second direction and is rotatable in the third direction, that is, the current position of the photographing device can be intuitively obtained by displacement of the photographing module in the first direction and the second direction and rotation in the third direction. For example, a displacement sensor and an angle sensor are provided, wherein the displacement sensor comprises two displacement sensors, the first displacement sensor is used for acquiring first position information of the shooting module in a first direction, the second displacement sensor is used for acquiring second position information of the shooting module in a second direction, and the angle sensor is used for acquiring rotation position information of the shooting module in a third direction. When executing step S200, only the first displacement sensor, the second displacement sensor and the angle sensor are needed, so that the calculation is simpler and more convenient. Compared with some modes of calculating through algorithms to obtain the position movement, the embodiment of the invention greatly reduces the complexity of a calculation system by designing the displacement module and the mode that the camera module moves in the first direction and the second direction relative to the displacement module and can rotate along the third direction, and is easy to understand and realize.
Step S300: and calculating offset data of the shooting device according to the current position information and the initial position information of the shooting device.
Referring to fig. 3, in the present embodiment, the step S300 of calculating offset data of the photographing device according to current position information and initial position information of the photographing device includes:
substep S310: and calculating first offset data of the shooting module in the first direction according to the first position information and the first initial position of the shooting module in the first direction.
Since the photographing module moves linearly in the first direction, the first offset data of the photographing module in the first direction may be calculated by a difference (or an absolute value of a difference) between the first initial position of the photographing module in the first direction and the first position information.
Sub-step S320: and calculating second offset data of the shooting module in the second direction according to the second position information and a second initial position of the shooting module in the second direction.
Since the photographing module moves linearly in the second direction, the second offset data of the photographing module in the second direction may be calculated by a difference (or an absolute value of a difference) between the second initial position of the photographing module in the second direction and the second position information.
Sub-step S330: and calculating third offset data of the shooting module in the third direction according to the third position information and the third initial position of the shooting module in the third direction.
It should be noted that, because the shooting module rotates in the third direction, the difference between the angle value of the shooting module at the initial position and the angle value of the current position is the third offset data of the shooting module in the third direction.
Sub-step S340: and calculating offset data of the shooting module according to the first offset data, the second offset data and the third offset data.
It should be noted that the offset data of the photographing module includes two values, one of which is a value of linear motion and the other of which is a rotation value, and may be denoted as a=Wherein A represents offset data of the photographing module, X represents distance of linear motion, ++>Indicating the angle of rotation.
Step S400: and calibrating the wave image according to the wave image and the offset data of the shooting device.
It should be noted that, when the wave image is calibrated, an image coordinate system may be established for the wave image, and then each coordinate point in the image coordinate system is corrected by the offset data of the shooting module calculated in step S300, so as to obtain a calibrated wave image that is closer to the actual wave image.
Step S500: and carrying out noise reduction treatment on the calibrated wave image.
It should be noted that, in the embodiment of the present invention, the noise reduction processing manner is not specifically required or limited, for example, the noise reduction processing of the calibrated wave image may be implemented by adopting a wavelet noise reduction manner or the like.
Referring to fig. 4, in other embodiments of the present invention, the processing method may further include the following steps to make the displacement of the photographing device more intuitive, i.e. to realize the visualization of the position of the photographing device.
Step S600: the first position information, the second position information and the third position information are acquired once every fixed time.
Step S700: and establishing a three-dimensional coordinate system according to the first position information, the second position information and the third position information.
It should be understood that the first position information and the second position information are both values of linear motion, the third position information is an angle value, and the angle value can be selected according to the display effect to be' O "in units or in radians.
In another embodiment of the present invention, in the step of acquiring the wave image of the set sea area, the wave image includes pixels of a two-dimensional plane and depth information of each pixel. In the step of acquiring the wave images of the set sea area, acquiring at least two groups of wave images of the set sea area, wherein the interval between any two adjacent groups of wave images is the same; the processing method further includes step S800: and calculating and setting the wave speed of the sea area according to the depth information of any two adjacent wave images and the corresponding pixel points.
That is, a depth camera module is added in the shooting device for acquiring the depth information of the wave image, the depth information can enable the information in the wave image of the ocean to be more abundant, and the later analysis and the processing are facilitated to obtain more information and research results of the ocean wave.
The wave image processing method of the ocean provided by the embodiment of the invention comprises the following steps: the position offset data of the shooting device is calculated by acquiring the wave image of the set sea area and the current position information of the shooting device for shooting the wave image, so that the wave image is calibrated and is more approximate to the actual wave. According to the ocean wave image processing method provided by the embodiment of the invention, the influence of the displacement change of the shooting device on imaging is considered, and the wave image acquired by the shooting device is calibrated, so that the wave image processing is more similar to real ocean waves, and the image processing effect is improved.
Referring to fig. 5, an embodiment of the present invention further provides a marine wave image processing apparatus 100 for processing a marine probe image, where the processing apparatus 100 includes: the first acquisition module 110, the second acquisition module 120, the calculation module 130, the calibration module 140, and the noise reduction module 150.
In the embodiment of the present invention, the first acquiring module 110 is configured to acquire a wave image of a set sea area. Optionally, the step S100 is performed by the first obtaining module 110.
In the embodiment of the present invention, the second obtaining module 120 is configured to obtain current position information of the photographing device; optionally, the step S200 is performed by the second obtaining module 120.
In the embodiment of the present invention, the calculating module 130 is configured to calculate offset data of the photographing device according to current position information and initial position information of the photographing device; optionally, the step S300 is performed by the computing module 130.
In the embodiment of the present invention, the calibration module 140 is configured to calibrate the wave image according to the wave image and offset data of the photographing device; optionally, the step S400 is performed by the calibration module 140.
In the embodiment of the present invention, the noise reduction module 150 is configured to perform noise reduction processing on the calibrated wave image. Optionally, the step S500 is performed by the noise reduction module 150.
In an embodiment of the present invention, the second obtaining module is further configured to obtain first position information of the shooting module in a first direction, second position information of the shooting module in a second direction, and rotational position information of the shooting module in a third direction.
Optionally, the above-mentioned sub-step S210 is performed by the second acquisition module.
In one or more embodiments of the invention, the computing module is further to: calculating first offset data of the shooting module in the first direction according to the first position information and a first initial position of the shooting module in the first direction; calculating second offset data of the shooting module in the second direction according to the second position information and a second initial position of the shooting module in the second direction; calculating third offset data of the shooting module in the third direction according to the third position information and a third initial position of the shooting module in the third direction; and calculating offset data of the shooting module according to the first offset data, the second offset data and the third offset data.
Optionally, the above sub-steps S310 to S340 are performed by a calculation module.
In an alternative embodiment, the processing device may further include a third acquisition module and a coordinate establishment module. The third acquisition module is used for acquiring the first position information, the second position information and the third position information once every fixed time. The coordinate establishing module is used for establishing a three-dimensional coordinate system according to the first position information, the second position information and the third position information.
Optionally, the step S600 is performed by the third obtaining module, and the step S700 is performed by the coordinate setting module.
In an alternative embodiment, the wave image comprises pixels of a two-dimensional plane and depth information of each pixel. The processing device can also comprise a depth information module, wherein the depth information module is used for calculating the wave speed of the set sea area according to the depth information of any two adjacent wave images and the corresponding pixel points.
In an alternative embodiment, step S800 described above is performed by the depth information module.
The embodiment of the invention provides a marine wave image processing device 100: the position offset data of the shooting device is calculated by acquiring the wave image of the set sea area and the current position information of the shooting device for shooting the wave image, so that the wave image is calibrated and is more approximate to the actual wave. According to the ocean wave image processing device provided by the embodiment of the invention, the influence of the displacement change of the shooting device on imaging is considered, and the wave image acquired by the shooting device is calibrated, so that the wave image processing is more similar to real ocean waves, and the image processing effect is improved.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing descriptions of specific exemplary embodiments of the present invention are presented for purposes of illustration and description. It is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain the specific principles of the invention and its practical application to thereby enable one skilled in the art to make and utilize the invention in various exemplary embodiments and with various modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.
Claims (10)
1. A method of processing a wave image of the ocean for processing an ocean probe image, the method comprising:
acquiring a wave image of a set sea area;
acquiring current position information of a shooting device;
calculating offset data of the shooting device according to the current position information and the initial position information of the shooting device;
calibrating the wave image according to the wave image and offset data of the shooting device; and
and carrying out noise reduction treatment on the calibrated wave image.
2. The method of wave image processing of the ocean of claim 1, wherein the photographing device comprises a displacement module and a photographing module, the photographing module is mounted on the displacement module, and the photographing module can move along a first direction, a second direction and rotate along a third direction relative to the displacement module, wherein the first direction is perpendicular to the second direction;
the step of obtaining the current position information of the shooting device comprises the following steps:
first position information of the shooting module in the first direction, second position information of the shooting module in the second direction and rotation position information of the shooting module in the third direction are acquired.
3. The ocean wave image processing method of claim 2, wherein the calculating offset data of the photographing device according to the current position information and the initial position information of the photographing device comprises:
calculating first offset data of the shooting module in the first direction according to the first position information and a first initial position of the shooting module in the first direction;
calculating second offset data of the shooting module in the second direction according to the second position information and a second initial position of the shooting module in the second direction;
calculating third offset data of the shooting module in the third direction according to the third position information and a third initial position of the shooting module in the third direction;
and calculating the offset data of the shooting module according to the first offset data, the second offset data and the third offset data.
4. The method of wave image processing of the ocean of claim 2, wherein the processing method further comprises:
acquiring the first position information, the second position information and the third position information every fixed time;
and establishing a three-dimensional coordinate system according to the first position information, the second position information and the third position information.
5. The method of processing a wave image of the ocean according to claim 1, wherein in the step of acquiring the wave image of the set sea area, the wave image includes pixels of a two-dimensional plane and depth information of each pixel.
6. The method of wave image processing of the ocean according to claim 5, wherein in the step of acquiring wave images of a set sea area, at least two sets of wave images of the set sea area are acquired with any adjacent two sets of wave images being spaced apart by the same time;
the processing method further comprises the following steps:
and calculating the wave speed of the set sea area according to the depth information of any two adjacent wave images and the corresponding pixel points.
7. A wave image processing device of the ocean for processing ocean exploration images, the processing device comprising:
a first acquisition module: the method comprises the steps of acquiring a wave image of a set sea area;
and a second acquisition module: the method comprises the steps of acquiring current position information of a shooting device;
the calculation module: the offset data of the shooting device is calculated according to the current position information and the initial position information of the shooting device;
and a calibration module: the wave image calibration device is used for calibrating the wave image according to the wave image and offset data of the shooting device; and
and a noise reduction module: and the method is used for carrying out noise reduction processing on the calibrated wave image.
8. The marine wave image processing device of claim 7, wherein the camera device comprises a displacement module and a camera module, the camera module is mounted on the displacement module and is capable of moving in a first direction, a second direction and rotating in a third direction relative to the displacement module, wherein the first direction is perpendicular to the second direction;
the second acquisition module is further configured to: first position information of the shooting module in the first direction, second position information of the shooting module in the second direction and rotation position information of the shooting module in the third direction are acquired.
9. The marine wave image processing device of claim 7, wherein the computing module is further configured to:
calculating first offset data of the shooting module in the first direction according to the first position information and a first initial position of the shooting module in the first direction;
calculating second offset data of the shooting module in the second direction according to the second position information and a second initial position of the shooting module in the second direction;
calculating third offset data of the shooting module in the third direction according to the third position information and a third initial position of the shooting module in the third direction;
and calculating the offset data of the shooting module according to the first offset data, the second offset data and the third offset data.
10. A server comprising a memory and a processor, said memory having stored thereon a readable computer program, said process being capable of reading and executing said program and implementing a wave image processing method of the ocean according to any one of claims 1-6.
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