WO2020062184A1 - Image processing method and device, movable platform and storage medium - Google Patents

Abstract

Disclosed by the embodiments of the present invention are an image processing method for a movable platform, comprising: acquiring an original code stream of a target video file, the original code stream comprising code streams of multiple frames obtained by encoding the target video file, a first frame in a frame sequence corresponding to any one of the multiple frames being an intra-frame encoded frame, and the other frames being inter-frame encoded frames; decoding the original code stream to obtain decoded data of each of the frames; and encoding the decoded data according to first parameter information of the original code stream to obtain a current code stream of the target video file, wherein the current code stream is a code stream comprising at least one inter-frame encoded frame and at least two instantaneous decoding refresh (IDR) frames. Thus, the present invention is beneficial in improving the image processing efficiency of the mobile platform.

Description

Image processing method, device, movable platform and storage medium Technical field

The present invention relates to the field of computer technology, and in particular, to an image processing method, device, movable platform, and storage medium.

Background technique

In the video transmission process, due to the limitation of data bandwidth and the requirement of data stability, most transmission devices (such as cameras) use Gradual Decoding Refresh (GDR) image transmission methods. If the video is transmitted via the GDR method, the frame type of the resulting code stream is inter-frame coded frames, and the data size of each frame is relatively stable, so the GDR transmission method is very suitable for real-time transmission.

Due to the characteristics of the inter-frame encoding frame used to record the difference between the current frame and the previous frame, after the receiving device receives and stores the bit stream transmitted via GDR, if the receiving device needs to perform image processing operations such as editing or random position playback of the original video , It needs to be decoded frame by frame for the code stream transmitted through GDR, which results in low image processing efficiency.

Summary of the Invention

Embodiments of the present invention provide an image processing method, a device, a movable platform, and a storage medium, which are beneficial to improving image processing efficiency.

A first aspect of an embodiment of the present invention is to provide an image processing method, including:

Obtain the original code stream of the target video file, where the original code stream includes the code streams of multiple frames obtained by encoding the target video file, and the first frame in the frame sequence corresponding to any one of the multiple frames is intra-frame encoding Frames, other frames are inter-coded frames;

Decoding the original code stream to obtain decoded data of each of the frames;

Encode the decoded data according to the first parameter information of the original code stream to obtain a current code stream of the target video file, where the current code stream includes at least one inter-coded frame and at least two real-time Decode the code stream of the refresh IDR frame.

A second aspect of an embodiment of the present invention is another image processing method provided, including:

Obtaining a current stream of a target video file, where the current stream is a stream including at least one inter-encoded frame and at least two instant decoding refresh IDR frames;

When a selection operation of a target frame in the target video file is detected, a first IDR frame located before the target frame, and all the IDR frames between the first IDR frame and the target frame are determined. Inter-frame coding

Obtaining an image of the target frame according to the code stream of the first IDR frame, the determined code stream of the inter-frame encoded frame, and the code stream of the target frame.

A third aspect of the embodiments of the present invention is still another image processing method, including:

When a selection operation on the target video file is detected, determining a target frame that needs to be encoded into an instant decoding refresh IDR frame according to the selected operation position of the original bitstream of the target video file;

Perform decoding processing on the original code stream until the decoded data of the target frame is obtained;

Encode the decoded data of the target frame according to the first parameter information of the original code stream to obtain the current code stream of the target frame;

Replacing the stream of the target frame in the original stream with the current stream to obtain the current stream of the target video file.

A fourth aspect of the embodiments of the present invention is to provide an image processing apparatus, including:

Memory and processor;

The memory is used to store program code;

The processor calls the program code, and when the program code is executed, is used to perform the following operations:

Obtain the original code stream of the target video file, where the original code stream includes the code streams of multiple frames obtained by encoding the target video file, and the first frame in the frame sequence corresponding to any one of the multiple frames is intra-frame encoding Frames, other frames are inter-coded frames;

Decoding the original code stream to obtain decoded data of each of the frames;

Encode the decoded data according to the first parameter information of the original code stream to obtain a current code stream of the target video file, where the current code stream includes at least one inter-coded frame and at least two real-time Decode the code stream of the refresh IDR frame.

A fifth aspect of the embodiments of the present invention provides another image processing apparatus, including:

Memory and processor;

The memory is used to store program code;

The processor calls the program code, and when the program code is executed, is used to perform the following operations:

Obtaining a current code stream of a target video file, where the current code stream is a code stream including at least one inter-coded frame and at least two instant decoding refresh IDR frames;

When a selection operation of a target frame in the target video file is detected, a first IDR frame located before the target frame, and all the IDR frames between the first IDR frame and the target frame are determined. Inter-frame coding

Obtaining an image of the target frame according to the code stream of the first IDR frame, the determined code stream of the inter-frame encoded frame, and the code stream of the target frame.

A sixth aspect of the embodiments of the present invention provides another image processing apparatus, including:

Memory and processor;

The memory is used to store program code;

The processor calls the program code, and when the program code is executed, is used to perform the following operations:

When a selection operation on the target video file is detected, determining a target frame that needs to be encoded into an instant decoding refresh IDR frame according to the selected operation position of the original bitstream of the target video file;

Perform decoding processing on the original code stream until the decoded data of the target frame is obtained;

Encode the decoded data of the target frame according to the first parameter information of the original code stream to obtain the current code stream of the target frame;

Replacing the stream of the target frame in the original stream with the current stream to obtain the current stream of the target video file.

A movable platform provided by a seventh aspect of the embodiments of the present invention includes:

body;

A power system mounted on the fuselage and configured to provide power to the movable platform;

And the image processing apparatus of the movable platform provided by the above fourth, fifth and sixth aspects.

The image processing method, device, and mobile platform provided by the embodiments of the present invention can obtain the decoded data of each frame included in the original bitstream by decoding the obtained original bitstream of the target video file, so as to further analyze the original bitstream. The decoded data is encoded to obtain the current code stream of the target video file, so that the user can decode the image of any position in the target video file and obtain the position according to the intra-coded frames and IDR frames included in the current code stream. The corresponding decoded image makes the image processing efficiency improve.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic flowchart of an image processing method according to an embodiment of the present invention;

2 is a schematic flowchart of an image processing method according to another embodiment of the present invention;

3 is a schematic flowchart of an image processing method according to another embodiment of the present invention;

4 is a schematic diagram of an original code stream provided by an embodiment of the present invention;

5a is a schematic diagram of a target frame sequence according to an embodiment of the present invention;

5b is a schematic diagram of a target frame sequence according to another embodiment of the present invention;

6 is a schematic diagram of an image processing method according to an embodiment of the present invention;

7 is a schematic flowchart of an image processing method according to another embodiment of the present invention;

8 is a schematic block diagram of an image processing apparatus of a movable platform provided by an embodiment of the present invention;

FIG. 9 is a schematic block diagram of an image processing apparatus of a movable platform according to another embodiment of the present invention; FIG.

FIG. 10 is a schematic block diagram of an image processing apparatus of a movable platform according to another embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention will be clearly described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

It should be noted that when a component is called "fixed to" another component, it may be directly on another component or a centered component may exist. When a component is considered to be "connected" to another component, it can be directly connected to another component or a centered component may exist at the same time.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

Hereinafter, some embodiments of the present invention will be described in detail with reference to the drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

The image processing method, device, and mobile platform provided by the embodiments of the present invention can obtain the decoded data of each frame included in the original bitstream by decoding the obtained original bitstream of the target video file, so as to further analyze the original bitstream. The decoded data is encoded to obtain the current code stream of the target video file, so that the user can decode the image of any position in the target video file and obtain the position according to the intra-coded frames and IDR frames included in the current code stream. The corresponding decoded image makes the image processing efficiency improve.

Currently, due to data bandwidth limitations and data stability requirements, most devices use GDR image transmission to transmit video files. Based on the characteristics of GDR image transmission, the original bitstream of the transmitted video file (such as the target video file) includes only frames. Inter-coded frames, such as B-frames and / or P-frames, excluding intra-frame coded frames, which may be, for example, I-frames and / or instantaneous decode refreshes IDR frame (Instantaneous Decoding, Refresh, Fram, IDR frame), in one embodiment, I frame, which is a kind of independent ordinary intra frame encoded I frame with all the information, ordinary I frame can be independently decoded, without reference to other frames The decoded image is obtained. The first ordinary I frame is an IDR frame. The role of the IDR frame is to refresh immediately. Since a new sequence is recalculated from the IDR frame to start encoding, sequence errors do not continue to propagate during decoding, and I Frames do not have the capability of random access, this function is only undertaken by the IDR.

IDR frames will cause DPB (Decoded Picture Buffer, Reference Frame List) to be emptied, but I frames will not. IDR frames must be I frames, but I frames are not necessarily IDR frames. In one embodiment, the P frame is a forward predictive coding frame, and the P frame represents the difference between this frame and the previous frame. Therefore, when decoding a P frame to obtain a decoded image, the image needs to be decoded from the beginning until it is decoded to P The decoded image is obtained at the corresponding position of the frame; the B frame is a bidirectional predictive interpolation coded frame. The B frame records the difference between the current frame and the previous and subsequent frames. When decoding the B frame to decode the image, you need to refer to the code before and after the B frame. Stream and decode to get the decoded image corresponding to the B frame.

Using GDR for image transmission, the data size of each frame is relatively stable, but only the first frame in the original code stream is an intra-coded frame. Mobile terminals (such as drones) receive the image transmission via GDR. After decoding the original bitstream, if you want to decode a part of the file to obtain a decoded image, you must decode from the first intra-coded frame to the frame position corresponding to the required decoded image. It can be seen that the code that uses GDR for image transmission When decoding a stream, decoding at any position in the target video file needs to refer to the first intra-coded frame of the corresponding sequence, resulting in inefficient decoding of the video file.

In order to improve the processing efficiency of the image by the movable platform, the present invention proposes an image processing method, which can replace one or more inter-encoded frames in the H264 code stream transmitted by the GDR image with intra-encoded frames ( (Ie IDR frame), so that when the mobile platform decodes frames at any position in the H264 code stream, it does not need to refer to the first intra-coded frame in the sequence every time, and it can start decoding from the middle position of the H264 code stream. Images to improve the efficiency of mobile platforms for image processing. In an embodiment, reference may be made to a schematic flowchart of an image processing method as shown in FIG. 1. When the movable platform detects that the encoder is initialized, it obtains the original code stream of the target video file and determines the original code. The stream is decoded to obtain decoded data. The decoded data may be, for example, YUV data, so as to determine whether the data amount of the obtained decoded data meets a preset condition. The preset condition may be, for example, a multiple of 45 frames. When the amount of data meets a preset condition, the decoded data obtained is re-encoded, and the re-encoded current code stream is entropy-encoded and encapsulated, and then stored in a storage medium.

Because the current code stream obtained after re-encoding includes multiple intra-coded frames, when decoding the current code stream of the target video file, reference may be made to the intra-coded frame pair closest to the target frame to be decoded. The target frame is decoded to achieve random access to the target video file. In one embodiment, YUV data is a color coding method, which is mainly used in the field of television systems and analog video. It refers to separating luminance parameters (Y: Luminance or Luma) and chrominance parameters (UV: Chrominance or Chroma). The pixel encoding format for the representation.

In one embodiment, when the mobile platform performs an encoding operation, the corresponding encoder may be initialized according to the first parameter information of the H264 stream data, where the first parameter information includes a sequence parameter set SPS (Sequence Paramater Set, SPS) and picture parameter set PPS (Picture, Paramter Set, PPS). When the encoder is initialized, the SPS and PPS data such as profile, level, num_ref_frames, pic_init_qp_minus26 and other parameters must be completely consistent, and then set the encoder to encode YUV data as For IDR frames, the encoded data needs to be reparsed and repacked according to the SPS and PPS of the original bitstream, and then stored in the storage medium. Subsequent stream data may be changed due to the insertion of a new IDR frame and log2_max_frame_num_minus4. You need to parse and update frame_num, modify it to new parameters, and then packetize it. Finally, mux becomes a playable mp4 file.

The above encoder may be implemented by software encoding, and the above software encoding may be libx264 or openh26, or any other software encoding scheme.

For the GDR format stream, the general display saving process includes four major modules: split analysis, decoder decoding, display, and encoder re-encoding. First, after the data parsing module receives the stream of H264 packets, it needs to unpack and merge the same frame of the stream into a complete stream data packet to prepare the decoder for decoding; the decoder module receives the stream data Then, according to the normal decoding sequence and decoding logic, the code stream data is decoded into the correct YUV data; then the display module converts the YUV data into RGB data that the display can normally display, and displays it on the display end; finally the encoder re-encodes the module The YUV data decoded by the decoder is re-encoded into a H264 code stream.

In one embodiment, the working mode of the encoder re-encoding module is: the encoder needs some information related to the original code stream, because the original code stream is not completely re-encoded, but only re-encoded after a certain data frame, generally In the case, for a normal IDR format video file, for random playback at any point in time, there will be an IDR frame after a certain period of time. This time interval is generally 1-2s. In one embodiment, the value can be 1.5. s. For 30 frames per second (fps) video, an IDR frame is required approximately every 45 frames, that is, every 45 frames, the decoded YUV data is re-encoded.

In an embodiment, the encoder may perform specific steps when re-encoding: the first frame of the original H264 code stream and the decoded YUV data are transmitted to the encoding module at the same time. If the encoder has not been initialized, the SPS in the H264 code stream is used And / or PPS information, initialize the encoder to encode YUV data, generate new H264 data, modify the new H264's packet parameters and repack with the parameters of the original stream, and hand them to the multiplexer (mux, mux ) The module writes to the file. If the number of frames is not a multiple of 45, modify the parameters of the old code stream, such as frame_num and other parameters, then perform entropy encoding, and then write to the file by mux.

The image processing method of the movable platform in the embodiment of the present invention is described as an example below.

An image processing method for a movable platform provided by an embodiment of the present invention. FIG. 2 is a flowchart of an image processing method for a mobile platform according to an embodiment of the present invention. As shown in FIG. 2, the method includes the following steps:

S201: Obtain an original code stream of a target video file, where the original code stream includes code streams of multiple frames obtained by encoding the target video file, and any one of the multiple frames corresponds to a first frame in a frame sequence as a frame. Intra-coded frames, other frames are inter-coded frames.

In one embodiment, the mobile platform can obtain the original code stream of the target video file transmitted through GDR (Gradual Decoding, Refresh, GDR), and can use the GDR format to encode the transmitted target video file. The original code stream Corresponds to the H264 code stream, in which the GDR is completely refreshed from a frame, which realizes the gradual refresh by the method of P frames including I block groups, which will bring better network adaptability. In one embodiment, In the frame sequence of the original code stream obtained by the GDR transmission method, the first frame of any frame sequence is an intra-frame encoded frame, such as an I frame, and the other frames are inter-frame encoded frames, such as a P frame and / or a B frame.

Based on the original code stream obtained by transmitting the target video file by GDR, including the arrangement of the frame sequence, and the characteristics of intra-frame and inter-frame encoded frames, when a frame of any frame sequence in the original code stream needs to be decoded When a decoded image is obtained, it needs to be decoded from the first intra-coded frame of the frame sequence to which the certain frame belongs, that is, the frame sequence is decoded from the beginning until it is decoded to the corresponding position of the certain frame. It can be seen that, for the decoded image corresponding to a certain frame, the original code stream of the target video file transmitted through the GDR method cannot achieve random access to the target video file, that is, the original code stream cannot be randomly decoded to obtain a decoded image.

In another embodiment, when the number of intra-coded frames, such as I-frames, included in the original bitstream of the target video file obtained by the mobile platform is small, inter-coded frames, such as B-frames and / or P-frames When the number is large, the mobile platform decodes any frame sequence in the original code stream to obtain a decoded image. Because the number of I frames in the original code stream is small, the frame to be decoded may be the closest I to the frame to be decoded. The number of frames spaced between frames is large, which results in a low decoding efficiency of the mobile platform for the decoded frames, making the mobile platform's random access speed to the target video file lower, and weakening the user experience. Therefore, subsequent steps S202 and S203 may be performed to obtain a new code stream (that is, the current code stream), thereby improving the access speed of the target video file.

S202. Decode the original bitstream to obtain decoded data of each frame.

In order to achieve random access to the target video file, intra-coded frames can be independently decoded, and the characteristics of decoded images can be obtained without reference to other frames. Intra-coded frames can be inserted into the original code stream. Therefore, in order to achieve The intra-coded frame is inserted into the original code stream to achieve random access to the target video file. After the original code stream is obtained, the original code stream is decoded to obtain decoded data of each of the multiple frames. .

In one embodiment, the decoded data may be, for example, YUV data, and the YUV data may be converted into RGB data that can be normally displayed by a display and displayed on the display end. In addition, the movable platform may The target video file is re-encoded, that is, S203 is performed instead, and an intra-coded frame is inserted into the current code stream obtained by re-encoding the target video file.

When the original code stream is decoded, the original code stream may be parsed and processed to obtain the code stream of each frame, so that the code stream of each frame may be decoded and decoded for each of the frames. data.

S203: Encode the decoded data according to the first parameter information of the original code stream to obtain a current code stream of the target video file, where the current code stream includes at least one inter-encoded frame and at least two Instant decoding refreshes the bit stream of the IDR frame.

In one embodiment, the first parameter information includes code stream parameters, such as sequence parameter set SPS and / or image parameter set PPS, used to encode decoded data, and the sequence parameter set SPS and / or image parameter set PPS Both are important parameter sets in the H264 stream, and are saved together in the header file of the video file. The sequence parameter set SPS contains parameters for a continuously encoded video sequence, such as frame number, reference frame number, decoded image Size and frame field coding mode selection identification; the image parameter set PPS corresponds to a certain image or several images in a sequence, parameters such as identifier, entropy encoding mode selection identification, number of slices, initial quantization parameters Wait, if there is no PPS or SPS in the H264 stream, the decoder will not be able to parse the stream data, which will cause the target video file to be unplayable.

In an embodiment, the related parameters included in the PPS and / or SPS may also be used to initialize an encoder, so that the encoder re-encodes decoded data (such as YUV data) obtained by decoding the original bitstream. Among them, when encoding the decoded data according to the PPS and SPS to obtain the current stream of the target video file, the interval at which each frame sequence is inserted into the intra-coded frame can be determined, and the decoded data at the corresponding position is encoded into the intra-frame based on the interval Encode frames so that each frame sequence includes at least two intra-encoded frames. The two intra-encoded frames included can be, for example, instant decode refresh IDR frames, and other frames of the current code stream obtained by re-encoding are intra. Encoded frames, such as the P and / or B frames described above.

Because the current bitstream obtained after encoding the decoded data includes at least two IDR frames, based on the characteristics of the IDR frame immediately refreshed, when decoding any frame to be decoded in the frame sequence to obtain a decoded image, refer to the frame sequence The IDR frame closest to the frame to be decoded, and decoding is started from the latest IDR frame until it is decoded to the corresponding position of the frame to be decoded, so that the decoded image corresponding to the frame to be decoded can be decoded without using the original stream frame sequence The first intra-coded frame is decoded to obtain a decoded image, which realizes random access to the target video file and can improve the processing efficiency of the image.

The image processing method, device, and mobile platform provided by the embodiments of the present invention can obtain the decoded data of each frame included in the original bitstream by decoding the obtained original bitstream of the target video file, so as to further analyze the original bitstream. The decoded data is encoded to obtain the current code stream of the target video file, so that the user can decode the image of any position in the target video file and obtain the position according to the intra-coded frames and IDR frames included in the current code stream. The corresponding decoded image makes the image processing efficiency improve.

FIG. 3 is a flowchart of an image processing method for a mobile platform according to another embodiment of the present invention. As shown in FIG. 3, the method includes the following steps:

S301. Obtain an original code stream of a target video file, where the original code stream includes code streams of multiple frames obtained by encoding the target video file, and any one of the multiple frames corresponds to a first frame in a frame sequence as a frame. Intra-coded frames, other frames are inter-coded frames.

S302. Decode the original code stream to obtain decoded data of each frame.

In one embodiment, the specific real-time manners of S301-S302 can be referred to the descriptions of S201-S202, which will not be repeated here.

S303. Determine a target frame to be encoded into an IDR frame among the multiple frames.

When encoding the decoded data to obtain the current bitstream, it is necessary to first determine the insertion position of the IDR frame in the multiple frames that need to be encoded, and replace the frame corresponding to the insertion position in the original bitstream with the IDR frame that needs to be encoded. That is, a target frame to be encoded into an IDR frame needs to be determined from multiple frames. The position of the target frame in the original code stream is the insertion position of the IDR frame to be encoded in the multiple frames. The IDR frame that needs to be encoded replaces the target frame in the original code stream. In one embodiment, when the mobile platform determines the target frame that needs to be encoded into an IDR frame from multiple frames, the specific execution steps are:

s11, selecting a frame sequence corresponding to any one of the multiple frames as a target frame sequence;

s12, determining that the target frame sequence length corresponds to the playback duration of the target video file according to the target frame sequence length;

S13: Obtain a first insertion cycle of the IDR frame to be encoded in the target frame sequence;

s14. Determine a target frame to be encoded into an IDR frame among the multiple frames according to the first insertion period and the target frame sequence length.

Steps s11 to s14 are specific refinements of the above S303. The target frame sequence is any frame sequence in the original code stream of the target video file. The length of the target frame sequence refers to the target frame sequence. The number of all frames included in the frame, the length of the target frame sequence corresponds to the playback duration of the target video file means: the duration required to finish playing all the frames in the target frame sequence, correspondingly, the first The insertion period is a time period. For example, if the length of the target frame sequence corresponds to a playback duration of the target video file of 2 seconds, the first insertion period may correspond to 1s or 1.5s, etc. The target frame sequence length corresponds to the playback duration of the target video file and the first insertion cycle, and a target frame that needs to be encoded into an IDR frame is determined from the plurality of frames.

In an embodiment, as shown in FIG. 4, the original bitstream of any of the target video files includes at least one frame sequence, and the at least one frame sequence may be determined by the first parameter information (the first (The parameter information includes PPS and / or SPS), and / or the at least one frame sequence may also be distinguished by second parameter information included in the code stream, and when distinguished by the second parameter information, The second parameter information may be set to 0 to identify a start position of each frame sequence included in the code stream.

In another embodiment, when the mobile platform determines a target frame that needs to be encoded into an IDR frame among the multiple frames, it may further perform steps:

s21, selecting a frame sequence corresponding to any one of the multiple frames as a target frame sequence;

S22: Acquire the total number of frames of the target frame sequence and the second insertion cycle of the IDR frame to be encoded in the target frame sequence;

S23: Determine a target frame to be encoded into an IDR frame among the multiple frames according to the second insertion period and the sum of the number of frames.

In step s21 to step s23, the total number of frames of the target frame sequence refers to: the number of all frames included in the target frame sequence. Correspondingly, coding needs to be obtained according to the total number of frames of the target frame sequence. The second insertion cycle of the completed IDR frame in the target frame sequence is a frame number cycle. The second insertion cycle refers to the insertion of a target frame sequence every frame number indicated by the second insertion cycle. The IDR frame is to determine the position of the IDR frame to be encoded in the multiple frames, that is, to determine the target frame to be encoded into the IDR frame in the multiple frames. In one embodiment, the total number of frames of the target frame sequence is assumed to be 50, and the corresponding second insertion period is 45 or the like.

In another embodiment, when the mobile platform determines a target frame to be encoded into an IDR frame among the multiple frames, it may further perform steps:

S31: Acquire the sum of the number of multiple frames in the code stream and the third insertion period of the IDR frames to be encoded in the multiple frames;

s32. Determine a target frame to be encoded into an IDR frame among the multiple frames according to a sum of the third insertion period and the number of the multiple frames.

In step s31 to step s32, the number of frames spaced between any two IDR frames inserted may also be determined according to the total number of frames included in the code stream, that is, among multiple frames of the original code stream. , Inserting at least one IDR frame according to the third insertion period. In one embodiment, after a target frame that needs to be encoded into an IDR frame is determined in the multiple frames, S304 may be performed again.

S304. Encode the decoded data of the target frame according to the first parameter information of the original code stream to obtain a code stream of the at least one IDR frame.

In one embodiment, before executing S304, in order to obtain the code stream of the at least one IDR frame, a step may be performed first: determining that the length of the target frame sequence corresponds to the playback duration of the target video file divided by the first Whether the first remainder obtained during an insertion period is zero; when the first remainder is not zero, the IDR frame (that is, the IDR frame that needs to be encoded) required for insertion determined according to the first insertion period is described The position cannot guarantee that the required IDR frame is inserted in each insertion cycle and / or each frame sequence, and then the second parameter information of the original code stream needs to be adjusted, and the second parameter information is adjusted, that is, The position where the required IDR frame is inserted is adjusted, that is, the target frame that needs to be encoded into the IDR frame is re-determined among the multiple frames. In one embodiment, the second parameter information corresponding to the position where the required IDR frame is inserted may be set to 0, and the second parameter information corresponding to the frame after the required IDR frame that is inserted may be adjusted sequentially.

After adjusting the second parameter information of the original code stream, the decoded data of the target frame at the determined position may be performed according to the first parameter information of the original code stream and the adjusted second parameter information of the original code stream. Encoding to obtain the code stream of the at least one IDR frame, and inserting the obtained code stream of the at least one IDR frame into a desired position.

For example, if the selected target frame sequence is shown in FIG. 5a, the target frame sequence length is 50, and if the target frame sequence length corresponds to the playback time of the target video file is 3 seconds, the required The first insertion cycle of the IDR frame in the target frame sequence is 1.2 seconds, because the length of the target frame sequence corresponds to the playback duration of the target video file of 2 seconds divided by the first insertion cycle of 1.2 seconds If the remainder is not 0, the second parameter information of the original bitstream is adjusted. The adjusted second parameter information of the target frame sequence may be as shown in FIG. 5b. As shown in FIG. 5b, The position of the target frame sequence whose original second parameter information is 45 is adjusted to 0, and the second parameter information of the subsequent frame position is modified. In one embodiment, the position adjusted to 0 is the IDR frame inserted. Position, that is, the position in the original code stream where the target frame to be encoded into the IDR frame is located.

In another embodiment, before performing S304, in order to obtain the code stream of the at least one IDR frame, a step may further be performed: determining the total number of frames of the target frame sequence divided by the second insertion period. Whether the second remainder is zero; when the second remainder is not zero, it also indicates that the position of the IDR frame required for insertion determined according to the second insertion period cannot guarantee each insertion period and / or each frame The required IDR frames are inserted in the sequence, and the second parameter information of the original bitstream needs to be adjusted. In one embodiment, the second parameter information corresponding to the position corresponding to the required IDR frame may also be inserted. Set it to 0, and sequentially adjust the second parameter information corresponding to the second parameter information corresponding to the frame after the inserted required IDR frame.

Correspondingly, after adjusting the second parameter information of the original code stream, the frames at the determined positions may also be paired according to the first parameter information of the original code stream and the adjusted second parameter information of the original code stream. Encode the decoded data to obtain a code stream of at least one IDR frame, and insert the obtained code stream of the at least one IDR frame into a desired position. The second parameter information may be, for example, fram_num, and the modification process of the second parameter information may refer to the description in FIG. 5a and FIG. 5b, and details are not described herein again.

In another embodiment, before executing S304, in order to obtain the code stream of the at least one IDR frame, a step may further be performed: determining a sum of the number of the plurality of frames divided by a third remainder obtained by a third insertion cycle. Whether it is 0, and when the third is then not 0, adjusting the second parameter information of the original code stream so that the sum of the number of the plurality of frames divided by the adjusted third insertion period is the remainder It is 0, that is, IDR frames are inserted at a certain interval among multiple frames of the original code stream, and the interval may be 45, for example.

When the movable platform executes S304, first obtain the first parameter information of the code stream of the first frame in the frame sequence corresponding to the multiple frames of the original code stream, and according to the first of the code streams of the first frame, Parameter information to initialize the encoder; and then use the encoder after the initialization process to encode the decoded data of the target frame to obtain an updated code stream, so that it can be based on the first parameter information of the original code stream, The first parameter information of the updated code stream is adjusted, and the updated code stream is further encapsulated according to the adjusted first parameter information, so as to obtain a code stream of at least one IDR frame.

It should be noted that when the first remainder is not zero, it can be further judged whether the insertion position corresponding to the first insertion period is an intra-coded frame. If so, the original code stream is indicated according to the first insertion period. There are already one or more intra-frame encoding frames in the determined insertion position, so it is not necessary to re-insert IDR frames at this insertion position, so the corresponding positions of the existing intra-frame encoding frames in the original code stream are not required. If the second parameter information of the original bitstream is not adjusted, the second parameter information of the original bitstream is adjusted. If the second remainder or the third remainder is not zero, the adjustment may also be performed. First determine whether there is an intra-coded frame at the insertion position determined according to the second insertion cycle or the insertion position determined according to the third insertion cycle, and if not, perform the above-mentioned step of adjusting the second parameter information.

In one embodiment, each frame sequence included in the original bitstream may be processed sequentially according to the foregoing steps. Before processing any frame sequence, the encoder needs to be processed according to the first parameter information corresponding to the sequence. Initialization processing.

After executing S304, the current code stream including the IDR frame can also be entropy-coded, so that a multiplexer (mux) is written to a file for storage.

In the embodiment of the present invention, after obtaining the original bitstream of the target video file and decoding the original bitstream to obtain the decoded data of each of the frames, it may be further determined that encoding is required in the multiple frames. Into a target frame of an IDR frame, so that the decoded data of the target frame is encoded according to the first parameter information of the original code stream to obtain a code stream of at least one IDR frame, so that the code of the at least one IDR frame can be The position of the target frame in the original bitstream is replaced by the stream to obtain the current bitstream of the target video file, so that the target video file can be decoded according to the IDR frame included in the current bitstream to quickly obtain a decoded image and improve The efficiency of image processing.

The following specifically describes the image processing method when the mobile platform decodes the current bitstream of the target video file in the embodiment of the present invention, as shown in FIG. 6, including the following steps:

S601. Acquire a current code stream of a target video file, where the current code stream is a code stream including at least one inter-encoded frame and at least two instant decoding refresh IDR frames;

S602. When a selection operation of a target frame in the target video file is detected, determine a first IDR frame located before the target frame, and between the first IDR frame and the target frame. All inter-encoded frames of

S603. Obtain an image of the target frame according to the code stream of the first IDR frame, the determined code stream of the inter-frame encoded frame, and the code stream of the target frame.

In step S601-step S603, the mobile device may obtain the target video file from a device (such as a camera) or a module having a video camera function, and perform the image processing method according to the image processing method shown in FIG. 2 or FIG. 3. The target video file is processed to obtain a current bitstream of the target video file. Further, when an editing operation on the target video file is detected, that is, a selection operation of a target frame in the target video file is detected, decoding starts with the first IDR frame before the target frame, and With reference to the inter-encoded frame between the target true and the first IDR frame, the decoded image corresponding to the target frame is decoded to achieve fast decoding of the target video file's current bitstream at any position, thereby improving mobility Image processing efficiency of the terminal.

In one embodiment, the device with a video camera function may be, for example, a smart terminal that establishes a communication connection with the mobile platform, such as a smart phone, a tablet computer, or a smart wearable device. A functional camera and the like, the movable platform may be, for example, a drone or a car. In the embodiment of the present invention, the movable platform and the device with a video camera function are not limited.

In the embodiment of the present invention, the movable platform obtains a current stream of a target video file, and when a selection operation of a target frame in the target video file is detected, it is determined to be located before the target frame. The first IDR frame and the inter-frame encoded frame between the target frame and the IDR frame, decode the code stream of the target frame to obtain the image corresponding to the target frame, and achieve the target frame at any position in the current code stream Fast decoding, because the decoding of a target frame at an arbitrary position can no longer refer to the first intra-coded frame of the frame sequence corresponding to the target frame, which improves the image processing efficiency of the mobile platform.

The following further describes another image processing method when the mobile platform processes the original bitstream of the target video file in the embodiment of the present invention. As shown in FIG. 7, the method includes the following steps:

S701. When a selection operation on a target video file is detected, a target frame that needs to be encoded into an instant decoding and refreshing IDR frame is determined according to an effect position of the selected operation on an original bitstream of the target video file.

S702: Perform decoding processing on the original code stream until the decoded data of the target frame is obtained.

S703: Encode the decoded data of the target frame according to the first parameter information of the original code stream to obtain the current code stream of the target frame.

S704: Replace the code stream of the target frame in the original code stream with the current code stream to obtain the current code stream of the target video file.

In step S701-step S704, the selected operation may be sent to the mobile platform by a smart terminal that establishes a communication connection with the mobile platform, or may be a selected operation directly acting on the mobile platform. The detection of the selection operation of the target video file indicates that the user has a need to edit the target file. According to the user's demand instruction, the selection operation inserts an IDR frame at the position of the original stream of the target video file.

In one embodiment, the position at which the selected operation acts is the desired position for inserting the IDR frame, and the frame that the selected operation plays in the original code stream is the target frame for inserting the IDR frame. Therefore, at the desired position When inserting an IDR frame, only the original code stream can be decoded to the target frame to obtain the target frame and the decoded data of all frames before the target frame, so that the target frame can be decoded according to the first parameter information of the original code stream The data is encoded to obtain the current code stream of the target frame, so that the target code stream in the original code stream can be replaced with the re-encoded current code stream to obtain the current code stream of the target video file, according to the actual needs of users Processing of the target video file.

In the embodiment of the present invention, when the movable platform detects the selected operation on the target video file, it can determine the action position of the selected operation on the original stream of the target video file, that is, determine the selected operation. After the target frame acting in the original code stream, the original code stream is decoded until the decoded data of the target frame is obtained, and then the decoded data is encoded and processed according to the first parameter information to obtain the current code stream of the target frame. The bitstream of the target frame in the original bitstream is replaced with the current bitstream obtained by re-encoding, which realizes the personalized processing of the target video file according to user needs and improves user satisfaction.

An embodiment of the present invention provides an image processing apparatus of a movable platform. FIG. 8 is a structural diagram of an image processing apparatus of a movable platform provided by an embodiment of the present invention. As shown in FIG. 8, the image processing apparatus 800 of the movable platform includes The memory 801 and the processor 802. The memory 802 stores program code. The processor 802 calls the program code in the memory. When the program code is executed, the processor 802 performs the following operations:

Obtain the original code stream of the target video file, where the original code stream includes the code streams of multiple frames obtained by encoding the target video file, and the first frame in the frame sequence corresponding to any one of the multiple frames is intra-frame encoding Frames, other frames are inter-coded frames;

Decoding the original code stream to obtain decoded data of each of the frames;

Encode the decoded data according to the first parameter information of the original code stream to obtain a current code stream of the target video file, where the current code stream includes at least one inter-coded frame and at least two real-time Decode the code stream of the refresh IDR frame.

In an embodiment, the first parameter information includes a sequence parameter set SPS and / or an image parameter set PPS, and the processor 802 encodes the decoded data according to the first parameter information of the original code stream, When the current bitstream of the target video file is obtained, the following operations are performed:

Determining a target frame to be encoded into an IDR frame among the multiple frames;

Encode the decoded data of the target frame according to the first parameter information of the original code stream to obtain a code stream of the at least one IDR frame.

In one embodiment, when the processor 802 determines a target frame to be encoded into an IDR frame among the multiple frames, the processor 802 performs the following operations:

Selecting a frame sequence corresponding to any one of the multiple frames as a target frame sequence;

Determining, according to the target frame sequence length, that the target frame sequence length corresponds to a playback duration of the target video file;

Acquiring a first insertion cycle of an IDR frame to be encoded in the target frame sequence;

According to the first insertion cycle and the length of the target frame sequence corresponding to the playback duration of the target video file, a target frame that needs to be encoded into an IDR frame is determined among the multiple frames.

In one embodiment, when the processor 802 calls the program code, it also performs the following operations:

Judging whether the length of the target frame sequence corresponds to a playback duration of the target video file divided by the first insertion period and whether the first remainder is zero;

When the first remainder is not zero, adjusting the second parameter information of the original code stream;

And encoding the decoded data of the target frame according to the first parameter information of the original code stream to obtain the code stream of the at least one IDR frame includes:

Encoding the decoded data of the target frame according to the first parameter information of the original code stream and the second parameter information of the adjusted original code stream to obtain the code stream of the at least one IDR frame.

In one embodiment, when the processor 802 determines a target frame to be encoded into an IDR frame among the multiple frames, the processor 802 performs the following operations:

Selecting a frame sequence corresponding to any one of the multiple frames as a target frame sequence;

Acquiring a total number of frames of the target frame sequence and a second insertion cycle of the IDR frame to be encoded in the multiple frames;

According to the second insertion period and the sum of the number of frames, a target frame that needs to be encoded into an IDR frame is determined among the multiple frames.

In one embodiment, when the processor 802 calls the program code, it also performs the following operations:

Determining whether a second remainder obtained by dividing the total number of frames of the target frame sequence by the second insertion period is zero;

When the second remainder is not zero, adjusting the second parameter information of the original code stream;

The encoding the decoded data of the target frame according to the first parameter information of the original code stream to obtain the code stream of the at least one IDR frame includes:

Encoding the decoded data of the target frame according to the first parameter information of the original code stream and the second parameter information of the adjusted original code stream to obtain the code stream of the at least one IDR frame.

In one embodiment, when the processor 802 encodes the decoded data of the target frame according to the first parameter information of the original code stream to obtain the code stream of the at least one IDR frame, it performs the following operations :

Encoding the decoded data of the target frame to obtain an updated code stream;

Adjusting the first parameter information of the updated code stream according to the first parameter information of the original code stream;

Encapsulating the updated code stream according to the adjusted first parameter information to obtain the code stream of the at least one IDR frame.

In one embodiment, when the processor 802 calls the program code, it also performs the following operations:

Acquiring first parameter information of a code stream of a first frame in a frame sequence corresponding to the multiple frames;

Initialize the encoder according to the first parameter information of the code stream of the first frame;

The decoded data of the target frame is encoded by using the encoder after the initialization process to obtain the updated code stream.

In one embodiment, when the processor 802 calls the program code, it also performs the following operations:

Performing entropy coding on the current code stream.

In one embodiment, when the processor 802 calls the program code, it also performs the following operations:

Performing analysis processing on the original code stream to obtain a code stream of each of the frames;

Decoding the original bitstream to obtain decoded data of each of the frames includes:

Decode the code stream of each frame to obtain decoded data of each frame.

The image processing apparatus of the movable platform provided by this embodiment can execute the image processing methods shown in FIG. 2 and FIG. 3 provided by the foregoing embodiments, and the execution manners and beneficial effects thereof are similar, and will not be repeated here.

An image processing apparatus for a movable platform according to another embodiment of the present invention. FIG. 9 is a structural diagram of an image processing apparatus for a movable platform according to another embodiment of the present invention. As shown in FIG. The image processing apparatus 900 includes a memory 901 and a processor 902. The memory 902 stores program code. The processor 902 calls the program code in the memory. When the program code is executed, the processor 902 performs the following operations:

Obtaining a current code stream of a target video file, where the current code stream is a code stream including at least one inter-coded frame and at least two instant decoding refresh IDR frames;

When a selection operation of a target frame in the target video file is detected, a first IDR frame located before the target frame, and all the IDR frames between the first IDR frame and the target frame are determined. Inter-frame coding

Obtaining an image of the target frame according to the code stream of the first IDR frame, the determined code stream of the inter-frame encoded frame, and the code stream of the target frame.

The image processing apparatus of the movable platform provided by this embodiment can execute the image processing method shown in FIG. 6 provided by the foregoing embodiment, and the execution manner and beneficial effects thereof are similar, and will not be repeated here.

An image processing apparatus for a movable platform according to another embodiment of the present invention. FIG. 10 is a structural diagram of an image processing apparatus for a movable platform according to another embodiment of the present invention. As shown in FIG. The image processing apparatus 100 includes a memory 101 and a processor 102. The memory 102 stores program code. The processor 102 calls the program code in the memory. When the program code is executed, the processor 102 performs the following operations:

When a selection operation on the target video file is detected, determining a target frame that needs to be encoded into an instant decoding refresh IDR frame according to the selected operation position of the original bitstream of the target video file;

Perform decoding processing on the original code stream until the decoded data of the target frame is obtained;

Encode the decoded data of the target frame according to the first parameter information of the original code stream to obtain the current code stream of the target frame;

Replacing the stream of the target frame in the original stream with the current stream to obtain the current stream of the target video file.

The image processing apparatus of the movable platform provided by this embodiment can execute the image processing method shown in FIG. 7 provided by the foregoing embodiment, and the execution manner and beneficial effects thereof are similar, and will not be repeated here.

An embodiment of the present invention further provides a movable platform. The movable platform includes:

body;

A power system mounted on the fuselage and configured to provide power to the movable platform;

And an image processing device of a movable platform as shown in FIG. 8, or an image processing device of a movable platform as shown in FIG. 9, or an image processing device of a movable platform as shown in FIG. 10.

Optionally, the movable platform further includes:

An image sensor is mounted on the body and used to obtain a target video file.

Optionally, the image sensor includes a video image sensor and / or a text image sensor.

Optionally, the movable platform further includes:

A communication device is installed on the fuselage and is used for information interaction with the control terminal.

Optionally, the movable platform includes at least one of the following: a drone and a car.

The implementation manner and beneficial effects of the movable platform provided by this embodiment are similar to those of the image processing apparatus provided by the foregoing embodiments, and details are not described herein again.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, but not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or to replace some or all of the technical features equivalently; and these modifications or replacements do not depart from the essence of the corresponding technical solutions of the technical solutions of the embodiments of the present invention. range.

Claims (30)

1. An image processing method, comprising:

   Obtain the original code stream of the target video file, where the original code stream includes the code streams of multiple frames obtained by encoding the target video file, and the first frame in the frame sequence corresponding to any one of the multiple frames is intra-frame encoding Frames, other frames are inter-coded frames;

   Decoding the original code stream to obtain decoded data of each of the frames;

   Encode the decoded data according to the first parameter information of the original code stream to obtain a current code stream of the target video file, where the current code stream includes at least one inter-coded frame and at least two real-time Decode the code stream of the refresh IDR frame.
2. The method according to claim 1, wherein the first parameter information comprises a sequence parameter set SPS and / or an image parameter set PPS, and the decoded data is based on the first parameter information of the original code stream. Performing encoding to obtain a current bitstream of the target video file, including:

   Determining a target frame to be encoded into an IDR frame among the multiple frames;

   Encode the decoded data of the target frame according to the first parameter information of the original code stream to obtain a code stream of the at least one IDR frame.
3. The method according to claim 2, wherein determining the target frame to be encoded into an IDR frame among the multiple frames comprises:

   Selecting a frame sequence corresponding to any one of the multiple frames as a target frame sequence;

   Determining, according to the target frame sequence length, that the target frame sequence length corresponds to a playback duration of the target video file;

   Acquiring a first insertion cycle of an IDR frame to be encoded in the target frame sequence;

   According to the first insertion cycle and the length of the target frame sequence corresponding to the playback duration of the target video file, a target frame that needs to be encoded into an IDR frame is determined among the multiple frames.
4. The method according to claim 3, wherein before encoding the decoded data of the target frame according to the first parameter information of the original code stream to obtain the code stream of the at least one IDR frame, Also includes:

   Judging whether the length of the target frame sequence corresponds to a playback duration of the target video file divided by the first insertion period and whether the first remainder is zero;

   When the first remainder is not zero, adjusting the second parameter information of the original code stream;

   The encoding the decoded data of the target frame according to the first parameter information of the original code stream to obtain the code stream of the at least one IDR frame includes:

   Encoding the decoded data of the target frame according to the first parameter information of the original code stream and the second parameter information of the adjusted original code stream to obtain the code stream of the at least one IDR frame.
5. The method according to claim 2, wherein determining the target frame to be encoded into an IDR frame among the multiple frames comprises:

   Selecting a frame sequence corresponding to any one of the multiple frames as a target frame sequence;

   Acquiring a total number of frames of the target frame sequence and a second insertion cycle of the IDR frame to be encoded in the multiple frames;

   According to the second insertion period and the sum of the number of frames, a target frame that needs to be encoded into an IDR frame is determined among the multiple frames.
6. The method according to claim 5, characterized in that before encoding the decoded data of the target frame according to the first parameter information of the original code stream, before obtaining the code stream of the at least one IDR frame, Also includes:

   Determining whether a second remainder obtained by dividing the total number of frames of the target frame sequence by the second insertion period is zero;

   When the second remainder is not zero, adjusting the second parameter information of the original code stream;

   The encoding the decoded data of the target frame according to the first parameter information of the original code stream to obtain the code stream of the at least one IDR frame includes:

   Encoding the decoded data of the target frame according to the first parameter information of the original code stream and the second parameter information of the adjusted original code stream to obtain the code stream of the at least one IDR frame.
7. The method according to claim 2, wherein the encoding of the decoded data of the target frame according to the first parameter information of the original code stream to obtain the code stream of the at least one IDR frame includes: :

   Encoding the decoded data of the target frame to obtain an updated code stream;

   Adjusting the first parameter information of the updated code stream according to the first parameter information of the original code stream;

   Encapsulating the updated code stream according to the adjusted first parameter information to obtain the code stream of the at least one IDR frame.
8. The method according to claim 7, wherein before encoding the decoded data of the target frame to obtain an updated code stream, the method further comprises:

   Acquiring first parameter information of a code stream of a first frame in a frame sequence corresponding to the multiple frames;

   Initialize the encoder according to the first parameter information of the code stream of the first frame;

   The decoded data of the target frame is encoded by using the encoder after the initialization process to obtain the updated code stream.
9. The method according to claim 1, wherein after the encoding the decoded data according to the first parameter information of the original code stream to obtain the current code stream of the target video file, further comprising:

   Performing entropy coding on the current code stream.
10. The method according to claim 1, wherein before performing decoding processing on the original bitstream to obtain decoded data of each of the frames, further comprising:

    Performing analysis processing on the original code stream to obtain a code stream of each of the frames;

    Decoding the original bitstream to obtain decoded data of each of the frames includes:

    Decode the code stream of each frame to obtain decoded data of each frame.
11. An image processing method, comprising:

    Obtaining a current code stream of a target video file, where the current code stream is a code stream including at least one inter-coded frame and at least two instant decoding refresh IDR frames;

    When a selection operation of a target frame in the target video file is detected, a first IDR frame located before the target frame, and all the IDR frames between the first IDR frame and the target frame are determined. Inter-frame coding

    Obtaining an image of the target frame according to the code stream of the first IDR frame, the determined code stream of the inter-frame encoded frame, and the code stream of the target frame.
12. An image processing method, comprising:

    When a selection operation on the target video file is detected, determining a target frame that needs to be encoded into an instant decoding refresh IDR frame according to the selected operation position of the original bitstream of the target video file;

    Perform decoding processing on the original code stream until the decoded data of the target frame is obtained;

    Encode the decoded data of the target frame according to the first parameter information of the original code stream to obtain the current code stream of the target frame;

    Replacing the stream of the target frame in the original stream with the current stream to obtain the current stream of the target video file.
13. An image processing device, comprising a memory and a processor;

    The memory is used to store program code;

    The processor calls the program code, and when the program code is executed, is used to perform the following operations:

    Obtain the original code stream of the target video file, where the original code stream includes the code streams of multiple frames obtained by encoding the target video file, and the first frame in the frame sequence corresponding to any one of the multiple frames is intra-frame encoding Frames, other frames are inter-coded frames;

    Decoding the original code stream to obtain decoded data of each of the frames;

    Encode the decoded data according to the first parameter information of the original code stream to obtain a current code stream of the target video file, where the current code stream includes at least one inter-coded frame and at least two real-time Decode the code stream of the refresh IDR frame.
14. The apparatus according to claim 13, wherein the first parameter information comprises a sequence parameter set SPS and / or an image parameter set PPS, and the processor performs the first parameter information on the original code stream to the first parameter information. When the decoded data is encoded and the current stream of the target video file is obtained, the following operations are performed:

    Determining a target frame to be encoded into an IDR frame among the multiple frames;

    Encode the decoded data of the target frame according to the first parameter information of the original code stream to obtain a code stream of the at least one IDR frame.
15. The apparatus according to claim 14, wherein when the processor determines a target frame to be encoded into an IDR frame among the multiple frames, the processor performs the following operations:

    Selecting a frame sequence corresponding to any one of the multiple frames as a target frame sequence;

    Determining, according to the target frame sequence length, that the target frame sequence length corresponds to a playback duration of the target video file;

    Acquiring a first insertion cycle of an IDR frame to be encoded in the target frame sequence;

    According to the first insertion cycle and the length of the target frame sequence corresponding to the playback duration of the target video file, a target frame that needs to be encoded into an IDR frame is determined from the plurality of frames.
16. The apparatus according to claim 15, wherein when the processor calls the program code, the following operations are further performed:

    Judging whether the length of the target frame sequence corresponds to a playback duration of the target video file divided by the first insertion period and whether the first remainder is zero;

    When the first remainder is not zero, adjusting the second parameter information of the original code stream;

    The encoding the decoded data of the target frame according to the first parameter information of the original code stream to obtain the code stream of the at least one IDR frame includes:

    Encoding the decoded data of the target frame according to the first parameter information of the original code stream and the second parameter information of the adjusted original code stream to obtain the code stream of the at least one IDR frame.
17. The apparatus according to claim 14, wherein when the processor determines a target frame to be encoded into an IDR frame among the multiple frames, the processor performs the following operations:

    Selecting a frame sequence corresponding to any one of the multiple frames as a target frame sequence;

    Acquiring a total number of frames of the target frame sequence and a second insertion cycle of the IDR frame to be encoded in the multiple frames;

    According to the second insertion period and the sum of the number of frames, a target frame that needs to be encoded into an IDR frame is determined among the multiple frames.
18. The apparatus according to claim 17, wherein, when the processor calls the program code, it further performs the following operations:

    Determining whether a second remainder obtained by dividing the total number of frames of the target frame sequence by the second insertion period is zero;

    When the second remainder is not zero, adjusting the second parameter information of the original code stream;

    The encoding the decoded data of the target frame according to the first parameter information of the original code stream to obtain the code stream of the at least one IDR frame includes:

    Encoding the decoded data of the target frame according to the first parameter information of the original code stream and the second parameter information of the adjusted original code stream to obtain the code stream of the at least one IDR frame.
19. The apparatus according to claim 14, wherein the processor encodes the decoded data of the target frame according to the first parameter information of the original code stream to obtain the code stream of the at least one IDR frame , Perform the following operations:

    Encoding the decoded data of the target frame to obtain an updated code stream;

    Adjusting the first parameter information of the updated code stream according to the first parameter information of the original code stream;

    Encapsulating the updated code stream according to the adjusted first parameter information to obtain the code stream of the at least one IDR frame.
20. The apparatus according to claim 19, wherein, when the processor calls the program code, it further performs the following operations:

    Acquiring first parameter information of a code stream of a first frame in a frame sequence corresponding to the multiple frames;

    Initialize the encoder according to the first parameter information of the code stream of the first frame;

    The decoded data of the target frame is encoded by using the encoder after the initialization process to obtain the updated code stream.
21. The apparatus according to claim 13, wherein when the processor calls the program code, the following operations are further performed:

    Performing entropy coding on the current code stream.
22. The apparatus according to claim 13, wherein when the processor calls the program code, the following operations are further performed:

    Performing analysis processing on the original code stream to obtain a code stream of each of the frames;

    Decoding the original bitstream to obtain decoded data of each of the frames includes:

    Decode the code stream of each frame to obtain decoded data of each frame.
23. An image processing device, comprising a memory and a processor;

    The memory is used to store program code;

    The processor calls the program code, and when the program code is executed, is used to perform the following operations:

    Obtaining a current code stream of a target video file, where the current code stream is a code stream including at least one inter-coded frame and at least two instant decoding refresh IDR frames;

    When a selection operation of a target frame in the target video file is detected, a first IDR frame located before the target frame, and all the IDR frames between the first IDR frame and the target frame are determined. Inter-frame coding

    Obtaining an image of the target frame according to the code stream of the first IDR frame, the determined code stream of the inter-frame encoded frame, and the code stream of the target frame.
24. An image processing device, comprising a memory and a processor;

    The memory is used to store program code;

    The processor calls the program code, and when the program code is executed, is used to perform the following operations:

    When a selection operation on the target video file is detected, determining a target frame that needs to be encoded into an instant decoding refresh IDR frame according to the selected operation position of the original bitstream of the target video file;

    Perform decoding processing on the original code stream until the decoded data of the target frame is obtained;

    Encode the decoded data of the target frame according to the first parameter information of the original code stream to obtain the current code stream of the target frame;

    Replacing the stream of the target frame in the original stream with the current stream to obtain the current stream of the target video file.
25. A movable platform, comprising:

    body;

    A power system mounted on the fuselage and configured to provide power to the movable platform;

    And an image processing device of a movable platform according to any one of claims 13 to 22, or an image processing device of a movable platform according to claim 23, or a movable device according to claim 24 Platform image processing device.
26. The movable platform according to claim 25, wherein the movable platform further comprises:

    An image sensor is mounted on the body and used to obtain a target video file.
27. The movable platform according to claim 26, wherein the image sensor comprises a video image sensor and / or a text image sensor.
28. The movable platform according to claim 25, wherein the movable platform further comprises:

    A communication device is installed on the fuselage and is used for information interaction with the control terminal.
29. The movable platform according to claim 25, wherein the movable platform includes at least one of the following: a drone, a car.
30. A computer storage medium, characterized in that a first computer program instruction is stored in the computer storage medium, and when the first computer program instruction is executed by a processor, the first computer program instruction is used to execute the device according to any one of claims 1-10. The image processing method described above; or a second computer program instruction stored in the computer storage medium, the second computer program instruction for executing the image processing method according to claim 11 when the second computer program instruction is executed by a processor; and Alternatively, a third computer program instruction is stored in the computer storage medium, and when the third computer program instruction is executed by a processor, the third computer program instruction is used to execute the image processing method according to claim 12.

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