WO2020258243A1 - 视频处理方法、装置、系统及介质 - Google Patents
视频处理方法、装置、系统及介质 Download PDFInfo
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- WO2020258243A1 WO2020258243A1 PCT/CN2019/093666 CN2019093666W WO2020258243A1 WO 2020258243 A1 WO2020258243 A1 WO 2020258243A1 CN 2019093666 W CN2019093666 W CN 2019093666W WO 2020258243 A1 WO2020258243 A1 WO 2020258243A1
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- video
- video data
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
Definitions
- the present invention relates to the field of communication technology, and in particular to video processing methods, devices, systems and media.
- the realization process of the unmanned aerial vehicle racing movement can be as follows: the unmanned aerial vehicle is equipped with a photographing device. During the unmanned aerial vehicle racing, the photographing device sends the real-time collected video to the user's display device, such as the display worn by the user A device, such as a head-mounted display device worn by the user. By playing the video on the display device, the user can experience the feeling of sitting in the cockpit.
- Unmanned aerial vehicle racing In order to enhance the viewing and entertainment, special arrangements can be made for the flying field of the unmanned aerial vehicle racing, resulting in factors such as walls, tunnels, metal/non-metal obstacles, and terrain occlusion that affect wireless signal transmission. .
- factors such as walls, tunnels, metal/non-metal obstacles, and terrain occlusion that affect wireless signal transmission.
- the above-mentioned factors may cause problems such as delay or even disconnection in the process of receiving the video by the display device, and the video received by the display device is stuck, blurred, or flickering, resulting in low image transmission quality.
- the embodiments of the present invention provide video processing methods, devices, systems, and media, which can improve the quality of image transmission and ensure that even when the UAV can fly in various obstructed environments, the display device still shows the user the UAV shooting Continuous video.
- the first aspect of the embodiments of the present invention provides a video processing method, which includes:
- the continuous video is sent to a display device, so that the display device displays the continuous video.
- a second aspect of the embodiments of the present invention provides a video processing device, the video processing device including a memory and a processor;
- the memory is used to store program codes
- the processor calls the program code, and when the program code is executed, is used to perform the following operations:
- the continuous video is sent to a display device, so that the display device displays the continuous video.
- a third aspect of the embodiments of the present invention provides a video processing system.
- the video processing system includes a plurality of receivers arranged at intervals on a flight field, an unmanned aerial vehicle flying on the flight field, a video processing device, and a display device, wherein :
- the unmanned aerial vehicle is used to shoot video
- the multiple receivers are configured to receive videos captured by the UAV, and send video data packets of the videos to the video processing device;
- the video processing device is configured to obtain a video data packet of the video received by each of the plurality of receivers, generate a continuous video according to the video data packets obtained from the plurality of receivers, and Sending the continuous video to the display device;
- the display device is used to display the continuous video.
- a fourth aspect of the embodiments of the present invention provides a computer storage medium in which computer program instructions are stored.
- the computer program instructions are executed by a processor, they are used to perform the video processing described in the first aspect. method.
- a plurality of receivers arranged at intervals on the flight field receive the video captured by the unmanned aerial vehicle flying on the flight field, and the video data packet of the video received by each of the plurality of receivers is obtained , And generate a continuous video based on the video data packets obtained from multiple receivers, and send the continuous video to the display device so that the display device can display the continuous video.
- the quality of image transmission can be improved to ensure that even when the unmanned aerial vehicle can fly in various obstructed environments, the display device still shows the user the continuous video shot by the unmanned aerial vehicle.
- FIG. 1 is a schematic diagram of the architecture of a video processing system proposed by an embodiment of the present invention
- Figure 2 is a schematic diagram of a continuous video provided by an embodiment of the present invention.
- FIG. 3 is a schematic flowchart of a video processing method proposed by an embodiment of the present invention.
- FIG. 4 is a schematic diagram of a flying competition scene proposed by an embodiment of the present invention.
- Fig. 5 is a schematic diagram of another continuous video provided by an embodiment of the present invention.
- FIG. 6 is a schematic flowchart of another video processing method proposed by an embodiment of the present invention.
- FIG. 7 is a schematic flowchart of another video processing method provided by an embodiment of the present invention.
- FIG. 8 is a schematic flowchart of another video processing method provided by an embodiment of the present invention.
- Fig. 9 is a structural diagram of a video processing device proposed by an embodiment of the present invention.
- FIG. 1 is a schematic structural diagram of a video processing system disclosed in an embodiment of the present application.
- the video processing system includes at least a video processing device 101, a plurality of receivers 102, at least one unmanned aerial vehicle 103 and at least one display device 104.
- a plurality of receivers 102 are arranged in the flight field at intervals, and at least one unmanned aerial vehicle 103 is flying in the flight field.
- Each unmanned aerial vehicle in the at least one unmanned aerial vehicle 103 is mounted with a photographing device, and the unmanned aerial vehicle can use the photographing device to shoot a video of the unmanned aerial vehicle flying on the flight field in real time.
- Each unmanned aerial vehicle in the at least one unmanned aerial vehicle 103 establishes a communication connection with a plurality of receivers 102, and each unmanned aerial vehicle in the at least one unmanned aerial vehicle 103 sends the captured video to the plurality of receivers 102.
- the multiple receivers 102 establish a communication connection with the video processing device 101, and the multiple receivers 102 can send the video captured by the UAV to the video processing device 101.
- the video processing device 101 may obtain video data packets of the video received by each of the plurality of receivers 102, and generate a continuous video based on the video data packets obtained from the plurality of receivers.
- the video processing apparatus 101 establishes a communication connection with at least one display device 104, and the video processing apparatus 101 sends continuous video to the at least one display device 104.
- At least one display device 104 displays continuous video.
- the video processing device 101 can run in a terminal such as a ground station, a personal computer, a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a handheld computer, or a mobile Internet device (MID, Mobile Internet Devices).
- a terminal such as a ground station, a personal computer, a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a handheld computer, or a mobile Internet device (MID, Mobile Internet Devices).
- a terminal such as a ground station, a personal computer, a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a handheld computer, or a mobile Internet device (MID, Mobile Internet Devices).
- MID Mobile Internet Devices
- Each of the plurality of receivers 102 may include an antenna, radio frequency front end, baseband processing, and decoder. Each receiver of the plurality of receivers 102 can receive the video captured by each of the at least one UAV 103 through an antenna, and the video captured by the UAV through the radio frequency front-end, baseband processing and decoder Process to get the video data packet.
- Each unmanned aerial vehicle in the at least one unmanned aerial vehicle 103 may be a crossover machine or an unmanned racing machine.
- the display device 104 may be a terminal device configured with a display screen, and the terminal device configured with a display screen may include a wearable device, a personal computer, a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, or a palmtop computer.
- the wearable device may include a head-mounted display device, a watch, or a wristband, and the head-mounted display device may include glasses, a helmet, or a headband.
- the above-mentioned video processing system can implement digital image transmission, which can be specifically: the video captured by the unmanned aerial vehicle received by the multiple receivers 102 through the antenna can be an encoded video, and the video can be a digital signal.
- the multiple receivers 102 filter and decode the video captured by the unmanned aerial vehicle through the radio frequency front end, baseband processing and decoder to obtain useful information in the video, that is, the video data packet.
- Multiple receivers 102 can encode video data packets, and send the encoded video data packets to the video processing device 101.
- the video processing device 101 generates continuous videos according to the video data packets. For example, the video processing device 101 decodes the encoded video data packets, and performs splicing processing on the decoded video data packets to obtain the continuous video.
- the video processing device 101 sends the continuous video to the display device 104.
- the continuous video may be a continuous video in time.
- the multiple receivers 102 include a first receiver, a second receiver, and a third receiver.
- the first receiver receives the video captured by the unmanned aerial vehicle as video 1 And video 2
- the second receiver receives the videos captured by the unmanned aerial vehicle as video 1, video 2 and video 3
- the third receiver receives the videos captured by the unmanned aerial vehicle as video 2, video 3 and video 4.
- Video 1 includes the first frame of video captured by unmanned aerial vehicle
- Video 2 includes the second frame of video captured by unmanned aerial vehicle
- Video 3 includes the third frame of video captured by UAV
- video 4 includes unmanned aerial vehicle.
- the fourth frame of video obtained.
- the video data packets of the video 1 received by the first receiver and the second receiver receive Select the video data packet of video 1 from the video data packet of video 1 received, the video data packet of video 2 received by the first receiver, the video data packet of video 2 received by the second receiver, and the third receiver Select the video data packet of video 2 from the video data packet of video 2 received, and select video 3 from the video data packet of video 3 received by the second receiver and the video data packet of video 3 received by the third receiver And obtain the video data packet of video 4 received by the third receiver, and combine the selected video data packet of video 1, video 2, video 3, video 4
- the data packets are spliced sequentially to obtain continuous video, that is, the next frame of the first frame of video in the continuous video is the second frame of video, the next frame of the second frame of video is the third frame of video, and the next frame of the third frame of video This is the fourth frame of video.
- video in the embodiment of the present application includes but is not limited to at least one frame of video captured by unmanned aerial vehicles.
- video 1 includes the first frame of video, the second frame of video, and the third frame of video captured by unmanned aerial vehicles.
- Frame video, Video 2 includes the fourth and fifth frames of video captured by the UAV.
- the multiple receivers 102 send the received video captured by the unmanned aerial vehicle 103 to the video processing device 101, and the video processing device 101 obtains information about the video received by each of the multiple receivers 102.
- Video data packets The video processing device 101 generates continuous video based on the video data packets obtained from multiple receivers.
- the video processing device 101 sends the continuous video to the display device 104.
- the display device 104 displays the continuous video, which can realize digital image transmission and improve The image transmission quality ensures that even when the UAV can fly in various obstructed environments, the display device still shows the user the continuous video shot by the UAV.
- At least one unmanned aerial vehicle 103 and at least one display device 104 have a one-to-one correspondence, that is, each unmanned aerial vehicle in the at least one unmanned aerial vehicle 103 corresponds to one display device.
- at least one UAV 103 includes a first UAV and a second UAV
- at least one display device 104 includes a first display device and a second display device.
- the first UAV corresponds to the first display device
- the second UAV corresponds to the first display device.
- the unmanned aerial vehicle corresponds to the second display device.
- the video processing device 101 may obtain the video data packets of the first video captured by the first unmanned aerial vehicle received by each of the plurality of receivers 102, according to the video data packets of the first video obtained from the plurality of receivers The first continuous video is generated, and the first continuous video is sent to the first display device.
- the video processing device 101 may also obtain the video data packets of the second video captured by the second unmanned aerial vehicle received by each of the plurality of receivers 102, according to the video data of the second video obtained from the plurality of receivers.
- the package generates a second continuous video, and sends the second continuous video to the second display device.
- the video processing device 101 may establish a communication connection with multiple receivers 102 through a communication cable, and the communication cable may include an optical fiber or a coaxial cable.
- the radio frequency antenna can be extended to the antenna port of the display device. Outside the building or tunnel, it is convenient for the display device to correctly receive the continuous video sent by the video processing device and improve the transmission reliability.
- the antenna port may be a high-definition multimedia interface (HDMI), and the radio frequency antenna may extend to the outside of the building or tunnel through coaxial line and radio frequency relay amplification.
- HDMI high-definition multimedia interface
- FIG. 3 is a schematic flowchart of a video processing method according to an embodiment of the present invention. As shown in FIG. 3, the method may include:
- the video processing device receives a video captured by an unmanned aerial vehicle flying on the flight field through multiple receivers arranged on the flight field at intervals.
- the unmanned aerial vehicle can perform flying competitions in the flight field, and the unmanned aerial vehicle is equipped with a photographing device, and the unmanned aerial vehicle can capture and obtain video through the photographing device.
- Multiple receivers are arranged at intervals in the flight field, and multiple receivers can receive the video captured by the unmanned aerial vehicle through wireless connection.
- a video processing device is also provided in the flight field, and the video processing device can obtain the video data packets of the video received by each of the multiple receivers through the communication line, and generate continuous video according to the obtained video data packets.
- the video processing device can send the continuous video to the display device, and the display device can display the continuous video so that the user who operates the display device can watch the continuous video, and can also perform flight control of the aforementioned UAV based on the continuous video, such as adjusting The attitude, speed, or altitude of the human aircraft during flight, or controlling the hover, return, or landing of the unmanned aircraft.
- the attitude can be used to indicate one or more of the heading angle, pitch angle, or roll angle of the unmanned aerial vehicle.
- the display device may be located in the flight field or outside the flight field.
- the video processing apparatus obtains a video data packet of a video received by each of the multiple receivers, and generates a continuous video according to the video data packets obtained from the multiple receivers.
- the video processing apparatus may determine multiple correctly received video data packets from the video data packets obtained by multiple receivers, and generate a continuous video based on the multiple correctly received video data packets.
- the video is processed through the radio frequency front end, baseband processing and decoder to obtain the video data packet of the video. If the receiver successfully processes the video through the radio frequency front end, baseband processing, and decoder, the video processing device can determine that the receiver correctly receives the video data packet of the video. For example, the video processing device can detect whether the video data packet is received correctly through the check bit. The check bit is also called the parity check bit, which is a binary number that indicates whether the number of 1 in the binary number of a given position is odd or even. . In another example, the video processing device can determine whether the receiver decodes the video successfully. If the decoding is successful, the video processing device can determine that the receiver correctly receives the video data packet of the video; if the decoding fails, the video processing device can determine the receiver The video packet of the video was not received correctly.
- the video processing device selects the video data packet of Video 1 from the video data packet of Video 1 received by the first receiver and the video data packet of Video 1 received by the second receiver, where the first The receiver correctly receives the video data packet of video 1, and the second receiver does not correctly receive the video data packet of video 1, then the video processing device can select the video data packet of video 1 received by the first receiver as the video of video 1. data pack.
- the video processing device correctly receives the video packet of Video 2 at the first receiver, the video packet of Video 2 correctly received at the second receiver, and the video packet of Video 2 not correctly received at the third receiver.
- the video processing device may select the video data packet of Video 2 received by any one of the first receiver and the second receiver as the video data packet of Video 2.
- each video data packet corresponds to one piece of identification information
- the video processing device can determine multiple target video data packets with different identification information from the multiple correctly received video data packets, and combine the multiple target videos The data packets are spliced to obtain continuous video.
- the video processing device correctly receives the video data packet of Video 1 and the video data packet of Video 2 at the first receiver, and the video data packet of Video 2 and Video 3 are correctly received at the second receiver.
- the video data packet of video 3 and the video data packet of video 4 are correctly received at the third receiver.
- the video processing device can combine the video data packet of Video 1 received by the first receiver, the video data packet of Video 2 received by any one of the first receiver and the second receiver, and the second receiver and the first receiver.
- the video data packet of Video 3 received by any one of the three receivers and the video data packet of Video 4 received by the third receiver are determined as the target video data packet, and the above-mentioned target video data packet is spliced to Get continuous video.
- the identification information may include time information or serial number information.
- the identification information may include sequence number information, that is, the sequence number information corresponding to the video data packet of video n is n, and n is a positive integer.
- sequence number information corresponding to the video data packet of video 1 is 1, and the sequence number information corresponding to the video data packet of video 2 is 2.
- the identification information may include time information, that is, the time information corresponding to the video data packet of video n is the playback end time of the video, and n is a positive integer.
- the duration of video 1 is 2 minutes (min)
- the duration of video 2 is 1 min
- the duration of video 3 is 3 min
- the duration of video 4 is 1 min
- the time information corresponding to the video data packet of video 1 is 2 min
- the video processing device may obtain the video data packet of the video received by each receiver through a communication cable that is communicatively connected with each receiver.
- the video processing apparatus sends the continuous video to the display device, so that the display device displays the continuous video.
- a plurality of receivers arranged at intervals on the flight field receive the video captured by the unmanned aerial vehicle flying on the flight field, and the video data packet of the video received by each of the plurality of receivers is obtained , And generate continuous video based on the video data packets obtained from multiple receivers, and send the continuous video to the display device so that the display device can display the continuous video, which can improve the quality of image transmission and ensure that even the unmanned aerial vehicle can be in various shades When flying in the environment, the display device still displays the continuous video shot by the unmanned aerial vehicle to the user.
- FIG. 6 is a schematic flowchart of another video processing method proposed by an embodiment of the present invention. As shown in FIG. 6, the method may include:
- the target receiver among the multiple receivers arranged at intervals on the flight field receives the video captured by the unmanned aerial vehicle sent by the relay device, and the video captured by the unmanned aerial vehicle sent by the relay device is based on the medium Following the communication state between the device and the target receiver, the decoded video received from the UAV is encoded.
- the unmanned aerial vehicle can perform flying competitions in the flight field
- the unmanned aerial vehicle is equipped with a camera
- the unmanned aerial vehicle can capture and obtain video through the camera.
- Multiple receivers are arranged at intervals in the flight field, and multiple receivers can receive the video captured by the unmanned aerial vehicle through wireless connection.
- a relay device is also set in the flight field. When the relay device detects that the communication state between the relay device and the target receiver is good, the relay device can obtain the video encoded by the unmanned aerial vehicle. The relay device may decode the acquired video, and then send the video obtained by encoding the decoded video to the target receiver.
- the relay device After the relay device obtains the video captured by the UAV, the hard bits decoded by the baseband can be re-encoded and sent to the target receiver through the RF amplifier module of the relay device to achieve relay amplification and extend the transmission distance.
- the other receivers can directly receive the video captured by the unmanned aerial vehicle.
- a video processing device is also provided in the flight field, and the video processing device can obtain the video data packets of the video received by each of the multiple receivers through the communication line, and generate continuous video according to the obtained video data packets.
- the video processing device can send the continuous video to the display device, and the display device can display the continuous video.
- the target receiver may be any receiver among multiple receivers.
- the communication state between the relay device and the target receiver may include one or more of bandwidth, bit error rate, or signal-to-noise ratio.
- S602 Receive a video captured by an unmanned aerial vehicle through a receiver other than the target receiver among the multiple receivers.
- the embodiment of the present application does not limit the execution order of steps S601 and S602.
- the video processing apparatus may execute step S601 after executing step S602, or the video processing apparatus may execute step S602 and step S601 at the same time.
- S603 Obtain video data packets of the video received by each of the multiple receivers, and generate a continuous video according to the video data packets obtained from the multiple receivers.
- the video processing apparatus may determine multiple correctly received video data packets from the video data packets obtained by multiple receivers, and generate continuous video based on the multiple correctly received video data packets.
- each video data packet corresponds to one piece of identification information
- the video processing device can determine multiple target video data packets with different identification information from the multiple correctly received video data packets, and combine the multiple target video The data packets are spliced to obtain continuous video.
- the identification information includes time information or serial number information.
- the video processing device may obtain the video data packet of the video received by each receiver through a communication cable that is communicatively connected with each receiver.
- S604 Send the continuous video to the display device, so that the display device displays the continuous video.
- the target receiver among multiple receivers arranged at intervals in the flight field receives the video captured by the unmanned aerial vehicle sent by the relay device, and the video captured by the unmanned aerial vehicle sent by the relay device is
- the relay device encodes the decoded video received from the UAV according to the communication status between the relay device and the target receiver, that is, the relay device forwards the video captured by the UAV For the target receiver, the video transmission efficiency can be improved.
- FIG. 7 is a schematic flowchart of another video processing method according to an embodiment of the present invention. As shown in FIG. 7, the method may include:
- the unmanned aerial vehicle shoots and obtains a video.
- S702 The unmanned aerial vehicle sends the captured video to multiple receivers.
- Each of the multiple receivers sends the received video data packet of the video to the video processing apparatus.
- the video processing apparatus generates a continuous video according to video data packets obtained from multiple receivers.
- the video processing apparatus may determine multiple correctly received video data packets from the video data packets obtained by multiple receivers, and generate continuous video based on the multiple correctly received video data packets.
- each video data packet corresponds to one piece of identification information
- the video processing device can determine multiple target video data packets with different identification information from the multiple correctly received video data packets, and combine the multiple target video The data packets are spliced to obtain continuous video.
- the identification information includes time information or serial number information.
- the video processing device may obtain the video data packet of the video received by each receiver through a communication cable that is communicatively connected with each receiver.
- the video processing apparatus sends the continuous video to the display device.
- S706 The display device displays the continuous video.
- multiple receivers receive the video captured by the unmanned aerial vehicle, and each of the multiple receivers sends the video data packet of the received video to the video processing device, and the video processing device
- the video data packets obtained by each receiver generate continuous video
- the video processing device sends the continuous video to the display device.
- the display device displays the continuous video, which can improve the quality of image transmission and ensure that even when the UAV can fly in various obstructed environments,
- the display device still shows the user the continuous video shot by the unmanned aerial vehicle.
- FIG. 8 is a schematic flowchart of another video processing method according to an embodiment of the present invention. As shown in FIG. 8, the method may include:
- the unmanned aerial vehicle shoots and obtains the video.
- the relay device receives the video captured by the unmanned aerial vehicle according to the communication state between the relay device and the target receiver.
- the relay device sends the video captured by the unmanned aerial vehicle to the target receiver.
- S804 The unmanned aerial vehicle sends the captured video to the receivers other than the target receiver among the multiple receivers.
- Each of the multiple receivers sends the video data packet of the received video to the video processing device.
- the video processing apparatus generates a continuous video according to video data packets obtained from multiple receivers.
- the video processing apparatus may determine multiple correctly received video data packets from the video data packets obtained by multiple receivers, and generate continuous video based on the multiple correctly received video data packets.
- each video data packet corresponds to one piece of identification information
- the video processing device can determine multiple target video data packets with different identification information from the multiple correctly received video data packets, and combine the multiple target video The data packets are spliced to obtain continuous video.
- the identification information includes time information or serial number information.
- the video processing device may obtain the video data packet of the video received by each receiver through a communication cable that is communicatively connected with each receiver.
- the video processing device sends the continuous video to the display device.
- S808 The display device displays continuous video.
- the relay device sends the video received from the unmanned aerial vehicle to the target receiver according to the communication state between the relay device and the target receiver, and the video captured by the unmanned aerial vehicle is captured by the relay device. Forward to the target receiver, which can improve video transmission efficiency.
- FIG. 9 is a structural diagram of a video processing device provided by an embodiment of the present invention.
- the video processing device includes a memory 901 and a processor 902, wherein the memory Program code is stored in 902, and the processor 902 calls the program code in the memory.
- the processor 902 executes the following operations:
- the processor 902 calls the program code, and when the program code is executed, is configured to perform the following operations:
- the continuous video is sent to a display device, so that the display device displays the continuous video.
- the display device is a head-mounted display device.
- the processor 902 performs the following operations when acquiring the video data packet of the video received by each receiver of the plurality of receivers:
- the communication cable includes a coaxial cable.
- the unmanned aerial vehicle includes a first unmanned aerial vehicle and a second unmanned aerial vehicle, wherein,
- the processor 902 obtains the video data packets of the video received by each of the plurality of receivers, and generates a continuous video according to the video data packets obtained from the plurality of receivers, execute the following operating:
- the processor 902 sends the continuous video to a display device, so that when the display device displays the continuous video, the following operations are performed:
- the second continuous video is sent to a second display device corresponding to the second UAV, so that the second display device displays the second continuous video.
- the processor 902 performs the following operations when generating a continuous video according to the video data packets obtained from the multiple receivers:
- the continuous video is generated according to the plurality of correctly received video data packets.
- each video data packet corresponds to one piece of identification information
- the processor 902 performs the following operations when generating the continuous video according to the multiple correctly received video data packets:
- the multiple target video data packets are spliced to obtain the continuous video.
- the identification information includes time information or serial number information.
- the processor 902 performs the following operations when receiving a video captured by an unmanned aerial vehicle flying on the flight site through multiple receivers arranged at intervals on the flight site:
- the target receiver of the plurality of receivers receives the video captured by the unmanned aerial vehicle sent by the relay device, and the video captured by the unmanned aerial vehicle sent by the relay device is based on the relay device.
- the communication state between the relay device and the target receiver is obtained by encoding the decoded video received from the UAV.
- the communication status includes one or more of communication bandwidth, bit error rate, and signal-to-noise ratio.
- the video processing device provided in this embodiment can execute the video processing methods shown in FIG. 3 to FIG. 8 provided in the foregoing embodiment, and the execution mode and beneficial effects are similar, and will not be repeated here.
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Abstract
本发明实施例提供了一种视频处理方法、装置、系统及介质，该方法包括：通过间隔设置在飞行场地的多个接收器接收在所述飞行场地飞行的无人飞行器拍摄获取的视频；获取所述多个接收器中每一个接收器接收到的所述视频的视频数据包，并根据从所述多个接收器获取的视频数据包生成连续视频；将所述连续视频发送给显示设备，以使所述显示设备显示所述连续视频，可提高图传质量，确保即便无人飞行器能够在各种遮挡环境飞行时，显示设备依然向用户显示无人飞行器拍摄的连续视频。
Description
本发明涉及通信技术领域，尤其涉及视频处理方法、装置、系统及介质。
无人飞行器竞速运动的实现过程可以为：无人飞行器挂载有拍摄装置，在无人飞行器竞速过程中，拍摄装置将实时采集到的视频发送给用户的显示设备，例如用户佩戴的显示设备，例如用户佩戴的头戴式显示设备。通过显示设备播放该视频，用户可以体验坐在驾驶舱内的感觉。
无人飞行器竞速运动为了增强观赏性和娱乐性，可以对无人飞行器竞速运动的飞行场地进行特殊布置，产生诸如墙壁、隧道、金属/非金属障碍、地形遮挡等影响无线信号传输的因素。但是上述因素会使显示设备在接收视频的过程中存在延迟甚至断链等问题，且显示设备接收到的视频存在卡花、模糊或者闪烁等现象，导致图传质量较低。
发明内容
有鉴于此，本发明实施例提供了视频处理方法、装置、系统及介质，可提高图传质量，确保即便无人飞行器能够在各种遮挡环境飞行时，显示设备依然向用户显示无人飞行器拍摄的连续视频。
本发明实施例第一方面提供了一种视频处理方法，该方法包括：
通过间隔设置在飞行场地的多个接收器接收在所述飞行场地飞行的无人飞行器拍摄获取的视频；
获取所述多个接收器中每一个接收器接收到的所述视频的视频数据包，并根据从所述多个接收器获取的视频数据包生成连续视频；
将所述连续视频发送给显示设备，以使所述显示设备显示所述连续视频。
本发明实施例第二方面提供了一种视频处理装置，该视频处理装置包括存储器和处理器；
所述存储器用于存储程序代码；
所述处理器，调用所述程序代码，当所述程序代码被执行时，用于执行以下操作：
通过间隔设置在飞行场地的多个接收器接收在所述飞行场地飞行的无人飞行器拍摄获取的视频；
获取所述多个接收器中每一个接收器接收到的所述视频的视频数据包，并根据从所述多个接收器获取的视频数据包生成连续视频；
将所述连续视频发送给显示设备，以使所述显示设备显示所述连续视频。
本发明实施例第三方面提供了一种视频处理系统，该视频处理系统包括间隔设置在飞行场地的多个接收器、在所述飞行场地飞行的无人飞行器、视频处理装置以及显示设备，其中：
所述无人飞行器，用于拍摄视频；
所述多个接收器，用于接收所述无人飞行器拍摄获取的视频，并将所述视频的视频数据包发送给所述视频处理装置；
所述视频处理装置，用于获取所述多个接收器中每一个接收器接收到的所述视频的视频数据包，根据从所述多个接收器获取的视频数据包生成连续视频，并将所述连续视频发送给所述显示设备；
所述显示设备，用于显示所述连续视频。
本发明实施例第四方面提供了一种计算机存储介质，所述计算机存储介质中存储有计算机程序指令，所述计算机程序指令被处理器执行时，用于执行如第一方面所述的视频处理方法。
在本发明实施例中，通过间隔设置在飞行场地的多个接收器接收在飞行场地飞行的无人飞行器拍摄获取的视频，获取多个接收器中每一个接收器接收到的视频的视频数据包，并根据从多个接收器获取的视频数据包生成连续视频，将连续视频发送给显示设备，以使显示设备显示该连续视频。通过这种方式，可提高图传质量，确保即便无人飞行器能够在各种遮挡环境飞行时，显示设备依然向用户显示无人飞行器拍摄的连续视频。
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是 本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例提出的一种视频处理系统的架构示意图；
图2是本发明实施例提出的一种连续视频的示意图；
图3是本发明实施例提出的一种视频处理方法的示意流程图；
图4是本发明实施例提出的一种飞行竞技场景的示意图；
图5是本发明实施例提出的另一种连续视频的示意图；
图6是本发明实施例提出的另一种视频处理方法的示意流程图；
图7是本发明实施例提出的另一种视频处理方法的示意流程图；
图8是本发明实施例提出的另一种视频处理方法的示意流程图；
图9是本发明实施例提出的一种视频处理装置的结构图。
为了更好的理解本申请实施例公开的视频处理方法、装置、系统及介质，下面首先对本申请实施例适用的视频处理系统进行描述。
请参见图1，图1是本申请实施例公开的一种视频处理系统的架构示意图。如图1所示，该视频处理系统至少包括视频处理装置101、多个接收器102、至少一个无人飞行器103以及至少一个显示设备104。多个接收器102间隔设置在飞行场地中，至少一个无人飞行器103在飞行场地中飞行。
至少一个无人飞行器103中的每个无人飞行器挂载有拍摄装置，无人飞行器可以通过拍摄装置实时拍摄无人飞行器在飞行场地飞行过程中的视频。至少一个无人飞行器103中的每个无人飞行器与多个接收器102建立通信连接，至少一个无人飞行器103中的每个无人飞行器将拍摄获取的视频发送给多个接收器102。
多个接收器102和视频处理装置101建立通信连接，多个接收器102可以将无人飞行器拍摄获取的视频发送给视频处理装置101。
视频处理装置101可以获取多个接收器102中每个接收器接收到的视频的视频数据包，并根据从多个接收器获取的视频数据包生成连续视频。视频处理装置101和至少一个显示设备104建立通信连接，视频处理装置101将连续视频发送给至少一个显示设备104。
至少一个显示设备104显示连续视频。
其中，视频处理装置101可以运行在地面站、个人电脑、智能手机(如Android手机、iOS手机等)、平板电脑、掌上电脑或移动互联网设备(MID，Mobile Internet Devices)等终端中。
多个接收器102中的每个接收器可以包括天线、射频前端、基带处理和解码器。多个接收器102中的每个接收器可以通过天线接收至少一个无人飞行器103中的每个无人飞行器拍摄获取的视频，通过射频前端、基带处理和解码器对无人飞行器拍摄获取的视频进行处理，得到视频数据包。
至少一个无人飞行器103中的每个无人飞行器可以为穿越机或者无人竞速机等。
显示设备104可以为配置有显示屏的终端设备，配置有显示屏的终端设备可以包括可穿戴设备、个人电脑、智能手机(如Android手机、iOS手机等)、平板电脑或掌上电脑等。可穿戴设备可以包括头戴式显示装置、手表或者腕带等，头戴式显示装置可以包括眼镜、头盔或者头带等。
上述视频处理系统可实现数字图传，具体可以为：多个接收器102通过天线接收到的无人飞行器拍摄获取的视频可以为编码后的视频，该视频可以为数字信号。多个接收器102通过射频前端、基带处理和解码器对无人飞行器拍摄获取的视频进行滤波以及解码等处理，得到上述视频中的有用信息，即视频数据包。多个接收器102可以对视频数据包进行编码，将编码后的视频数据包发送给视频处理装置101。视频处理装置101根据视频数据包生成连续视频，例如视频处理装置101对编码后的视频数据包进行解码，将解码后的视频数据包进行拼接处理，得到连续视频。视频处理装置101将连续视频发送给显示设备104。
连续视频可以为时间上连续的视频。以图2所示的连续视频的示意图为例，多个接收器102包括第一接收器、第二接收器和第三接收器，第一接收器接收到无人飞行器拍摄获取的视频为视频1以及视频2，第二接收器接收到无人飞行器拍摄获取的视频为视频1、视频2以及视频3，第三接收器接收到无人飞行器拍摄获取的视频为视频2、视频3以及视频4，其中视频1包括无人飞行器拍摄获取的第一帧视频，视频2包括无人飞行器拍摄获取的第二帧视频，视频3包括无人飞行器拍摄获取的第三帧视频，视频4包括无人飞行器拍摄获取 的第四帧视频。视频处理装置获取到第一接收器、第二接收器和第三接收器分别接收到的视频的视频数据包之后，在第一接收器接收到的视频1的视频数据包和第二接收器接收到的视频1的视频数据包中选取视频1的视频数据包，在第一接收器接收到的视频2的视频数据包、第二接收器接收到的视频2的视频数据包以及第三接收器接收到的视频2的视频数据包中选取视频2的视频数据包，在第二接收器接收到的视频3的视频数据包和第三接收器接收到的视频3的视频数据包中选取视频3的视频数据包，并获取第三接收器接收到的视频4的视频数据包，将上述选取的视频1的视频数据包、视频2的视频数据包、视频3的视频数据包、视频4的视频数据包依次进行拼接处理，得到连续视频，即连续视频中第一帧视频的下一帧为第二帧视频，第二帧视频的下一帧为第三帧视频，第三帧的下一帧为第四帧视频。
需要说明的是，本申请实施例中的视频包含但不局限于无人飞行器拍摄获取的至少一帧视频，例如视频1包括无人飞行器拍摄获取的第一帧视频、第二帧视频和第三帧视频，视频2包括无人飞行器拍摄获取的第四帧视频和第五帧视频。
本申请实施例中，多个接收器102将接收到的无人飞行器103拍摄获取的视频发送给视频处理装置101，视频处理装置101获取多个接收器102中每一个接收器接收到的视频的视频数据包，视频处理装置101根据从多个接收器获取的视频数据包生成连续视频，视频处理装置101将连续视频发送给显示设备104，显示设备104显示连续视频，可实现数字图传，提高图传质量，确保即便无人飞行器能够在各种遮挡环境飞行时，显示设备依然向用户显示无人飞行器拍摄的连续视频。
在一个实施例中，至少一个无人飞行器103和至少一个显示设备104一一对应，即至少一个无人飞行器103中的每个无人飞行器对应一个显示设备。例如，至少一个无人飞行器103包括第一无人飞行器和第二无人飞行器，至少一个显示设备104包括第一显示设备和第二显示设备，第一无人飞行器对应第一显示设备，第二无人飞行器对应第二显示设备。视频处理装置101可以获取多个接收器102中每一个接收器接收到的第一无人飞行器拍摄获取的第一视频的视频数据包，根据从多个接收器获取的第一视频的视频数据包生成第一连续视频，将第一连续视频发送给第一显示设备。视频处理装置101还可以获取多 个接收器102中每一个接收器接收到的第二无人飞行器拍摄获取的第二视频的视频数据包，根据从多个接收器获取的第二视频的视频数据包生成第二连续视频，将第二连续视频发送给第二显示设备。
在一个实施例中，视频处理装置101可以通过通信线缆和多个接收器102建立通信连接，通信线缆可以包括光纤或者同轴线缆等。
在一个实施例中，如果显示设备位于建筑物或者隧道内部时，信号较差，导致显示设备无法正确接收视频处理装置发送的连续视频，基于此，可以通过显示设备的天线端口将射频天线延伸至建筑物或者隧道外部，便于显示设备正确接收视频处理装置发送的连续视频，提高传输可靠性。示例性的，天线端口可以为高清多媒体接口(High Definition Multimedia Interface，HDMI)，射频天线可以通过同轴线和射频中继放大延伸至建筑物或者隧道外部。
基于图1所示的视频处理系统，请参见图3，是本发明实施例提出的一种视频处理方法的示意流程图，如图3所示，该方法可包括：
S301，视频处理装置通过间隔设置在飞行场地的多个接收器接收在飞行场地飞行的无人飞行器拍摄获取的视频。
以图4所示的飞行竞技场景的示意图为例，无人飞行器可以在飞行场地中进行飞行竞技，无人飞行器挂载有拍摄装置，无人飞行器可以通过拍摄装置拍摄获取视频。飞行场地中间隔设置了多个接收器，多个接收器可以通过无线连接接收无人飞行器拍摄获取的视频。飞行场地中还设置了视频处理装置，视频处理装置可以通过通信线路获取多个接收器中的每个接收器接收到的视频的视频数据包，根据获取到的视频数据包生成连续视频。视频处理装置可以将连续视频发送给显示设备，显示设备可以显示该连续视频，以便操作显示设备的用户可以观看该连续视频，还可以基于该连续视频对上述无人飞行器进行飞行控制，例如调整无人飞行器在飞行过程中的姿态、速度或者高度，或者控制无人飞行器悬停、返航或者降落等。姿态可以用于指示无人飞行器的航向角、俯仰角或者横滚角中的一种或多种。显示设备可以位于飞行场地内或者飞行场地外。
S302，视频处理装置获取多个接收器中每一个接收器接收到的视频的视频数据包，并根据从多个接收器获取的视频数据包生成连续视频。
在一个实施例中，视频处理装置可以从多个接收器获取的视频数据包中确定多个正确接收的视频数据包，根据多个正确接收的视频数据包，生成连续视频。
具体实现中，接收器通过天线接收到无人飞行器拍摄获取的视频之后，通过射频前端、基带处理和解码器对视频进行处理，得到该视频的视频数据包。如果接收器通过射频前端、基带处理和解码器对视频处理成功，那么视频处理装置可以确定接收器正确接收到该视频的视频数据包。例如，视频处理装置可以通过校验位检测视频数据包是否正确接收，其中校验位又称奇偶校验位，是一个表示给定位数的二进制数中1的个数是奇数还是偶数的二进制数。又如，视频处理装置可以判断接收器是否对视频解码成功，如果解码成功，则视频处理装置可以确定接收器正确接收到该视频的视频数据包；如果解码失败，则视频处理装置可以确定接收器未正确接收到该视频的视频数据包。
以图2为例，假设视频处理装置在第一接收器接收到的视频1的视频数据包和第二接收器接收到的视频1的视频数据包中选取视频1的视频数据包，其中第一接收器正确接收视频1的视频数据包，第二接收器未正确接收视频1的视频数据包，那么视频处理装置可以将第一接收器接收到的视频1的视频数据包选取为视频1的视频数据包。另外，假设视频处理装置在第一接收器正确接收到的视频2的视频数据包，在第二接收器正确接收到的视频2的视频数据包，在第三接收器未正确接收到的视频2的视频数据包，视频处理装置可以将第一接收器和第二接收器中任一接收器接收到的视频2的视频数据包选取为视频2的视频数据包。
在一个实施例中，每一个视频数据包对应一个标识信息，视频处理装置可以从多个正确接收到的视频数据包中确定多个标识信息各不相同的目标视频数据包，将多个目标视频数据包进行拼接处理，以获取连续视频。
以图2为例，假设视频处理装置在第一接收器正确接收到视频1的视频数据包和视频2的视频数据包，在第二接收器正确接收到的视频2的视频数据包和视频3的视频数据包，在第三接收器正确接收到的视频3的视频数据包和视频4的视频数据包。那么视频处理装置可以将第一接收器接收到的视频1的视频数据包，第一接收器和第二接收器中任一接收器接收到的视频2的视频数据包，第二接收器和第三接收器中任一接收器接收到的视频3的视频数据包，以 及第三接收器接收到的视频4的视频数据包确定为目标视频数据包，对上述目标视频数据包进行拼接处理，以获取连续视频。
其中，标识信息可以包括时间信息或者序号信息。
以图2为例，标识信息可以包括序号信息，即视频n的视频数据包对应的序号信息为n，n为正整数。例如，视频1的视频数据包对应的序号信息为1，视频2的视频数据包对应的序号信息为2。
以图5所示的连续视频的示意图为例，标识信息可以包括时间信息，即视频n的视频数据包对应的时间信息为该视频的播放结束时间，n为正整数。例如，假设视频1的时长为2分钟(min)，视频2的时长为1min，视频3的时长为3min，视频4的时长为1min，那么视频1的视频数据包对应的时间信息为2min，视频2的视频数据包对应的时间信息为2+1＝3min，视频3的视频数据包对应的时间信息为2+1+3＝6min，视频4的视频数据包对应的时间信息为2+1+3+1＝7min。
在一个实施例中，视频处理装置可以通过与每一个接收器通信连接的通信线缆获取每一个接收器接收到的视频的视频数据包。
S303，视频处理装置将连续视频发送给显示设备，以使显示设备显示连续视频。
在本发明实施例中，通过间隔设置在飞行场地的多个接收器接收在飞行场地飞行的无人飞行器拍摄获取的视频，获取多个接收器中每一个接收器接收到的视频的视频数据包，并根据从多个接收器获取的视频数据包生成连续视频，将连续视频发送给显示设备，以使显示设备显示该连续视频，可提高图传质量，确保即便无人飞行器能够在各种遮挡环境飞行时，显示设备依然向用户显示无人飞行器拍摄的连续视频。
基于图1所示的视频处理系统，请参见图6，是本发明实施例提出的另一种视频处理方法的示意流程图，如图6所示，该方法可包括：
S601，通过间隔设置在飞行场地的多个接收器中的目标接收器接收中继装置发送的无人飞行器拍摄获取的视频，中继装置发送的无人飞行器拍摄获取的视频是中继装置根据中继装置与目标接收器之间的通信状态，对解码之后的从所述无人飞行器接收的视频进行编码得到的。
以图4所示的飞行竞技场景示意图为例，无人飞行器可以在飞行场地中进行飞行竞技，无人飞行器挂载有拍摄装置，无人飞行器可以通过拍摄装置拍摄获取视频。飞行场地中间隔设置了多个接收器，多个接收器可以通过无线连接接收无人飞行器拍摄获取的视频。飞行场地中还设置了中继装置，当中继装置检测到中继装置与目标接收器之间的通信状态较好时，中继装置可以获取无人飞行器对拍摄获取的视频进行编码后的视频。中继装置可以对获取到的视频进行解码，然后将对解码后的视频进行编码得到的视频发送给目标接收器。例如，中继装置获取无人飞行器拍摄获取的视频之后，可以将基带解码的硬比特重新编码之后，通过中继装置的射频放大模块发送给目标接收器，以实现中继放大，延长传输距离。当中继装置与多个接收器中除目标接收器以外的其他接收器之间的通信状态较差时，其他接收器可以直接接收无人飞行器拍摄获取的视频。飞行场地中还设置了视频处理装置，视频处理装置可以通过通信线路获取多个接收器中的每个接收器接收到的视频的视频数据包，根据获取到的视频数据包生成连续视频。视频处理装置可以将连续视频发送给显示设备，显示设备可以显示该连续视频。
其中，目标接收器可以为多个接收器中的任一接收器。
其中，中继装置与目标接收器之间的通信状态可以包括带宽、误码率或者信噪比中的一种或多种。
S602，通过多个接收器中除目标接收器以外的接收器接收无人飞行器拍摄获取的视频。
需要说明的是，本申请实施例并不限定步骤S601和S602的执行顺序，例如视频处理装置可以在执行步骤S602之后执行步骤S601，或者视频处理装置可以同时执行步骤S602和步骤S601。
S603，获取多个接收器中每一个接收器接收到的视频的视频数据包，并根据从多个接收器获取的视频数据包生成连续视频。
在一实施例中，视频处理装置可以从多个接收器获取的视频数据包中确定多个正确接收的视频数据包，根据多个正确接收的视频数据包，生成连续视频。
在一实施例中，每一个视频数据包对应一个标识信息，视频处理装置可以从多个正确接收到的视频数据包中确定多个标识信息各不相同的目标视频数 据包，将多个目标视频数据包进行拼接处理，以获取连续视频。
其中，标识信息包括时间信息或者序号信息。
在一实施例中，视频处理装置可以通过与每一个接收器通信连接的通信线缆获取每一个接收器接收到的视频的视频数据包。
S604，将连续视频发送给显示设备，以使显示设备显示连续视频。
在本发明实施例中，通过间隔设置在飞行场地的多个接收器中的目标接收器接收中继装置发送的无人飞行器拍摄获取的视频，中继装置发送的无人飞行器拍摄获取的视频是中继装置根据中继装置与目标接收器之间的通信状态，对解码之后的从无人飞行器接收的视频进行编码得到的，也就是说，通过中继装置将无人飞行器拍摄获取的视频转发给目标接收器，可提高视频传输效率。
基于图1所示的视频处理系统，请参见图7，是本发明实施例提出的另一种视频处理方法的示意流程图，如图7所示，该方法可包括：
S701，无人飞行器拍摄获取视频。
S702，无人飞行器将拍摄获取的视频发送给多个接收器。
S703，多个接收器中的每个接收器将接收到的视频的视频数据包发送给视频处理装置。
S704，视频处理装置根据从多个接收器获取的视频数据包生成连续视频。
在一实施例中，视频处理装置可以从多个接收器获取的视频数据包中确定多个正确接收的视频数据包，根据多个正确接收的视频数据包，生成连续视频。
在一实施例中，每一个视频数据包对应一个标识信息，视频处理装置可以从多个正确接收到的视频数据包中确定多个标识信息各不相同的目标视频数据包，将多个目标视频数据包进行拼接处理，以获取连续视频。
其中，标识信息包括时间信息或者序号信息。
在一实施例中，视频处理装置可以通过与每一个接收器通信连接的通信线缆获取每一个接收器接收到的视频的视频数据包。
S705，视频处理装置将连续视频发送给显示设备。
S706，显示设备显示连续视频。
在本发明实施例中，多个接收器接收无人飞行器拍摄获取的视频，多个接 收器中每一个接收器将接收到的视频的视频数据包发送给视频处理装置，视频处理装置根据从多个接收器获取的视频数据包生成连续视频，视频处理装置将连续视频发送给显示设备，显示设备显示该连续视频，可提高图传质量，确保即便无人飞行器能够在各种遮挡环境飞行时，显示设备依然向用户显示无人飞行器拍摄的连续视频。
基于图1所示的视频处理系统，请参见图8，是本发明实施例提出的另一种视频处理方法的示意流程图，如图8所示，该方法可包括：
S801，无人飞行器拍摄获取视频。
S802，中继装置根据中继装置与目标接收器之间的通信状态，接收无人飞行器拍摄获取的视频。
S803，中继装置将无人飞行器拍摄获取的视频发送给目标接收器。
S804，无人飞行器将拍摄获取的视频发送给多个接收器中除目标接收器以外的其他接收器。
S805，多个接收器中的每个接收器将接收到的视频的视频数据包发送给视频处理装置。
S806，视频处理装置根据从多个接收器获取的视频数据包生成连续视频。
在一实施例中，视频处理装置可以从多个接收器获取的视频数据包中确定多个正确接收的视频数据包，根据多个正确接收的视频数据包，生成连续视频。
在一实施例中，每一个视频数据包对应一个标识信息，视频处理装置可以从多个正确接收到的视频数据包中确定多个标识信息各不相同的目标视频数据包，将多个目标视频数据包进行拼接处理，以获取连续视频。
其中，标识信息包括时间信息或者序号信息。
在一实施例中，视频处理装置可以通过与每一个接收器通信连接的通信线缆获取每一个接收器接收到的视频的视频数据包。
S807，视频处理装置将连续视频发送给显示设备。
S808，显示设备显示连续视频。
在本发明实施例中，中继装置根据中继装置与目标接收器之间的通信状态，将从无人飞行器接收的视频发送给目标接收器，通过中继装置将无人飞行器拍 摄获取的视频转发给目标接收器，可提高视频传输效率。
本发明实施例提供了一种视频处理装置，图9是本发明实施例提供的视频处理装置的结构图，如图9所示，所述视频处理装置包括存储器901和处理器902，其中，存储器902中存储有程序代码，处理器902调用存储器中的程序代码，当程序代码被执行时，处理器902执行如下操作：
所述处理器902，调用所述程序代码，当所述程序代码被执行时，用于执行以下操作：
通过间隔设置在飞行场地的多个接收器接收在所述飞行场地飞行的无人飞行器拍摄获取的视频；
获取所述多个接收器中每一个接收器接收到的所述视频的视频数据包，并根据从所述多个接收器获取的视频数据包生成连续视频；
将所述连续视频发送给显示设备，以使所述显示设备显示所述连续视频。
在一实施例中，所述显示设备为头戴式显示装置。
在一实施例中，所述处理器902在获取所述多个接收器中每一个接收器接收到的所述视频的视频数据包时，执行如下操作：
通过与所述每一个接收器通信连接的通信线缆获取所述每一个接收器接收到的所述视频的视频数据包。
在一实施例中，所述通信线缆包括同轴线。
在一实施例中，所述无人飞行器包括第一无人飞行器和第二无人飞行器，其中，
所述处理器902在获取所述多个接收器中每一个接收器接收到的所述视频的视频数据包，并根据从所述多个接收器获取的视频数据包生成连续视频时，执行如下操作：
获取所述多个接收器中每一个接收器接收到的第一无人飞行器拍摄获取的第一视频的视频数据包，以及第二无人飞行器拍摄获取的第二视频的视频数据包；
根据从所述多个接收器获取的第一视频的视频数据包生成第一连续视频，并根据从所述多个接收器获取的第二视频的视频数据包生成第二连续视频；
所述处理器902将所述连续视频发送给显示设备，以使所述显示设备显示 所述连续视频时，执行如下操作：
将所述第一连续视频发送给与所述第一无人飞行器对应的第一显示设备，以使所述第一显示设备显示所述第一连续视频；
将所述第二连续视频发送给与所述第二无人飞行器对应的第二显示设备，以使所述第二显示设备显示所述第二连续视频。
在一实施例中，所述处理器902在根据从所述多个接收器获取的视频数据包生成连续视频时，执行如下操作：
从所述多个接收器获取的视频数据包中确定多个正确接收的视频数据包；
根据所述多个正确接收的视频数据包，生成所述连续视频。
在一实施例中，每一个视频数据包对应一个标识信息；
所述处理器902在根据所述多个正确接收的视频数据包，生成所述连续视频时，执行如下操作：
从所述多个正确接收到的视频数据包中确定多个标识信息各不相同的目标视频数据包；
将所述多个目标视频数据包进行拼接处理，以获取所述连续视频。
在一实施例中，所述标识信息包括时间信息或者序号信息。
在一实施例中，所述处理器902在通过间隔设置在飞行场地的多个接收器接收在所述飞行场地飞行的无人飞行器拍摄获取的视频时，执行如下操作：
通过所述多个接收器中的目标接收器接收中继装置发送的所述无人飞行器拍摄获取的视频，所述中继装置发送的无人飞行器拍摄获取的视频是所述中继装置根据所述中继装置与所述目标接收器之间的通信状态，对解码之后的从所述无人飞行器接收的视频进行编码得到的。
在一实施例中，所述通信状态包括通信带宽、误码率、信噪比中的一种或者多种。
本实施例提供的视频处理装置能执行前述实施例提供的如图3至图8所示的视频处理方法，且执行方式和有益效果类似，在这里不再赘述。
可以理解，以上所揭露的仅为本发明实施例的部分实施例而已，当然不能以此来限定本发明之权利范围，本领域普通技术人员可以理解实现上述实施例的全部或部分流程，并依本发明权利要求所作的等同变化，仍属于发明所涵盖的范围。
Claims (31)
- 一种视频处理方法，其特征在于，包括：通过间隔设置在飞行场地的多个接收器接收在所述飞行场地飞行的无人飞行器拍摄获取的视频；获取所述多个接收器中每一个接收器接收到的所述视频的视频数据包，并根据从所述多个接收器获取的视频数据包生成连续视频；将所述连续视频发送给显示设备，以使所述显示设备显示所述连续视频。
- 根据权利要求1所述的方法，其特征在于，所述显示设备为头戴式显示装置。
- 根据权利要求1或2所述的方法，其特征在于，所述获取所述多个接收器中每一个接收器接收到的所述视频的视频数据包，包括：通过与所述每一个接收器通信连接的通信线缆获取所述每一个接收器接收到的所述视频的视频数据包。
- 根据权利要求3所述的方法，其特征在于，所述通信线缆包括同轴线。
- 根据权利要求1-4任一项所述的方法，其特征在于，所述无人飞行器包括第一无人飞行器和第二无人飞行器，其中，所述获取所述多个接收器中每一个接收器接收到的所述视频的视频数据包，并根据从所述多个接收器获取的视频数据包生成连续视频，包括：获取所述多个接收器中每一个接收器接收到的第一无人飞行器拍摄获取的第一视频的视频数据包，以及第二无人飞行器拍摄获取的第二视频的视频数据包；根据从所述多个接收器获取的第一视频的视频数据包生成第一连续视频，并根据从所述多个接收器获取的第二视频的视频数据包生成第二连续视频；所述将所述连续视频发送给显示设备，以使所述显示设备显示所述连续视频，包括：将所述第一连续视频发送给与所述第一无人飞行器对应的第一显示设备，以使所述第一显示设备显示所述第一连续视频；将所述第二连续视频发送给与所述第二无人飞行器对应的第二显示设备，以使所述第二显示设备显示所述第二连续视频。
- 根据权利要求1-5任一项所述的方法，其特征在于，所述根据从所述多个接收器获取的视频数据包生成连续视频，包括：从所述多个接收器获取的视频数据包中确定多个正确接收的视频数据包；根据所述多个正确接收的视频数据包，生成所述连续视频。
- 根据权利要求6所述的方法，其特征在于，每一个视频数据包对应一个标识信息；所述根据所述多个正确接收的视频数据包，生成所述连续视频，包括：从所述多个正确接收到的视频数据包中确定多个标识信息各不相同的目标视频数据包；将所述多个目标视频数据包进行拼接处理，以获取所述连续视频。
- 根据权利要求7所述的方法，其特征在于，所述标识信息包括时间信息或者序号信息。
- 根据权利要求1-8任一项所述的方法，其特征在于，所述通过间隔设置在飞行场地的多个接收器接收在所述飞行场地飞行的无人飞行器拍摄获取的视频，包括：通过所述多个接收器中的目标接收器接收中继装置发送的所述无人飞行器拍摄获取的视频，所述中继装置发送的无人飞行器拍摄获取的视频是所述中继装置根据所述中继装置与所述目标接收器之间的通信状态，对解码之后的从所述无人飞行器接收的视频进行编码得到的。
- 根据权利要求9所述的方法，其特征在于，所述通信状态包括通信带宽、误码率、信噪比中的一种或者多种。
- 一种视频处理装置，其特征在于，包括存储器和处理器；所述存储器，用于存储程序代码；所述处理器，调用所述程序代码，当所述程序代码被执行时，用于执行以下操作：通过间隔设置在飞行场地的多个接收器接收在所述飞行场地飞行的无人飞行器拍摄获取的视频；获取所述多个接收器中每一个接收器接收到的所述视频的视频数据包，并根据从所述多个接收器获取的视频数据包生成连续视频；将所述连续视频发送给显示设备，以使所述显示设备显示所述连续视频。
- 根据权利要求11所述的装置，其特征在于，所述显示设备为头戴式显示装置。
- 根据权利要求11或12所述的装置，其特征在于，所述处理器在获取所述多个接收器中每一个接收器接收到的所述视频的视频数据包时，执行如下操作：通过与所述每一个接收器通信连接的通信线缆获取所述每一个接收器接收到的所述视频的视频数据包。
- 根据权利要求13所述的装置，其特征在于，所述通信线缆包括同轴线。
- 根据权利要求11-14任一项所述的装置，其特征在于，所述无人飞行器包括第一无人飞行器和第二无人飞行器，其中，所述处理器在获取所述多个接收器中每一个接收器接收到的所述视频的视频数据包，并根据从所述多个接收器获取的视频数据包生成连续视频时，执行如下操作：获取所述多个接收器中每一个接收器接收到的第一无人飞行器拍摄获取的第一视频的视频数据包，以及第二无人飞行器拍摄获取的第二视频的视频数 据包；根据从所述多个接收器获取的第一视频的视频数据包生成第一连续视频，并根据从所述多个接收器获取的第二视频的视频数据包生成第二连续视频；所述处理器将所述连续视频发送给显示设备，以使所述显示设备显示所述连续视频时，执行如下操作：将所述第一连续视频发送给与所述第一无人飞行器对应的第一显示设备，以使所述第一显示设备显示所述第一连续视频；将所述第二连续视频发送给与所述第二无人飞行器对应的第二显示设备，以使所述第二显示设备显示所述第二连续视频。
- 根据权利要求11-15任一项所述的装置，其特征在于，所述处理器在根据从所述多个接收器获取的视频数据包生成连续视频时，执行如下操作：从所述多个接收器获取的视频数据包中确定多个正确接收的视频数据包；根据所述多个正确接收的视频数据包，生成所述连续视频。
- 根据权利要求16所述的装置，其特征在于，每一个视频数据包对应一个标识信息；所述处理器在根据所述多个正确接收的视频数据包，生成所述连续视频时，执行如下操作：从所述多个正确接收到的视频数据包中确定多个标识信息各不相同的目标视频数据包；将所述多个目标视频数据包进行拼接处理，以获取所述连续视频。
- 根据权利要求17所述的装置，其特征在于，所述标识信息包括时间信息或者序号信息。
- 根据权利要求11-18任一项所述的装置，其特征在于，所述处理器在通过间隔设置在飞行场地的多个接收器接收在所述飞行场地飞行的无人飞行器拍摄获取的视频时，执行如下操作：通过所述多个接收器中的目标接收器接收中继装置发送的所述无人飞行 器拍摄获取的视频，所述中继装置发送的无人飞行器拍摄获取的视频是所述中继装置根据所述中继装置与所述目标接收器之间的通信状态，对解码之后的从所述无人飞行器接收的视频进行编码得到的。
- 根据权利要求19所述的装置，其特征在于，所述通信状态包括通信带宽、误码率、信噪比中的一种或者多种。
- 一种视频处理系统，其特征在于，所述系统包括间隔设置在飞行场地的多个接收器、在所述飞行场地飞行的无人飞行器、视频处理装置以及显示设备，其中：所述无人飞行器，用于拍摄视频；所述多个接收器，用于接收所述无人飞行器拍摄获取的视频，并将所述视频的视频数据包发送给所述视频处理装置；所述视频处理装置，用于获取所述多个接收器中每一个接收器接收到的所述视频的视频数据包，根据从所述多个接收器获取的视频数据包生成连续视频，并将所述连续视频发送给所述显示设备；所述显示设备，用于显示所述连续视频。
- 根据权利要求21所述的系统，其特征在于，所述显示设备为头戴式显示装置。
- 根据权利要求21或22所述的系统，其特征在于，所述视频处理装置获取所述多个接收器中每一个接收器接收到的所述视频的视频数据包，包括：所述视频处理装置通过与所述每一个接收器通信连接的通信线缆获取所述每一个接收器接收到的所述视频的视频数据包。
- 根据权利要求23所述的系统，其特征在于，所述通信线缆包括同轴线。
- 根据权利要求21-24任一项所述的系统，其特征在于，所述无人飞行 器包括第一无人飞行器和第二无人飞行器，其中，所述视频处理装置获取所述多个接收器中每一个接收器接收到的所述视频的视频数据包，并根据从所述多个接收器获取的视频数据包生成连续视频，包括：所述视频处理装置获取所述多个接收器中每一个接收器接收到的第一无人飞行器拍摄获取的第一视频的视频数据包，以及第二无人飞行器拍摄获取的第二视频的视频数据包；所述视频处理装置根据从所述多个接收器获取的第一视频的视频数据包生成第一连续视频，并根据从所述多个接收器获取的第二视频的视频数据包生成第二连续视频；所述视频处理装置将所述连续视频发送给显示设备，包括：所述视频处理装置将所述第一连续视频发送给与所述第一无人飞行器对应的第一显示设备，并将所述第二连续视频发送给与所述第二无人飞行器对应的第二显示设备；所述显示设备显示所述连续视频，包括：所述第一显示设备显示所述第一连续视频；所述第二显示设备显示所述第二连续视频。
- 根据权利要求21-25任一项所述的系统，其特征在于，所述视频处理装置根据从所述多个接收器获取的视频数据包生成连续视频，包括：所述视频处理装置从所述多个接收器获取的视频数据包中确定多个正确接收的视频数据包；所述视频处理装置根据所述多个正确接收的视频数据包，生成所述连续视频。
- 根据权利要求26所述的系统，其特征在于，每一个视频数据包对应一个标识信息；所述视频处理装置根据所述多个正确接收的视频数据包，生成所述连续视频，包括：所述视频处理装置从所述多个正确接收到的视频数据包中确定多个标识 信息各不相同的目标视频数据包；所述视频处理装置将所述多个目标视频数据包进行拼接处理，以获取所述连续视频。
- 根据权利要求27所述的系统，其特征在于，所述标识信息包括时间信息或者序号信息。
- 根据权利要求21-28任一项所述的系统，其特征在于，所述多个接收器接收所述无人飞行器拍摄获取的视频，包括：所述多个接收器中的目标接收器接收中继装置发送的所述无人飞行器拍摄获取的视频，所述中继装置发送的无人飞行器拍摄获取的视频是所述中继装置根据所述中继装置与所述目标接收器之间的通信状态，对解码之后的从所述无人飞行器接收的视频进行编码得到的。
- 根据权利要求29所述的系统，其特征在于，所述通信状态包括通信带宽、误码率、信噪比中的一种或者多种。
- 一种计算机存储介质，其特征在于，所述计算机存储介质中存储有计算机程序指令，所述计算机程序指令被处理器执行时，用于执行如权利要求1-10任一项所述的视频处理方法。
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| CN105100733A (zh) * | 2015-08-27 | 2015-11-25 | 广东威创视讯科技股份有限公司 | 拼接显示装置的视频播放方法和系统 |
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