WO2021042341A1 - Video display method, receiving end, system and storage medium - Google Patents

Video display method, receiving end, system and storage medium Download PDF

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Publication number
WO2021042341A1
WO2021042341A1 PCT/CN2019/104597 CN2019104597W WO2021042341A1 WO 2021042341 A1 WO2021042341 A1 WO 2021042341A1 CN 2019104597 W CN2019104597 W CN 2019104597W WO 2021042341 A1 WO2021042341 A1 WO 2021042341A1
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video data
preset
display
data
current frame
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PCT/CN2019/104597
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French (fr)
Chinese (zh)
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王晓东
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深圳市大疆创新科技有限公司
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Priority to PCT/CN2019/104597 priority Critical patent/WO2021042341A1/en
Publication of WO2021042341A1 publication Critical patent/WO2021042341A1/en

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    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N19/00Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
    • H04N19/44Decoders specially adapted therefor, e.g. video decoders which are asymmetric with respect to the encoder
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N19/00Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
    • H04N19/85Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using pre-processing or post-processing specially adapted for video compression
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00Television systems
    • H04N7/18Closed circuit television systems, i.e. systems in which the signal is not broadcast

Abstract

A video display method, a receiving end, an image transmission system and a storage medium. The method comprises: receiving encoded video data, and decoding the video data by means of a decoder (S201); determining whether partial data, output by the current frame, in the video data decoded by the decoder meets a pre-set condition (S202); and if so, generating a timing signal and sending the timing signal to a display controller, such that the display controller controls a display screen to display the current frame (S203).

Description

视频显示方法、接收端、系统及存储介质Video display method, receiving end, system and storage medium 技术领域Technical field
本申请涉及显示技术领域,尤其涉及一种视频显示方法、接收端、图传系统及存储介质。This application relates to the field of display technology, and in particular to a video display method, receiving end, image transmission system and storage medium.
背景技术Background technique
目前,在图传系统中,为了降低图传的延迟,一般会采用亚帧级别的流水线方式处理,将视频流处理的相关步骤,流水地安排时序,包括视频采集部分、图像处理部分、视频压缩部分、视频传输部分、视频解压部分、视频显示部分(如LCD显示)对应的步骤,需要每个步骤的时序能够互相匹配才能实现。然而在常见的图传系统中,部分步骤之间的时序可能无法匹配,比如在接收端接收到的视频帧与LCD显示视频帧的定时,可能是异步的,在新的LCD刷新的时刻,新的视频帧的到位是不确定的,因而可能还是显示上一帧,也可能显示下一帧。因此会造成端到端的延迟抖动,为了克服延迟抖动而采取帧缓存的方式显示,即缓存一帧数据或多帧数据后采用定时刷屏显示的方式,但这样就会引入了帧级别的延迟,以及长时间的定时漂移也会带来重复显示或丢帧显示的问题。At present, in the image transmission system, in order to reduce the delay of the image transmission, the sub-frame level pipeline processing is generally adopted, and the relevant steps of the video stream processing are arranged in a streamlined manner, including the video acquisition part, the image processing part, and the video compression. The steps corresponding to the part, the video transmission part, the video decompression part, and the video display part (such as LCD display) require that the timing of each step can match each other to achieve. However, in a common image transmission system, the timing between some steps may not match. For example, the timing of the video frame received at the receiving end and the LCD display video frame may be asynchronous. The position of the video frame is uncertain, so the previous frame may be displayed or the next frame may be displayed. Therefore, it will cause end-to-end delay jitter. In order to overcome the delay jitter, frame buffer display is adopted, that is, a frame of data or multiple frames of data is buffered and then the screen is refreshed regularly. However, this will introduce a frame-level delay. And long-term timing drift will also cause the problem of repeated display or dropped frame display.
发明内容Summary of the invention
基于此,本申请提供了一种视频显示方法、接收端、图传系统及存储介质,以降低显示延迟,解决重复显示和丢帧显示问题。Based on this, the present application provides a video display method, receiving end, image transmission system, and storage medium to reduce display delay and solve the problem of repeated display and dropped frame display.
第一方面,本申请提供了一种视频显示方法,所述方法包括:In the first aspect, this application provides a video display method, the method including:
接收编码后的视频数据,通过解码器对所述视频数据进行解码;Receiving encoded video data, and decoding the video data through a decoder;
确定所述解码器解码的所述视频数据中的当前帧输出的部分数据是否满足预设条件,所述预设条件用于触发生成定时信号;Determining whether part of the data output by the current frame in the video data decoded by the decoder meets a preset condition, where the preset condition is used to trigger the generation of a timing signal;
若输出的部分数据满足所述预设条件,生成定时信号并将所述定时信号发 送至显示器控制器,以使所述显示器控制器控制显示屏显示所述当前帧。If part of the output data meets the preset condition, a timing signal is generated and sent to the display controller, so that the display controller controls the display screen to display the current frame.
第二方面,本申请还提供了一种接收端,所述接收端包括存储器和处理器;In a second aspect, the present application also provides a receiving end, the receiving end including a memory and a processor;
所述存储器用于存储计算机程序;The memory is used to store a computer program;
所述处理器,用于执行所述计算机程序并在执行所述计算机程序时,实现如下步骤:The processor is configured to execute the computer program and, when executing the computer program, implement the following steps:
接收编码后的视频数据,通过解码器对所述视频数据进行解码;Receiving encoded video data, and decoding the video data through a decoder;
确定所述解码器解码的所述视频数据中的当前帧输出的部分数据是否满足预设条件,所述预设条件用于触发生成定时信号;Determining whether part of the data output by the current frame in the video data decoded by the decoder meets a preset condition, where the preset condition is used to trigger the generation of a timing signal;
若输出的部分数据满足所述预设条件,生成定时信号并将所述定时信号发送至显示器控制器,以使所述显示器控制器控制显示屏显示所述当前帧。If part of the output data meets the preset condition, a timing signal is generated and sent to the display controller, so that the display controller controls the display screen to display the current frame.
第三方面,本申请还提供了一种图传系统,所述系统包括发送端和接收端,所述发送端和接收端通信连接;In a third aspect, the present application also provides an image transmission system, the system includes a sending end and a receiving end, and the sending end and the receiving end are in communication connection;
所述发送端获取视频数据并对所述视频数据进行编码;The sending end obtains video data and encodes the video data;
所述发送端将编码后的视频数据发送至所述接收端;The sending end sends the encoded video data to the receiving end;
所述接收端接收编码后的视频数据,通过解码器对所述视频数据进行解码;The receiving end receives the encoded video data, and decodes the video data through a decoder;
所述接收端确定所述解码器解码的所述视频数据中的当前帧输出的部分数据是否满足预设条件,所述预设条件用于触发生成定时信号;Determining, by the receiving end, whether part of the data output by the current frame in the video data decoded by the decoder satisfies a preset condition, and the preset condition is used to trigger the generation of a timing signal;
所述接收端若确定输出的部分数据满足所述预设条件,生成定时信号并将所述定时信号发送至显示器控制器,以使所述显示器控制器控制显示屏显示所述当前帧。If the receiving end determines that part of the output data meets the preset condition, it generates a timing signal and sends the timing signal to the display controller, so that the display controller controls the display screen to display the current frame.
第四方面,本申请还提供了一种计算机可读存储介质,所述计算机可读存储介质存储有计算机程序,所述计算机程序被处理器执行时使所述处理器实现上述的视频显示方法。In a fourth aspect, the present application also provides a computer-readable storage medium that stores a computer program, and when the computer program is executed by a processor, the processor implements the above-mentioned video display method.
本申请实施例提供了一种视频显示方法、接收端、图传系统及存储介质,在接收到编码后的视频数据后,通过解码器对所述视频数据进行解码;确定所述解码器解码的所述视频数据中的当前帧输出的部分数据是否满足预设条件;并在满足所述预设条件时,生成定时信号并将所述定时信号发送至显示器控制器,以使所述显示器控制器根据所述定时信号控制显示屏显示所述当前帧。该显示方法降低了显示延迟,不同于定频刷新或帧缓存的显示方式,解决了长时间的定时漂移也会带来重复显示或丢帧显示的问题。The embodiments of the present application provide a video display method, a receiving end, an image transmission system, and a storage medium. After receiving the encoded video data, the video data is decoded by a decoder; and it is determined that the decoder decodes the video data. Whether part of the data output by the current frame in the video data meets a preset condition; and when the preset condition is satisfied, a timing signal is generated and sent to the display controller, so that the display controller Controlling the display screen to display the current frame according to the timing signal. This display method reduces display delay, and is different from fixed-frequency refresh or frame buffer display methods, and solves the problem of repeated display or dropped frame display caused by long-term timing drift.
应当理解的是,以上的一般描述和后文的细节描述仅是示例性和解释性的,并不能限制本申请。It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the application.
附图说明Description of the drawings
为了更清楚地说明本申请实施例技术方案,下面将对实施例描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图是本申请的一些实施例,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。In order to explain the technical solutions of the embodiments of the present application more clearly, the following will briefly introduce the drawings used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present application. Ordinary technicians can obtain other drawings based on these drawings without creative work.
图1是本申请一实施例提供的一种图传系统的示意性框图;FIG. 1 is a schematic block diagram of an image transmission system provided by an embodiment of the present application;
图2是本申请一实施例提供的一种视频显示方法的步骤示意流程图;2 is a schematic flowchart of steps of a video display method provided by an embodiment of the present application;
图3是本申请实施例提供的视频显示方法的显示过程示意图;FIG. 3 is a schematic diagram of a display process of a video display method provided by an embodiment of the present application;
图4是本申请另一实施例提供的一种视频显示方法的步骤示意流程图;4 is a schematic flowchart of steps of a video display method provided by another embodiment of the present application;
图5是本申请一实施例提供的发送端的示意性框图;FIG. 5 is a schematic block diagram of a sending end according to an embodiment of the present application;
图6是本申请一实施例提供的接收端的示意性框图。Fig. 6 is a schematic block diagram of a receiving end according to an embodiment of the present application.
具体实施方式detailed description
下面将结合本申请实施例中的附图,对本申请实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本申请一部分实施例,而不是全部的实施例。基于本申请中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本申请保护的范围。The technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of them. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.
附图中所示的流程图仅是示例说明,不是必须包括所有的内容和操作/步骤,也不是必须按所描述的顺序执行。例如,有的操作/步骤还可以分解、组合或部分合并,因此实际执行的顺序有可能根据实际情况改变。The flowchart shown in the drawings is only an example, and does not necessarily include all contents and operations/steps, nor does it have to be executed in the described order. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to actual conditions.
下面结合附图,对本申请的一些实施方式作详细说明。在不冲突的情况下,下述的实施例及实施例中的特征可以相互组合。Hereinafter, some embodiments of the present application will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.
请参阅图1,图1是本申请提供的一种图传系统的示意性框图。以下将结合图1,对本申请实施例中的图传系统进行说明。Please refer to FIG. 1. FIG. 1 is a schematic block diagram of an image transmission system provided by the present application. The image transmission system in the embodiment of the present application will be described below with reference to FIG. 1.
如图1所示,该图传系统10包括发送端11和接收端12,发送端11上搭载有拍摄装置110,通过拍摄装置110可进行视频采集,然后通过无线图传技 术将采集的视频发送给接收端12。当然,拍摄装置110采集的视频也可以通过有线图传的方式将采集的视频发送给接收端12,在此不作限定。As shown in Figure 1, the image transmission system 10 includes a sending end 11 and a receiving end 12. The sending end 11 is equipped with a shooting device 110. The shooting device 110 can collect video, and then send the collected video through wireless image transmission technology. To the receiving end 12. Of course, the video collected by the shooting device 110 can also be sent to the receiving end 12 by means of wired image transmission, which is not limited here.
发送端11包括可移动设备,该可移动设备可例如为无人机、无人车、手持云台或机器人等,可移动设备上搭载有拍摄装置110,以用于采集视频。比如,图1中的无人机搭载有相机。The sending end 11 includes a movable device, the movable device may be, for example, a drone, an unmanned vehicle, a handheld pan/tilt, or a robot, etc. The movable device is equipped with a camera 110 for capturing video. For example, the drone in Figure 1 is equipped with a camera.
在一些实施例中,拍摄装置110可例如为手机或相机,当然也为其他摄像设备,比如摄像头模组。In some embodiments, the photographing device 110 may be, for example, a mobile phone or a camera, of course, it may also be other photographing equipment, such as a camera module.
可以理解的是,手持云台包括挂载拍摄装置110的云台系统或者一体化云台相机。挂载拍摄装置110的云台系统为挂载手机的手持云台或挂载相机的手持云台。It can be understood that the hand-held pan/tilt includes a pan/tilt system or an integrated pan/tilt camera on which the photographing device 110 is mounted. The pan/tilt system to which the camera 110 is mounted is a handheld pan/tilt mounted with a mobile phone or a handheld pan/tilt mounted with a camera.
接收端12可包括处理器、显示器和显示器控制器。所述显示器控制器与所述处理器电连接,以及与显示器连接,用于控制所述显示器显示相应内容,比如显示视频画面。The receiving end 12 may include a processor, a display, and a display controller. The display controller is electrically connected to the processor and connected to a display, and is used to control the display to display corresponding content, such as displaying a video screen.
其中,该处理器可以是中央处理单元(Central Processing Unit,CPU),该处理器还可以是其他通用处理器、数字信号处理器(Digital Signal Processor,DSP)、专用集成电路(application specific integrated circuit,ASIC)、现场可编程门阵列(Field-Programmable GateArray,FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。Among them, the processor may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSPs), application specific integrated circuits, ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.
处理器可以与显示器控制器进行通信,比如,生成定时信号用于触发显示器控制器以控制显示器显示相关内容。The processor may communicate with the display controller, for example, to generate a timing signal for triggering the display controller to control the display to display relevant content.
可以理解的是,所述显示器控制器可以是所述显示器的一部分,也可以与所述显示器分离。所述显示器包括但不限于LCD显示器、LED显示器和OLED显示器等。It can be understood that the display controller may be a part of the display, or may be separate from the display. The displays include, but are not limited to, LCD displays, LED displays, and OLED displays.
可以理解的是,所述显示器可以是接收端12的一部分,比如接收端12为手机,显示器为手机的显示屏;当然,也可以是接收端12的外接显示器。相应地,所述显示器控制器也可以是接收端12的一部分,或者是与接收端12的分离部分。It is understandable that the display may be a part of the receiving end 12, for example, the receiving end 12 is a mobile phone, and the display is a display screen of the mobile phone; of course, it may also be an external display of the receiving end 12. Correspondingly, the display controller may also be a part of the receiving end 12 or a separate part from the receiving end 12.
在一些实施例中,接收端12具体包括但不限于遥控器、手机或平板电脑。当然也可以电子设备,比如为VR眼镜或者其他穿戴设备等。In some embodiments, the receiving end 12 specifically includes, but is not limited to, a remote control, a mobile phone, or a tablet computer. Of course, electronic devices, such as VR glasses or other wearable devices, can also be used.
需要说明的是,在图1中,以发送端11为无人机以及接收端12为手机为例进行示例,但并构成对发送端11和接收端12的限定。It should be noted that, in FIG. 1, the sending end 11 is an unmanned aerial vehicle and the receiving end 12 is a mobile phone as an example, but it constitutes a limitation on the sending end 11 and the receiving end 12.
在图传系统中,为了取得端到端的低延迟,需要采用亚帧级别的流水线的处理,即将视频处理和传输对应的每个步骤,流水地安排时序,包括视频采集部分、图像处理部分、视频压缩部分、视频传输部分、视频解压部分、视频显示部分。这需要每个步骤的时序能够互相匹配。In the image transmission system, in order to obtain end-to-end low latency, it is necessary to adopt sub-frame level pipeline processing, that is, to arrange the sequence of each step corresponding to video processing and transmission in a streamlined manner, including the video acquisition part, the image processing part, and the video Compression part, video transmission part, video decompression part, video display part. This requires the timing of each step to match each other.
然而在常见的图传系统中,部分步骤之间的时序可能无法匹配,比如在接收端12接收到的视频帧,与显示器显示的帧定时可能是异步的,在显示器刷新的时刻,新的视频帧的到位是不确定的,因而可能还是显示上一帧,也可能显示下一帧,也可能跳帧显示下下帧。由此造成了端到端延迟的抖动,以及为了克服延迟抖动而增加的缓存造成的延迟增加。However, in a common image transmission system, the timing between some steps may not match. For example, the video frame received at the receiving end 12 may be asynchronous with the frame timing displayed on the display. At the moment when the display is refreshed, the new video The arrival of the frame is uncertain, so the previous frame may be displayed, the next frame may be displayed, or the next frame may be skipped to display the next frame. This causes the end-to-end delay jitter, and the increase in delay caused by the buffer added to overcome the delay jitter.
在图传系统中,发送端11用于采集视频数据,对采集的视频数据进行压缩编码,并将压缩编码后的视频数据发送至接收端12,接收端12对编码后的视频数据解码显示。通过对视频进行编码由此提高视频传输的流畅度以及传输速度。In the image transmission system, the sending end 11 is used to collect video data, compress and encode the collected video data, and send the compressed and encoded video data to the receiving end 12, and the receiving end 12 decodes and displays the encoded video data. By encoding the video, the smoothness and transmission speed of video transmission are improved.
比如,如图1中的无人机通过拍摄装置110拍摄视频数据,并将拍摄到的视频数据进行压缩编码,并将压缩编码后的视频数据发送至位于地面端的手机,用户通过手机进行解码显示以实时观看无人机拍摄的视频20。For example, the drone as shown in Figure 1 captures video data through the camera 110, compresses and encodes the captured video data, and sends the compressed and encoded video data to a mobile phone on the ground, and the user decodes and displays it through the mobile phone. Watch videos taken by drones in real time20.
其中,对视频数据的编码的方式可以采用帧间编码或帧内编码的方式,当然也可以采用其他编码方式,比如采用帧间编码和帧内编码混合编码方式。相应地,采用与编码方式对应的解码方式对编码后的视频数据进行解码。Among them, the way of encoding the video data can be inter-frame coding or intra-frame coding, of course, other coding methods can also be used, such as a mixed coding method of inter-frame coding and intra-frame coding. Correspondingly, a decoding method corresponding to the encoding method is adopted to decode the encoded video data.
在对视频数据进行编码时,需要对视频数据中的视频图像进行宏块划分,即每个宏块包括多个像素,比如16×16个像素为一个宏块。When encoding video data, the video images in the video data need to be divided into macroblocks, that is, each macroblock includes multiple pixels, such as 16×16 pixels as a macroblock.
其中,一帧视频图像可编码成一个或者多个片,每片包含整数个宏块。其中,每片至少一个宏块,最多时包含整个图像的宏块。Among them, one frame of video image can be encoded into one or more slices, and each slice contains an integer number of macroblocks. Among them, each slice has at least one macroblock, and at most it contains the macroblock of the entire image.
其中,片组是一个编码图像中若干宏块的一个子集,包含一个或若干个片。Among them, a slice group is a subset of several macroblocks in a coded image, including one or several slices.
发送端11和接收端12对视频数据进行编码和解码,分别是通过发送端11和接收端12中的编码器、解码器进行编码解码的。The sending end 11 and the receiving end 12 encode and decode the video data, which are encoded and decoded by the encoder and decoder in the sending end 11 and the receiving end 12, respectively.
可以理解的,图1中的图像系统以及上述对于图像系统的各部件的命名仅仅出于标识的目的,并不因此对本申请实施例进行限制。It can be understood that the image system in FIG. 1 and the naming of the components of the image system described above are only for identification purposes, and therefore do not limit the embodiments of the present application.
以下将基于图1中的图传系统,对本申请的实施例提供的视频显示方法进行详细介绍。Hereinafter, based on the image transmission system in FIG. 1, the video display method provided by the embodiment of the present application will be introduced in detail.
请参阅图2,图2是本申请一实施例提供的一种视频显示方法的步骤示意流程图。该视频显示方法可应用于图像系统的接收端,以降低视频的显示延迟,进而解决长时间的定时漂移带来重复显示或丢帧显示的问题。Please refer to FIG. 2, which is a schematic flowchart of steps of a video display method provided by an embodiment of the present application. The video display method can be applied to the receiving end of the image system to reduce the display delay of the video, thereby solving the problem of repeated display or dropped frame display caused by long-term timing drift.
如图2所示,该视频显示方法包括步骤S201至步骤S203。As shown in FIG. 2, the video display method includes steps S201 to S203.
S201、接收编码后的视频数据,通过解码器对所述视频数据进行解码;S201: Receive encoded video data, and decode the video data through a decoder;
S202、确定所述解码器解码的所述视频数据中的当前帧输出的部分数据是否满足预设条件;S202: Determine whether part of the data output by the current frame in the video data decoded by the decoder meets a preset condition;
S203、若输出的部分数据满足所述预设条件,生成定时信号并将所述定时信号发送至显示器控制器,以使所述显示器控制器控制显示屏显示所述当前帧。S203: If part of the output data meets the preset condition, generate a timing signal and send the timing signal to the display controller, so that the display controller controls the display screen to display the current frame.
发送端在采集到视频数据后,会对采集的视频数据进行压缩编码,具体是通过编码器采用相应的编码方式对视频数据进行编码,并将编码后的视频数据发送至接收端。After the transmitting end collects the video data, it compresses and encodes the collected video data. Specifically, the video data is encoded by an encoder using a corresponding encoding method, and the encoded video data is sent to the receiving end.
其中,相应的编码方式例如为帧内编码或帧间编码的编码方式。当然也包括其他编码方式,比如同时采用帧间编码和帧内编码的方式对视频数据进行编码。Wherein, the corresponding encoding method is, for example, an encoding method of intra-frame encoding or inter-frame encoding. Of course, other encoding methods are also included, for example, both inter-frame encoding and intra-frame encoding are used to encode video data.
接收端在接收到编码后的视频数据后,通过解码器对所述视频数据进行解码。解码器采用与编码方式对应的解码方式对编码后的视频数据进行解码。After receiving the encoded video data, the receiving end decodes the video data through a decoder. The decoder uses a decoding method corresponding to the encoding method to decode the encoded video data.
在一些实施例中,为了提高解码效率以及降低视频显示延迟,对视频数据解码具体是:通过解码器以小于一帧视频数据对应的时间对所述视频数据进行解码。In some embodiments, in order to improve decoding efficiency and reduce video display delay, decoding the video data is specifically: decoding the video data in a time less than one frame of video data by a decoder.
视频数据包括多帧视频图像,每一帧视频图像对应相应的时间。比如,一毫秒显示100帧视频图像,则每一帧视频数据对应的时间为0.1秒。则通过解码器以小于0.01毫秒的时间对所述视频数据进行解码。Video data includes multiple frames of video images, and each frame of video image corresponds to a corresponding time. For example, if 100 frames of video images are displayed in one millisecond, the time corresponding to each frame of video data is 0.1 second. Then, the video data is decoded in less than 0.01 milliseconds by the decoder.
需要说明的是,通过解码器对视频数据进行解码包括解调解码和解压缩两个过程,解压缩是解调解码输出的数据进行解压缩。It should be noted that the decoding of video data by the decoder includes two processes of demodulation, decoding and decompression. Decompression is to decompress the data output by the demodulation and decoding.
其中,所述预设条件用于触发生成定时信号,所述定时信号用于触发显示器控制器控制显示屏显示所述当前帧。The preset condition is used to trigger the generation of a timing signal, and the timing signal is used to trigger the display controller to control the display screen to display the current frame.
接收端在确定输出的部分数据满足所述预设条件时,生成定时信号并将所 述定时信号发送至显示器控制器,以使所述显示器控制器控制显示屏显示所述当前帧。When determining that the part of the output data meets the preset condition, the receiving end generates a timing signal and sends the timing signal to the display controller, so that the display controller controls the display screen to display the current frame.
从而通过控制生成定时信号并将所述定时信号发送至显示器控制器,以使所述显示器控制器控制显示屏显示所述当前帧,由此降低了显示延迟。Thereby, a timing signal is generated by controlling and the timing signal is sent to the display controller, so that the display controller controls the display screen to display the current frame, thereby reducing the display delay.
在一些实施例中,所述预设条件包括:检测所述解码器解码的所述视频数据中的当前帧输出的部分数据是否大于预设数量阈值;和/或,确定所述当前帧的剩余数据是否能够在预定时间内传输至所述显示器。In some embodiments, the preset condition includes: detecting whether the partial data output by the current frame in the video data decoded by the decoder is greater than a preset number threshold; and/or determining the remaining amount of the current frame Whether the data can be transmitted to the display within a predetermined time.
预设数量阈值用于确定解码输出数据的大小,由于编码时将视频数据中每帧视频图像进行宏块划分,同时又可以通过宏块将视频图像划分多少个片,每片包含整数个宏块,以及片组包含一个或若干个片。由此可以用宏块、片或片组表示预设数量阈值。The preset number threshold is used to determine the size of the decoded output data. Because each frame of the video image in the video data is divided into macroblocks during encoding, and at the same time, how many slices can be divided into the video image by macroblocks, each slice contains an integer number of macroblocks , And the slice group contains one or several slices. Therefore, the predetermined number threshold can be represented by macroblocks, slices, or slice groups.
预定时间用于确定所述当前帧的剩余数据能够准时到达显示器,以便能完全显示该当前帧。预定时间可以根据经验值确定,也可以根据显示器的显示参数进行确定,该显示参数比如为刷新率。The predetermined time is used to determine that the remaining data of the current frame can arrive at the display on time, so that the current frame can be fully displayed. The predetermined time may be determined based on empirical values, or may be determined based on the display parameters of the display, such as the refresh rate.
示例性的,预设数量阈值包括预设的宏块数目,比如预设的宏块数目具体为M个宏块,M为正整数。Exemplarily, the preset number threshold includes a preset number of macroblocks, for example, the preset number of macroblocks is specifically M macroblocks, and M is a positive integer.
相应地,检测所述解码器解码的所述视频数据中的当前帧输出的部分数据是否大于预设数量阈值,具体为:统计所述解码器解码当前帧输出的宏块数量,并确定所述输出的宏块数量是否大于所述预设的宏块数目。Correspondingly, detecting whether the partial data output by the current frame in the video data decoded by the decoder is greater than a preset number threshold is specifically: counting the number of macroblocks output by the decoder decoding the current frame, and determining the Whether the number of output macro blocks is greater than the preset number of macro blocks.
比如,统计所述解码器解码当前帧输出的宏块数量大于M时,则确定输出的部分数据满足所述预设条件,以触发生成定时信号。For example, when the number of macroblocks outputted by the decoder in decoding the current frame is greater than M, it is determined that part of the output data satisfies the preset condition to trigger the generation of a timing signal.
示例性的,若编码后的视频数据编码成多个片或片组,则所述预设数量阈值包括预设的片数目或预设的片组数目。Exemplarily, if the encoded video data is encoded into multiple slices or slice groups, the preset number threshold includes the preset number of slices or the preset number of slice groups.
相应地,检测所述解码器解码的所述视频数据中的当前帧输出的部分数据是否大于预设数量阈值,具体为:统计所述解码器解码当前帧输出的片数量或片组数量,并确定所述输出的片数量是否大于所述预设的片数目,或所述输出的片组数量是否大于所述预设的片组数目。Correspondingly, detecting whether the partial data output by the current frame in the video data decoded by the decoder is greater than a preset number threshold, specifically: counting the number of slices or slice groups output by the decoder when decoding the current frame, and It is determined whether the number of output slices is greater than the preset number of slices, or whether the number of output slices is greater than the preset number of slices.
比如,统计所述解码器解码当前帧输出的片数量大于所述预设的片数目时,则确定输出的部分数据满足所述预设条件,以触发生成定时信号。For example, when the number of slices output by the decoder in decoding the current frame is greater than the preset number of slices, it is determined that part of the output data satisfies the preset condition to trigger the generation of a timing signal.
再比如,统计所述解码器解码当前帧输出的片组数量大于所述预设的片组 数目时,则确定输出的部分数据满足所述预设条件,以触发生成定时信号。For another example, when the number of slice groups output by the decoder in decoding the current frame is greater than the preset number of slice groups, it is determined that part of the output data satisfies the preset condition to trigger the generation of a timing signal.
在一些实施例中,确定所述当前帧的剩余数据是否能够在预定时间内传输至所述显示器;若所述当前帧的剩余数据能够在预定时间内传输至所述显示器,确定输出的部分数据满足所述预设条件,以触发生成定时信号。In some embodiments, it is determined whether the remaining data of the current frame can be transmitted to the display within a predetermined time; if the remaining data of the current frame can be transmitted to the display within a predetermined time, it is determined that part of the data is output The preset condition is satisfied to trigger the generation of the timing signal.
其中,确定所述当前帧的剩余数据是否能够在预定时间内传输至所述显示器,采用的确定方式为根据所述当前帧的剩余数据达到所述显示器的到达需求时间,确定剩余数据是否能够在预定时间内传输至所述显示器。Wherein, it is determined whether the remaining data of the current frame can be transmitted to the display within a predetermined time, and the determination method adopted is to determine whether the remaining data can be transmitted to the display according to the remaining data of the current frame reaching the arrival requirement time of the display It is transmitted to the display within a predetermined time.
在一些实施例中,为了快速地确定是否能够在预定时间内传输至所述显示器。该确定方式具体包括:In some embodiments, in order to quickly determine whether it can be transmitted to the display within a predetermined time. The determination method specifically includes:
确定所述当前帧的剩余数据传输至所述显示器的到达需求时间,并确定所述到达需求时间是否小于或等于预定时间;若所述到达需求时间小于或等于所述预定时间,确定所述当前帧的剩余部分数据能够在预定时间内传输至所述显示器。Determine the arrival demand time of the remaining data of the current frame to the display, and determine whether the arrival demand time is less than or equal to a predetermined time; if the arrival demand time is less than or equal to the predetermined time, determine the current The remaining part of the frame data can be transmitted to the display within a predetermined time.
比如,若预定时间为0.01毫秒,确定所述当前帧的剩余数据传输至所述显示器的到达需求时间为0.005毫秒,则可以确定所述当前帧的剩余部分数据能够在预定时间内传输至所述显示器。For example, if the predetermined time is 0.01 milliseconds, and it is determined that the remaining data of the current frame is transmitted to the display with a required time of 0.005 milliseconds, it can be determined that the remaining data of the current frame can be transmitted to the display within the predetermined time. monitor.
在一些实施例中,确定所述当前帧的剩余数据传输至所述显示器的到达需求时间,具体为:获取所述当前帧的剩余数据包含的宏块的数量;确定所述宏块的输出时间以及延迟时间;以及根据所述宏块的数量、输出时间和延迟时间确定所述到达需求时间。In some embodiments, determining the arrival required time for the remaining data of the current frame to be transmitted to the display is specifically: acquiring the number of macroblocks contained in the remaining data of the current frame; determining the output time of the macroblock And a delay time; and the arrival demand time is determined according to the number, output time, and delay time of the macroblocks.
确定并获取剩余数据中包括的宏块的数量,确定宏块的输出时间和延迟时间,由此可以根据所述宏块的数量以及宏块对应的输出时间和延迟时间计算出所述到达需求时间。Determine and obtain the number of macroblocks included in the remaining data, determine the output time and delay time of the macroblock, and thereby calculate the arrival demand time according to the number of macroblocks and the corresponding output time and delay time of the macroblock .
比如,宏块的数量为10块,宏块对应输出时间为0.0001毫秒,对应的延迟时间为0.0004毫秒,则计算得到的到达需求时间0.005毫秒。For example, if the number of macro blocks is 10, the corresponding output time of the macro block is 0.0001 milliseconds, and the corresponding delay time is 0.0004 milliseconds, then the calculated arrival demand time is 0.005 milliseconds.
可以理解的是,也可以用片的数量或片组的数量,以及对应的输出时间和延迟时间计算所述到达需求时间。It is understandable that the number of slices or slice groups, and the corresponding output time and delay time can also be used to calculate the arrival demand time.
在一些实施例中,若预设条件为:检测所述解码器解码的所述视频数据中的当前帧输出的部分数据是否大于预设数量阈值,以及确定所述当前帧的剩余数据是否能够在预定时间内传输至所述显示器。In some embodiments, if the preset condition is: detecting whether the partial data output by the current frame in the video data decoded by the decoder is greater than a preset number threshold, and determining whether the remaining data of the current frame can be It is transmitted to the display within a predetermined time.
相应地,所述确定解码输出的部分数据是否满足预设条件,具体为:若输出的所述部分数据大于所述预设数量阈值,且所述剩余数据能够在预定时间内传输至显示器,则确定输出的部分数据满足所述预设条件。该预设条件可以有效避免出现帧级别的延迟,同时解决重复显示和丢帧显示的问题。Correspondingly, the determining whether the partial data output by decoding satisfies a preset condition is specifically: if the partial data output is greater than the preset number threshold, and the remaining data can be transmitted to the display within a predetermined time, then It is determined that part of the output data satisfies the preset condition. This preset condition can effectively avoid frame-level delays, and at the same time solve the problems of repeated display and dropped frame display.
示例性的,如图3所示,接收端接收编码压缩的视频数据,所述视频数据包括多帧视频图像,比如当前帧为视频图像i。通过解码器对所述视频数据进行解码;确定所述解码器解码的所述视频数据中的当前帧输出的部分数据是否满足预设条件,所述预设条件用于触发生成定时信号;若输出的部分数据满足所述预设条件,比如图3解码当前帧i时输出M个宏块,即输出的部分数据满足所述预设条件,生成定时信号并将所述定时信号发送至显示器控制器,以使所述显示器控制器控制显示屏显示所述当前帧,所述当前帧是指解码后的视频图像I。Exemplarily, as shown in FIG. 3, the receiving end receives encoded and compressed video data, where the video data includes multiple frames of video images, for example, the current frame is video image i. Decode the video data through a decoder; determine whether part of the data output by the current frame in the video data decoded by the decoder meets a preset condition, and the preset condition is used to trigger the generation of a timing signal; Part of the data satisfies the preset condition, for example, when the current frame i is decoded in Figure 3, M macroblocks are output, that is, part of the output data satisfies the preset condition, a timing signal is generated and the timing signal is sent to the display controller , So that the display controller controls the display screen to display the current frame, and the current frame refers to the decoded video image I.
需要说明的是,通过解码器对所述视频数据进行解码,包括解调解码和解压缩两个过程,如图3所示,先对编码压缩后的视频图像i进行解调解码输出数据,在对输出的数据进行解压缩得到解码后的视频数据。It should be noted that the decoding of the video data by the decoder includes two processes of demodulation, decoding and decompression. As shown in FIG. 3, the encoded and compressed video image i is first demodulated and decoded to output data. The output data is decompressed to obtain decoded video data.
由此可见,该视频显示方法实现了根据解码器输出定时,调整显示器刷屏的帧定时,使得在当前帧的输出数据达到要求时马上启动刷屏,降低了视频在显示器上的显示延迟,从而降低了整个图传系统的延迟。并且显示的起始时间按数据解码输出的时间进行调整的,进而避免了时钟异步造成的显示器显示的丢帧与跳帧等问题。由此提高用户的观看体验。It can be seen that the video display method realizes the adjustment of the frame timing of the display refreshing according to the output timing of the decoder, so that the refreshing is started immediately when the output data of the current frame meets the requirements, and the display delay of the video on the display is reduced, thereby Reduce the delay of the entire image transmission system. And the start time of the display is adjusted according to the time of data decoding and output, thereby avoiding the problem of frame dropping and frame skipping of the display caused by clock asynchronous. This improves the user's viewing experience.
在一些实施例中,为了更好地解决显示延迟问题,还包括动态调整预设数量阈值的过程,该调整过程具体为:根据所述视频数据的传输稳定状态,调整预设数量阈值的大小。In some embodiments, in order to better solve the display delay problem, a process of dynamically adjusting the preset number threshold is further included. The adjustment process is specifically: adjusting the size of the preset number threshold according to the stable state of the video data transmission.
具体地,确定所述视频数据的传输是否稳定;在所述视频数据的传输稳定时,增加预设数量阈值的大小;以及在所述视频数据的传输不稳定时,减小预设数量阈值的大小。由此实现了根据视频传输稳定状态,实时调整预设数量的大小,确保在必要时触发生成定时信号根据定时信号完成显示,以减小显示延迟。Specifically, it is determined whether the transmission of the video data is stable; when the transmission of the video data is stable, the size of the preset number threshold is increased; and when the transmission of the video data is unstable, the value of the preset number threshold is decreased. size. In this way, the size of the preset number can be adjusted in real time according to the stable state of video transmission to ensure that the timing signal is triggered when necessary to complete the display according to the timing signal to reduce display delay.
在一些实施例中,具体地,确定所述视频数据的传输是否稳定;在所述视频数据的传输稳定时,确定第一预设数目作为预设数量阈值;在所述视频数据 的传输不稳定时,确定第二预设数目作为预设数量阈值。其中,所述第二预设数目大于所述第一预设数目。In some embodiments, specifically, it is determined whether the transmission of the video data is stable; when the transmission of the video data is stable, the first preset number is determined as the preset number threshold; when the transmission of the video data is unstable At the time, the second preset number is determined as the preset number threshold. Wherein, the second preset number is greater than the first preset number.
比如,在所述视频数据的传输稳定时,确定第一预设数目作为预设的宏块数据;在所述视频数据的传输不稳定时,确定第二预设数目作为预设的宏块数据;其中,所述第二预设数目大于所述第一预设数目。For example, when the transmission of the video data is stable, the first preset number is determined as the preset macroblock data; when the transmission of the video data is unstable, the second preset number is determined as the preset macroblock data ; Wherein, the second preset number is greater than the first preset number.
在图传系统的数据传输足够稳定的情况下,对于每一帧内的每一部分数据,其延迟都是固定的,由此可以确定一个较小的第一预设数目作为预设的宏块数目,比如M个宏块行对应1/16帧大小。When the data transmission of the image transmission system is stable enough, for each part of the data in each frame, the delay is fixed, so a smaller first preset number can be determined as the preset number of macroblocks For example, M macroblock rows correspond to 1/16 frame size.
在图像系统中,如果传输不够稳定,需要增加一定的缓存来抵抗传输延时的抖动,可以确定一个较大的第二预设数目作为预设的宏块数目,比如M个宏块行对应3/4帧大小。通过所述第一预设数目、第二预设数目及其大小关系,可有效抵抗传输延时的抖动,进而更有效地降低了显示延迟。In the image system, if the transmission is not stable enough, it is necessary to increase a certain buffer to resist the jitter of the transmission delay, and a larger second preset number can be determined as the preset number of macroblocks, for example, M macroblock lines correspond to 3 /4 frame size. Through the first preset number, the second preset number and their magnitude relationship, the jitter of the transmission delay can be effectively resisted, thereby more effectively reducing the display delay.
其中,确定所述视频数据的传输是否稳定,具体可以采用:监测所述视频数据传输的延迟时间是否发生变化;若所述视频数据传输的延迟时间固定不变,确定所述视频数据的传输稳定;若所述视频数据传输的延迟时间发生变化,确定所述视频数据的传输不稳定。Wherein, determining whether the transmission of the video data is stable can be specifically adopted: monitoring whether the delay time of the video data transmission has changed; if the delay time of the video data transmission is fixed, it is determined that the transmission of the video data is stable If the delay time of the video data transmission changes, it is determined that the video data transmission is unstable.
譬如,如果监控的延迟时间始终是0.0004毫秒,则可确定所述视频数据的传输稳定;如果监控的延迟时间在不停的变化,比如延迟时间时而是0.0004毫秒,时而是0.0006毫秒,则可确定所述视频数据的传输不稳定。For example, if the monitoring delay time is always 0.0004 milliseconds, it can be determined that the transmission of the video data is stable; if the monitoring delay time is constantly changing, such as the delay time is 0.0004 milliseconds, and the delay time is 0.0006 milliseconds, then it can be determined The transmission of the video data is unstable.
在一些实施例中,所述视频显示方法还包括一确定预定时间的步骤,该步骤具体为:获取所述显示器配置的刷新率,根据所述刷新率确定预定时间。根据所述刷新频率确定所述显示器的刷新时间,以及将所述刷新时间作为所述预定时间。In some embodiments, the video display method further includes a step of determining a predetermined time, and the step is specifically: obtaining a refresh rate configured by the display, and determining the predetermined time according to the refresh rate. The refresh time of the display is determined according to the refresh frequency, and the refresh time is used as the predetermined time.
比如,不同的显示器具有不同的刷新率,刷新率越高,对应的显示图象(画面)稳定性就越好。某一个显示器的刷新率为60Hz,显示器对应的刷新时间约0.01543毫秒。则将该0.01543毫秒作为预定时间。For example, different displays have different refresh rates. The higher the refresh rate, the better the stability of the corresponding displayed image (picture). The refresh rate of a certain display is 60Hz, and the corresponding refresh time of the display is about 0.01543 milliseconds. Then, 0.01543 milliseconds is regarded as the predetermined time.
可以理解的是,当然也可以将大于所述刷新时间的某一时间作为所述预定时间。比如,显示器对应的刷新时间约0.01543毫秒,可以选用0.016毫秒作为所述预定时间。It can be understood that, of course, a certain time greater than the refresh time may also be used as the predetermined time. For example, the refresh time corresponding to the display is about 0.01543 milliseconds, and 0.016 milliseconds can be selected as the predetermined time.
根据所述刷新率确定预定时间,可以针对不同类型的显示器,或者相同的 类型显示用户设置了不同的刷新率,对预定时间进行适时调整。由此可以确定显示器能根据定时信号进行显示,由此进一步地降低了显示延迟。The predetermined time is determined according to the refresh rate, and the user can set different refresh rates for different types of displays or displays of the same type, and adjust the predetermined time in a timely manner. It can be determined that the display can display according to the timing signal, thereby further reducing the display delay.
请参阅图4,图4是本申请另一实施例提供的一种视频显示方法的步骤示意流程图。该视频显示方法可应用于图传系统,降低视频显示的延迟,以解决长时间的定时漂移也会带来重复显示或丢帧显示的问题。Please refer to FIG. 4, which is a schematic flowchart of steps of a video display method provided by another embodiment of the present application. The video display method can be applied to a video transmission system to reduce the delay of video display, so as to solve the problem of repeated display or dropped frame display caused by long-term timing drift.
如图4所示,该视频显示方法包括步骤S401至步骤S405。As shown in FIG. 4, the video display method includes steps S401 to S405.
S401、所述发送端获取视频数据并对所述视频数据进行编码;S401: The sending end obtains video data and encodes the video data.
S402、所述发送端将编码后的视频数据发送至所述接收端;S402: The sending end sends the encoded video data to the receiving end.
S403、所述接收端接收编码后的视频数据,通过解码器对所述视频数据进行解码;S403: The receiving end receives the encoded video data, and decodes the video data through a decoder;
S404、所述接收端确定所述解码器解码的所述视频数据中的当前帧输出的部分数据是否满足预设条件;S404: The receiving end determines whether part of the data output by the current frame in the video data decoded by the decoder meets a preset condition;
S405、所述接收端若确定输出的部分数据满足所述预设条件,生成定时信号并将所述定时信号发送至显示器控制器,以使所述显示器控制器控制显示屏显示所述当前帧。S405. If the receiving end determines that the part of the output data meets the preset condition, it generates a timing signal and sends the timing signal to the display controller, so that the display controller controls the display screen to display the current frame.
其中,所述预设条件用于触发生成定时信号,所述定时信号用于触发显示器控制器控制显示屏显示所述当前帧。The preset condition is used to trigger the generation of a timing signal, and the timing signal is used to trigger the display controller to control the display screen to display the current frame.
发送端在通过拍摄装置采集视频数据后,获取视频数据并对所述视频数据进行编码。The sending end acquires the video data and encodes the video data after collecting the video data through the shooting device.
具体地,以小于一帧视频数据对应的时间获取视频数据,以及以小于一帧视频数据对应的时间对所述视频数据进行编码;Specifically, acquiring video data in a time corresponding to less than one frame of video data, and encoding the video data in a time corresponding to less than one frame of video data;
其中,发送端将编码后的视频数据发送至所述接收端,具体也是以小于一帧视频数据对应的时间将编码后的视频数据发送至所述接收端。Wherein, the sending end sends the encoded video data to the receiving end, specifically, sending the encoded video data to the receiving end in a time less than one frame of video data.
接收端对视频数据解码,具体也是:通过解码器以小于一帧视频数据对应的时间对所述视频数据进行解码。The receiving end decodes the video data, specifically: the decoder decodes the video data in a time less than one frame of video data.
由此实现了视频采集部分、图像处理部分、视频压缩部分、视频传输部分、视频解压部分、视频显示部分亚帧级别的控制,同时控制生成定时信号并将所述定时信号发送至显示器控制器,以使所述显示器控制器控制显示屏显示所述当前帧。由此进一步地降低了显示延迟。This realizes the sub-frame level control of the video acquisition part, the image processing part, the video compression part, the video transmission part, the video decompression part, and the video display part. At the same time, it controls the generation of timing signals and sends the timing signals to the display controller, So that the display controller controls the display screen to display the current frame. This further reduces the display delay.
请参阅图5,图5是本申请一实施例提供的发送端的示意性框图。该发送 端11包括拍摄装置110、处理器111和存储器112,处理器111、存储器112和拍摄装置110通过总线连接,该总线比如为I2C(Inter-integrated Circuit)总线。Please refer to FIG. 5, which is a schematic block diagram of a sending end according to an embodiment of the present application. The sending end 11 includes a photographing device 110, a processor 111, and a memory 112. The processor 111, the memory 112 and the photographing device 110 are connected by a bus, such as an I2C (Inter-integrated Circuit) bus.
具体地,处理器111可以是微控制单元(Micro-controller Unit,MCU)、中央处理单元(Central Processing Unit,CPU)或数字信号处理器(Digital Signal Processor,DSP)等。Specifically, the processor 111 may be a micro-controller unit (MCU), a central processing unit (CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.
具体地,存储器112可以是Flash芯片、只读存储器(ROM,Read-Only Memory)磁盘、光盘、U盘或移动硬盘等。Specifically, the memory 112 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.
其中,所述处理器111用于运行存储在存储器中的计算机程序,并在执行所述计算机程序时实现如下步骤:Wherein, the processor 111 is configured to run a computer program stored in a memory, and implement the following steps when the computer program is executed:
控制拍摄装置采集视频数据;获取采集的视频数据并对所述视频数据进行编码;将编码后的视频数据发送至所述接收端。Control the shooting device to collect video data; obtain the collected video data and encode the video data; and send the encoded video data to the receiving end.
在一些实施例中,所述处理器111在实现所述发送端获取视频数据并对所述视频数据进行编码时,具体实现:In some embodiments, when the processor 111 realizes that the sending end obtains video data and encodes the video data, it specifically realizes:
以小于一帧视频数据对应的时间获取视频数据,以及以小于一帧视频数据对应的时间对所述视频数据进行编码。The video data is acquired in a time less than one frame of video data, and the video data is encoded in a time less than one frame of video data.
在一些实施例中,所述处理器111在实现所述发送端将编码后的视频数据发送至所述接收端时,具体实现:In some embodiments, when the processor 111 implements the sending end to send the encoded video data to the receiving end, it specifically implements:
以小于一帧视频数据对应的时间将编码后的视频数据发送至所述接收端。The encoded video data is sent to the receiving end in a time corresponding to less than one frame of video data.
请参阅图6,图6是本申请一实施例提供的接收端的示意性框图。该接收端12包括处理器121、存储器122、显示器控制器123和显示器124,处理器121、存储器122和显示器控制器123通过总线连接,该总线比如为I2C(Inter-integrated Circuit)总线,显示器控制器123与显示器124,以控制显示器124显示相关内容。Please refer to FIG. 6, which is a schematic block diagram of a receiving end according to an embodiment of the present application. The receiving end 12 includes a processor 121, a memory 122, a display controller 123, and a display 124. The processor 121, the memory 122 and the display controller 123 are connected by a bus, such as an I2C (Inter-integrated Circuit) bus, which controls the display. The display 123 and the display 124 are used to control the display 124 to display relevant content.
具体地,处理器121可以是微控制单元(Micro-controller Unit,MCU)、中央处理单元(Central Processing Unit,CPU)或数字信号处理器(Digital Signal Processor,DSP)等。Specifically, the processor 121 may be a micro-controller unit (MCU), a central processing unit (CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.
具体地,存储器122可以是Flash芯片、只读存储器(ROM,Read-Only Memory)磁盘、光盘、U盘或移动硬盘等。Specifically, the memory 122 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.
其中,所述处理器121用于运行存储在存储器中的计算机程序,并在执行 所述计算机程序时实现如下步骤:Wherein, the processor 121 is configured to run a computer program stored in a memory, and implement the following steps when executing the computer program:
接收编码后的视频数据,通过解码器对所述视频数据进行解码;确定所述解码器解码的所述视频数据中的当前帧输出的部分数据是否满足预设条件,所述预设条件用于触发生成定时信号;若输出的部分数据满足所述预设条件,生成定时信号并将所述定时信号发送至显示器控制器,以使所述显示器控制器控制显示屏显示所述当前帧。Receive encoded video data, decode the video data through a decoder; determine whether part of the data output by the current frame in the video data decoded by the decoder meets a preset condition, and the preset condition is used for Trigger generating a timing signal; if part of the output data meets the preset condition, generate a timing signal and send the timing signal to the display controller, so that the display controller controls the display screen to display the current frame.
在一些实施例中,所述预设条件包括:检测所述解码器解码的所述视频数据中的当前帧输出的部分数据是否大于预设数量阈值;和/或,确定所述当前帧的剩余数据是否能够在预定时间内传输至所述显示器。In some embodiments, the preset condition includes: detecting whether the partial data output by the current frame in the video data decoded by the decoder is greater than a preset number threshold; and/or determining the remaining amount of the current frame Whether the data can be transmitted to the display within a predetermined time.
在一些实施例中,所述预设条件包括:检测所述解码器解码的所述视频数据中的当前帧输出的部分数据是否大于预设数量阈值,以及确定所述当前帧的剩余数据是否能够在预定时间内传输至所述显示器;In some embodiments, the preset condition includes: detecting whether the partial data output by the current frame in the video data decoded by the decoder is greater than a preset number threshold, and determining whether the remaining data of the current frame can be Transmit to the display within a predetermined time;
所述确定所述解码器解码的所述视频数据中的当前帧输出的部分数据是否满足预设条件,包括:若输出的所述部分数据大于所述预设数量阈值,且所述剩余数据能够在预定时间内传输至显示器,确定输出的部分数据满足所述预设条件。The determining whether the partial data output by the current frame in the video data decoded by the decoder meets a preset condition includes: if the partial data output is greater than the preset number threshold, and the remaining data can be It is transmitted to the display within a predetermined time, and it is determined that part of the output data meets the preset condition.
在一些实施例中,所述预设数量阈值包括预设的宏块数目;所述处理器121在实现所述检测所述解码器解码的所述视频数据中的当前帧输出的部分数据是否大于预设数量阈值时,实现:In some embodiments, the preset number threshold includes a preset number of macroblocks; the processor 121 is implementing the detection of whether part of the data output by the current frame in the video data decoded by the decoder is greater than When the number threshold is preset, realize:
统计所述解码器解码当前帧输出的宏块数量,并确定所述输出的宏块数量是否大于所述预设的宏块数目。Count the number of macroblocks output by the decoder in decoding the current frame, and determine whether the number of output macroblocks is greater than the preset number of macroblocks.
在一些实施例中,所述编码后的视频数据编码成多个片或片组,所述预设数量阈值包括预设的片数目或预设的片组数目;所述处理器121在实现所述检测所述解码器解码的所述视频数据中的当前帧输出的部分数据是否大于预设数量阈值,实现:In some embodiments, the encoded video data is encoded into multiple slices or slice groups, and the preset number threshold includes a preset number of slices or a preset number of slice groups; the processor 121 is implementing all The detecting whether the partial data output by the current frame in the video data decoded by the decoder is greater than a preset number threshold, to achieve:
统计所述解码器解码当前帧输出的片数量或片组数量,并确定所述输出的片数量是否大于所述预设的片数目,或所述输出的片组数量是否大于所述预设的片组数目。Count the number of slices or slice groups output by the decoder in decoding the current frame, and determine whether the number of output slices is greater than the preset number of slices, or whether the number of output slices is greater than the preset number Number of film groups.
在一些实施例中,所述处理器121,还实现:In some embodiments, the processor 121 further implements:
根据所述视频数据的传输稳定状态,调整预设数量阈值的大小。Adjust the size of the preset number threshold according to the stable state of the video data transmission.
在一些实施例中,所述处理器121在实现所述根据所述视频数据的传输稳定状态,调整预设数量阈值的大小时,实现:In some embodiments, when the processor 121 realizes the adjustment of the size of the preset number threshold according to the stable state of the video data transmission, it realizes:
确定所述视频数据的传输是否稳定;若所述视频数据的传输稳定,增加预设数量阈值的大小;若所述视频数据的传输不稳定,减小预设数量阈值的大小。Determine whether the transmission of the video data is stable; if the transmission of the video data is stable, increase the size of the preset number threshold; if the transmission of the video data is unstable, reduce the size of the preset number threshold.
在一些实施例中,所述处理器121在实现所述根据所述视频数据的传输稳定状态,调整预设数量阈值的大小时,实现:In some embodiments, when the processor 121 realizes the adjustment of the size of the preset number threshold according to the stable state of the video data transmission, it realizes:
确定所述视频数据的传输是否稳定;若所述视频数据的传输稳定,确定第一预设数目作为预设数量阈值;若所述视频数据的传输不稳定,确定第二预设数目作为预设数量阈值,其中,所述第二预设数目大于所述第一预设数目。Determine whether the transmission of the video data is stable; if the transmission of the video data is stable, determine the first preset number as the preset number threshold; if the transmission of the video data is unstable, determine the second preset number as the preset The number threshold, wherein the second preset number is greater than the first preset number.
在一些实施例中,所述处理器121在实现所述确定所述视频数据的传输是否稳定时,实现:In some embodiments, when the processor 121 implements the determining whether the transmission of the video data is stable, implement:
监测所述视频数据传输的延迟时间是否发生变化;若所述视频数据传输的延迟时间固定不变,确定所述视频数据的传输稳定;若所述视频数据传输的延迟时间发生变化,确定所述视频数据的传输不稳定。Monitor whether the delay time of the video data transmission changes; if the delay time of the video data transmission is fixed, determine that the transmission of the video data is stable; if the delay time of the video data transmission changes, determine the The transmission of video data is unstable.
在一些实施例中,所述处理器121在实现所述确定所述当前帧的剩余数据是否能够在预定时间内传输至所述显示器时,实现:In some embodiments, when the processor 121 implements the determining whether the remaining data of the current frame can be transmitted to the display within a predetermined time, the processor 121 implements:
确定所述当前帧的剩余数据传输至所述显示器的到达需求时间,并确定所述到达需求时间是否小于或等于预定时间;若所述到达需求时间小于或等于所述预定时间,确定所述当前帧的剩余部分数据能够在预定时间内传输至所述显示器。Determine the arrival demand time of the remaining data of the current frame to the display, and determine whether the arrival demand time is less than or equal to a predetermined time; if the arrival demand time is less than or equal to the predetermined time, determine the current The remaining part of the frame data can be transmitted to the display within a predetermined time.
在一些实施例中,所述处理器121在实现所述确定所述当前帧的剩余数据传输至所述显示器的到达需求时间时,实现:In some embodiments, when the processor 121 realizes the determination of the arrival required time for the remaining data of the current frame to be transmitted to the display, it realizes:
获取所述当前帧的剩余数据包含的宏块的数量;确定所述宏块的输出时间以及延迟时间;以及根据所述宏块的数量、输出时间和延迟时间确定所述到达需求时间。Acquire the number of macroblocks included in the remaining data of the current frame; determine the output time and delay time of the macroblock; and determine the arrival required time according to the number, output time, and delay time of the macroblock.
在一些实施例中,所述处理器还实现:In some embodiments, the processor further implements:
获取所述显示器配置的刷新率,根据所述刷新率确定预定时间。The refresh rate of the display configuration is acquired, and a predetermined time is determined according to the refresh rate.
在一些实施例中,所述处理器121在实现所述根据所述刷新率确定预定时间时,实现:In some embodiments, when the processor 121 realizes the determination of the predetermined time according to the refresh rate, it realizes:
根据所述刷新频率确定所述显示器的刷新时间,以及将所述刷新时间作为 所述预定时间。The refresh time of the display is determined according to the refresh frequency, and the refresh time is taken as the predetermined time.
在一些实施例中,所述处理器121在实现所述通过解码器对所述视频数据进行解码时,实现:In some embodiments, when the processor 121 implements the decoding of the video data by a decoder, it implements:
通过解码器以小于一帧视频数据对应的时间对所述视频数据进行解码。The video data is decoded by the decoder in a time less than one frame of video data.
本申请的实施例中还提供一种图传系统,如图1所示,所述图传系统包括发送端和接收端,所述发送端和接收端通信连接,例如可以通过有线或者无线的方式进行通信连接;其中,The embodiment of the present application also provides an image transmission system. As shown in FIG. 1, the image transmission system includes a sending end and a receiving end. The sending end and the receiving end are connected in communication, for example, in a wired or wireless manner. Make a communication connection; among them,
所述发送端获取视频数据并对所述视频数据进行编码;The sending end obtains video data and encodes the video data;
所述发送端将编码后的视频数据发送至所述接收端;The sending end sends the encoded video data to the receiving end;
所述接收端接收编码后的视频数据,通过解码器对所述视频数据进行解码;The receiving end receives the encoded video data, and decodes the video data through a decoder;
所述接收端确定所述解码器解码的所述视频数据中的当前帧输出的部分数据是否满足预设条件,所述预设条件用于触发生成定时信号;Determining, by the receiving end, whether part of the data output by the current frame in the video data decoded by the decoder satisfies a preset condition, and the preset condition is used to trigger the generation of a timing signal;
所述接收端若确定输出的部分数据满足所述预设条件,生成定时信号并将所述定时信号发送至显示器控制器,以使所述显示器控制器控制显示屏显示所述当前帧。If the receiving end determines that part of the output data meets the preset condition, it generates a timing signal and sends the timing signal to the display controller, so that the display controller controls the display screen to display the current frame.
在一些实施例中,所述发送端获取视频数据并对所述视频数据进行编码,包括:In some embodiments, acquiring the video data by the sending end and encoding the video data includes:
以小于一帧视频数据对应的时间获取视频数据,以及以小于一帧视频数据对应的时间对所述视频数据进行编码;Acquiring video data in a time less than one frame of video data, and encoding the video data in a time less than one frame of video data;
所述发送端将编码后的视频数据发送至所述接收端,包括:以小于一帧视频数据对应的时间将编码后的视频数据发送至所述接收端。The sending of the encoded video data by the sending end to the receiving end includes: sending the encoded video data to the receiving end in a time less than one frame of video data.
在一些实施例中,所述预设条件包括:检测所述解码器解码的所述视频数据中的当前帧输出的部分数据是否大于预设数量阈值;和/或,确定所述当前帧的剩余数据是否能够在预定时间内传输至所述显示器。In some embodiments, the preset condition includes: detecting whether the partial data output by the current frame in the video data decoded by the decoder is greater than a preset number threshold; and/or determining the remaining amount of the current frame Whether the data can be transmitted to the display within a predetermined time.
在一些实施例中,所述预设条件包括:检测所述解码器解码的所述视频数据中的当前帧输出的部分数据是否大于预设数量阈值,以及确定所述当前帧的剩余数据是否能够在预定时间内传输至所述显示器;In some embodiments, the preset condition includes: detecting whether the partial data output by the current frame in the video data decoded by the decoder is greater than a preset number threshold, and determining whether the remaining data of the current frame can be Transmit to the display within a predetermined time;
所述确定所述解码器解码的所述视频数据中的当前帧输出的部分数据是否满足预设条件,包括:若输出的所述部分数据大于所述预设数量阈值,且所述剩余数据能够在预定时间内传输至显示器,确定输出的部分数据满足所述预设 条件。The determining whether the partial data output by the current frame in the video data decoded by the decoder meets a preset condition includes: if the partial data output is greater than the preset number threshold, and the remaining data can be It is transmitted to the display within a predetermined time, and it is determined that part of the output data meets the preset condition.
在一些实施例中,所述预设数量阈值包括预设的宏块数目;In some embodiments, the preset number threshold includes a preset number of macroblocks;
所述检测所述解码器解码的所述视频数据中的当前帧输出的部分数据是否大于预设数量阈值,包括:The detecting whether the partial data output by the current frame in the video data decoded by the decoder is greater than a preset number threshold includes:
统计所述解码器解码当前帧输出的宏块数量,并确定所述输出的宏块数量是否大于所述预设的宏块数目。Count the number of macroblocks output by the decoder in decoding the current frame, and determine whether the number of output macroblocks is greater than the preset number of macroblocks.
在一些实施例中,所述编码后的视频数据编码成多个片或片组,所述预设数量阈值包括预设的片数目或预设的片组数目;In some embodiments, the encoded video data is encoded into multiple slices or slice groups, and the preset number threshold includes a preset number of slices or a preset number of slice groups;
所述检测所述解码器解码的所述视频数据中的当前帧输出的部分数据是否大于预设数量阈值,包括:The detecting whether the partial data output by the current frame in the video data decoded by the decoder is greater than a preset number threshold includes:
统计所述解码器解码当前帧输出的片数量或片组数量,并确定所述输出的片数量是否大于所述预设的片数目,或所述输出的片组数量是否大于所述预设的片组数目。Count the number of slices or slice groups output by the decoder in decoding the current frame, and determine whether the number of output slices is greater than the preset number of slices, or whether the number of output slices is greater than the preset number Number of film groups.
在一些实施例中,所述接收端还根据所述视频数据的传输稳定状态,调整预设数量阈值的大小。In some embodiments, the receiving end also adjusts the size of the preset number threshold according to the stable state of the video data transmission.
在一些实施例中,所述根据所述视频数据的传输稳定状态,调整预设数量阈值的大小,包括:In some embodiments, the adjusting the size of the preset number threshold according to the stable state of the video data transmission includes:
确定所述视频数据的传输是否稳定;若所述视频数据的传输稳定,增加预设数量阈值的大小;若所述视频数据的传输不稳定,减小预设数量阈值的大小。Determine whether the transmission of the video data is stable; if the transmission of the video data is stable, increase the size of the preset number threshold; if the transmission of the video data is unstable, reduce the size of the preset number threshold.
在一些实施例中,所述根据所述视频数据的传输稳定状态,调整预设数量阈值的大小,包括:In some embodiments, the adjusting the size of the preset number threshold according to the stable state of the video data transmission includes:
确定所述视频数据的传输是否稳定;若所述视频数据的传输稳定,确定第一预设数目作为预设数量阈值;若所述视频数据的传输不稳定,确定第二预设数目作为预设数量阈值,其中,所述第二预设数目大于所述第一预设数目。Determine whether the transmission of the video data is stable; if the transmission of the video data is stable, determine the first preset number as the preset number threshold; if the transmission of the video data is unstable, determine the second preset number as the preset The number threshold, wherein the second preset number is greater than the first preset number.
在一些实施例中,所述确定所述视频数据的传输是否稳定,包括:In some embodiments, the determining whether the transmission of the video data is stable includes:
监测所述视频数据传输的延迟时间是否发生变化;若所述视频数据传输的延迟时间固定不变,确定所述视频数据的传输稳定;若所述视频数据传输的延迟时间发生变化,确定所述视频数据的传输不稳定。Monitor whether the delay time of the video data transmission changes; if the delay time of the video data transmission is fixed, determine that the transmission of the video data is stable; if the delay time of the video data transmission changes, determine the The transmission of video data is unstable.
在一些实施例中,所述确定所述当前帧的剩余数据是否能够在预定时间内传输至所述显示器,包括:In some embodiments, the determining whether the remaining data of the current frame can be transmitted to the display within a predetermined time includes:
确定所述当前帧的剩余数据传输至所述显示器的到达需求时间,并确定所述到达需求时间是否小于或等于预定时间;Determining the arrival required time for the remaining data of the current frame to be transmitted to the display, and determining whether the arrival required time is less than or equal to a predetermined time;
若所述到达需求时间小于或等于所述预定时间,确定所述当前帧的剩余部分数据能够在预定时间内传输至所述显示器。If the arrival required time is less than or equal to the predetermined time, it is determined that the remaining part of the data of the current frame can be transmitted to the display within the predetermined time.
在一些实施例中,所述确定所述当前帧的剩余数据传输至所述显示器的到达需求时间,包括:In some embodiments, the determining the arrival required time for the remaining data of the current frame to be transmitted to the display includes:
获取所述当前帧的剩余数据包含的宏块的数量;确定所述宏块的输出时间以及延迟时间;以及根据所述宏块的数量、输出时间和延迟时间确定所述到达需求时间。Acquire the number of macroblocks included in the remaining data of the current frame; determine the output time and delay time of the macroblock; and determine the arrival required time according to the number, output time, and delay time of the macroblock.
在一些实施例中,所述接收端还获取所述显示器配置的刷新率,根据所述刷新率确定预定时间。In some embodiments, the receiving end also obtains the refresh rate configured by the display, and determines the predetermined time according to the refresh rate.
在一些实施例中,所述根据所述刷新率确定预定时间,包括:In some embodiments, the determining the predetermined time according to the refresh rate includes:
根据所述刷新频率确定所述显示器的刷新时间,以及将所述刷新时间作为所述预定时间。The refresh time of the display is determined according to the refresh frequency, and the refresh time is used as the predetermined time.
在一些实施例中,所述通过解码器对所述视频数据进行解码,包括:In some embodiments, the decoding the video data by a decoder includes:
通过解码器以小于一帧视频数据对应的时间对所述视频数据进行解码。The video data is decoded by the decoder in a time less than one frame of video data.
在一些实施例中,所述发送端包括但不限于可移动设备。In some embodiments, the sending end includes, but is not limited to, a removable device.
在一些实施例中,所述可移动设备包括但不限于:无人机、手持云台、无人车或机器人。In some embodiments, the movable device includes, but is not limited to, a drone, a handheld pan/tilt, an unmanned vehicle, or a robot.
在一些实施例中,所述接收端包括但不限于遥控器、手机或平板电脑。In some embodiments, the receiving end includes, but is not limited to, a remote control, a mobile phone, or a tablet computer.
在一些实施例中,所述接收端包括但不限于显示器和显示器控制器,所述显示器控制器与所述处理器电连接,用于控制所述显示器显示。In some embodiments, the receiving end includes, but is not limited to, a display and a display controller, and the display controller is electrically connected to the processor for controlling the display of the display.
本申请的实施例中还提供一种计算机可读存储介质,所述计算机可读存储介质存储有计算机程序,所述计算机程序中包括程序指令,所述处理器执行所述程序指令,实现上述实施例提供的视频显示方法的步骤。The embodiments of the present application also provide a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the foregoing implementation The steps of the video display method provided in the example.
其中,所述计算机可读存储介质可以是前述任一实施例所述的手持云台的内部存储单元,例如所述手持云台的硬盘或内存。所述计算机可读存储介质也可以是所述手持云台的外部存储设备,例如所述手持云台上配备的插接式硬盘,智能存储卡(Smart Media Card,SMC),安全数字(Secure Digital,SD)卡,闪存卡(Flash Card)等。The computer-readable storage medium may be the internal storage unit of the handheld pan/tilt head described in any of the foregoing embodiments, such as the hard disk or memory of the handheld pan/tilt head. The computer-readable storage medium may also be an external storage device of the handheld PTZ, such as a plug-in hard disk equipped on the handheld PTZ, a smart memory card (Smart Media Card, SMC), and a secure digital (Secure Digital). , SD) card, flash card (Flash Card), etc.
以上所述,仅为本申请的具体实施方式,但本申请的保护范围并不局限于此,任何熟悉本技术领域的技术人员在本申请揭露的技术范围内,可轻易想到各种等效的修改或替换,这些修改或替换都应涵盖在本申请的保护范围之内。因此,本申请的保护范围应以权利要求的保护范围为准。The above are only specific implementations of this application, but the protection scope of this application is not limited to this. Anyone familiar with the technical field can easily think of various equivalents within the technical scope disclosed in this application. Modifications or replacements, these modifications or replacements shall be covered within the scope of protection of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims (50)

  1. 一种视频显示方法,其特征在于,包括:A video display method, characterized in that it comprises:
    接收编码后的视频数据,通过解码器对所述视频数据进行解码;Receiving encoded video data, and decoding the video data through a decoder;
    确定所述解码器解码的所述视频数据中的当前帧输出的部分数据是否满足预设条件,所述预设条件用于触发生成定时信号;Determining whether part of the data output by the current frame in the video data decoded by the decoder meets a preset condition, where the preset condition is used to trigger the generation of a timing signal;
    若输出的部分数据满足所述预设条件,生成定时信号并将所述定时信号发送至显示器控制器,以使所述显示器控制器控制显示屏显示所述当前帧。If part of the output data meets the preset condition, a timing signal is generated and sent to the display controller, so that the display controller controls the display screen to display the current frame.
  2. 根据权利要求1所述的视频显示方法,其特征在于,所述预设条件包括:The video display method according to claim 1, wherein the preset condition comprises:
    检测所述解码器解码的所述视频数据中的当前帧输出的部分数据是否大于预设数量阈值;和/或,确定所述当前帧的剩余数据是否能够在预定时间内传输至所述显示器。Detecting whether the partial data output by the current frame in the video data decoded by the decoder is greater than a preset number threshold; and/or determining whether the remaining data of the current frame can be transmitted to the display within a predetermined time.
  3. 根据权利要求2所述的视频显示方法,其特征在于,所述预设条件包括:检测所述解码器解码的所述视频数据中的当前帧输出的部分数据是否大于预设数量阈值,以及确定所述当前帧的剩余数据是否能够在预定时间内传输至所述显示器;The video display method according to claim 2, wherein the preset condition comprises: detecting whether part of the data output by the current frame in the video data decoded by the decoder is greater than a preset number threshold, and determining Whether the remaining data of the current frame can be transmitted to the display within a predetermined time;
    所述确定所述解码器解码的所述视频数据中的当前帧输出的部分数据是否满足预设条件,包括:The determining whether part of the data output by the current frame in the video data decoded by the decoder meets a preset condition includes:
    若输出的所述部分数据大于所述预设数量阈值,且所述剩余数据能够在预定时间内传输至显示器,确定输出的部分数据满足所述预设条件。If the output part of the data is greater than the preset number threshold, and the remaining data can be transmitted to the display within a predetermined time, it is determined that the output part of the data satisfies the preset condition.
  4. 根据权利要求2所述的视频显示方法,其特征在于,所述预设数量阈值包括预设的宏块数目;The video display method according to claim 2, wherein the preset number threshold includes a preset number of macroblocks;
    所述检测所述解码器解码的所述视频数据中的当前帧输出的部分数据是否大于预设数量阈值,包括:The detecting whether the partial data output by the current frame in the video data decoded by the decoder is greater than a preset number threshold includes:
    统计所述解码器解码当前帧输出的宏块数量,并确定所述输出的宏块数量是否大于所述预设的宏块数目。Count the number of macroblocks output by the decoder in decoding the current frame, and determine whether the number of output macroblocks is greater than the preset number of macroblocks.
  5. 根据权利要求2所述的视频显示方法,其特征在于,所述编码后的视频数据编码成多个片或片组,所述预设数量阈值包括预设的片数目或预设的片组数目;The video display method according to claim 2, wherein the encoded video data is encoded into a plurality of slices or slice groups, and the preset number threshold includes a preset number of slices or a preset number of slice groups ;
    所述检测所述解码器解码的所述视频数据中的当前帧输出的部分数据是否大于预设数量阈值,包括:The detecting whether the partial data output by the current frame in the video data decoded by the decoder is greater than a preset number threshold includes:
    统计所述解码器解码当前帧输出的片数量或片组数量,并确定所述输出的片数量是否大于所述预设的片数目,或所述输出的片组数量是否大于所述预设的片组数目。Count the number of slices or slice groups output by the decoder in decoding the current frame, and determine whether the number of output slices is greater than the preset number of slices, or whether the number of output slices is greater than the preset number Number of film groups.
  6. 根据权利要求2所述的视频显示方法,其特征在于,所述视频显示方法,还包括:The video display method according to claim 2, wherein the video display method further comprises:
    根据所述视频数据的传输稳定状态,调整预设数量阈值的大小。Adjust the size of the preset number threshold according to the stable state of the video data transmission.
  7. 根据权利要求6所述的视频显示方法,其特征在于,所述根据所述视频数据的传输稳定状态,调整预设数量阈值的大小,包括:The video display method according to claim 6, wherein the adjusting the size of the preset number threshold according to the stable state of the video data transmission comprises:
    确定所述视频数据的传输是否稳定;Determine whether the transmission of the video data is stable;
    若所述视频数据的传输稳定,增加预设数量阈值的大小;If the transmission of the video data is stable, increase the size of the preset number threshold;
    若所述视频数据的传输不稳定,减小预设数量阈值的大小。If the transmission of the video data is unstable, reduce the size of the preset number threshold.
  8. 根据权利要求6所述的视频显示方法,其特征在于,所述根据所述视频数据的传输稳定状态,调整预设数量阈值的大小,包括:The video display method according to claim 6, wherein the adjusting the size of the preset number threshold according to the stable state of the video data transmission comprises:
    确定所述视频数据的传输是否稳定;Determine whether the transmission of the video data is stable;
    若所述视频数据的传输稳定,确定第一预设数目作为预设数量阈值;If the transmission of the video data is stable, determining the first preset number as the preset number threshold;
    若所述视频数据的传输不稳定,确定第二预设数目作为预设数量阈值,其中,所述第二预设数目大于所述第一预设数目。If the transmission of the video data is unstable, a second preset number is determined as the preset number threshold, where the second preset number is greater than the first preset number.
  9. 根据权利要求7或8所述的视频显示方法,其特征在于,所述确定所述视频数据的传输是否稳定,包括:The video display method according to claim 7 or 8, wherein the determining whether the transmission of the video data is stable comprises:
    监测所述视频数据传输的延迟时间是否发生变化;Monitoring whether the delay time of the video data transmission changes;
    若所述视频数据传输的延迟时间固定不变,确定所述视频数据的传输稳定;If the delay time of the video data transmission is fixed, determining that the video data transmission is stable;
    若所述视频数据传输的延迟时间发生变化,确定所述视频数据的传输不稳定。If the delay time of the video data transmission changes, it is determined that the video data transmission is unstable.
  10. 根据权利要求2所述的视频显示方法,其特征在于,所述确定所述当前帧的剩余数据是否能够在预定时间内传输至所述显示器,包括:The video display method according to claim 2, wherein the determining whether the remaining data of the current frame can be transmitted to the display within a predetermined time comprises:
    确定所述当前帧的剩余数据传输至所述显示器的到达需求时间,并确定所述到达需求时间是否小于或等于预定时间;Determining the arrival required time for the remaining data of the current frame to be transmitted to the display, and determining whether the arrival required time is less than or equal to a predetermined time;
    若所述到达需求时间小于或等于所述预定时间,确定所述当前帧的剩余部 分数据能够在预定时间内传输至所述显示器。If the arrival required time is less than or equal to the predetermined time, it is determined that the remaining part of the data of the current frame can be transmitted to the display within the predetermined time.
  11. 根据权利要求10所述的视频显示方法,其特征在于,所述确定所述当前帧的剩余数据传输至所述显示器的到达需求时间,包括:The video display method according to claim 10, wherein the determining the arrival required time for the remaining data of the current frame to be transmitted to the display comprises:
    获取所述当前帧的剩余数据包含的宏块的数量;Acquiring the number of macroblocks contained in the remaining data of the current frame;
    确定所述宏块的输出时间以及延迟时间;以及Determining the output time and delay time of the macro block; and
    根据所述宏块的数量、输出时间和延迟时间确定所述到达需求时间。The arrival demand time is determined according to the number of the macroblocks, the output time and the delay time.
  12. 根据权利要求3、10或11所述的视频显示方法,其特征在于,所述视频显示方法还包括:The video display method according to claim 3, 10 or 11, wherein the video display method further comprises:
    获取所述显示器配置的刷新率,根据所述刷新率确定预定时间。The refresh rate of the display configuration is acquired, and a predetermined time is determined according to the refresh rate.
  13. 根据权利要求12所述的视频显示方法,其特征在于,所述根据所述刷新率确定预定时间,包括:The video display method according to claim 12, wherein the determining the predetermined time according to the refresh rate comprises:
    根据所述刷新频率确定所述显示器的刷新时间,以及将所述刷新时间作为所述预定时间。The refresh time of the display is determined according to the refresh frequency, and the refresh time is used as the predetermined time.
  14. 根据权利要求1所述的视频显示方法,其特征在于,所述通过解码器对所述视频数据进行解码,包括:The video display method according to claim 1, wherein said decoding said video data by a decoder comprises:
    通过解码器以小于一帧视频数据对应的时间对所述视频数据进行解码。The video data is decoded by the decoder in a time less than one frame of video data.
  15. 一种接收端,其特征在于,所述接收端包括存储器和处理器;A receiving end, characterized in that the receiving end includes a memory and a processor;
    所述存储器用于存储计算机程序;The memory is used to store a computer program;
    所述处理器,用于执行所述计算机程序并在执行所述计算机程序时,实现如下步骤:The processor is configured to execute the computer program and, when executing the computer program, implement the following steps:
    接收编码后的视频数据,通过解码器对所述视频数据进行解码;Receiving encoded video data, and decoding the video data through a decoder;
    确定所述解码器解码的所述视频数据中的当前帧输出的部分数据是否满足预设条件,所述预设条件用于触发生成定时信号;Determining whether part of the data output by the current frame in the video data decoded by the decoder meets a preset condition, where the preset condition is used to trigger the generation of a timing signal;
    若输出的部分数据满足所述预设条件,生成定时信号并将所述定时信号发送至显示器控制器,以使所述显示器控制器控制显示屏显示所述当前帧。If part of the output data meets the preset condition, a timing signal is generated and sent to the display controller, so that the display controller controls the display screen to display the current frame.
  16. 根据权利要求15所述的接收端,其特征在于,所述预设条件包括:The receiving end according to claim 15, wherein the preset condition comprises:
    检测所述解码器解码的所述视频数据中的当前帧输出的部分数据是否大于预设数量阈值;和/或,确定所述当前帧的剩余数据是否能够在预定时间内传输至所述显示器。Detecting whether the partial data output by the current frame in the video data decoded by the decoder is greater than a preset number threshold; and/or determining whether the remaining data of the current frame can be transmitted to the display within a predetermined time.
  17. 根据权利要求16所述的接收端,其特征在于,所述预设条件包括:检 测所述解码器解码的所述视频数据中的当前帧输出的部分数据是否大于预设数量阈值,以及确定所述当前帧的剩余数据是否能够在预定时间内传输至所述显示器;The receiving end according to claim 16, wherein the preset condition comprises: detecting whether part of the data output by the current frame in the video data decoded by the decoder is greater than a preset number threshold, and determining Whether the remaining data of the current frame can be transmitted to the display within a predetermined time;
    所述处理器在实现所述确定所述解码器解码的所述视频数据中的当前帧输出的部分数据是否满足预设条件时,实现:When the processor implements the determining whether part of the data output by the current frame in the video data decoded by the decoder meets a preset condition, implement:
    若输出的所述部分数据大于所述预设数量阈值,且所述剩余数据能够在预定时间内传输至显示器,确定输出的部分数据满足所述预设条件。If the output part of the data is greater than the preset number threshold, and the remaining data can be transmitted to the display within a predetermined time, it is determined that the output part of the data satisfies the preset condition.
  18. 根据权利要求16所述的接收端,其特征在于,所述预设数量阈值包括预设的宏块数目;The receiving end according to claim 16, wherein the preset number threshold includes a preset number of macroblocks;
    所述处理器在实现所述检测所述解码器解码的所述视频数据中的当前帧输出的部分数据是否大于预设数量阈值时,实现:When the processor implements the detection of whether part of the data output by the current frame in the video data decoded by the decoder is greater than a preset number threshold, implement:
    统计所述解码器解码当前帧输出的宏块数量,并确定所述输出的宏块数量是否大于所述预设的宏块数目。Count the number of macroblocks output by the decoder in decoding the current frame, and determine whether the number of output macroblocks is greater than the preset number of macroblocks.
  19. 根据权利要求16所述的接收端,其特征在于,所述编码后的视频数据编码成多个片或片组,所述预设数量阈值包括预设的片数目或预设的片组数目;The receiving end according to claim 16, wherein the encoded video data is encoded into multiple slices or slice groups, and the preset number threshold includes a preset number of slices or a preset number of slice groups;
    所述处理器在实现所述检测所述解码器解码的所述视频数据中的当前帧输出的部分数据是否大于预设数量阈值时,实现:When the processor implements the detection of whether part of the data output by the current frame in the video data decoded by the decoder is greater than a preset number threshold, implement:
    统计所述解码器解码当前帧输出的片数量或片组数量,并确定所述输出的片数量是否大于所述预设的片数目,或所述输出的片组数量是否大于所述预设的片组数目。Count the number of slices or slice groups output by the decoder in decoding the current frame, and determine whether the number of output slices is greater than the preset number of slices, or whether the number of output slices is greater than the preset number Number of film groups.
  20. 根据权利要求16所述的接收端,其特征在于,所述所述处理器还实现:The receiving end according to claim 16, wherein the processor further implements:
    根据所述视频数据的传输稳定状态,调整预设数量阈值的大小。Adjust the size of the preset number threshold according to the stable state of the video data transmission.
  21. 根据权利要求20所述的接收端,其特征在于,所述处理器在实现所述根据所述视频数据的传输稳定状态,调整预设数量阈值的大小时,实现:The receiving end according to claim 20, wherein when the processor realizes the adjustment of the size of the preset number threshold according to the stable state of the video data transmission, it realizes:
    确定所述视频数据的传输是否稳定;Determine whether the transmission of the video data is stable;
    若所述视频数据的传输稳定,增加预设数量阈值的大小;If the transmission of the video data is stable, increase the size of the preset number threshold;
    若所述视频数据的传输不稳定,减小预设数量阈值的大小。If the transmission of the video data is unstable, reduce the size of the preset number threshold.
  22. 根据权利要求20所述的接收端,其特征在于,所述处理器在实现所述根据所述视频数据的传输稳定状态,调整预设数量阈值的大小时,实现:The receiving end according to claim 20, wherein when the processor realizes the adjustment of the size of the preset number threshold according to the stable state of the video data transmission, it realizes:
    确定所述视频数据的传输是否稳定;Determine whether the transmission of the video data is stable;
    若所述视频数据的传输稳定,确定第一预设数目作为预设数量阈值;If the transmission of the video data is stable, determining the first preset number as the preset number threshold;
    若所述视频数据的传输不稳定,确定第二预设数目作为预设数量阈值,其中,所述第二预设数目大于所述第一预设数目。If the transmission of the video data is unstable, a second preset number is determined as the preset number threshold, where the second preset number is greater than the first preset number.
  23. 根据权利要求21或22所述的接收端,其特征在于,所述处理器在实现所述确定所述视频数据的传输是否稳定时,实现:The receiving end according to claim 21 or 22, wherein, when the processor realizes the determination of whether the transmission of the video data is stable, realizes:
    监测所述视频数据传输的延迟时间是否发生变化;Monitoring whether the delay time of the video data transmission changes;
    若所述视频数据传输的延迟时间固定不变,确定所述视频数据的传输稳定;If the delay time of the video data transmission is fixed, determining that the video data transmission is stable;
    若所述视频数据传输的延迟时间发生变化,确定所述视频数据的传输不稳定。If the delay time of the video data transmission changes, it is determined that the video data transmission is unstable.
  24. 根据权利要求16所述的接收端,其特征在于,所述处理器在实现所述确定所述当前帧的剩余数据是否能够在预定时间内传输至所述显示器,实现:The receiving end according to claim 16, wherein the processor realizes the determination of whether the remaining data of the current frame can be transmitted to the display within a predetermined time, and realizes:
    确定所述当前帧的剩余数据传输至所述显示器的到达需求时间,并确定所述到达需求时间是否小于或等于预定时间;Determining the arrival required time for the remaining data of the current frame to be transmitted to the display, and determining whether the arrival required time is less than or equal to a predetermined time;
    若所述到达需求时间小于或等于所述预定时间,确定所述当前帧的剩余部分数据能够在预定时间内传输至所述显示器。If the arrival required time is less than or equal to the predetermined time, it is determined that the remaining part of the data of the current frame can be transmitted to the display within the predetermined time.
  25. 根据权利要求24所述的接收端,其特征在于,所述处理器在实现所述确定所述当前帧的剩余数据传输至所述显示器的到达需求时间,实现:The receiving end according to claim 24, wherein the processor realizes the determination of the arrival required time for the remaining data of the current frame to be transmitted to the display, and realizes:
    获取所述当前帧的剩余数据包含的宏块的数量;Acquiring the number of macroblocks contained in the remaining data of the current frame;
    确定所述宏块的输出时间以及延迟时间;以及Determining the output time and delay time of the macro block; and
    根据所述宏块的数量、输出时间和延迟时间确定所述到达需求时间。The arrival demand time is determined according to the number of the macroblocks, the output time and the delay time.
  26. 根据权利要求17、24或25所述的接收端,其特征在于,所述处理器在实现还实现:The receiving end according to claim 17, 24 or 25, wherein the processor further implements:
    获取所述显示器配置的刷新率,根据所述刷新率确定预定时间。The refresh rate of the display configuration is acquired, and a predetermined time is determined according to the refresh rate.
  27. 根据权利要求26所述的接收端,其特征在于,所述处理器在实现所述根据所述刷新率确定预定时间时,实现:The receiving end according to claim 26, wherein when the processor realizes the determination of the predetermined time according to the refresh rate, it realizes:
    根据所述刷新频率确定所述显示器的刷新时间,以及将所述刷新时间作为所述预定时间。The refresh time of the display is determined according to the refresh frequency, and the refresh time is used as the predetermined time.
  28. 根据权利要求15所述的接收端,其特征在于,所述处理器在实现所述通过解码器对所述视频数据进行解码,实现:The receiving end according to claim 15, wherein the processor realizes the decoding of the video data by the decoder to realize:
    通过解码器以小于一帧视频数据对应的时间对所述视频数据进行解码。The video data is decoded by the decoder in a time less than one frame of video data.
  29. 根据权利要求15所述的接收端,其特征在于,所述接收端包括显示器和显示器控制器,所述显示器控制器与所述处理器电连接,用于控制所述显示器显示。The receiving end according to claim 15, wherein the receiving end comprises a display and a display controller, and the display controller is electrically connected with the processor for controlling the display of the display.
  30. 根据权利要求15所述的接收端,其特征在于,所述接收端包括遥控器、手机或平板电脑。The receiving terminal according to claim 15, wherein the receiving terminal comprises a remote control, a mobile phone or a tablet computer.
  31. 一种图传系统,其特征在于,包括发送端和接收端,所述发送端和接收端通信连接;An image transmission system, characterized in that it comprises a sending end and a receiving end, and the sending end and the receiving end are in communication connection;
    所述发送端获取视频数据并对所述视频数据进行编码;The sending end obtains video data and encodes the video data;
    所述发送端将编码后的视频数据发送至所述接收端;The sending end sends the encoded video data to the receiving end;
    所述接收端接收编码后的视频数据,通过解码器对所述视频数据进行解码;The receiving end receives the encoded video data, and decodes the video data through a decoder;
    所述接收端确定所述解码器解码的所述视频数据中的当前帧输出的部分数据是否满足预设条件,所述预设条件用于触发生成定时信号;Determining, by the receiving end, whether part of the data output by the current frame in the video data decoded by the decoder satisfies a preset condition, and the preset condition is used to trigger the generation of a timing signal;
    所述接收端若确定输出的部分数据满足所述预设条件,生成定时信号并将所述定时信号发送至显示器控制器,以使所述显示器控制器控制显示屏显示所述当前帧。If the receiving end determines that part of the output data meets the preset condition, it generates a timing signal and sends the timing signal to the display controller, so that the display controller controls the display screen to display the current frame.
  32. 根据权利要求31所述的图传系统,其特征在于,所述发送端获取视频数据并对所述视频数据进行编码,包括:The image transmission system according to claim 31, wherein said sending end obtains video data and encodes said video data, comprising:
    以小于一帧视频数据对应的时间获取视频数据,以及以小于一帧视频数据对应的时间对所述视频数据进行编码;Acquiring video data in a time less than one frame of video data, and encoding the video data in a time less than one frame of video data;
    所述发送端将编码后的视频数据发送至所述接收端,包括:以小于一帧视频数据对应的时间将编码后的视频数据发送至所述接收端。The sending of the encoded video data by the sending end to the receiving end includes: sending the encoded video data to the receiving end in a time less than one frame of video data.
  33. 根据权利要求31所述的图传系统,其特征在于,所述预设条件包括:The image transmission system according to claim 31, wherein the preset condition comprises:
    检测所述解码器解码的所述视频数据中的当前帧输出的部分数据是否大于预设数量阈值;和/或,确定所述当前帧的剩余数据是否能够在预定时间内传输至所述显示器。Detecting whether the partial data output by the current frame in the video data decoded by the decoder is greater than a preset number threshold; and/or determining whether the remaining data of the current frame can be transmitted to the display within a predetermined time.
  34. 根据权利要求33所述的图传系统,其特征在于,所述预设条件包括:检测所述解码器解码的所述视频数据中的当前帧输出的部分数据是否大于预设数量阈值,以及确定所述当前帧的剩余数据是否能够在预定时间内传输至所述显示器;The image transmission system according to claim 33, wherein the preset condition comprises: detecting whether part of the data output by the current frame in the video data decoded by the decoder is greater than a preset number threshold, and determining Whether the remaining data of the current frame can be transmitted to the display within a predetermined time;
    所述确定所述解码器解码的所述视频数据中的当前帧输出的部分数据是否 满足预设条件,包括:The determining whether the partial data output by the current frame in the video data decoded by the decoder meets a preset condition includes:
    若输出的所述部分数据大于所述预设数量阈值,且所述剩余数据能够在预定时间内传输至显示器,确定输出的部分数据满足所述预设条件。If the output part of the data is greater than the preset number threshold, and the remaining data can be transmitted to the display within a predetermined time, it is determined that the output part of the data satisfies the preset condition.
  35. 根据权利要求33所述的图传系统,其特征在于,所述预设数量阈值包括预设的宏块数目;The image transmission system according to claim 33, wherein the preset number threshold includes a preset number of macroblocks;
    所述检测所述解码器解码的所述视频数据中的当前帧输出的部分数据是否大于预设数量阈值,包括:The detecting whether the partial data output by the current frame in the video data decoded by the decoder is greater than a preset number threshold includes:
    统计所述解码器解码当前帧输出的宏块数量,并确定所述输出的宏块数量是否大于所述预设的宏块数目。Count the number of macroblocks output by the decoder in decoding the current frame, and determine whether the number of output macroblocks is greater than the preset number of macroblocks.
  36. 根据权利要求33所述的图传系统,其特征在于,所述编码后的视频数据编码成多个片或片组,所述预设数量阈值包括预设的片数目或预设的片组数目;The image transmission system according to claim 33, wherein the encoded video data is encoded into multiple slices or slice groups, and the preset number threshold includes a preset number of slices or a preset number of slice groups ;
    所述检测所述解码器解码的所述视频数据中的当前帧输出的部分数据是否大于预设数量阈值,包括:The detecting whether the partial data output by the current frame in the video data decoded by the decoder is greater than a preset number threshold includes:
    统计所述解码器解码当前帧输出的片数量或片组数量,并确定所述输出的片数量是否大于所述预设的片数目,或所述输出的片组数量是否大于所述预设的片组数目。Count the number of slices or slice groups output by the decoder in decoding the current frame, and determine whether the number of output slices is greater than the preset number of slices, or whether the number of output slices is greater than the preset number Number of film groups.
  37. 根据权利要求33所述的图传系统,其特征在于,所述接收端还根据所述视频数据的传输稳定状态,调整预设数量阈值的大小。The image transmission system according to claim 33, wherein the receiving end further adjusts the size of the preset number threshold according to the stable state of the video data transmission.
  38. 根据权利要求37所述的图传系统,其特征在于,所述根据所述视频数据的传输稳定状态,调整预设数量阈值的大小,包括:The image transmission system according to claim 37, wherein the adjusting the size of the preset number threshold according to the stable state of the video data transmission comprises:
    确定所述视频数据的传输是否稳定;Determine whether the transmission of the video data is stable;
    若所述视频数据的传输稳定,增加预设数量阈值的大小;If the transmission of the video data is stable, increase the size of the preset number threshold;
    若所述视频数据的传输不稳定,减小预设数量阈值的大小。If the transmission of the video data is unstable, reduce the size of the preset number threshold.
  39. 根据权利要求37所述的图传系统,其特征在于,所述根据所述视频数据的传输稳定状态,调整预设数量阈值的大小,包括:The image transmission system according to claim 37, wherein the adjusting the size of the preset number threshold according to the stable state of the video data transmission comprises:
    确定所述视频数据的传输是否稳定;Determine whether the transmission of the video data is stable;
    若所述视频数据的传输稳定,确定第一预设数目作为预设数量阈值;If the transmission of the video data is stable, determining the first preset number as the preset number threshold;
    若所述视频数据的传输不稳定,确定第二预设数目作为预设数量阈值,其中,所述第二预设数目大于所述第一预设数目。If the transmission of the video data is unstable, a second preset number is determined as the preset number threshold, where the second preset number is greater than the first preset number.
  40. 根据权利要求38或39所述的图传系统,其特征在于,所述确定所述视频数据的传输是否稳定,包括:The image transmission system according to claim 38 or 39, wherein the determining whether the transmission of the video data is stable comprises:
    监测所述视频数据传输的延迟时间是否发生变化;Monitoring whether the delay time of the video data transmission changes;
    若所述视频数据传输的延迟时间固定不变,确定所述视频数据的传输稳定;If the delay time of the video data transmission is fixed, determining that the video data transmission is stable;
    若所述视频数据传输的延迟时间发生变化,确定所述视频数据的传输不稳定。If the delay time of the video data transmission changes, it is determined that the video data transmission is unstable.
  41. 根据权利要求33所述的图传系统,其特征在于,所述确定所述当前帧的剩余数据是否能够在预定时间内传输至所述显示器,包括:The image transmission system according to claim 33, wherein the determining whether the remaining data of the current frame can be transmitted to the display within a predetermined time comprises:
    确定所述当前帧的剩余数据传输至所述显示器的到达需求时间,并确定所述到达需求时间是否小于或等于预定时间;Determining the arrival required time for the remaining data of the current frame to be transmitted to the display, and determining whether the arrival required time is less than or equal to a predetermined time;
    若所述到达需求时间小于或等于所述预定时间,确定所述当前帧的剩余部分数据能够在预定时间内传输至所述显示器。If the arrival required time is less than or equal to the predetermined time, it is determined that the remaining part of the data of the current frame can be transmitted to the display within the predetermined time.
  42. 根据权利要求41所述的图传系统,其特征在于,所述确定所述当前帧的剩余数据传输至所述显示器的到达需求时间,包括:The image transmission system according to claim 41, wherein the determining the arrival required time for the remaining data of the current frame to be transmitted to the display comprises:
    获取所述当前帧的剩余数据包含的宏块的数量;Acquiring the number of macroblocks contained in the remaining data of the current frame;
    确定所述宏块的输出时间以及延迟时间;以及Determining the output time and delay time of the macro block; and
    根据所述宏块的数量、输出时间和延迟时间确定所述到达需求时间。The arrival demand time is determined according to the number of the macroblocks, the output time and the delay time.
  43. 根据权利要求34、41或42所述的图传系统,其特征在于,所述接收端还获取所述显示器配置的刷新率,根据所述刷新率确定预定时间。The image transmission system according to claim 34, 41 or 42, wherein the receiving end also obtains the refresh rate of the display configuration, and determines the predetermined time according to the refresh rate.
  44. 根据权利要求43所述的图传系统,其特征在于,所述根据所述刷新率确定预定时间,包括:The image transmission system according to claim 43, wherein the determining the predetermined time according to the refresh rate comprises:
    根据所述刷新频率确定所述显示器的刷新时间,以及将所述刷新时间作为所述预定时间。The refresh time of the display is determined according to the refresh frequency, and the refresh time is used as the predetermined time.
  45. 根据权利要求31所述的图传系统,其特征在于,所述通过解码器对所述视频数据进行解码,包括:The image transmission system according to claim 31, wherein said decoding said video data by a decoder comprises:
    通过解码器以小于一帧视频数据对应的时间对所述视频数据进行解码。The video data is decoded by the decoder in a time less than one frame of video data.
  46. 根据权利要求31所述的图传系统,其特征在于,所述发送端包括可移动设备。The image transmission system according to claim 31, wherein the sending end comprises a movable device.
  47. 根据权利要求46所述的图传系统,其特征在于,所述可移动设备包括:无人机、手持云台或机器人。The image transmission system according to claim 46, wherein the movable device comprises: an unmanned aerial vehicle, a handheld pan/tilt or a robot.
  48. 根据权利要求31所述的图传系统,其特征在于,所述接收端包括遥控器、手机或平板电脑。The image transmission system according to claim 31, wherein the receiving end comprises a remote control, a mobile phone, or a tablet computer.
  49. 根据权利要求31所述的图传系统,其特征在于,所述接收端包括显示器和显示器控制器,所述显示器控制器与所述处理器电连接,用于控制所述显示器显示。The image transmission system according to claim 31, wherein the receiving end comprises a display and a display controller, and the display controller is electrically connected to the processor for controlling the display of the display.
  50. 一种计算机可读存储介质,其特征在于,所述计算机可读存储介质存储有计算机程序,所述计算机程序被处理器执行时使所述处理器实现如权利要求1至14中任一项所述的视频显示方法。A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes the implementation of The video display method described.
PCT/CN2019/104597 2019-09-05 2019-09-05 Video display method, receiving end, system and storage medium WO2021042341A1 (en)

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