WO2021212342A1

WO2021212342A1 - Image processing method, camera device, movable platform and storage medium

Info

Publication number: WO2021212342A1
Application number: PCT/CN2020/085993
Authority: WO
Inventors: 张青涛; 曹子晟; 雷蕾
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-04-21
Filing date: 2020-04-21
Publication date: 2021-10-28
Also published as: CN112956185A

Abstract

An image processing method, the steps of which comprise: obtaining a sensor image sensed by an infrared image sensor (S110); and stretching the sensor image in a first direction and a second direction according to a first compression ratio and a second compression ratio to obtain a target image, wherein the stretching ratio in the first direction is greater than that in the second direction (S120). The capabilities of a camera lens and the infrared image sensor can be fully made use of, and infrared imaging or temperature measurement in a wider range can be achieved. Also provided are a camera device, a movable platform and a storage medium.

Description

Image processing method, photographing device, movable platform and storage medium

Technical field

This specification relates to the field of infrared imaging technology, in particular to an image processing method, a photographing device, a movable platform and a storage medium.

Background technique

Infrared thermal imaging technology is developed based on the characteristics that any object above absolute zero has thermal radiation. Generally, a thermal imaging system is used to convert the infrared radiation of the object through photoelectric conversion to form a thermal image, that is, to receive the infrared rays emitted by the object and based on the intensity The feature is restored to the thermal image of the object, which can facilitate the observation of the temperature distribution on the surface of the object.

The viewing angles of the current infrared thermal imaging system in all directions are equal, and the capabilities of the system cannot be fully utilized in some scenes.

Summary of the invention

Based on this, this specification provides an image processing method, a camera, a movable platform and a storage medium, which can make full use of the capabilities of the lens and infrared image sensor to achieve infrared imaging or temperature measurement in a wider range.

In the first aspect, this specification provides an image processing method for an image processing system. The image processing system includes an infrared anamorphic lens assembly and an infrared image sensor. The infrared anamorphic lens assembly is first compressed in a first direction. The ratio is greater than the second compression ratio of the infrared anamorphic lens assembly in the second direction;

The method includes:

Acquiring a sensor image sensed by the infrared image sensor;

Stretch the sensor image in the first direction according to the first compression ratio, and stretch the sensor image in the second direction according to the second compression ratio to obtain a target image , The stretching ratio in the first direction is greater than the stretching ratio in the second direction.

In a second aspect, this specification provides a photographing device that includes an infrared anamorphic lens assembly and an infrared image sensor, and a first compression ratio of the infrared anamorphic lens assembly in a first direction is greater than that of the infrared anamorphic lens assembly The second compression ratio in the second direction;

The photographing device also includes one or more processors, which work individually or collectively, and are used to perform the following steps:

Acquiring a sensor image sensed by the infrared image sensor;

In the third aspect, this specification provides a movable platform equipped with a photographing device. The photographing device includes an infrared anamorphic lens assembly and an infrared image sensor. The first compression ratio of the infrared anamorphic lens assembly in the first direction is greater than that of all The second compression ratio of the infrared anamorphic lens assembly in the second direction;

The movable platform also includes one or more processors, which work individually or collectively, and are used to perform the following steps:

Acquiring a sensor image sensed by the infrared image sensor;

In a fourth aspect, this specification 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 method.

The embodiments of this specification provide an image processing method, a photographing device, a movable platform, and a storage medium. By adopting an infrared anamorphic lens assembly with a first compression ratio in a first direction greater than a second compression ratio in a second direction, The infrared image sensor can sense the infrared sensor image with a wider viewing angle in the first direction. By stretching the infrared sensor image, the ratio of the target image in the first direction and the second direction can be compared with the real shot. The objects are the same, so you can make full use of the capabilities of the lens and infrared image sensor to achieve a wider range of infrared imaging or temperature measurement.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the disclosure of this specification.

Description of the drawings

In order to explain the technical solutions of the embodiments of this specification 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 this specification. For those of ordinary skill in the art, without creative work, other drawings can be obtained from these drawings.

FIG. 1 is a schematic flowchart of an image processing method according to an embodiment of this specification;

Figure 2 is a schematic diagram of the principle of the imaging process of the current image processing system;

3 is a schematic diagram of the principle of the imaging process of the image processing system according to an embodiment of the present specification;

4 is a schematic structural diagram of a negative cylindrical lens in an infrared anamorphic lens assembly according to an embodiment;

FIG. 5 is a schematic diagram of image processing in an embodiment of this specification;

FIG. 6 is a schematic block diagram of a photographing device according to an embodiment of the present specification;

Fig. 7 is a schematic block diagram of a movable platform provided by an embodiment of the present specification;

Fig. 8 is a schematic diagram of a scenario where a mobile platform interacts with a terminal device in an embodiment.

Detailed ways

The technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by a person of ordinary skill in the art without creative work shall fall within the protection scope of this specification.

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.

Hereinafter, some embodiments of this specification 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.

Please refer to FIG. 1. FIG. 1 is a schematic flowchart of an image processing method according to an embodiment of the present specification. The image processing method can be applied in an image processing system for processing the captured infrared images and other processes.

Exemplarily, the image processing method can be applied to mobile platforms, such as unmanned aerial vehicles, pan-tilts, pan-tilts, manned vehicles, unmanned vehicles, unmanned boats, etc.; it can also be applied to photographing devices, such as Cameras, mobile phones, computers, thermal imaging equipment, infrared temperature measuring equipment, etc.

Furthermore, the unmanned aerial vehicle can be a rotary-wing drone, such as a four-rotor drone, a hexa-rotor drone, an eight-rotor drone, or a fixed-wing drone.

FIG. 2 is a schematic diagram of the structure of the current image processing system 10 and the principle of its imaging process.

As shown in FIG. 2, the current image processing system 10 includes an infrared lens assembly 11 and an infrared image sensor 12. Specifically, the infrared lens assembly 11 includes one or more centrally symmetric lenses, so the compression ratio of the infrared lens assembly 11 to the image in all directions is equal. The ratio of the sensor image sensed on the infrared image sensor 12 in various directions, such as the horizontal and vertical directions, is the same as the ratio of the actual photographed object in each direction.

The inventor of this application found that in some application scenarios, infrared imaging requires a wide viewing angle in one direction. According to this wide viewing angle requirement, the infrared image sensor used will also have more pixels in other directions. It will also be very wide, and the imaging caused by the increase of these pixels is unnecessary, which will bring about an increase in cost and a waste of lens capacity.

In response to this discovery, the inventor of the present application has improved the image processing system to realize infrared imaging with a wide viewing angle in one or more directions.

As shown in FIG. 3, the image processing system 20 of the present application includes an infrared anamorphic lens assembly 21 and an infrared image sensor 22. The first compression ratio of the infrared anamorphic lens assembly 21 in the first direction 101 is greater than that of the infrared anamorphic lens assembly 21 in the second direction. The second compression ratio in direction 102.

As shown in FIG. 3, the sensor image sensed by the infrared image sensor has a wider viewing angle in the first direction, and a narrower viewing angle in the second direction. The compression ratio of the infrared anamorphic lens assembly 21 to the photographed object in the first direction 101 is greater than the compression ratio in the second direction 102.

Exemplarily, the infrared image sensor has 1280 pixels in the first direction 101 and 720 pixels in the second direction; the viewing angle of the sensor image in the first direction 101 is 90 degrees to 140 degrees, and in the second direction 102 The viewing angle is 20 degrees to 80 degrees. For example, the viewing angle of the sensor image in the first direction 101 is 135 degrees, and the viewing angle in the second direction 102 is 30 degrees.

In some embodiments, the infrared anamorphic lens assembly 21 includes an infrared anamorphic lens, and the first compression ratio of the infrared anamorphic lens in the first direction 101 is greater than that of the infrared anamorphic lens in the second direction 102 The second compression ratio.

Specifically, the radius of curvature of the infrared anamorphic lens in the first direction 101 and the radius of curvature in the second direction 102 are not equal to achieve different compression ratios. Exemplarily, the included angle between the first direction 101 and the second direction 102 is greater than 30 degrees and less than 120 degrees.

Exemplarily, the infrared anamorphic lens includes one or more infrared cylindrical lenses, and the infrared cylindrical lens includes, for example, an infrared positive cylindrical lens and/or an infrared negative cylindrical lens. When the infrared cylindrical lens includes an infrared positive cylindrical lens, the infrared anamorphic lens further includes a negative cylindrical lens to increase the compression ratio of the infrared anamorphic lens in the one direction.

Specifically, the infrared cylindrical lens includes a coated cylindrical lens and/or a cylindrical lens made of colored glass, which can transmit light in the infrared band and block visible light.

In some embodiments, the infrared anamorphic lens assembly 21 includes an infrared lens and an anamorphic lens, and the first compression ratio of the anamorphic lens in the first direction 101 is greater than that of the anamorphic lens in the second direction 102. The second compression ratio.

Exemplarily, the infrared lens includes an infrared filter, which can transmit light in the infrared band and block visible light. Infrared lenses include coated lenses and/or lenses made of colored materials, such as glass or plastic, which can transmit light in the infrared band and block visible light.

Specifically, the radius of curvature of the anamorphic lens in the first direction 101 and the radius of curvature in the second direction 102 are not equal to achieve different compression ratios. Exemplarily, the included angle between the first direction 101 and the second direction 102 is greater than 30 degrees and less than 120 degrees.

Exemplarily, the anamorphic lens includes one or more cylindrical lenses, and the cylindrical lens includes, for example, a positive cylindrical lens and/or a negative cylindrical lens. When the cylindrical lens includes a positive cylindrical lens, the anamorphic lens also includes a negative cylindrical lens to increase the compression ratio of the anamorphic lens in one direction.

FIG. 4 is a schematic diagram of the structure of the negative cylindrical lens 201. It can be understood that the first compression ratio of the negative cylindrical lens 201 in the first direction 101 is greater than the second compression ratio of the infrared anamorphic lens in the second direction 102.

Exemplarily, the infrared anamorphic lens assembly may also include one or more centrally symmetrical lenses, and the compression ratio of this kind of lens to the image in all directions is equal; by combining a centrally symmetrical lens and an infrared anamorphic lens or an anamorphic lens , It is possible to compress the photographed scene into the lens in various directions, and the first compression ratio in the first direction is greater than the second compression ratio in the second direction, so that the infrared image sensor can sense the sensor image. The viewing angle of the sensor image in the first direction is wider, and the viewing angle in the second direction is narrower.

In some embodiments, the first direction and the second direction are perpendicular.

Exemplarily, when the infrared anamorphic lens assembly includes a cylindrical lens or an infrared cylindrical lens, the first direction of the infrared anamorphic lens assembly is parallel to the optical axis of the cylindrical lens or the infrared cylindrical lens with a compression ratio greater than 1, and the infrared anamorphic lens The second direction of the component is parallel to the optical axis of the cylindrical lens or the infrared cylindrical lens whose compression ratio is equal to 1. It can be understood that the first compression ratio is greater than one.

Exemplarily, when the plurality of cylindrical lenses and/or infrared cylindrical lenses of the infrared anamorphic lens assembly are arranged in parallel, for example, when the optical axes of the two cylindrical lenses with a compression ratio greater than 1, the first direction of the infrared anamorphic lens assembly Parallel to the optical axis with the cylindrical lens compression ratio greater than 1, the second direction of the infrared anamorphic lens assembly is parallel to the optical axis with the cylindrical lens compression ratio equal to 1. It can be understood that the first compression ratio is greater than one.

In some embodiments, when a plurality of cylindrical lenses and/or infrared cylindrical lenses of the infrared anamorphic lens assembly, the optical axes of different cylindrical lenses and/or infrared cylindrical lenses with a compression ratio greater than 1, are arranged crosswise, that is, When not parallel, the first direction of the infrared anamorphic lens assembly is parallel to the optical axis of one of the cylindrical lens and/or the infrared cylindrical lens with a compression ratio greater than 1, and the second direction is parallel to the other cylindrical lens and/or infrared cylindrical lens The optical axis of the lens whose compression ratio is greater than 1 is parallel. Therefore, the angle between the first direction and the second direction can be greater than 30 degrees and less than 120 degrees. It can be understood that the first compression ratio is greater than one.

Exemplarily, as shown in FIG. 3, the first direction is a horizontal direction, and the second direction is a vertical direction.

Specifically, in some usage scenarios, a wider viewing angle in the horizontal direction is required to fully obtain information about the surrounding environment. For example, when the image processing system 20 is applied to a movable platform, such as an unmanned aerial vehicle, a handheld gimbal, a gimbal, a manned vehicle, an unmanned vehicle, etc., there is usually a requirement for a wider viewing angle in the front horizontal direction. The requirements for viewing angles at higher or lower places are lower. For example, when the image processing system 20 is applied to power inspection, a wider viewing angle is required for the extension direction of the transmission line.

Through the infrared anamorphic lens assembly 21, it is possible to compress a scene with a wider viewing angle in one direction into the lens, while maintaining a narrow viewing angle in the other direction; thus, the infrared image sensor 22 of the image processing system 20 can sense the viewing angle in one direction. A wider sensor image with a narrower viewing angle in the other direction, as shown in Figure 3. The sensor image includes a wider range of infrared image information in the first direction, while still maintaining high accuracy in the second direction.

Specifically, please refer to FIG. 1 and FIG. 5, the image processing method includes steps S110 to S120.

Step S110: Obtain a sensor image sensed by the infrared image sensor.

As mentioned above, the viewing angle of the sensor image in the first direction is larger than the viewing angle of the sensor image in the second direction.

Exemplarily, the sensor image sensed by the infrared image sensor may be a RAW image directly output from the infrared image sensor.

Step S120, stretching the sensor image in the first direction according to the first compression ratio, and stretching the sensor image in the second direction according to the second compression ratio, The target image is obtained, and the stretching ratio in the first direction is greater than the stretching ratio in the second direction.

As shown in FIG. 5, by stretching the sensor image in the first direction, the illustrated target image can be obtained. The proportion of the target image in various directions, such as the horizontal and vertical directions, can be the same as the proportion of the real object being photographed in various directions. Therefore, the target image can more truly reflect the infrared information of the scene being photographed.

Exemplarily, the sensor image can also be stretched in the second direction, but the stretch ratio in the second direction is smaller than the stretch ratio in the first direction to ensure that the target image is in the first direction and The ratio in the second direction is consistent with the real subject.

Specifically, the sensor image may be stretched in a larger proportion in the first direction through step S120, but not stretched in the second direction or stretched in a smaller proportion.

In some embodiments, the method is applied to a scene where the requirement for the viewing angle range in the first direction is greater than the requirement for the viewing angle range in the second direction. The target image obtained by stretching the sensor image has a longer frame in the first direction, which can reflect a wider viewing angle.

Exemplarily, the sensor image may be stretched in the first direction and the second direction through pixel interpolation. Stretching the sensor image through pixel interpolation can get a more detailed target image and increase the infrared information contained in the target image.

Exemplarily, the sensor image may be stretched through methods such as cubic interpolation, filter interpolation, Gaussian interpolation, bilinear interpolation, and the like.

In some embodiments, the ratio of the first compression ratio to the stretching ratio in the first direction is equal to the ratio of the second compression ratio to the stretching ratio in the second direction. To ensure that the ratio of the target image in the first direction and the second direction is consistent with the real object being photographed.

Exemplarily, if the first compression ratio is triple compression, and the second compression ratio is double compression, if the ratio of length to width of the sensor image is 1:1, the viewing angle of the sensor image in the first direction is the second Three times the viewing angle in the direction. When the sensor image is stretched in S120, if the stretch ratio in the second direction is one-fold stretch, the stretch ratio in the first direction is three-fold stretch.

It can be understood that the first compression ratio may be equal to the stretching ratio in the first direction. At this time, the ratio of the target image in the first direction and the second direction is completely consistent with the real object being photographed.

In some embodiments, the method further includes: preprocessing the sensor image to obtain a preprocessed sensor image.

Exemplarily, the data of the sensor image can be rectified and/or defects can be removed through preprocessing, for example, a cleaner and smoother sensor image can be obtained, and the influence of noise can be reduced.

Exemplarily, the preprocessing includes at least one of the following: response rate correction processing, offset correction processing, dead pixel removal processing, and noise removal processing. Of course, other data processing methods can also be used for preprocessing.

Exemplarily, step S120 stretches the sensor image in the first direction according to the first compression ratio, and stretches the sensor image in the second direction according to the second compression ratio. Stretching to obtain the target image includes: stretching the preprocessed sensor image in the first direction according to the first compression ratio, and performing the preprocessing on the preprocessed sensor image according to the second compression ratio. Stretching is performed in the second direction to obtain a target image. The target image obtained by stretching the preprocessed sensor image can more accurately reflect the infrared information of the object being photographed.

In some embodiments, the method further includes: performing at least one of the following processing on the target image: global histogram stretching, local histogram stretching, detail enhancement, and pseudo-color mapping.

Exemplarily, performing histogram statistics and probability density function accumulation on an infrared imaging target image, completing the histogram stretching of the target image under a given threshold, and generating a matrix image can improve the overall contrast of the target image.

Exemplarily, a gradient filter operator may be used to filter the target image, extract detailed information of the target image, and perform statistical stretching of the histogram to generate a detailed map.

Exemplarily, gamma transformation may be performed on the base image and the detail image, and the base image and the detail image may be summed in a weighted manner to generate a target image with enhanced detail.

Exemplarily, pseudo-color processing is performed on the target image to obtain a pseudo-color image. Pseudo-color images can improve the ability of the image's temperature representation.

In some embodiments, the method further includes: outputting a pseudo-color image for display according to the target image.

Exemplarily, the image processing system 20 may be equipped with a display device, and a pseudo-color image may be displayed through the display device. Or the image processing system 20 may also transmit the infrared image after the pseudo-color mapping to other devices, such as a terminal, for display.

Pseudo-color images can improve the ability of image temperature representation. For example, engineers can quickly and accurately determine the potential problems of the photographed objects, such as power transmission lines, by observing the temperature difference, and take timely measures to reduce the photographed objects. Damage and loss caused by failure. Because the target image has a wider angle of view in one direction, the object can be observed more comprehensively; and the target image has higher accuracy in the other direction, and the pseudo-color image can retain enough temperature details.

In some embodiments, the method further includes: determining temperature information of an object in the target image according to the target image. The sensor image sensed by the infrared image sensor contains the intensity of the infrared rays radiated by the photographed scene at a corresponding temperature, and the temperature information of the photographed scene can be determined according to the target image obtained by stretching the sensor image. Optionally, the temperature information in the image can also be transmitted to other devices for display.

Exemplarily, the temperature information of the object may be determined according to the temperature corresponding to several pixels in the target image. For example, the temperature of a plurality of pixels is determined in the target image, and the average value obtained can be determined as the temperature information of the object.

Exemplarily, the temperature information of the object may include the temperature distribution of the object, for example, the temperature of a certain area is significantly higher than that of other areas.

Exemplarily, the temperature information of the object may also include the change trend of the temperature of the object over time.

In some embodiments, the method further includes: executing a preset task according to the temperature information of the object.

Exemplarily, an alarm signal can be issued when the temperature of the object is too high, the temperature is uneven, or the temperature continues to rise, for example, the control indicator light is on, the speaker makes a sound, and so on.

Exemplarily, the first coordinates of the highest temperature point in the target image can be determined, and the rotation angle of the pan/tilt equipped with the camera can be determined according to the first coordinates of the highest temperature point and the coordinates of the target position in the target image, according to The rotation angle controls the rotation of the pan-tilt to adjust the highest temperature point in the target image at the current moment to be located at the target position. Therefore, it is possible to automatically track the highest temperature point and shoot, no matter how the highest temperature point changes, the highest temperature point will be at the target position in the target image, which is convenient for the user to observe the highest temperature point.

Since the target image has a wider viewing angle in one direction, a wider range of temperature can be observed, thereby improving the accuracy of temperature measurement and the reliability of performing preset tasks.

The image processing system and image processing method provided by the embodiments of this specification adopt an infrared anamorphic lens assembly whose first compression ratio in the first direction is greater than the second compression ratio in the second direction, so that the infrared image sensor can sense in the first direction. An infrared sensor image with a wider viewing angle in one direction. By stretching the infrared sensor image, the ratio of the target image in the first direction and the second direction can be consistent with the real object, so it can be fully utilized The ability of the lens and infrared image sensor to realize infrared imaging or temperature measurement in a wider range.

Please refer to FIG. 6 in conjunction with the foregoing embodiment. FIG. 6 is a schematic block diagram of a photographing device 600 according to an embodiment of the present specification.

As shown in FIG. 6, the photographing device 600 includes an infrared anamorphic lens assembly 610 and an infrared image sensor 620. The first compression ratio of the infrared anamorphic lens assembly 610 in the first direction is greater than the first compression ratio of the infrared anamorphic lens assembly 610 in the second direction. 2. Compression ratio.

The photographing device 600 further includes one or more processors 630, and the one or more processors 630 can work individually or together to execute the steps of the image processing method of the foregoing embodiment.

Exemplarily, the processor 630 is used for:

Acquiring a sensor image sensed by the infrared image sensor;

Exemplarily, the photographing device 600 is applied to a scene where the requirement for the viewing angle range in the first direction is greater than the requirement for the viewing angle range in the second direction.

Exemplarily, the first compression ratio is greater than one.

Exemplarily, the included angle between the first direction and the second direction is greater than 30 degrees and less than 120 degrees.

Exemplarily, the first direction and the second direction are perpendicular.

Exemplarily, the first direction is a horizontal direction, and the second direction is a vertical direction.

Exemplarily, the viewing angle of the sensor image in the first direction is greater than the viewing angle of the sensor image in the second direction.

Exemplarily, the sensor image is stretched in the first direction and the second direction through pixel interpolation.

Exemplarily, the ratio of the first compression ratio to the stretching ratio in the first direction is equal to the ratio of the second compression ratio to the stretching ratio in the second direction.

Exemplarily, the first compression ratio is equal to the stretching ratio in the first direction.

Exemplarily, the processor 630 is further configured to perform the following steps: preprocessing the sensor image to obtain a preprocessed sensor image.

The stretching of the sensor image in the first direction according to the first compression ratio, and the stretching of the sensor image in the second direction according to the second compression ratio, to obtain Target image, including:

Stretch the preprocessed sensor image in the first direction according to the first compression ratio, and stretch the preprocessed sensor image in the second direction according to the second compression ratio , Get the target image.

Exemplarily, the preprocessing includes at least one of the following:

Response rate correction processing, offset correction processing, dead pixel removal processing, noise removal processing.

Exemplarily, the infrared anamorphic lens assembly includes an infrared anamorphic lens, and a first compression ratio of the infrared anamorphic lens in the first direction is greater than a second compression ratio of the infrared anamorphic lens in the second direction .

Exemplarily, the infrared anamorphic lens assembly includes an infrared lens and an anamorphic lens, and a first compression ratio of the anamorphic lens in the first direction is greater than a second compression ratio of the anamorphic lens in the second direction .

Exemplarily, the processor 630 is further configured to execute the following steps:

According to the target image, a pseudo-color image is output for display.

Perform at least one of the following processing on the target image:

Global histogram stretching, local histogram stretching, detail enhancement, false color mapping.

The temperature information of the object in the target image is determined according to the target image.

Perform a preset task according to the temperature information of the object.

Exemplarily, the photographing device 600 includes at least one of the following: a camera, a mobile phone, a computer, a thermal imaging device, an infrared temperature measuring device, and the like.

The specific principles and implementation of the photographing device provided in the embodiment of this specification are similar to the image processing method of the foregoing embodiment, and will not be repeated here.

Please refer to FIG. 7, which is a schematic block diagram of a movable platform 700 according to an embodiment of the present specification. The movable platform 700 can be equipped with a camera 800.

It can be understood that the camera 800 and the movable platform 700 are integrally provided, or the camera 800 can be detachably connected to the movable platform 700.

Specifically, the photographing device 800 includes an infrared anamorphic lens assembly 810 and an infrared image sensor 820. A first compression ratio of the infrared anamorphic lens assembly 810 in a first direction is greater than a second compression ratio of the infrared anamorphic lens assembly 810 in a second direction.

As shown in FIG. 7, the movable platform 700 further includes one or more processors 701, and the one or more processors 701 can work individually or collectively to execute the steps of the image processing method of the foregoing embodiment.

Exemplarily, when the photographing device 800 and the movable platform 700 are integrated, the processor 701 may be provided on the photographing device 800 only, the processor 701 may be provided on the movable platform 700 only, or the photographing device 800 and the movable platform 700 may be provided with the processor 701. A processor 701 is provided on the mobile platform 700.

Exemplarily, the processor 701 is used to:

Acquiring a sensor image sensed by the infrared image sensor;

Exemplarily, the movable platform 700 is applied to a scene where the requirement for the viewing angle range in the first direction is greater than the requirement for the viewing angle range in the second direction.

Exemplarily, the first compression ratio is greater than one.

Exemplarily, the first direction and the second direction are perpendicular.

Exemplarily, the processor 701 is further configured to perform the following steps: preprocessing the sensor image to obtain a preprocessed sensor image.

Exemplarily, the preprocessing includes at least one of the following:

Exemplarily, the processor 701 is further configured to execute the following steps:

According to the target image, a pseudo-color image is output for display.

Perform at least one of the following processing on the target image:

Perform a preset task according to the temperature information of the object.

Exemplarily, the movable platform 700 includes at least one of the following: a cloud platform, an unmanned aerial vehicle, an unmanned vehicle, or an unmanned boat.

The specific principles and implementation of the movable platform provided in the embodiments of this specification are similar to the image processing methods of the foregoing embodiments, and will not be repeated here.

Exemplarily, as shown in FIG. 8, the movable platform 700 obtains the sensor image sensed by the infrared image sensor 820 in real time through the mounted camera device 800, and processes the sensor image according to the image processing method; then, the processed image is, for example, The pseudo-color output image is sent to the terminal device 900 that is communicatively connected with the movable platform 700. The terminal device 900 may be, for example, a mobile phone, a computer, FPV (First Person View, First Person View) glasses, and the like. The display device 910 included in the terminal device 900 can display the image received from the movable platform 700 for the user to view.

The photographing device and the movable platform provided in the embodiments of this specification adopt an infrared anamorphic lens assembly with a first compression ratio in the first direction greater than the second compression ratio in the second direction, so that the infrared image sensor can sense in the first direction. An infrared sensor image with a wider viewing angle in the direction. By stretching the infrared sensor image, the ratio of the target image in the first direction and the second direction can be consistent with the real object, so the lens can be fully utilized , The ability of infrared image sensor to realize infrared imaging or temperature measurement in a wider range.

The embodiments of this specification also provide a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the image processing method of the foregoing embodiment is implemented.

As far as this specification is concerned, the computer-readable medium can be any device that can contain, store, communicate, propagate, or transmit a program for use by the instruction execution system, device, or device or in combination with these instruction execution systems, devices, or devices. More specific examples (non-exhaustive list) of computer readable media include the following: electrical connections (electronic devices) with one or more wiring, portable computer disk cases (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable and editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program can be printed, because it can be used, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or other suitable media if necessary. The program is processed in a manner to obtain the program electronically, and then stored in the computer memory.

For the device embodiment, since it basically corresponds to the method embodiment, the relevant part can refer to the part of the description of the method embodiment.

The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments. Those of ordinary skill in the art can understand and implement it without creative work.

It should be understood that the terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the specification.

It should also be understood that the term "and/or" used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

The above are only specific implementations of this specification, but the protection scope of this specification is not limited to this. Any person skilled in the art can easily think of various equivalents within the technical scope disclosed in this specification. Modifications or replacements, these modifications or replacements shall be covered within the protection scope of this manual. Therefore, the protection scope of this specification should be subject to the protection scope of the claims.

Claims

An image processing method, characterized in that it is used in an image processing system. The image processing system includes an infrared anamorphic lens assembly and an infrared image sensor. The infrared anamorphic lens assembly has a first compression ratio in a first direction greater than that of the The second compression ratio of the infrared anamorphic lens assembly in the second direction;

The method includes:

Acquiring a sensor image sensed by the infrared image sensor;

Stretch the sensor image in the first direction according to the first compression ratio, and stretch the sensor image in the second direction according to the second compression ratio to obtain a target image , The stretching ratio in the first direction is greater than the stretching ratio in the second direction.
The method according to claim 1, wherein the method is applied to a scene in which a requirement for a viewing angle range in the first direction is greater than a requirement for a viewing angle range in the second direction.
The method according to claim 1 or 2, wherein the first compression ratio is greater than one.
The method according to any one of claims 1 to 3, wherein the angle between the first direction and the second direction is greater than 30 degrees and less than 120 degrees.
The method of claim 4, wherein the first direction and the second direction are perpendicular.
The method according to claim 5, wherein the first direction is a horizontal direction, and the second direction is a vertical direction.
The method according to claim 1, wherein the viewing angle of the sensor image in the first direction is greater than the viewing angle of the sensor image in the second direction.
The method of claim 1, wherein the sensor image is stretched in the first direction and the second direction through pixel interpolation.
The method according to any one of claims 1 to 8, wherein the ratio of the first compression ratio to the stretching ratio in the first direction is equal to the second compression ratio and the second direction The ratio of the upper stretch ratio.
The method according to claim 9, wherein the first compression ratio is equal to the stretching ratio in the first direction.
The method according to any one of claims 1 to 8, wherein the method further comprises: preprocessing the sensor image to obtain a preprocessed sensor image;

The stretching of the sensor image in the first direction according to the first compression ratio, and the stretching of the sensor image in the second direction according to the second compression ratio, to obtain Target image, including:

Stretch the preprocessed sensor image in the first direction according to the first compression ratio, and stretch the preprocessed sensor image in the second direction according to the second compression ratio , Get the target image.
The method according to claim 11, wherein the preprocessing comprises at least one of the following:

Response rate correction processing, offset correction processing, dead pixel removal processing, noise removal processing.
The method according to any one of claims 1 to 12, wherein the infrared anamorphic lens assembly comprises an infrared anamorphic lens, and a first compression ratio of the infrared anamorphic lens in the first direction is greater than that of the infrared anamorphic lens. The second compression ratio of the infrared anamorphic lens in the second direction.
The method according to any one of claims 1 to 12, wherein the infrared anamorphic lens assembly comprises an infrared lens and an anamorphic lens, and a first compression ratio of the anamorphic lens in the first direction is greater than that of the anamorphic lens. The second compression ratio of the anamorphic lens in the second direction.
The method according to any one of claims 1 to 14, wherein the method further comprises:

According to the target image, a pseudo-color image is output for display.
The method according to any one of claims 1 to 14, wherein the method further comprises:

Perform at least one of the following processing on the target image:

Global histogram stretching, local histogram stretching, detail enhancement, false color mapping.
The method according to any one of claims 1 to 14, wherein the method further comprises:

The temperature information of the object in the target image is determined according to the target image.
The method according to claim 17, wherein the method further comprises:

Perform a preset task according to the temperature information of the object.
A photographing device, characterized in that the photographing device comprises an infrared anamorphic lens assembly and an infrared image sensor, and a first compression ratio of the infrared anamorphic lens assembly in a first direction is greater than that of the infrared anamorphic lens assembly in a second direction The second compression ratio on

The photographing device also includes one or more processors, which work individually or collectively, and are used to perform the following steps:

Acquiring a sensor image sensed by the infrared image sensor;

Stretch the sensor image in the first direction according to the first compression ratio, and stretch the sensor image in the second direction according to the second compression ratio to obtain a target image , The stretching ratio in the first direction is greater than the stretching ratio in the second direction.
22. The photographing device according to claim 19, wherein the photographing device is applied to a scene where a requirement for a viewing angle range in the first direction is greater than a requirement for a viewing angle range in the second direction.
The photographing device according to claim 19 or 20, wherein the first compression ratio is greater than one.
The photographing device according to any one of claims 19 to 21, wherein the angle between the first direction and the second direction is greater than 30 degrees and less than 120 degrees.
The photographing device according to claim 22, wherein the first direction and the second direction are perpendicular.
The photographing device according to claim 23, wherein the first direction is a horizontal direction, and the second direction is a vertical direction.
The photographing device according to claim 19, wherein the viewing angle of the sensor image in the first direction is greater than the viewing angle of the sensor image in the second direction.
The photographing device according to claim 19, wherein the sensor image is stretched in the first direction and the second direction through pixel interpolation.
The photographing device according to any one of claims 19 to 26, wherein the ratio of the first compression ratio to the stretching ratio in the first direction is equal to the second compression ratio and the second compression ratio. The ratio of the stretch ratio in the direction.
The photographing device according to claim 27, wherein the first compression ratio is equal to the stretching ratio in the first direction.
The photographing device according to any one of claims 19 to 26, wherein the processor is further configured to perform the following steps: preprocessing the sensor image to obtain a preprocessed sensor image;

The stretching of the sensor image in the first direction according to the first compression ratio, and the stretching of the sensor image in the second direction according to the second compression ratio, to obtain Target image, including:

Stretch the preprocessed sensor image in the first direction according to the first compression ratio, and stretch the preprocessed sensor image in the second direction according to the second compression ratio , Get the target image.
The photographing device according to claim 29, wherein the preprocessing comprises at least one of the following:

Response rate correction processing, offset correction processing, dead pixel removal processing, noise removal processing.
The photographing device according to any one of claims 19 to 30, wherein the infrared anamorphic lens assembly comprises an infrared anamorphic lens, and the first compression ratio of the infrared anamorphic lens in the first direction is greater than that of the infrared anamorphic lens. The second compression ratio of the infrared anamorphic lens in the second direction.
The photographing device according to any one of claims 19 to 30, wherein the infrared anamorphic lens assembly comprises an infrared lens and an anamorphic lens, and a first compression ratio of the anamorphic lens in the first direction is greater than The second compression ratio of the anamorphic lens in the second direction.
The photographing device according to any one of claims 19 to 32, wherein the processor is further configured to execute the following steps:

According to the target image, a pseudo-color image is output for display.
The photographing device according to any one of claims 19 to 32, wherein the processor is further configured to execute the following steps:

Perform at least one of the following processing on the target image:

Global histogram stretching, local histogram stretching, detail enhancement, false color mapping.
The photographing device according to any one of claims 19 to 32, wherein the processor is further configured to execute the following steps:

The temperature information of the object in the target image is determined according to the target image.
The photographing device according to claim 35, wherein the processor is further configured to execute the following steps:

Perform a preset task according to the temperature information of the object.
A movable platform, characterized in that it is equipped with a photographing device, the photographing device includes an infrared anamorphic lens assembly and an infrared image sensor, and the first compression ratio of the infrared anamorphic lens assembly in a first direction is greater than that of the infrared anamorphic lens The second compression ratio of the component in the second direction;

The movable platform also includes one or more processors, which work individually or collectively, and are used to perform the following steps:

Acquiring a sensor image sensed by the infrared image sensor;

Stretch the sensor image in the first direction according to the first compression ratio, and stretch the sensor image in the second direction according to the second compression ratio to obtain a target image , The stretching ratio in the first direction is greater than the stretching ratio in the second direction.
The movable platform according to claim 37, wherein the movable platform is applied to a scene in which a requirement for a viewing angle range in the first direction is greater than a requirement for a viewing angle range in the second direction.
The movable platform according to claim 37 or 38, wherein the first compression ratio is greater than one.
The movable platform according to any one of claims 37 to 39, wherein the angle between the first direction and the second direction is greater than 30 degrees and less than 120 degrees.
The movable platform of claim 40, wherein the first direction and the second direction are perpendicular.
The movable platform according to claim 41, wherein the first direction is a horizontal direction, and the second direction is a vertical direction.
The movable platform of claim 37, wherein the viewing angle of the sensor image in the first direction is larger than the viewing angle of the sensor image in the second direction.
The movable platform of claim 37, wherein the sensor image is stretched in the first direction and the second direction through pixel interpolation.
The movable platform according to any one of claims 37 to 44, wherein the ratio of the first compression ratio to the stretching ratio in the first direction is equal to the second compression ratio and the first compression ratio. The ratio of the stretching ratio in the two directions.
The movable platform according to claim 45, wherein the first compression ratio is equal to the stretching ratio in the first direction.
The movable platform according to any one of claims 37 to 44, wherein the processor is further configured to perform the following steps: preprocessing the sensor image to obtain a preprocessed sensor image;

The stretching of the sensor image in the first direction according to the first compression ratio, and the stretching of the sensor image in the second direction according to the second compression ratio, to obtain Target image, including:

Stretch the preprocessed sensor image in the first direction according to the first compression ratio, and stretch the preprocessed sensor image in the second direction according to the second compression ratio , Get the target image.
The movable platform according to claim 47, wherein the preprocessing comprises at least one of the following:

Response rate correction processing, offset correction processing, dead pixel removal processing, noise removal processing.
The movable platform according to any one of claims 37 to 48, wherein the infrared anamorphic lens assembly comprises an infrared anamorphic lens, and a first compression ratio of the infrared anamorphic lens in the first direction is greater than The second compression ratio of the infrared anamorphic lens in the second direction.
The movable platform according to any one of claims 37 to 48, wherein the infrared anamorphic lens assembly comprises an infrared lens and an anamorphic lens, and the anamorphic lens has a first compression ratio in the first direction Greater than the second compression ratio of the anamorphic lens in the second direction.
The movable platform according to any one of claims 37 to 50, wherein the processor is further configured to execute the following steps:

According to the target image, a pseudo-color image is output for display.
The movable platform according to any one of claims 37 to 50, wherein the processor is further configured to execute the following steps:

Perform at least one of the following processing on the target image:

Global histogram stretching, local histogram stretching, detail enhancement, false color mapping.
The movable platform according to any one of claims 37 to 50, wherein the processor is further configured to execute the following steps:

The temperature information of the object in the target image is determined according to the target image.
The movable platform according to claim 53, wherein the processor is further configured to execute the following steps:

Perform a preset task according to the temperature information of the object.
The movable platform according to any one of claims 37 to 50, wherein the movable platform comprises at least one of the following: a cloud platform, an unmanned aerial vehicle, an unmanned vehicle, or an unmanned boat.
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 as described in any one of claims 1-18. The image processing method described.