WO2023029567A1 - 一种传感器采集的多种数据的可视化方法及其系统 - Google Patents

一种传感器采集的多种数据的可视化方法及其系统 Download PDF

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WO2023029567A1
WO2023029567A1 PCT/CN2022/092130 CN2022092130W WO2023029567A1 WO 2023029567 A1 WO2023029567 A1 WO 2023029567A1 CN 2022092130 W CN2022092130 W CN 2022092130W WO 2023029567 A1 WO2023029567 A1 WO 2023029567A1
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metadata
code stream
full
motion video
image
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PCT/CN2022/092130
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English (en)
French (fr)
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袁睿
雷明
刘夯
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成都纵横自动化技术股份有限公司
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Priority to KR1020247006129A priority Critical patent/KR20240051136A/ko
Priority to EP22862710.5A priority patent/EP4398586A1/en
Publication of WO2023029567A1 publication Critical patent/WO2023029567A1/zh

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    • H04N21/431—Generation of visual interfaces for content selection or interaction; Content or additional data rendering
    • H04N21/4312—Generation of visual interfaces for content selection or interaction; Content or additional data rendering involving specific graphical features, e.g. screen layout, special fonts or colors, blinking icons, highlights or animations
    • H04N21/4316—Generation of visual interfaces for content selection or interaction; Content or additional data rendering involving specific graphical features, e.g. screen layout, special fonts or colors, blinking icons, highlights or animations for displaying supplemental content in a region of the screen, e.g. an advertisement in a separate window
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    • G01D21/00—Measuring or testing not otherwise provided for
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Definitions

  • the invention relates to the technical field of wireless communication, in particular to a visualization method and system for various data collected by sensors.
  • the back-end data processing unit can realize more application scenarios based on the data collected by sensors. But at the same time, the back-end data processing unit has increasingly high requirements for sensor data transmission, such as: the need to ensure data reliability during data transmission, the need to ensure the diversity of data types and synchronization between different types of data during data transmission sex etc.
  • the present invention provides a visualization method and system for various data collected by sensors, which solves the problem of less visualization content and effective information in the traditional visualization methods based on data collected by sensors.
  • the technical solution of the present invention is to adopt a visualization method of various data collected by a sensor, including: obtaining image compression code stream and metadata; encapsulating the metadata into the image frame by frame in a time-synchronized manner Compress the preset field of the code stream, and generate a full-motion video code stream containing the metadata; transmit the full-motion video code stream to the receiving end through a communication link; analyze the full-motion video code stream and Render to full motion video including metadata.
  • parsing and rendering the full-motion video code stream into a full-motion video containing metadata includes: parsing the full-motion video code stream frame by frame into image frames and the time-synchronized metadata, Wherein, when each frame of the image frame is analyzed, by analyzing the element information contained in the metadata that is time-synchronized with the image frame, after the image frame is rendered, the element information is superimposed on the and presenting in the image on the display interface; repeating the above-mentioned steps of generating the image including element information to generate the full-motion video composed of the image.
  • parsing the full-motion video stream frame by frame into image frames and the time-synchronized metadata includes: parsing the full-motion video stream into multiple frames containing the An image frame of metadata; extracting the metadata contained in the image frame based on the frame start field, and obtaining the full-motion video stream composed of the image frame or the compressed image without the metadata stream.
  • the method for visualizing various data further includes: when the sending end transmits the full-motion video code stream to the receiving end through a communication link, if the communication link includes at least one transmission node , the transmission node is capable of parsing the full-motion video stream into image frames and the time-synchronized metadata; after modifying the metadata, the modified metadata is time-synchronized Encapsulate into the preset field of the image frame, and generate a full-motion video code stream containing the modified metadata; continue to transmit the full-motion video code stream containing the modified metadata through a communication link to the receiving end.
  • superimposing the element information on the image and presenting it on a display interface includes: directly rendering the element information by parsing the element information contained in the metadata that is time-synchronized with the image frame loading to the display interface; or when parsing out the element information, calculate part of the element information, render and load the processed element information to the display interface.
  • acquiring the image compression code stream and metadata includes: outputting, based on the same reference clock circuit, a first control signal for collecting the image compression code stream and a first control signal for collecting the metadata with the same reference clock. second control signal; acquiring the image compression code stream and the metadata including absolute time based on the first control signal and the second control signal.
  • the metadata includes at least GNSS positioning data.
  • the preset field is an SEI field.
  • the present invention provides a visualization system for various data collected by a sensor, including: a sending end, configured to, after obtaining image compression code stream and metadata, encapsulate the metadata frame by frame in a time-synchronized manner In the preset field of the image compression code stream, and after generating the full dynamic video code stream containing the metadata, the full dynamic video code stream is transmitted to the receiving end through the communication link; the receiving end is used to The full-motion video code stream is parsed and rendered into a full-motion video containing metadata.
  • the transmission node can parse the full-motion video stream into image frames and the metadata of time synchronization thereof; for the metadata After the modification, the modified metadata is encapsulated into the preset field of the image frame in a time-synchronized manner, and a full-motion video stream containing the modified metadata is generated; the modified The full-motion video code stream of the metadata continues to be transmitted to the receiving end through the communication link.
  • the sending end includes: a data collection unit, configured to collect the metadata and the image compression code stream; and a data processing unit, configured to generate a full-motion video code stream including the metadata.
  • the primary improvement of the present invention is to provide a visualization method for various data collected by the sensor, by encapsulating the metadata frame by frame into the preset field of the image compression code stream in a time-synchronized manner, and generating the
  • the full-motion video stream of metadata enables the receiving end to parse the full-motion video stream into image frames and their time-synchronized element information, and render the image frames and their time-synchronized element information on the display interface in real time , so as to realize the diversity of visual content, and ensure the validity of element information due to the synchronization of image frames and metadata.
  • Fig. 1 is the simplified flow chart of the visualization method of the various data collected by the sensor of the present invention
  • Fig. 2 is a simplified unit connection diagram of the visualization system of various data collected by sensors of the present invention.
  • a visualization method for various data collected by a sensor including: obtaining image compression code stream and metadata; encapsulating the metadata into the preset image compression code stream frame by frame in a time-synchronized manner field, and generate a full-motion video code stream containing the metadata; transmit the full-motion video code stream to the receiving end through a communication link; parse and render the full-motion video code stream into a file containing the metadata Full motion video.
  • the preset field can be: when the communication transmission protocol used is H264 or H265, the preset field can be SEI (Supplemental Enhancement Information, supplementary enhancement information) field; the communication transmission protocol used is TS (MPEG2 (Moving Picture Experts Group, moving image expert group) Transport stream, transport stream) encapsulation protocol, the default field is a custom field; the type of metadata information changes according to the type of device equipped with sensors, for example: when the device is a ship, Metadata can include device status data, and device status data includes at least GNSS (Global Navigation Satellite System, Global Navigation Satellite System) data, wind direction data, and heading data; when the device is an aircraft, the metadata includes at least the aircraft POS (Position and Orientation System, positioning and orientation system) data, aircraft state data, load sensor type data, pod POS data, pod state data and image processing board data, etc.
  • GNSS Global Navigation Satellite System
  • GPS Global Navigation Satellite System
  • the metadata includes at least the aircraft POS (Position and Orientation System,
  • the metadata information can include positioning, viewing angle Direction, pitch angle, field of view, tower height, channel, transmission bandwidth, device ID (Identity document, identification number) and other information.
  • the POS data of the carrier aircraft at least includes the data of the yaw angle of the carrier aircraft, the data of the pitch angle of the carrier aircraft, the data of the roll angle of the carrier aircraft, the latitude and longitude data of the carrier aircraft, the height data of the carrier aircraft, the distance data of the carrier aircraft compared with the starting point, Compared with the azimuth data of the starting point and the flight speed data of the carrier aircraft.
  • Pod POS data at least include visible light horizontal field of view data, visible light vertical field of view data, infrared horizontal field of view data, infrared vertical field of view data, camera focal length data, pod heading Euler angle data, pod pitch O Pull angle data, heading frame angle data, pitch frame angle data, roll frame angle data, target longitude, latitude and height data, target speed data, target speed azimuth data and estimated distance data of the target compared to the carrier aircraft.
  • parsing and rendering the full-motion video code stream into a full-motion video containing metadata includes: parsing the full-motion video code stream frame by frame into image frames and the time-synchronized metadata, While parsing a frame of the image frame, by parsing the element information contained in the metadata that is time-synchronized with the image frame, after rendering the image frame, superimposing the element information on the image and presenting In the display interface; repeating the above-mentioned steps of generating the image including element information to generate the full-motion video composed of the image.
  • element information is defined as the data rendered on the display interface in the form of text parameters, images, etc., for users to know information such as equipment status and task status; generating element information based on metadata may include: GNSS data extraction vehicle based Coordinate element information; when the type of the vehicle equipped with the sensor is a UAV, based on the GNSS data and the field of view data, the coordinates of the UAV’s field of view center coordinates and other types of geographical elements are calculated, and based on the UAV’s field of view Data and pitch and yaw angles to calculate the specific field of view area of the video screen on the map, etc.
  • the method may further include: when rendering the image frame into an image and presenting it on a display interface, superimposing the element information on an area of the display interface that does not belong to the image.
  • the present invention uses the data transmission method of synchronously encapsulating metadata into the image compression code stream, so that the receiving end can re-extract pure image frames and full-motion video from the full-motion video code stream without destroying the compressed code stream.
  • the metadata synchronized with the image frame is extracted from the preset field of the code stream, which ensures the synchronization of the two data and the purity of each other, so that the receiving end can not only realize the application of real-time data visualization based on the full-motion video It can also implement multiple application scenarios such as image mosaic service based on two types of data that are synchronized with each other, and load status analysis based only on metadata.
  • the metadata and the image frame are synchronized by using the data transmission method that synchronously encapsulates the metadata in the image compression code stream. Therefore, the receiving end analyzes And the image rendered to the display interface is completely synchronized with the element information, ensuring that the element information can effectively represent various information of the image.
  • superimposing the element information on the image and presenting it on the display interface includes: directly rendering the element information by analyzing the element information contained in the metadata that is time-synchronized with the image frame loading to the display interface; or when parsing out the element information, calculate part of the element information, render and load the processed element information to the display interface.
  • the element information that can be directly rendered and loaded to the display interface is element information that can be directly obtained from metadata, for example: element information that can directly extract the coordinates of the vehicle based on the GNSS data in the metadata; Part of the element information loaded by rendering is element information that needs to be calculated by at least two kinds of metadata.
  • the UAV center coordinates of the field of view that can be calculated based on GNSS data and field of view data need to be based on the UAV
  • the field of view data and the pitch and yaw angle data can only calculate the specific field of view area of the video screen on the map.
  • parsing the full-motion video stream frame by frame into image frames and the time-synchronized metadata includes: parsing the full-motion video stream into multiple frames containing the An image frame of metadata; extracting the metadata contained in the image frame based on the frame start field, and obtaining the full-motion video stream composed of the image frame or the compressed image without the metadata stream.
  • the method for visualizing various data further includes: when the sending end transmits the full-motion video code stream to the receiving end through a communication link, if the communication link includes at least one transmission node, The transmission node is capable of parsing the full-motion video stream into image frames and the time-synchronized metadata; after modifying the metadata, encapsulating the modified metadata in a time-synchronized manner into the preset field of the image frame, and generate a full-motion video code stream containing the modified metadata; continue to transmit the full-motion video code stream containing the modified metadata to the the receiving end.
  • the present invention uses a data transmission method that synchronously encapsulates metadata into an image compression code stream, so that when there is a transmission node in the communication link, the transmission node can re-start from the full-motion video code stream without destroying the compressed code stream.
  • Extract the pure image frame and the metadata synchronized with the image frame from the preset field of the full-motion video code stream so that the transmission node can not only realize various application scenarios based on the image frame and metadata, but also through the
  • the metadata and image frames are re-encapsulated and then transmitted to the receiving end, which ensures the modifiability and diversity of application scenarios when the full-motion video stream is transmitted in the communication link.
  • acquiring the image compression code stream and metadata includes: based on the same reference clock circuit, respectively outputting a first control signal for collecting the image compression code stream and a first control signal for collecting the metadata with the same reference clock
  • Two control signals acquiring the image compression code stream and the metadata including absolute time based on the first control signal and the second control signal.
  • the present invention uses the reference clock signal output by the same reference clock circuit as the first control signal and the second control signal, so that the time stamps contained in the image compression code stream and metadata all refer to the same clock source, therefore, the image compression code stream Timestamps and metadata timestamps can be considered absolute time to each other within systems of the same clock source.
  • the present invention does not specifically limit the method of generating the first control signal and the method of generating the second control signal.
  • the way of generating the control signal is different.
  • the payload processing subunit of the aircraft can output the first control signal and the second control signal respectively based on the same reference clock circuit after receiving the instruction from the ground station; After the instruction issued by the cloud, the first control signal and the second control signal are respectively output based on the same reference clock circuit. Therefore, the present invention only limits that the first control signal and the second control signal are generated based on the same reference clock circuit, and does not limit the specific generation method.
  • the present invention encapsulates the metadata frame by frame into the preset field of the image compression code stream in a time-synchronized manner, and generates a full-motion video code stream containing the metadata, so that the receiving end can capture the full-motion
  • the video stream is parsed into image frames and their time-synchronized element information, and the image frames and their time-synchronized element information are rendered on the display interface in real time, thereby realizing the diversity of visual content, and due to the synchronization of image frames and metadata To ensure the validity of element information.
  • the present invention provides a visualization system for various data collected by sensors, including: a sending end, which is used to synchronize the metadata according to time after obtaining image compression code stream and metadata Encapsulate frame by frame into the preset field of the image compression code stream, and after generating the full dynamic video code stream containing the metadata, transmit the full dynamic video code stream to the receiving end through the communication link; the said The receiving end is configured to parse and render the full-motion video code stream into a full-motion video containing metadata.
  • the transmission node can parse the full-motion video code stream into image frames and the metadata of time synchronization thereof; After the modification, the modified metadata is encapsulated into the preset field of the image frame in a time-synchronized manner, and a full-motion video stream containing the modified metadata is generated; the modified metadata will be included The full-motion video stream of metadata continues to be transmitted to the receiving end through the communication link.
  • the sending end includes: a data collection unit, configured to collect the metadata and the image compression code stream; a data processing unit, configured to generate a full-motion video code stream including the metadata.
  • RAM random access memory
  • ROM read-only memory
  • EEPROM electrically programmable ROM
  • EEPROM electrically erasable programmable ROM
  • registers hard disk, removable disk, CD-ROM, or any other Any other known storage medium.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Security & Cryptography (AREA)
  • Business, Economics & Management (AREA)
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  • Computer Networks & Wireless Communication (AREA)
  • Two-Way Televisions, Distribution Of Moving Picture Or The Like (AREA)
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Abstract

一种传感器采集的多种数据的可视化方法及其系统，包括：获取图像压缩码流和元数据；将元数据按照时间同步的方式逐帧封装至图像压缩码流的预设字段中，并生成包含元数据的全动态视频码流；将全动态视频码流通过通信链路传输至接收端；将全动态视频码流解析并渲染为包含元数据的全动态视频。通过将元数据按照时间同步的方式逐帧封装至图像压缩码流的预设字段中，并生成包含元数据的全动态视频码流，使得接收端能够将全动态视频码流解析为图像帧及其时间同步的要素信息，并实时将图像帧及其时间同步的要素信息渲染在显示界面中，从而实现了可视化内容多样性，并且由于图像帧与元数据的同步性，保证了要素信息的有效性。

Description

一种传感器采集的多种数据的可视化方法及其系统
本申请要求于2021年08月30日提交中国专利局、申请号为202111006671.5、发明名称为“一种传感器采集的多种数据的可视化方法及其系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及无线通信技术领域，具体涉及一种传感器采集的多种数据的可视化方法及其系统。
背景技术
随着传感器采集的数据种类多样化，后端的数据处理单元能够基于传感器采集的数据实现更多的应用场景。但同时，后端的数据处理单元对于传感器的数据传输要求愈发增高，例如：需要在数据传输时保证数据可靠性、需要在数据传输时保证数据种类的多样性及不同种种类数据之间的同步性等。
以搭载传感器的设备的类型为无人机为例，传统的基于无人机采集的数据进行可视化呈现的方法，在无人机的采集数据传输过程中，一般只有视频数据或者只有元数据，但由于在实际应用(例如，巡检等实时性任务)中，数据种类的单一不利于进一步基于数据开展新的应用，如飞行状态实时监测，更不利于用户基于可视化内容准确知悉与无人机采集的图像相关的数据。
综上所述，传统的基于传感器采集数据的可视化方法存在可视化内容和有效信息较少的问题。
发明内容
有鉴于此，本发明提供一种传感器采集的多种数据的可视化方法及其系统，解决了传统的基于传感器采集数据的可视化方法存在的可视化内容和有效信息较少的问题。
为解决以上问题，本发明的技术方案为采用一种传感器采集的多种数 据的可视化方法，包括：获取图像压缩码流和元数据；将所述元数据按照时间同步的方式逐帧封装至图像压缩码流的预设字段中，并生成包含所述元数据的全动态视频码流；将所述全动态视频码流通过通信链路传输至接收端；将所述全动态视频码流解析并渲染为包含元数据的全动态视频。
可选地，将所述全动态视频码流解析并渲染为包含元数据的全动态视频，包括：将所述全动态视频码流逐帧解析为图像帧及其时间同步的所述元数据，其中，在每解析出一帧所述图像帧的同时，通过解析所述元数据包含的与所述图像帧时间同步的要素信息，渲染所述图像帧后，将所述要素信息叠加至所述图像中并呈现于显示界面中；重复上述生成包含要素信息的所述图像的步骤，生成所述图像构成的所述全动态视频。
可选地，将所述全动态视频码流逐帧解析为图像帧及其时间同步的所述元数据，包括：基于帧起始字段将所述全动态视频码流解析为多帧包含所述元数据的图像帧；基于帧起始字段提取所述图像帧包含的所述元数据，并获得所述图像帧构成的所述全动态视频码流或不包含所述元数据的所述图像压缩码流。
可选地，所述多种数据的可视化方法还包括：在发送端将所述全动态视频码流通过通信链路传输至所述接收端时，若所述通信链路中包含至少一个传输节点，所述传输节点能够将所述全动态视频码流解析为图像帧及其时间同步的所述元数据；对所述元数据进行修改后，将修改后的所述元数据按照时间同步的方式封装至所述图像帧的预设字段中，并生成包含修改后的所述元数据的全动态视频码流；将包含修改后的所述元数据的全动态视频码流继续通过通信链路传输至所述接收端。
可选地，将所述要素信息叠加至所述图像中并呈现于显示界面中，包括：通过解析所述元数据包含的与所述图像帧时间同步的要素信息，直接将所述要素信息渲染加载至所述显示界面；或解析出所述要素信息时，对部分所述要素信息进行计算，将处理后的所述要素信息渲染加载至所述显示界面。
可选地，获取图像压缩码流和元数据，包括：基于同一参考时钟电路分别输出具有同一参考时钟的用于采集所述图像压缩码流的第一控制信号 和用于采集所述元数据的第二控制信号；基于所述第一控制信号和所述第二控制信号获取包含绝对时间的所述图像压缩码流和所述元数据。
可选地，所述元数据至少包括GNSS定位数据。
可选地，所述预设字段为SEI字段。
相应地，本发明提供，一种传感器采集的多种数据的可视化系统，包括：发送端，用于获取图像压缩码流和元数据后，将所述元数据按照时间同步的方式逐帧封装至图像压缩码流的预设字段中，并生成包含所述元数据的全动态视频码流后，将所述全动态视频码流通过通信链路传输至接收端；所述接收端，用于将所述全动态视频码流解析并渲染为包含元数据的全动态视频。
可选地，所述通信链路包含至少一个传输节点的情况下，所述传输节点能够将所述全动态视频码流解析为图像帧及其时间同步的所述元数据；对所述元数据进行修改后，将修改后的所述元数据按照时间同步的方式封装至所述图像帧的预设字段中，并生成包含修改后的所述元数据的全动态视频码流；将包含修改后的所述元数据的全动态视频码流继续通过通信链路传输至所述接收端。
可选地，所述发送端包括：数据采集单元，用于采集所述元数据和所述图像压缩码流；数据处理单元，用于生成包含所述元数据的全动态视频码流。
本发明的首要改进之处为提供的传感器采集的多种数据的可视化方法，通过将所述元数据按照时间同步的方式逐帧封装至图像压缩码流的预设字段中，并生成包含所述元数据的全动态视频码流，使得接收端能够将所述全动态视频码流解析为图像帧及其时间同步的要素信息，并实时将图像帧及其时间同步的要素信息渲染在显示界面中，从而实现了可视化内容多样性，并且由于图像帧与元数据的同步性，保证了要素信息的有效性。
附图说明
图1是本发明的传感器采集的多种数据的可视化方法的简化流程图；
图2是本发明的传感器采集的多种数据的可视化系统的简化单元连接图。
具体实施方式
为了使本领域的技术人员更好地理解本发明的技术方案，下面结合附图和具体实施例对本发明作进一步的详细说明。
如图1所示，一种传感器采集的多种数据的可视化方法，包括：获取图像压缩码流和元数据；将所述元数据按照时间同步的方式逐帧封装至图像压缩码流的预设字段中，并生成包含所述元数据的全动态视频码流；将所述全动态视频码流通过通信链路传输至接收端；将所述全动态视频码流解析并渲染为包含元数据的全动态视频。其中，预设字段可以是：在使用的通信传输协议为H264或H265时，预设字段可以是SEI(Supplemental Enhancement Information，补充增强信息)字段；在使用的通信传输协议为TS(MPEG2(Moving Picture Experts Group，活动图像专家组)Transport stream，传输流)封装协议时，预设字段为自定义字段；元数据信息的种类根据搭载传感器的设备的种类变化而变化，例如：在设备为船时，元数据可以包括设备状态数据，设备状态数据至少包括GNSS(Global Navigation Satellite System，全球导航卫星系统)数据、风向数据和航向数据等；在设备为飞行器时，元数据至少包括载机POS(Position and Orientation System，定位定向系统)数据、载机状态数据、载荷传感器类型数据、吊舱POS数据、吊舱状态数据和图像处理板数据等，传感器设备为固定摄像头时，元数据信息可以包括定位、视角方向、俯仰角、视场角、塔杆高度、信道、传输带宽、设备ID(Identity document，身份标识号)等信息。其中，载机POS数据至少包括载机偏航角数据、载机俯仰角数据、载机滚转角数据、载机的经纬数据、载机高度数据、载机相较于出发点的距离数据、载机相较于出发点的方位角数据、载机飞行速度数据。吊舱POS数据至少包括可见光水平视场角数据、可见光垂直视场角数据、红外水平视场角数据、红外垂直视场角数据、相机焦距数据、吊舱航向欧拉角数据、吊舱俯仰欧拉角数据、航向框架角数据、俯仰框架角数据、翻滚框架角数据、目标的经 纬度及高度数据、目标速度数据、目标速度方位角数据和目标相较于载机的预估距离数据。
进一步的，将所述全动态视频码流解析并渲染为包含元数据的全动态视频包括：将所述全动态视频码流逐帧解析为图像帧及其时间同步的所述元数据，在每解析出一帧所述图像帧的同时，通过解析所述元数据包含的与所述图像帧时间同步的要素信息，渲染所述图像帧后，将所述要素信息叠加至所述图像中并呈现于显示界面中；重复上述生成包含要素信息的所述图像的步骤，生成所述图像构成的所述全动态视频。其中，要素信息被定义为以文字参数、图像等形式，渲染于显示界面，用于用户知悉设备状态、任务状态等信息的数据；基于元数据生成要素信息可以包括：基于GNSS数据提取载具的坐标的要素信息；在搭载传感器的载具的类型为无人机时，基于GNSS数据和视场角数据计算无人机的视场中心坐标等类型的地理要素，基于无人机的视场角数据以及俯仰偏航角计算视频画面在地图上的具体视场区域等。本方法还可以包括：将所述图像帧渲染为图像并呈现于显示界面时，可以将所述要素信息叠加至显示界面中不属于所述图像的区域。本发明通过使用将元数据同步封装于图像压缩码流的数据传输方式，使得接收端能够在不破坏压缩码流的情况下，重新从全动态视频码流中提取纯净的图像帧及全动态视频码流的预设字段中提取与所述图像帧同步的元数据，保证了两种数据的同步性以及彼此的纯净性，使得接收端不仅能够基于所述全动态视频实现实时的数据可视化的应用场景，还能够基于两种彼此同步的数据实现图像拼图服务、仅基于元数据实现载荷状态分析等多种应用场景。同时，在接收端基于所述全动态视频实现数据可视化的应用场景中，由于使用将元数据同步封装于图像压缩码流的数据传输方式使得元数据与图像帧具有同步性，因此，接收端解析并渲染至显示界面的图像与要素信息完全同步，保证了要素信息能够有效表征图像的各种信息。
更进一步的，将所述要素信息叠加至所述图像中并呈现于显示界面中，包括：通过解析所述元数据包含的与所述图像帧时间同步的要素信息，直接将所述要素信息渲染加载至所述显示界面；或解析出所述要素信息时，对部分所述要素信息进行计算，将处理后的所述要素信息渲染加载至所述 显示界面。其中，能够直接渲染加载至所述显示界面的所述要素信息为可由元数据直接得到的要素信息，例如：基于元数据中的GNSS数据可以直接提取载具的坐标的要素信息；需要处理后才能渲染加载的部分要素信息为需要由至少两种元数据计算后才能得到的要素信息，例如：基于GNSS数据和视场角数据方能计算的无人机的视场中心坐标，需要基于无人机的视场角数据以及俯仰偏航角数据方能计算的视频画面在地图上的具体视场区域等。
更进一步的，将所述全动态视频码流逐帧解析为图像帧及其时间同步的所述元数据，包括：基于帧起始字段将所述全动态视频码流解析为多帧包含所述元数据的图像帧；基于帧起始字段提取所述图像帧包含的所述元数据，并获得所述图像帧构成的所述全动态视频码流或不包含所述元数据的所述图像压缩码流。
进一步的，所述多种数据的可视化方法还包括：在发送端将所述全动态视频码流通过通信链路传输至所述接收端时，若所述通信链路中包含至少一个传输节点，所述传输节点能够将所述全动态视频码流解析为图像帧及其时间同步的所述元数据；对所述元数据进行修改后，将修改后的所述元数据按照时间同步的方式封装至所述图像帧的预设字段中，并生成包含修改后的所述元数据的全动态视频码流；将包含修改后的所述元数据的全动态视频码流继续通过通信链路传输至所述接收端。本发明通过使用将元数据同步封装于图像压缩码流的数据传输方式，使得在通信链路中存在传输节点时，传输节点能够在不破坏压缩码流的情况下，重新从全动态视频码流中提取纯净的图像帧及全动态视频码流的预设字段中提取与所述图像帧同步的元数据，从而使得传输节点不仅能够基于图像帧和元数据实现多种应用场景，还能够通过对元数据进行修改后，重新对元数据和图像帧封装后，传输至接收端，保证了全动态视频码流在通信链路中传输时具有可修改性、应用场景多样性。
进一步的，获取图像压缩码流和元数据，包括：基于同一参考时钟电路分别输出具有同一参考时钟的用于采集所述图像压缩码流的第一控制信号和用于采集所述元数据的第二控制信号；基于所述第一控制信号和所述 第二控制信号获取包含绝对时间的所述图像压缩码流和所述元数据。本发明通过使用同一参考时钟电路输出的参考时钟信号作为第一控制信号和第二控制信号，使得图像压缩码流和元数据中包含的时间戳均参照同一时钟源，因此，图像压缩码流的时间戳和元数据的时间戳在同一时钟源的系统内可彼此视为绝对时间。同时，本发明不对生成第一控制信号的生成第二控制信号的方法做具体限定，在搭载传感器的设备的种类不同的情况下，生成控制信号的方式不同，例如：在设备为飞行器的情况下，飞行器的载荷处理子单元能够在接收到地面站的指令后，基于同一参考时钟电路分别输出第一控制信号和第二控制信号；在设备为车辆的情况下，车辆的整车控制器在接收到云端下发的指令后，基于同一参考时钟电路分别输出第一控制信号和第二控制信号。因此，本发明仅限定第一控制信号和第二控制信号基于同一参考时钟电路生成，不对具体生成方法进行限定。
本发明通过将所述元数据按照时间同步的方式逐帧封装至图像压缩码流的预设字段中，并生成包含所述元数据的全动态视频码流，使得接收端能够将所述全动态视频码流解析为图像帧及其时间同步的要素信息，并实时将图像帧及其时间同步的要素信息渲染在显示界面中，从而实现了可视化内容多样性，并且由于图像帧与元数据的同步性，保证了要素信息的有效性。
相应的，如图2所示，本发明提供，一种传感器采集的多种数据的可视化系统，包括：发送端，用于获取图像压缩码流和元数据后，将所述元数据按照时间同步的方式逐帧封装至图像压缩码流的预设字段中，并生成包含所述元数据的全动态视频码流后，将所述全动态视频码流通过通信链路传输至接收端；所述接收端，用于将所述全动态视频码流解析并渲染为包含元数据的全动态视频。
进一步的，所述通信链路包含至少一个传输节点的情况下，所述传输节点能够将所述全动态视频码流解析为图像帧及其时间同步的所述元数据；对所述元数据进行修改后，将修改后的所述元数据按照时间同步的方式封装至所述图像帧的预设字段中，并生成包含修改后的所述元数据的全动态视频码流；将包含修改后的所述元数据的全动态视频码流继续通过通 信链路传输至所述接收端。
更进一步的，所述发送端包括：数据采集单元，用于采集所述元数据和所述图像压缩码流；数据处理单元，用于生成包含所述元数据的全动态视频码流。
以上对本发明实施例所提供的传感器采集的多种数据的可视化方法及其系统进行了详细介绍。说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。对于实施例公开的系统而言，由于其与实施例公开的方法相对应，所以描述的比较简单，相关之处参见方法部分说明即可。应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以对本发明进行若干改进和修饰，这些改进和修饰也落入本发明权利要求的保护范围内。
专业人员还可以进一步意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、计算机软件或者二者的结合来实现，为了清楚地说明硬件和软件的可互换性，在上述说明中已经按照功能一般性地描述了各示例的组成及步骤。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。
结合本文中所公开的实施例描述的方法或算法的步骤可以直接用硬件、处理器执行的软件模块，或者二者的结合来实施。软件模块可以置于随机存储器(RAM)、内存、只读存储器(ROM)、电可编程ROM、电可擦除可编程ROM、寄存器、硬盘、可移动磁盘、CD-ROM、或技术领域内所公知的任意其它形式的存储介质中。

Claims (11)

  1. 一种传感器采集的多种数据的可视化方法，其特征在于，包括：
    获取图像压缩码流和元数据；
    将所述元数据按照时间同步的方式逐帧封装至图像压缩码流的预设字段中，并生成包含所述元数据的全动态视频码流；
    将所述全动态视频码流通过通信链路传输至接收端；
    将所述全动态视频码流解析并渲染为包含元数据的全动态视频。
  2. 根据权利要求1所述的多种数据的可视化方法，其特征在于，将所述全动态视频码流解析并渲染为包含元数据的全动态视频，包括：
    将所述全动态视频码流逐帧解析为图像帧及其时间同步的所述元数据，其中，
    在每解析出一帧所述图像帧的同时，通过解析所述元数据包含的与所述图像帧时间同步的要素信息，渲染所述图像帧后，将所述要素信息叠加至所述图像中并呈现于显示界面中；
    重复上述生成包含要素信息的所述图像的步骤，生成所述图像构成的所述全动态视频。
  3. 根据权利要求2所述的多种数据的可视化方法，其特征在于，将所述全动态视频码流解析为图像帧及其时间同步的所述元数据，包括：
    基于帧起始字段将所述全动态视频码流解析为多帧包含所述元数据的图像帧；
    基于帧起始字段提取所述图像帧包含的所述元数据，并获得所述图像帧构成的所述全动态视频码流或不包含所述元数据的所述图像压缩码流。
  4. 根据权利要求1所述的多种数据的可视化方法，其特征在于，所述多种数据的可视化方法还包括：
    在发送端将所述全动态视频码流通过通信链路传输至所述接收端后，若所述通信链路中包含至少一个传输节点，
    所述传输节点能够将所述全动态视频码流解析为图像帧及其时间同步的所述元数据；
    对所述元数据进行修改后，将修改后的所述元数据按照时间同步的方 式封装至所述图像帧的预设字段中，并生成包含修改后的所述元数据的全动态视频码流；
    将包含修改后的所述元数据的全动态视频码流继续通过通信链路传输至所述接收端。
  5. 根据权利要求2所述的多种数据的可视化方法，其特征在于，将所述要素信息叠加至所述图像中并呈现于显示界面中，包括：
    通过解析所述元数据包含的与所述图像帧时间同步的要素信息，直接将所述要素信息渲染加载至所述显示界面；或
    解析出所述要素信息时，对所述要素信息进行计算，将处理后的所述要素信息渲染加载至所述显示界面。
  6. 根据权利要求1所述的多种数据的可视化方法，其特征在于，获取图像压缩码流和元数据，包括：
    基于同一参考时钟电路分别输出具有同一参考时钟的用于采集所述图像压缩码流的第一控制信号和用于采集所述元数据的第二控制信号；
    基于所述第一控制信号和所述第二控制信号获取包含绝对时间的所述图像压缩码流和所述元数据。
  7. 根据权利要求2所述的多种数据的可视化方法，其特征在于，所述元数据至少包括GNSS定位数据。
  8. 根据权利要求1所述的多种数据的可视化方法，其特征在于，所述预设字段为SEI字段。
  9. 一种传感器采集的多种数据的可视化系统，其特征在于，包括：
    发送端，用于获取图像压缩码流和元数据后，将所述元数据按照时间同步的方式逐帧封装至图像压缩码流的预设字段中，并生成包含所述元数据的全动态视频码流后，将所述全动态视频码流通过通信链路传输至接收端；
    所述接收端，用于将所述全动态视频码流解析并渲染为包含元数据的全动态视频。
  10. 根据权利要求9所述的多种数据的可视化系统，其特征在于，所述通信链路包含至少一个传输节点的情况下，
    所述传输节点能够将所述全动态视频码流解析为图像帧及其时间同步的所述元数据；对所述元数据进行修改后，将修改后的所述元数据按照时间同步的方式封装至所述图像帧的预设字段中，并生成包含修改后的所述元数据的全动态视频码流；将包含修改后的所述元数据的全动态视频码流继续通过通信链路传输至所述接收端。
  11. 根据权利要求9所述的多种数据的可视化系统，其特征在于，所述发送端包括：
    数据采集单元，用于采集所述元数据和所述图像压缩码流；
    数据处理单元，用于生成包含所述元数据的全动态视频码流。
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