CN106375682A - Image processing method and apparatus, mobile device, drone remote controller and drone system - Google Patents
Image processing method and apparatus, mobile device, drone remote controller and drone system Download PDFInfo
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- CN106375682A CN106375682A CN201610799109.5A CN201610799109A CN106375682A CN 106375682 A CN106375682 A CN 106375682A CN 201610799109 A CN201610799109 A CN 201610799109A CN 106375682 A CN106375682 A CN 106375682A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/268—Signal distribution or switching
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
- G06T1/20—Processor architectures; Processor configuration, e.g. pipelining
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
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Abstract
Embodiments of the present invention disclose an image processing method and apparatus, a mobile device, a drone remote controller and a drone system. The method can process multiple images fluently at the same time and process a tracking box in the image. The method comprises the steps of converting a source image data flow into at least two sub-image data flows; and processing the first sub-image data flow of the sub-image data flows by using a central processing unit (CPU), and processing the second sub-image data flow of the sub-image data flows by using a graphics processing unit (GPU). Embodiments of the present invention further disclose an image processing apparatus, a mobile device, a drone remote controller and a drone system, which can process multiple images fluently at the same time, can process a user-set tracking box size in a tracked target image and give a prompt, and also can adjust a position of a reference point in the tracking box.
Description
Technical field
The present invention relates to image technology field, especially relate to a kind of image treatment method, image processor, may move
Equipment, unmanned controller and UAS.
Background technology
At present, recorded a video using intelligent terminal and supporting movable equipment, live, display, follow the tracks of the shadows such as target
As function is more and more universal.For example the shadow that supporting unmanned plane or hand-held head get can be watched by intelligent terminal
Picture.But prior art is recorded a video at the same time, live, display, follow the tracks of the process of multiple image data process tasks such as target
In, can there is a problem of that imaging data stream cannot support that above-mentioned multiple tasks are carried out simultaneously simultaneously.And it is being tracked target
Image in, the tracking box of user setup cannot be carried out correctly effectively pointing out if there is size setting is improper.Carry out with
During track target, due to the moment of composition central point change lead to follow the tracks of target when the datum mark chosen inaccurate, thus lead to
The failure of the task of track target.
Content of the invention
Embodiments provide a kind of image treatment method, image processor, movable equipment, no-manned machine distant control
Device and UAS, for provide a kind of can simultaneously and smoothness is located in the method managing multiple imaging functions, in image
The size process of tracking box and the method for adjustment of reminding method and tracking box datum mark.
In view of this, first aspect present invention provides a kind of image treatment method, comprising:
Source imaging data stream is converted at least two-way sub-image data flow；
Process the first sub-image data flow of sub-image data flow by central processing unit cpu, by graphic process unit gpu
Process the second sub-image data flow of sub-image data flow.
In conjunction with a first aspect, in first possible implementation of the present invention, sub- shadow is processed by central processing unit cpu
As the first sub-image data flow of data flow, process the second sub-image data of sub-image data flow by graphic process unit gpu
Before stream, also include:
By the first sub-image data stream transmitting to central processing unit buffer cpu buffer, by the second sub-image data flow
Transmit to graphic process unit buffer gpu buffer.
In conjunction with first possible implementation of first aspect and first aspect, second possible realization of the present invention
In mode, the first sub-image data flow includes recording a video and live data flow, and/or the second sub-image data flow include display and
Follow the tracks of the data flow of target.
In conjunction with first to second possible implementation of first aspect and first aspect, the 3rd of the present invention can
In the implementation of energy, the second sub-image data flow includes following the tracks of the data flow of target, and image treatment method also specifically includes:
Be tracked the size of the tracking box of target whether to meet first pre-conditioned according to pre-conditioned judgement.
In conjunction with first to the 3rd possible implementation of first aspect and first aspect, the 4th of the present invention can
Can implementation in, first pre-conditioned is:
If the pixel value of the ratio of the pixel value of the pixel value of the width of tracking box and length or length and the pixel of width
The ratio of value is less than the first predetermined threshold, then determine whether the size of the product of the pixel value of width and the pixel value of length；
If the pixel value of the ratio of the pixel value of the pixel value of the width of tracking box and length or length and the pixel of width
The ratio of value is more than the first predetermined threshold, then the adjustment pixel value of width and/or the pixel value of length.
In conjunction with first to the 4th possible implementation of first aspect and first aspect, the 5th of the present invention can
In the implementation of energy, if the pixel value of the ratio of the pixel value of the pixel value of the width of tracking box and length or length and width
Pixel value ratio be less than the first predetermined threshold, then determine whether the product of the pixel value of width and the pixel value of length
Size, specifically includes:
If the product of the pixel value of the pixel value of width and length is less than the second predetermined threshold, point out tracking box too little.
In conjunction with first to the 5th possible implementation of first aspect and first aspect, the 6th of the present invention can
In the implementation of energy, if the pixel value of the ratio of the pixel value of the pixel value of the width of tracking box and length or length and width
The ratio of pixel value be more than the first predetermined threshold, then the adjustment pixel value of the width and/or pixel value of length, specifically include:
If the pixel value of width is larger, the pixel value of length is increased to the pixel value of width and the first predetermined threshold
Ratio；
If the pixel value of length is larger, the pixel value of width is increased to the pixel value of length and the first predetermined threshold
Ratio.
In conjunction with first to the 6th possible implementation of first aspect and first aspect, the 7th of the present invention can
Can implementation in, first pre-conditioned is:
If the product of the pixel value of the pixel value of width and length is less than the second predetermined threshold, point out tracking box too little；
If the product of the pixel value of the pixel value of width and length is more than the second predetermined threshold, check the pixel value of width
Whether it is less than the first predetermined threshold with the ratio of the ratio of the pixel value of length or the pixel value of the pixel value of length and width.
In conjunction with first to the 7th possible implementation of first aspect and first aspect, the 8th of the present invention can
In the implementation of energy, if the product of the pixel value of the pixel value of width and length is more than the second predetermined threshold, check width
Pixel value and the ratio of pixel value of length or the pixel value of length and width pixel value ratio whether pre- less than first
Determine threshold value, specifically include:
If the pixel value of the ratio of the pixel value of the pixel value of the width of tracking box and length or width and the pixel of length
The ratio of value is more than the first predetermined threshold,
If the pixel value of width is larger, the pixel value of length is increased to the pixel value of width and the first predetermined threshold
Ratio；
If the pixel value of length is larger, the pixel value of width is increased to the pixel value of length and the first predetermined threshold
Ratio.
In conjunction with first to the 8th possible implementation of first aspect and first aspect, the 9th of the present invention can
In the implementation of energy, tracking box is rectangle, polygon, ellipse, circle, and width is tracking box maximum chi in the width direction
Very little, length is full-size along its length.
In conjunction with first to the 9th possible implementation of first aspect and first aspect, the tenth of the present invention can
Can implementation in, judge the wide pixel value of tracking box and high pixel value whether meet first pre-conditioned before, and also
Including:
When display is for the image frame of the data flow being tracked target, the action message according to user generates follows the tracks of
Frame.
In conjunction with first to the tenth possible implementation of first aspect and first aspect, the 11st of the present invention
In possible implementation, the second sub-image data flow includes following the tracks of the data flow of target, and image treatment method also specifically includes:
Calculate the center of the image frame of the data flow for being tracked target being received every the default fixed cycle
Point data；
Update the reference point location of the image frame of data flow for being tracked target according to center point data.
In conjunction with first to the 11st possible implementation of first aspect and first aspect, the 12nd of the present invention the
The datum mark of the image frame of data flow for being tracked target in individual possible implementation, is updated according to center point data
Position includes:
The side-play amount of the coordinate of contrast reference point location and center point data；
Adjust the coordinate of reference point location according to side-play amount.
Second aspect present invention provides a kind of image processor, and image processor image processor image processing fills
Put image processor comprising:
Modular converter, for being converted at least two-way sub-image data flow by source imaging data stream；
Processing module, for being processed the first sub-image data flow of sub-image data flow by central processing unit cpu, is passed through
Graphic process unit gpu processes the second sub-image data flow of sub-image data flow.
In conjunction with second aspect, in first possible implementation of the present invention, image processor also includes:
Transport module, for by the first sub-image data stream transmitting to central processing unit buffer cpu buffer, by
Two sub-image data stream transmittings are to graphic process unit buffer gpu buffer.
In conjunction with first possible implementation of second aspect and second aspect, second possible realization of the present invention
In mode, the first sub-image data flow includes recording a video and live data flow, and/or the second sub-image data flow include display and
Follow the tracks of the data flow of target.
In conjunction with first to second possible implementation of second aspect and second aspect, the 3rd of the present invention can
In the implementation of energy, described second sub-image data flow includes following the tracks of the data flow of target, and image processor also includes:
First judge module, whether the size for being tracked the tracking box of target according to pre-conditioned judgement meets
One is pre-conditioned.
In conjunction with first to the 3rd possible implementation of second aspect and second aspect, the 4th of the present invention can
In the implementation of energy, the first judge module includes:
First judging unit, for judging the ratio of the pixel value of width of tracking box and the pixel value of length or length
Whether the ratio of the pixel value of pixel value and width is less than the first predetermined threshold；
Second judging unit, if judge the pixel value of the width of tracking box and the pixel value of length for the first judging unit
Ratio or the ratio of pixel value of the pixel value of length and width be less than the first predetermined threshold, then determine whether the picture of width
The size of the product of pixel value of element value and length；
Described image processor further includes adjusting module:
Described adjusting module, if judge the pixel value of the width of tracking box and the pixel value of length for the first judge module
Ratio or the ratio of pixel value of the pixel value of width and length be more than the first predetermined threshold, then adjust the pixel value of width
And/or the pixel value of length.
In conjunction with first to the 4th possible implementation of second aspect and second aspect, the 5th of the present invention can
In the implementation of energy, image processor also includes:
Reminding module, if the product judging the pixel value of width and the pixel value of length for the first judge module is less than the
Two predetermined thresholds, then prompting tracking box is too little.
In conjunction with first to the 5th possible implementation of second aspect and second aspect, the 6th of the present invention can
In the implementation of energy, adjusting module includes:
First adjustment unit, if the pixel value for width is larger, the pixel value of length is increased to the pixel of width
Value and the ratio of the first predetermined threshold；
Second adjustment unit, if the pixel value for length is larger, the pixel value of width is increased to the pixel of length
Value and the ratio of the first predetermined threshold.
In conjunction with first to the 6th possible implementation of second aspect and second aspect, the 7th of the present invention can
In the implementation of energy, image processor also includes:
Check module, if judging the product of the pixel value of width and the pixel value of length more than for the first judge module
Two predetermined thresholds, then check pixel value and the ratio of pixel value of length or the pixel value of the pixel value of length and width of width
Ratio whether be less than the first predetermined threshold.
In conjunction with first to the 7th possible implementation of second aspect and second aspect, the 8th of the present invention can
In the implementation of energy, if the first adjustment unit is additionally operable to check that module judges the pixel value of width of tracking box and the picture of length
The ratio of the pixel value of the ratio of element value or the pixel value of length and width is more than the first predetermined threshold, and if width pixel value
Larger, then the pixel value of length is increased to the pixel value of width and the ratio of the first predetermined threshold；
If the second adjustment unit is additionally operable to check that module judges the pixel value of width of tracking box and the pixel value of length
The ratio of the pixel value of the pixel value of ratio or length and width be more than the first predetermined threshold, and if length pixel value larger,
Then the pixel value of width is increased to the pixel value of length and the ratio of the first predetermined threshold.
In conjunction with first to the 8th possible implementation of second aspect and second aspect, the 9th of the present invention can
In the implementation of energy, tracking box is rectangle, polygon, ellipse, circle, and width is tracking box maximum chi in the width direction
Very little, length is full-size along its length.
In conjunction with first to the 9th possible implementation of second aspect and second aspect, the tenth of the present invention can
In the implementation of energy, display device also shows the image frame of the data flow for being tracked target, and image processor is also
Including:
Generation module, for show when display device the data flow for being tracked target image frame when, according to
The action message at family generates tracking box.
In conjunction with first to the tenth possible implementation of second aspect and second aspect, the 11st of the present invention
In possible implementation, the second sub-image data flow includes following the tracks of the data flow of target, and described image processor also includes:
Computing module, for calculating the center point data of the image frame of the data flow for being tracked target；
Update module, for updating the benchmark of the image frame of the data flow for being tracked target according to center point data
Point position.
In conjunction with first to the 11st possible implementation of second aspect and second aspect, the 12nd of the present invention the
In individual possible implementation, update module includes:
Comparison unit, for contrasting the side-play amount of reference point location and the coordinate of center point data；
Offset adjusting unit, for adjusting the coordinate of reference point location according to side-play amount.
In conjunction with first to the 12nd possible implementation of second aspect and second aspect, the 13rd of the present invention the
In individual possible implementation, movable equipment is hand-held head or unmanned plane.
Third aspect present invention provides a kind of movable equipment, including video capturing device, display device and above-mentioned
A kind of described image processor, described video capturing device is used for obtaining source image data, and described display device is used for showing
Show image data.
In the present embodiment, described video capturing device is camera, and display device is display screen.
In conjunction with the third aspect and first possible implementation of the third aspect, second possible realization side of the present invention
In formula, described second sub-image data flow includes following the tracks of the data flow of target,
Described acquisition device is used for obtaining a secondary source imaging data stream every fixing predetermined period；
Described image processor includes:
Transport module, by the tracking target in the described source imaging data stream by periodic transmission data stream transmitting give based on
Calculate module；
Computing module, for following the tracks of target described in the data-flow computation of the tracking target transmitted according to described transport module
The center point data of the image frame of data flow；And
Update module, for being used for being tracked the image of the data flow of target according to the renewal of described center point data
The reference point location of frame.
In conjunction with the third aspect and first to second possible implementation of the third aspect, the 3rd possibility of the present invention
Implementation in, described movable equipment be hand-held head.
Fourth aspect present invention provides a kind of unmanned controller, including reception device, display device and such as above-mentioned
Image processor described in one, described reception device is used for receiving the image data that the filming apparatus of unmanned plane obtain, institute
State display device and be used for showing described image data, described image processor is processed to described image.
Fifth aspect present invention provides a kind of UAS, including unmanned controller and unmanned plane, described unmanned plane
Remote control includes display device, and described unmanned plane includes video capturing device it is characterised in that described control end and/or unmanned
Machine also includes the image processor as described in any of the above-described.
As can be seen from the above technical solutions, the embodiment of the present invention has the advantage that
Embodiments provide a kind of image treatment method, image processor, movable equipment, no-manned machine distant control
Device and UAS, by source imaging data stream is converted into multiple sub-image data flows, are then respectively transmitted to different single
Unit is processed, and solves carrying out that cannot be simultaneously smooth and records a video, and the problem of the functions such as target is followed the tracks of in live, display.Additionally,
When the function of user's start-up trace target carries out the image watching tracked target, judge the size of the tracking box of user setup
Whether eligible.Thus being adjusted or sending prompting, enable users to correctly arrange the size of tracking box.And to tracking mesh
The acquisition of the center point data of the frame of video of target imaging data stream, is used for following the tracks of the image of target according to central point data point reuse
The reference point location of data flow, improves the accuracy following the tracks of target.
Brief description
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, below by use required in embodiment
Accompanying drawing be briefly described it should be apparent that, drawings in the following description are only embodiments of the invention, general for this area
For logical technical staff, on the premise of not paying creative work, other accompanying drawings can also be obtained according to the accompanying drawing providing.
Fig. 1 is a kind of equipment combination diagram of the embodiment of the present invention；
Fig. 2 is an a kind of embodiment schematic diagram of image treatment method of the embodiment of the present invention；
Fig. 3 is another embodiment schematic diagram of a kind of image treatment method of the embodiment of the present invention；
Fig. 4 is an a kind of practical application schematic diagram of image treatment method of the embodiment of the present invention；
Fig. 5 is another embodiment schematic diagram of a kind of image treatment method of the embodiment of the present invention；
Fig. 6 is another practical application schematic diagram of a kind of image treatment method of the embodiment of the present invention；
Fig. 7 is another embodiment schematic diagram of a kind of image treatment method of the embodiment of the present invention；
Fig. 8 is another practical application schematic diagram of a kind of image treatment method of the embodiment of the present invention；
Fig. 9 is another embodiment schematic diagram of a kind of image treatment method of the embodiment of the present invention；
Figure 10 is an a kind of embodiment schematic diagram of movable equipment of the embodiment of the present invention；
Figure 11 is an a kind of embodiment schematic diagram of unmanned controller of the embodiment of the present invention.
Specific embodiment
In order that those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention
Accompanying drawing, is clearly and completely described to the technical scheme in the embodiment of the present invention it is clear that described embodiment is only
The embodiment of a present invention part, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment that member is obtained under the premise of not making creative work, all should belong to the model of present invention protection
Enclose.
Term " first " in description and claims of this specification and above-mentioned accompanying drawing, " second ", " the 3rd ", "
Four " etc. (if present) is for distinguishing similar object, without for describing specific order or precedence.Should manage
The data that solution so uses can be exchanged, in the appropriate case so that the embodiments described herein can be with except illustrating here
Or the order enforcement beyond the content of description.Additionally, term " comprising " and " having " and their any deformation it is intended that
Cover non-exclusive comprising, for example, contain series of steps or process, method, system, product or the equipment of unit need not limit
In those steps clearly listed or unit, but may include clearly not listing or for these processes, method, product
Product or the intrinsic other steps of equipment or unit.
The embodiment of the present invention provides a kind of image treatment method and movable equipment, is mainly used in image processing technique neck
Domain, can carry out multiple image processing tasks simultaneously, and when being tracked the image task of target to user input with
Track frame is optimized process.
In actual applications, the embodiment of the present invention can be to coordinate movable equipment to be operated by intelligent terminal.This
Place refers to Fig. 1, and Fig. 1 is embodiment of the present invention equipment combination diagram.Wherein, user can watch shadow by intelligent terminal
Picture, image is gathered by movable equipment, and movable equipment gathers image and transmits to intelligence after image is processed
Terminal.Here movable equipment can be unmanned plane, hand-held head, unmanned vehicle, unmanned boat etc., specifically do not limit herein
Fixed.Need after image data image is processed because movable equipment has gathered, below in conjunction with real to the present invention shown in Fig. 2
A kind of image treatment method that applying example is provided is described in detail, and the embodiment of the present invention includes:
Step 201, source imaging data stream is converted at least two-way sub-image data flow；
Movable equipment gathers image, and the video conversion obtaining is become source imaging data stream.When obtaining source image data
After stream, source imaging data stream is converted at least two-way sub-image data flow, for the quantity of sub-image data flow, does not make herein
Concrete restriction.
Step 202, by cpu (central processing unit, central processing unit) process the first sub-image data
Stream, processes the second sub-image data flow by gpu (graphics processing unit, graphic process unit)；
After source imaging data stream is changed and is obtained at least two-way sub-image data flow by movable equipment, can will be different
Sub-image data flow is transmitted separately to cpu and gpu and carries out subsequent treatment.Wherein, at least one way imaging data stream can be passed
Transport to cpu process, at least one way imaging data stream can be transferred to gpu process.For convenience's sake, it is transmitted
It is designated as the first sub-image data flow to the sub-image data flow that cpu is processed, be transferred to the sub-image number that gpu is processed
It is designated as the second sub-image data flow according to stream.Transmit to cpu the sub-image data flow being processed and be used for video recording and live, transmit to
The sub-image data flow that gpu is processed is used for showing and follows the tracks of target.By by imaging data stream reasonable distribution to cpu and
Gpu is processed and is passed through rational management under multithreading for gpu and cpu, can make video recording, live, display, follow the tracks of target etc.
Different functions can be carried out simultaneously glibly.Further, it is also possible to the optimization by the display direction to the image needing display
Setting makes video recording, live, display, the picture following the tracks of the different function such as target show and be consistent.Specifically, can be in record
Image display direction as one predetermined fixation of setting during function on；And can be in real time according to current device in live
Real-time adjustment image display direction is removed in direction；Can be according to the direction of current device and photographic head when showing and follow the tracks of target
Direction both direction consider in the lump thus adjusting image display direction.Setting through image display direction and adjustment can ensure that
Video recording, live, display, the image display picture followed the tracks of in the different function such as target concordance.
In one embodiment of the invention, by the first sub-image data stream transmitting to cpu process, by the second son
Before image data streaming is processed to gpu, can be first respectively by the first sub-image data stream transmitting to cpu buffer
(central processing unitbuffer, central processing unit buffer), by the second sub-image data stream transmitting to gpu
Buffer (graphics processing unit buffer, graphic process unit buffer).Illustrate below in conjunction with Fig. 3.
Step 301 is identical with step 201 in embodiments of the present invention, and step 303 is identical with step 202, no longer superfluous herein
State.
Step 302, by the first sub-image data stream transmitting to cpu buffer, by the second sub-image data stream transmitting extremely
gpubuffer；
After source imaging data stream is converted into sub-image data flow by movable equipment, can be first by different sub-image numbers
It is transmitted separately to cpu buffer and gpu buffer according to stream, then sub-image data flow is respectively stored in cpu buffer
And gpu buffer.After the sub-image data flow being stored in cpu buffer and gpu buffer reaches certain threshold value,
Cpu and gpu can take corresponding sub-image data flow respectively away.So can facilitate cpu and gpu that complete data is united
One takes away, plays the effect of buffering.
Fig. 4 below can be referred to, Fig. 4 is an image data streaming schematic diagram.After obtaining source imaging data stream, source
Imaging data stream is converted into two-way sub-image data flow and is transmitted separately to cpu buffer and gpu buffer, Ran Houzai
It is transmitted separately to cpu and gpu to carry out recording a video, live, display, follow the tracks of the functions such as target.
In one embodiment of the present of invention, when the function of user's start-up trace target watches the image of tracked target,
Need user to set corresponding tracking box to be used for following the tracks of target.Below in conjunction with Fig. 5 to the setting of tracking box and to tracking box it is
No effective condition and processing method illustrate.
Step 501, the action message generation tracking box according to user；
User can generate tracking box by sending action message instruction equipment, and action message can include finger in screen
On slip or pulling action it is also possible to be click on the action of specific button, be not especially limited herein.The tracking box generating
Can be rectangle, polygon, ellipse, circle, be not especially limited herein.
Step 502, judge the pixel value of width of tracking box and the ratio of pixel value of length or the pixel value of length and
The ratio of the pixel value of width is less than the first predetermined threshold；
After tracking box generates, first judge whether the size of tracking box meets first pre-conditioned.Here first is preset
Condition can be set as the pixel value of the width of tracking box and the ratio of the pixel value of length or the pixel value of length and width
The ratio of pixel value is less than the first predetermined threshold.
Step 503, judge whether the product of the pixel value of width and the pixel value of length is less than the second predetermined threshold；
Pixel when the pixel value of the width of tracking box and the ratio of pixel value of length or the pixel value of length and width
When the ratio of value is less than the first predetermined threshold, taking advantage of of the pixel value of the width of tracking box and the pixel value of length can be determined whether
Whether long-pending size is less than the second predetermined threshold.
Step 504, the adjustment pixel value of width and/or the pixel value of length；
Pixel when the pixel value of the width of tracking box and the ratio of pixel value of length or the pixel value of length and width
The ratio of value is more than the first predetermined threshold, then the adjustment pixel value of width and/or the pixel value of length.Specific method of adjustment can
With as follows: if the pixel value of width is larger, the pixel value of length is increased to the pixel value of width and the first predetermined threshold
Ratio；If the pixel value of length is larger, the pixel value of width is increased to the pixel value of length and the ratio of the first predetermined threshold
Value.Whether meeting execution step 503 after the completion of adjustment, the pixel value of width after judging to adjust and the product of the pixel value of length are little
In the second predetermined threshold.
Step 505, prompting tracking box are too little；
When following the tracks of the size of product of the pixel value of width of frame and the pixel value of length less than the second predetermined threshold, can show
Show information, point out usertracking frame too little.User can generate one again through action message after receiving information
Individual new tracking box.
In actual applications, one embodiment of the present of invention can be referred to, refer to Fig. 6 herein, setting first is pre- here
Determining threshold value is 3, and the second predetermined threshold is 1000.After tracking box is generated, can first judge the pixel value of width of tracking box with
Whether the ratio of the pixel value of the pixel value of the ratio of the pixel value of length and length and width is less than 3.If the picture of width
The ratio of the pixel value of the ratio of pixel value of plain value and length and the pixel value of length and width is respectively less than 3, then further
Judge whether the pixel value of width and the product of the pixel value of length are less than 1000.If it is can send information prompting with
Track frame is too little.The pixel value of the width of the tracking box of such as generation is 25, and the pixel value of length is 35.Pixel value due to width
It is both less than 3 with the ratio of the ratio of the pixel value of length and the pixel value of the pixel value of length and width, then determine whether
Whether the product of the pixel value of the pixel value of width and length is less than 1000.Pixel value due to the pixel value of width and length
Product is 875, less than 1000, then usertracking frame finally can be pointed out too little.
When the ratio of the pixel value of the width of tracking box and the pixel value of length is more than 3, the pixel value of length can be adjusted
To width pixel value 1/3rd.When the ratio of the pixel value of length and the pixel value of width is more than 3, the pixel of width can be adjusted
It is worth to 1/the 3 of length pixel value.The product that the pixel value of the pixel value judging width and length can be gone to after the completion of adjustment is
Not no the step for be less than 1000.
In one embodiment of the invention, whether tracking box can be had thus changing by change first is pre-conditioned
The judgement of condition of effect and processing method.Illustrate below in conjunction with Fig. 7.
In the embodiment of the present invention, step 701 is identical with step 501, and step 702 is identical with step 503, step 703 and step
505 is identical, and step 704 is identical with step 502, and here is omitted.
Step 705, the adjustment pixel value of width and/or the pixel value of length；
Pixel when the pixel value of the width of tracking box and the ratio of pixel value of length or the pixel value of length and width
The ratio of value is more than the first predetermined threshold, then the adjustment pixel value of width and/or the pixel value of length.Specific method of adjustment can
With as follows: if the pixel value of width is larger, the pixel value of length is increased to the pixel value of width and the first predetermined threshold
Ratio；If the pixel value of length is larger, the pixel value of width is increased to the pixel value of length and the ratio of the first predetermined threshold
Value.
In actual applications, one embodiment of the present of invention can be referred to, refer to Fig. 8 herein, setting first is pre- here
Determining threshold value is 3, and the second predetermined threshold is 1000.After tracking box is generated, can first judge the pixel value of width and the picture of length
Whether the product of element value is less than 1000, if it is can send information prompting tracking box too little.The tracking box of such as generation
The pixel value of width be 25, the pixel value of length is 35.Product due to the pixel value of width and the pixel value of length is
875, less than 1000, then usertracking frame finally can be pointed out too little.If the product of the pixel value of the pixel value of width and length
More than 1000, then can determine whether the pixel value of the width of tracking box and the ratio of the pixel value of length and the pixel of length
Whether the ratio of the pixel value of value and width is less than 3.If the ratio of the pixel value of the pixel value of the width of tracking box and length
During more than 3, the pixel value of length can be adjusted to 1/the 3 of width pixel value.Pixel value when the pixel value of length and width
Ratio is more than 3, can adjust the pixel value of width to 1/the 3 of length pixel value.
In one embodiment of the invention, by every the default fixed cycle calculate received be used for be tracked
The center point data of the image frame of the data flow of target.The data for being tracked target can be updated according to center point data
The reference point location of the image frame of stream.Illustrate below in conjunction with Fig. 9.
The side-play amount of the coordinate of step 901, contrast reference point location and center point data；
After being calculated center point data, compare the datum mark position of the image frame of data flow for being tracked target
The coordinate put and the side-play amount of the coordinate of center point data, for example, compare the side-play amount of transverse axis coordinate and ordinate of orthogonal axes.Datum mark
It is the reference point for following the tracks of target, the setting of datum mark can affect to follow the tracks of the precision of target.
Step 902, the coordinate according to side-play amount adjustment reference point location；
Obtain the side-play amount of the coordinate of reference point location and the coordinate of center point data, datum mark is adjusted by this side-play amount
The coordinate of position.The coordinate of such as reference point location is x with the transverse axis coordinate offset amount of the coordinate of center point data, ordinate of orthogonal axes
Side-play amount is y, then adjust the coordinate of reference point location respectively according to x and y, specific method of adjustment and formula are not made specifically herein
Limit.
For ease of understanding, below the movable equipment in the embodiment of the present invention is described in detail, below in conjunction with Figure 10
Illustrate.Movable equipment includes video capturing device, display device and image processor, and video capturing device is used for
Acquisition source image data, display device is used for image data displaying, and image processor is used for image data is processed, shadow
As processing meanss are processed to image data by following steps:
Image processor includes:
Modular converter 1001, for being converted at least two-way sub-image data flow by source imaging data stream.
Processing module 1002, for processing the first sub-image data flow of sub-image data flow by central processing unit cpu,
Process the second sub-image data flow of sub-image data flow by graphic process unit gpu.
In the embodiment of the present invention, image processor also includes:
Transport module 1003, for by the first sub-image data stream transmitting to central processing unit buffer cpu buffer,
By the second sub-image data stream transmitting to graphic process unit buffer gpu buffer.
In the embodiment of the present invention, the first sub-image data flow includes recording a video and live data flow, and/or the second sub-image
Data flow includes showing and follow the tracks of the data flow of target.
In the embodiment of the present invention, image processor also includes:
First judge module 1004, whether the size for being tracked the tracking box of target according to pre-conditioned judgement is full
Foot first is pre-conditioned.
In the embodiment of the present invention, described second sub-image data flow includes following the tracks of the data flow of target, the first judge module
1004 further include:
First judging unit 10041, for judge the pixel value of width of tracking box and the pixel value of length ratio or
Whether the ratio of the pixel value of the pixel value of length and width is less than the first predetermined threshold.
Second judging unit 10042, if judge pixel value and the length of the width of tracking box for the first judging unit 10041
The ratio of the pixel value of the ratio of pixel value of degree or the pixel value of length and width is less than the first predetermined threshold, then sentence further
The size of the product of the pixel value of the pixel value of disconnected width and length.
In the embodiment of the present invention, described image processor further includes adjusting module 1008:
Described adjusting module 1008, if judge pixel value and the length of the width of tracking box for the first judge module 1004
The ratio of pixel value or the ratio of pixel value of the pixel value of width and length be more than first predetermined threshold, then adjustment width
Pixel value and/or the pixel value of length.
In the embodiment of the present invention, image processor also includes:
Reminding module 1005, if judge taking advantage of of the pixel value of width and the pixel value of length for the first judge module 1004
Amass and be less than the second predetermined threshold, then prompting tracking box is too little.
In the embodiment of the present invention, adjusting module 1008 further includes:
First adjustment unit 10081, if the pixel value for width is larger, the pixel value of length is increased to width
Pixel value and the ratio of the first predetermined threshold.
Second adjustment unit 10082, if the pixel value for length is larger, the pixel value of width is increased to length
Pixel value and the ratio of the first predetermined threshold.
In the embodiment of the present invention, image processor also includes:
Check module 1006, if judging taking advantage of of the pixel value of width and the pixel value of length for the first judge module 1004
Amass and be more than the second predetermined threshold, then check the pixel value of width and the ratio of pixel value of length or the pixel value of length and width
The ratio of pixel value whether be less than the first predetermined threshold.
In the embodiment of the present invention, if the first adjustment unit 10081 is additionally operable to check the width that module 1006 judges tracking box
Pixel value and the ratio of pixel value of the ratio of pixel value of length or the pixel value of length and width be more than the first predetermined threshold
Value, and if width pixel value larger, the pixel value of length is increased to the pixel value of width and the ratio of the first predetermined threshold
Value.
If the second adjustment unit 10082 is additionally operable to check that module 1006 judges the pixel value of width of tracking box and length
The ratio of the pixel value of the pixel value of the ratio of pixel value or length and width be more than the first predetermined threshold, and if length pixel
Value is larger, then the pixel value of width increases to the pixel value of length and the ratio of the first predetermined threshold.
In the embodiment of the present invention, tracking box is rectangle, polygon, ellipse, circle, and width is for tracking box in the width direction
Full-size, length is full-size along its length.
In the embodiment of the present invention, image processor also includes:
Generation module 1007, for show when display device the data flow for being tracked target image frame when, root
Action message according to user generates tracking box.
In the embodiment of the present invention, video capturing device also includes:
Computing module 1009, for calculating the center point data of the image frame of the data flow being tracked target.
Update module 1010, for updating the image frame of data flow for being tracked target according to center point data
Reference point location.
In the embodiment of the present invention, update module 1010 includes:
Comparison unit 10101, for contrasting the side-play amount of reference point location and the coordinate of center point data.
Offset adjusting unit 10102, for adjusting the coordinate of reference point location according to side-play amount.
In the embodiment of the present invention, movable equipment can be hand-held head, unmanned plane, unmanned vehicle, unmanned boat etc..
It is appreciated that described video capturing device is used for obtaining a secondary source imaging data stream every fixing predetermined period；
The transport module 1003 of described image processor, in the described source imaging data stream by periodic transmission with
The data stream transmitting of track target is to computing module 1009；
Computing module 1009, for described in the data-flow computation of the tracking target transmitted according to described transport module 1003 with
The center point data of the image frame of the data flow of track target；And
Update module 1010, for being used for being tracked the data flow of target according to the renewal of described center point data
The reference point location of image frame.
Additionally, referring to Figure 11, the present invention also provides a kind of unmanned controller, fills 2001, display device including reception
2003 and image processor 2005 as described above.The filming apparatus that described reception device 2001 is used for receiving unmanned plane obtain
The image data taking, described display device 2003 is used for showing described image data, and described image processor 2005 is to described
Image is processed.
Separately, the present invention also provides a kind of UAS, including unmanned controller and unmanned plane, wherein no-manned machine distant control
Device includes display device, and unmanned plane includes video capturing device it is characterised in that described control end and/or unmanned plane also include
Image processor as described above.
If image processing apparatus are located at unmanned controller, it is distant that the image data of acquisition is transferred to unmanned plane by unmanned plane
Control device is so that the image processor of unmanned controller is processed to image；If image processing apparatus are located at unmanned plane,
Image processor on unmanned plane is processed to image.
Those skilled in the art can be understood that, for convenience and simplicity of description, the system of foregoing description,
Device and the specific work process of unit, may be referred to the corresponding process in preceding method embodiment, will not be described here.
It should be understood that disclosed system in several embodiments provided herein, apparatus and method are permissible
Realize by another way.For example, device embodiment described above is only schematically, for example, described unit
Divide, only a kind of division of logic function, actual can have other dividing mode when realizing, for example multiple units or assembly
Can in conjunction with or be desirably integrated into another system, or some features can be ignored, or does not execute.Another, shown or
The coupling each other discussing or direct-coupling or communication connection can be by some interfaces, the indirect coupling of device or unit
Close or communicate to connect, can be electrical, mechanical or other forms.
The described unit illustrating as separating component can be or may not be physically separate, show as unit
The part showing can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.The mesh to realize this embodiment scheme for some or all of unit therein can be selected according to the actual needs
's.
In addition, can be integrated in a processing unit in each functional unit in each embodiment of the present invention it is also possible to
It is that unit is individually physically present it is also possible to two or more units are integrated in a unit.Above-mentioned integrated list
Unit both can be to be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
If described integrated unit is realized and as independent production marketing or use using in the form of SFU software functional unit
When, can be stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially
The part in other words prior art being contributed or all or part of this technical scheme can be in the form of software products
Embody, this computer software product is stored in a storage medium, including some instructions with so that a computer
Equipment (can be personal computer, server, or network equipment etc.) executes the complete of each embodiment methods described of the present invention
Portion or part steps.And aforesaid storage medium includes: u disk, portable hard drive, read only memory (rom, read-only
Memory), random access memory (ram, randomaccess memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
The above, above example only in order to technical scheme to be described, is not intended to limit；Although with reference to front
State embodiment the present invention has been described in detail, it will be understood by those within the art that: it still can be to front
State the technical scheme described in each embodiment to modify, or equivalent is carried out to wherein some technical characteristics；And these
Modification or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (31)
1. a kind of image treatment method is it is characterised in that include:
Source imaging data stream is converted at least two-way sub-image data flow；
Process the first sub-image data flow of described sub-image data flow by central processing unit cpu, by graphic process unit gpu
Process the second sub-image data flow of described sub-image data flow.
2. image treatment method according to claim 1 is it is characterised in that process described son by central processing unit cpu
First sub-image data flow of imaging data stream, processes the second sub- shadow of described sub-image data flow by graphic process unit gpu
As, before data flow, also including:
By described first sub-image data stream transmitting to central processing unit buffer cpu buffer, by described second sub-image number
According to being streamed to graphic process unit buffer gpu buffer.
3. image treatment method according to claim 1 is it is characterised in that described first sub-image data flow includes recording a video
With live data flow, and/or described second sub-image data flow include show and follow the tracks of target data flow.
4. image treatment method according to claim 1 is it is characterised in that described second sub-image data flow includes following the tracks of
The data flow of target, described image treatment method also specifically includes:
Be tracked the size of the tracking box of target whether to meet first pre-conditioned according to pre-conditioned judgement.
5. image treatment method according to claim 4 is it is characterised in that described first pre-conditioned is:
If the pixel value of the ratio of the pixel value of the pixel value of the width of described tracking box and length or length and the pixel of width
Value ratio be less than the first predetermined threshold, then determine whether the pixel value of described width and the pixel value of length product big
Little；
If the pixel value of the ratio of the pixel value of the pixel value of the width of described tracking box and length or length and the pixel of width
The ratio of value is more than the first predetermined threshold, then adjust the pixel value of described width and/or the pixel value of length.
If image treatment method according to claim 5 it is characterised in that the pixel value of the width of described tracking box and
The ratio of the pixel value of the pixel value of the ratio of the pixel value of length or length and width is less than the first predetermined threshold, then further
Judge the size of the product of the pixel value of described width and the pixel value of length, specifically include:
If the product of the pixel value of the pixel value of described width and length is less than the second predetermined threshold, point out tracking box too little.
If image treatment method according to claim 5 it is characterised in that the pixel value of the width of described tracking box and
The ratio of the pixel value of the pixel value of the ratio of the pixel value of length or length and width is more than the first predetermined threshold, then adjust institute
State the pixel value of width and/or the pixel value of length, specifically include:
If the pixel value of width is larger, the pixel value of length is increased to the pixel value of width and the ratio of the first predetermined threshold
Value；
If the pixel value of length is larger, the pixel value of width is increased to the pixel value of length and the ratio of the first predetermined threshold
Value.
8. image treatment method according to claim 4 is it is characterised in that described first pre-conditioned is:
If the product of the pixel value of the pixel value of described width and length is less than the second predetermined threshold, point out tracking box too little；
If the product of the pixel value of the pixel value of described width and length is more than the second predetermined threshold, check the picture of described width
Whether the ratio of the pixel value of the ratio of pixel value of element value and length or the pixel value of length and width is less than the first predetermined threshold
Value.
If 9. image treatment method according to claim 8 is it is characterised in that the picture of the pixel value of described width and length
The product of element value is more than the second predetermined threshold, then check the ratio of the pixel value of described width and the pixel value of length or length
Whether the ratio of the pixel value of pixel value and width is less than the first predetermined threshold, specifically includes:
If the pixel value of the ratio of the pixel value of the pixel value of the width of described tracking box and length or width and the pixel of length
The ratio of value is more than the first predetermined threshold,
If the pixel value of width is larger, the pixel value of length is increased to the pixel value of width and the ratio of the first predetermined threshold
Value；
If the pixel value of length is larger, the pixel value of width is increased to the pixel value of length and the ratio of the first predetermined threshold
Value.
10. image treatment method according to claim 4 it is characterised in that described tracking box be rectangle, polygon, ellipse
Circular, circular, described width is tracking box full-size in the width direction, and described length is maximum chi along its length
Very little.
11. image treatment methods according to claim 4 are it is characterised in that the wide pixel value of described judgement tracking box
With high pixel value whether meet first pre-conditioned before, also include:
When display is for the image frame of the data flow being tracked target, the action message according to user generates described tracking
Frame.
12. image treatment methods according to claim 1 it is characterised in that described second sub-image data flow include with
The data flow of track target, described image treatment method also specifically includes:
Calculate the center points of the image frame of the data flow for being tracked target being received every the default fixed cycle
According to；
For being tracked the reference point location of the image frame of the data flow of target according to described center point data updates.
13. image treatment methods according to claim 12 are it is characterised in that described update according to described center point data
The reference point location of the image frame of the described data flow for being tracked target includes:
Contrast the side-play amount of described reference point location and the coordinate of described center point data；
Adjust the coordinate of described reference point location according to described side-play amount.
14. one kind can image processor, image processor image processor image processor
Image processor includes:
Modular converter, for being converted at least two-way sub-image data flow by source imaging data stream；
Processing module, for being processed the first sub-image data flow of described sub-image data flow by central processing unit cpu, is passed through
Graphic process unit gpu processes the second sub-image data flow of described sub-image data flow.
15. image processors according to claim 14 are it is characterised in that described image image processor also wraps
Include:
Transport module, for by described first sub-image data stream transmitting to central processing unit buffer cpu buffer, by institute
State the second sub-image data stream transmitting to graphic process unit buffer gpu buffer.
16. image processors according to claim 15 are it is characterised in that described first sub-image data flow includes recording
Picture and live data flow, and/or the data flow that described second sub-image data flow includes display and follows the tracks of target.
17. image processors according to claim 14 it is characterised in that described second sub-image data flow include with
The data flow of track target, described image processor also includes:
First judge module, it is pre- whether the size for being tracked the tracking box of target according to pre-conditioned judgement meets first
If condition.
18. image processors according to claim 17 are it is characterised in that described first judge module includes:
First judging unit, for judging the ratio of the pixel value of width of described tracking box and the pixel value of length or length
Whether the ratio of the pixel value of pixel value and width is less than the first predetermined threshold；
Second judging unit, if judge the pixel value of width and the picture of length of described tracking box for described first judging unit
The ratio of the pixel value of the pixel value of the ratio of element value or length and width is less than the first predetermined threshold, then determine whether described
The size of the product of the pixel value of the pixel value of width and length；
Described image processor further includes adjusting module:
Adjusting module, if judge the ratio of the pixel value of the width of described tracking box and the pixel value of length for the first judge module
The ratio of the pixel value of the pixel value of value or width and length is more than the first predetermined threshold, then adjust the pixel value of described width
And/or the pixel value of length.
19. image processors according to claim 18 are it is characterised in that described image processor also includes:
For described first judge module, reminding module, if judge that the product of the pixel value of described width and the pixel value of length is little
In the second predetermined threshold, then prompting tracking box is too little.
20. image processors according to claim 18 are it is characterised in that described adjusting module includes:
First adjustment unit, if the pixel value for width is larger, by the pixel value of length increase to the pixel value of width with
The ratio of the first predetermined threshold；
Second adjustment unit, if the pixel value for length is larger, by the pixel value of width increase to the pixel value of length with
The ratio of the first predetermined threshold.
21. image processors according to claim 17 are it is characterised in that described image processor also includes:
Check module, if judging that the product of the pixel value of described width and the pixel value of length is big for described first judge module
In the second predetermined threshold, then check the pixel value of described width and the ratio of the pixel value of length or the pixel value of length and width
The ratio of pixel value whether be less than the first predetermined threshold.
If 22. image processors according to claim 21 are it is characterised in that described first adjustment unit is additionally operable to institute
State inspection module and judge the pixel value of width of described tracking box and the ratio of pixel value of length or the pixel value of length and width
Degree pixel value ratio be more than the first predetermined threshold, and if width pixel value larger, the pixel value of length is increased to
The pixel value of width and the ratio of the first predetermined threshold；
If described second adjustment unit is additionally operable to described check that module judges the pixel value of width of described tracking box and length
The ratio of the pixel value of the pixel value of the ratio of pixel value or length and width be more than the first predetermined threshold, and if length pixel
Value is larger, then the pixel value of width increases to the pixel value of length and the ratio of the first predetermined threshold.
23. image processors according to claim 17 it is characterised in that described tracking box be rectangle, polygon, ellipse
Circular, circular, described width is tracking box full-size in the width direction, and described length is maximum chi along its length
Very little.
24. image processors according to claim 17 are it is characterised in that described image processor also includes:
Generation module, for show when described display device the data flow for being tracked target image frame when, according to
The action message at family generates described tracking box.
25. image processors according to claim 14 it is characterised in that described second sub-image data flow include with
The data flow of track target,
Described image processor also includes:
Computing module, for calculating the center point data of the image frame of the data flow being tracked target；
Update module, for being used for being tracked the image frame of the data flow of target according to the renewal of described center point data
Reference point location.
26. image processors according to claim 25 are it is characterised in that described update module includes:
Comparison unit, for contrasting the side-play amount of described reference point location and the coordinate of described center point data；
Offset adjusting unit, for adjusting the coordinate of described reference point location according to described side-play amount.
A kind of 27. movable equipments, including video capturing device, display device and as any one of claim 14-26 institute
The image processor stated, described video capturing device is used for obtaining source image data, and described display device is used for show image
Data.
28. movable equipments as claimed in claim 27 are it is characterised in that described second sub-image data flow includes following the tracks of mesh
Target data flow,
Described video capturing device is used for obtaining a secondary source imaging data stream every fixing predetermined period；
Described image processor includes:
Transport module, the data stream transmitting for the tracking target in the described source imaging data stream by periodic transmission gives calculating mould
Block；
Computing module, for following the tracks of the data of target described in the data-flow computation of the tracking target transmitted according to described transport module
The center point data of the image frame of stream；And
Update module, for being used for being tracked the image frame of the data flow of target according to the renewal of described center point data
Reference point location.
29. movable equipments according to claim 27 are it is characterised in that described movable equipment is hand-held head.
A kind of 30. unmanned controllers, including reception device, display device and as described in any one of claim 14-26
Image processor, described reception device is used for receiving the image data that the filming apparatus of unmanned plane obtain, described display device
For showing described image data, described image processor is processed to described image.
A kind of 31. UASs, including unmanned controller and unmanned plane, described unmanned controller includes display device,
Described unmanned plane includes video capturing device it is characterised in that described control end and/or unmanned plane are also included as claim
Image processor any one of 14-26.
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| CN201610799109.5A CN106375682B (en) | 2016-08-31 | 2016-08-31 | Image processing method and device, movable equipment, unmanned aerial vehicle remote controller and system |
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| CN108476289A (en) * | 2017-07-31 | 2018-08-31 | 深圳市大疆创新科技有限公司 | A kind of method for processing video frequency, equipment, aircraft and system |
| WO2019023914A1 (en) * | 2017-07-31 | 2019-02-07 | 深圳市大疆创新科技有限公司 | Image processing method, unmanned aerial vehicle, ground console, and image processing system thereof |
| CN108476289B (en) * | 2017-07-31 | 2021-02-02 | 深圳市大疆创新科技有限公司 | Video processing method, device, aircraft and system |
| US11385658B2 (en) | 2017-07-31 | 2022-07-12 | SZ DJI Technology Co., Ltd. | Video processing method, device, aircraft, and system |
| CN109362228A (en) * | 2017-10-31 | 2019-02-19 | 深圳市大疆创新科技有限公司 | Unmanned vehicle, unmanned vehicle pedestal and unmanned vehicle system |
| CN109362228B (en) * | 2017-10-31 | 2022-04-26 | 深圳市大疆创新科技有限公司 | Unmanned vehicles, unmanned vehicles base and unmanned vehicles system |
| WO2022143230A1 (en) * | 2020-12-29 | 2022-07-07 | 华为技术有限公司 | Method for determining tracking target, and electronic device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111325201A (en) | 2020-06-23 |
| CN106375682B (en) | 2020-02-18 |
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