CN107959769B - Video camera - Google Patents
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- CN107959769B CN107959769B CN201610903136.2A CN201610903136A CN107959769B CN 107959769 B CN107959769 B CN 107959769B CN 201610903136 A CN201610903136 A CN 201610903136A CN 107959769 B CN107959769 B CN 107959769B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/95—Computational photography systems, e.g. light-field imaging systems
- H04N23/951—Computational photography systems, e.g. light-field imaging systems by using two or more images to influence resolution, frame rate or aspect ratio
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Abstract
The camera provided by the embodiment of the invention comprises a plurality of image sensors, an image processor and a data processor group. The image processor is used for receiving the original images collected and sent by the image sensor, splicing the original images to obtain original panoramic images, splitting the original panoramic images into a plurality of original split images and sending the split images to the data processor group. When the camera provided by the embodiment of the invention is applied to image processing, the original panoramic image is not directly subjected to image coding, but is firstly split into a plurality of original split images, and a plurality of CPUs in the data processor group are used for respectively carrying out image coding on each original split image.
Description
Technical Field
The invention relates to the technical field of video monitoring, in particular to a camera.
Background
Nowadays, a user can take a panoramic image using a panoramic camera, wherein the so-called panoramic image refers to an image having a field angle in a range of 180 ° to 360 °. In general, a panoramic camera refers in particular to a video camera having a plurality of lenses and a plurality of image sensors (simply referred to as sensors).
A camera is provided in the related art, and may include a plurality of sensors, a CPU (central processing Unit), and an image processor. Specifically, each sensor in the panoramic camera is used for acquiring an original image corresponding to each field angle, the image processor is used for performing splicing processing on each original image, so that each original image is spliced into an original panoramic image, and the CPU of the panoramic camera is used for performing image coding on the spliced original panoramic image to remove redundant data in the original panoramic image, so as to finally obtain a target panoramic image for display.
Generally, the resolution of the original panoramic image obtained by stitching is often very large, and the processing capability of the CPU of the panoramic camera is limited, so that in order to ensure that the CPU can perform image coding on the original panoramic image, the resolution of the original image acquired by each sensor is often required to be reduced. It can be seen that due to the restriction of the processing capability of the CPU of the panoramic camera, the resolution of the target panoramic image obtained by the related art is low, i.e., the definition of the target panoramic image is not high.
Disclosure of Invention
The embodiment of the invention aims to provide a camera for improving the definition of a target panoramic image.
In order to achieve the above object, an embodiment of the present invention discloses a camera, including: a plurality of image sensors, an image processor, and a data processor group; wherein the content of the first and second substances,
the image sensors are used for acquiring original images corresponding to respective field angles and sending the acquired original images to the image processor;
the image processor is used for receiving the original images to be spliced, which are acquired and sent by the image sensors; splicing each original image to obtain a spliced original panoramic image; splitting the original panoramic image into a plurality of original split images according to a preset image splitting rule; sending each original split image to the data processor group;
and the data processor group comprises at least two Central Processing Units (CPU) and is used for carrying out image coding on each original split image to obtain a target split image corresponding to each original split image and controlling all target split images corresponding to the original panoramic image to be synchronously displayed.
Optionally, the image processor is specifically configured to:
and splitting the original panoramic image into a plurality of original split images according to at least one of the number and the processing capacity parameter value of the CPUs in the data processor group and the resolution of the original panoramic image.
Optionally, the data processor group includes a master CPU and at least one slave CPU;
the main CPU is used for receiving the original split image sent by the image processor, carrying out image coding on the received original split image to obtain a target split image corresponding to the original split image, receiving the target split image obtained and sent by carrying out image coding on the slave CPU, and controlling all the target split images corresponding to the original panoramic image to be synchronously displayed;
the slave CPU is used for receiving the original split image sent by the image processor, carrying out image coding on the received original split image to obtain a target split image corresponding to the original split image, and sending the target split image obtained by carrying out image coding to the master CPU.
Optionally, the main CPU is specifically configured to:
correcting the received time stamp of the target split image obtained and sent by the image coding of the slave CPU according to the reference time stamp; the reference timestamp is a timestamp when the main CPU receives an original split image sent by the image processor;
controlling all target split images corresponding to the original panoramic image, and synchronously displaying according to a target timestamp; and the target time stamp corresponding to the target split image obtained by the image coding of the main CPU is the reference time stamp, and the target time stamp corresponding to the target split image received by the main CPU is the corrected time stamp.
Optionally, the main CPU is specifically configured to:
packaging all target split images corresponding to the original panoramic image to obtain an image package containing each target split image; and sending the image packet to a display terminal so that the display terminal synchronously displays all target split images corresponding to the original panoramic image according to corresponding target time stamps after decoding the received image packet.
Optionally, the target split image is: the main CPU and the slave CPU are used for obtaining images according to image parameter coding configured in the main CPU; wherein the image parameters include: exposure parameters, white balance parameters, and a color correction matrix.
Optionally, the image processor is further configured to perform scaling processing for reducing resolution on the original panoramic image, and obtain a scaled low-resolution panoramic image; sending the low resolution panoramic image to the data processor group;
the data processor group is further configured to perform image coding on the low-resolution panoramic image, obtain a target panoramic image corresponding to the low-resolution panoramic image, and control display of the target panoramic image.
Optionally, the image processor is further configured to obtain a target panoramic image obtained by performing image coding on the data processor group; extracting a moving target in the target panoramic image; obtaining first pixel coordinates of the extracted moving object in the low-resolution panoramic image; determining a target split image in which a second pixel coordinate corresponding to the first pixel coordinate is located according to the pixel coordinate corresponding relation between the target panoramic image and each target split image; sending the determined identification information of the target split image to the data processor group;
and the data processor group is used for controlling the determined target split image to be displayed.
Optionally, the image processor is specifically configured to detect whether a trigger signal for controlling the determined target split image to be displayed is received; and if so, sending the determined identification information of the target split image to the data processor group.
Optionally, the image processor is a module built based on a field programmable gate array FPGA chip.
The camera provided by the embodiment of the invention comprises a plurality of image sensors, an image processor and a data processor group. When the scheme provided by the embodiment of the invention is applied to image processing, the original panoramic image is not directly subjected to image coding, but is firstly split into a plurality of original split images, and a plurality of CPUs in the data processor group respectively perform image coding on each original split image.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a camera according to an embodiment of the present invention;
fig. 2 is another schematic structural diagram of a camera according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to improve the definition of a target panoramic image, the embodiment of the invention provides a camera.
As shown in fig. 1, a camera provided for an embodiment of the present invention includes: a plurality of image sensors 10, an image processor 20, and a data processor group 30.
For example, the image processor 20 may be a module built based on a field programmable gate array FPGA chip, but is not limited thereto.
The image sensors 10 are configured to acquire original images corresponding to respective field angles and send the acquired original images to the image processor 20;
the image processor 20 is configured to receive the original images to be stitched, which are acquired and sent by the image sensors 10; splicing each original image to obtain a spliced original panoramic image; splitting the original panoramic image into a plurality of original split images according to a preset image splitting rule; and sending each original split image to the data processor complex 30;
the data processor group 30 includes at least two central processing units CPU, and is configured to perform image coding on each original split image, obtain a target split image corresponding to each original split image, and control all target split images corresponding to the original panoramic image to be displayed synchronously.
As can be seen from the above, when the camera provided in the embodiment of the present invention is applied to image processing, the original panoramic image is not directly image-encoded, but the original panoramic image is first split into a plurality of original split images, and then the plurality of CPUs in the data processor group 30 respectively image-encode each original split image.
Specifically, the original images are acquired by each image sensor 10 in the panoramic camera, and each image sensor 10 can acquire the images by using the photoelectric conversion effect, and generally, the original images at a plurality of viewing angles can be acquired by using a plurality of lenses in the panoramic camera in cooperation with the plurality of image sensors 10. After each raw image is captured by each image sensor 10, each raw image may be sent to the image processor 20 so that the image processor 20 performs subsequent image processing on the received raw image.
It should be noted that before image acquisition is performed by using the image sensor 10, parameters of each component of the panoramic camera need to be configured, and those skilled in the art need to reasonably set the parameters of each component according to specific situations in practical applications. Furthermore, as will be understood by those skilled in the art, the image sensor is an important component of a digital camera, and is also a high-end technology Device applied to photography, and can be classified into two categories, namely, a CCD (Charge Coupled Device) and a CMOS (Complementary Metal-oxide semiconductor) according to the Device. It should be emphasized that, with respect to the specific acquisition manner of the raw images to be stitched by the image sensor, reference may be made to any one of the prior art, and no limitation is made herein.
After obtaining the original split images, in order to obtain a target panoramic image with a higher resolution, each original split image may be sent to the data processor group 30; accordingly, the data processor group 30 may encode each original split image, obtain a target split image corresponding to each original split image, and control all target split images corresponding to the original panoramic image to be displayed synchronously, so as to visually make all the displayed target split images equal to the target panoramic image with higher resolution corresponding to the original panoramic image.
Optionally, in an implementation manner, the image processor 20 is specifically configured to:
the original panoramic image is split into a plurality of original split images according to at least one of the number of CPUs and the processing capability parameter value in the data processor group 30 and the resolution of the original panoramic image.
For example, assuming that the size of the resolution of an image that can be processed by the CPU in the data processor group 30 (i.e., the processing capability parameter value of the CPU) does not exceed 600 × 600, for an original panoramic image having a resolution of 1000 × 1000, the original panoramic image may be split into 4 original split images having a resolution of 500 × 500 according to the processing capability parameter value of the CPU and the resolution of the original panoramic image.
It should be noted that the above is merely an example of how to split the original panoramic image into a plurality of original split images, and should not be construed as a limitation to the specific implementation of splitting into a plurality of original split images, and any possible implementation may be applied to the present invention.
Specifically, in one implementation, as shown in fig. 2, the data processor group 30 in the camera provided by the embodiment of the present invention may include a master CPU31 and at least one slave CPU 32;
the main CPU31 is configured to receive the original split image sent by the image processor 20, perform image coding on the original split image received by the main CPU31 to obtain a target split image corresponding to the original split image, receive a target split image obtained and sent by performing image coding on the slave CPU32, and control all target split images corresponding to the original panoramic image to be displayed synchronously;
the slave CPU32 is configured to receive the original split image sent by the image processor 20, perform image coding on the original split image received by the slave CPU to obtain a target split image corresponding to the original split image, and send the target split image obtained by performing image coding to the master CPU 31.
The main CPU31 is specifically configured to:
correcting the time stamp of the received target split image obtained and transmitted by the image encoding from the CPU32, in accordance with the reference time stamp; wherein, the reference timestamp is a timestamp when the main CPU31 receives the original split image sent by the image processor 20;
controlling all target split images corresponding to the original panoramic image, and synchronously displaying according to a target timestamp; the target time stamp corresponding to the target split image obtained by the image encoding performed by the main CPU31 is the reference time stamp, and the target time stamp corresponding to the target split image received by the main CPU31 is the corrected time stamp.
It should be noted that, for the video frame images acquired by the image sensors 10 of the panoramic camera, when the image processor 20 splices each original image (video frame image) into one original panoramic image, the frame number of the video frame image corresponding to the original panoramic image can be obtained, so that when the original panoramic image is divided into a plurality of original split images, the frame number of the video frame image can be carried in each original split image. Accordingly, when the master CPU31 or each slave CPU32 obtains each original split image transmitted to the image processor 20, a correspondence relationship between the frame number of the video frame image carried in the corresponding original split image and the time stamp at the time of obtaining the original split image can be established. It should be noted that the purpose of carrying the frame number of the video frame image is to ensure the synchronous display of the target split image corresponding to the same original panoramic image, so that the target split images corresponding to different video frame images are not displayed simultaneously on the display interface of the display terminal.
The main CPU31 is specifically configured to:
packaging all target split images corresponding to the original panoramic image to obtain an image package containing each target split image; and sending the image packet to a display terminal so that the display terminal synchronously displays all target split images corresponding to the original panoramic image according to corresponding target time stamps after decoding the received image packet.
It should be noted that the main CPU31 may package each target split image by using a proprietary protocol agreed by those skilled in the art or a public protocol known by those skilled in the art, and the adopted packaging protocol is not limited herein, and any possible implementation manner may be applied to the present invention.
In addition, since each target split image is finally displayed synchronously to display a complete target panoramic image for the user, before image coding is performed on each original split image by using different CPUs in the data processor group 30, each image parameter needs to be synchronized, so that the target split images coded by each CPU have consistency in image effect. Specifically, the master CPU may calculate and obtain corresponding image parameters by using an existing image parameter calculation method, store the image parameters in a storage unit of the panoramic camera, switch to the slave CPU1 by using a multi-way switching device, trigger the slave CPU1 to read the image parameters stored by the master CPU in the storage unit, and so on, sequentially trigger the other slave CPUs to read the image parameters stored by the master CPU in the storage unit, and perform synchronization according to the obtained image parameters after the master CPU and each slave CPU obtain the corresponding image parameters.
Specifically, the target split image is: the master CPU31 and the slave CPU32 encode images according to image parameters configured in the master CPU 31; wherein the image parameters include: exposure parameters, white balance parameters, and a color correction matrix. Of course, it is reasonable that the image parameters of the master CPU31 and the slave CPU31 may have a range of differences without affecting the visual effect.
It should be noted that the 3 image parameters listed above are only examples, and should not constitute a limitation to the image parameters, and those skilled in the art need to select suitable specific image parameters according to the specific situation in the practical application.
In a specific embodiment of the present invention, the image processor 20 is further configured to perform scaling processing for reducing the resolution of the original panoramic image, and obtain a scaled low-resolution panoramic image; sending the low resolution panoramic image to the data processor group 30;
the data processor group 30 is further configured to perform image coding on the low-resolution panoramic image, obtain a target panoramic image corresponding to the low-resolution panoramic image, and control display of the target panoramic image.
Specifically, the resolution of the original panoramic image obtained by stitching the original images is usually very high and often exceeds the processing capability of one CPU, and here, the original panoramic image may be scaled by using an image processing algorithm for reducing the image resolution in the prior art, so as to obtain a low-resolution panoramic image corresponding to the original panoramic image.
Note that the low-resolution panoramic image may be image-encoded by the master CPU31 or the slave CPU32 in the data processor group 30, and it is emphasized that, when the low-resolution panoramic image is image-encoded by the slave CPU32, the slave CPU32 needs to transmit the encoded target low-resolution panoramic image to the master CPU31 and control the display of the target low-resolution panoramic image by the master CPU 31.
Therefore, when the camera provided by the embodiment of the invention is applied to image processing, a target low-resolution panoramic image corresponding to the original panoramic image can be obtained, and compared with the original panoramic image, the resolution of the target low-resolution panoramic image is greatly reduced, so that the target low-resolution panoramic image is easily in the processing capability of the image resolution which can be processed by a CPU (central processing unit), and the method and the device are suitable for application scenes with low requirements on the resolution of the panoramic image.
In an embodiment of the present invention, the image processor 20 is further configured to obtain a target panoramic image obtained by image encoding performed by the data processor group 30; extracting a moving target in the target panoramic image; obtaining first pixel coordinates of the extracted moving object in the low-resolution panoramic image; determining a target split image in which a second pixel coordinate corresponding to the first pixel coordinate is located according to the pixel coordinate corresponding relation between the target panoramic image and each target split image; and send the identification information of the determined target split image to the data processor group 30;
the data processor group 30 is further configured to control the determined target split image to be displayed.
In one implementation, the image processor 20 is specifically configured to detect whether a trigger signal for controlling the determined target split image to be displayed is received; if so, the determined identification information of the target split image is sent to the data processor group 30.
It should be noted that, the above only illustrates a specific way in which the data processor group 30 controls the determined target split image to be displayed, but other feasible implementations are also possible, for example, the data processor group 30 may also directly display the determined target split image when receiving the identification information of the target split image sent by the image processor 20, without detecting whether a trigger signal is received, which is also feasible.
It should be noted that, for a video frame image, when a moving object in a target low-resolution panoramic image is extracted, the moving object in the current target low-resolution panoramic image may be extracted by combining with a previous video frame image corresponding to the target low-resolution panoramic image, and specifically, the moving object may include: people, vehicles, and the like, the embodiments of the present invention do not need to be limited to specific moving objects, and those skilled in the art need to make appropriate settings according to the specific situation in practical applications.
Specifically, after a moving object is extracted from a target low-resolution panoramic image, an image area where the moving object is located may be obtained, and then a first pixel coordinate of the moving object in a first-resolution panoramic image may be determined by using a method in the prior art, for example, a central point of the image area where the moving object is located may be determined as the first pixel coordinate corresponding to the moving object, and of course, other feasible implementation manners may also be available.
Specifically, the target low-resolution panoramic image and each of the target split images are obtained by performing a series of image processing on the same original panoramic image, and from the viewpoint of image content, the target low-resolution panoramic image is identical to the target panoramic images corresponding to all of the target split images, so that a pixel coordinate correspondence relationship between the target low-resolution panoramic image and each of the target split images can be established. Thus, after the first pixel coordinate of the moving target in the target low-resolution full-depth image is obtained, each target split image including the moving target, that is, the target split image in which the second pixel coordinate corresponding to the first pixel coordinate is located, can be determined according to the established corresponding relationship.
Specifically, after determining each target split image including the moving target, identification information carried by the target split image, for example, a frame number of a video frame image, may be sent to the data processor group 30, so that the data processor group 30 may control the determined target split image to be displayed.
In one implementation, the image processor 20 detects whether a trigger signal for controlling the determined target split image to be displayed is received; if so, sending the identification information of the determined target split image to the data processor group 30, so that the data processor group 30 controls the determined target split image to be displayed.
It should be noted that, the above only illustrates a specific way in which the data processor group 30 controls the determined target split image to be displayed, but other feasible implementations are also possible, for example, the data processor group 30 may also directly display the determined target split image when receiving the identification information of the target split image sent by the image processor 20, without detecting whether a trigger signal is received, which is also feasible.
Therefore, when the camera provided by the embodiment of the invention is applied to image processing, the obtained low-resolution panoramic image of the target can be subjected to image analysis, for example, a moving target in the image is extracted, so that the requirements of a user on displaying the high-resolution panoramic image and analyzing the panoramic image are met, and the extracted moving target can be subjected to high-definition local image display.
In a particular embodiment of the invention, the camera may further comprise an audio sensor for capturing sound in the scene. Correspondingly, the data processor group 30 may further perform audio coding on the sound collected by the audio sensor, and then send the coded sound signal to the audio terminal device for playing.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Those skilled in the art will appreciate that all or part of the steps in the above method embodiments may be implemented by a program to instruct relevant hardware to perform the steps, and the program may be stored in a computer-readable storage medium, referred to herein as a storage medium, such as: ROM/RAM, magnetic disk, optical disk, etc.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (8)
1. A camera, comprising: a plurality of image sensors, an image processor, and a data processor group; wherein the content of the first and second substances,
the image sensors are used for acquiring original images corresponding to respective field angles and sending the acquired original images to the image processor;
the image processor is used for receiving the original images to be spliced, which are acquired and sent by the image sensors; splicing each original image to obtain a spliced original panoramic image; splitting the original panoramic image into a plurality of original split images according to a preset image splitting rule; sending each original split image to the data processor group;
the data processor group comprises at least two Central Processing Units (CPU) and is used for carrying out image coding on each original split image to obtain a target split image corresponding to each original split image and controlling all target split images corresponding to the original panoramic image to be synchronously displayed;
wherein, the data processor group comprises a main CPU and at least one slave CPU;
the main CPU is used for receiving the original split image sent by the image processor, carrying out image coding on the received original split image to obtain a target split image corresponding to the original split image, receiving the target split image obtained and sent by carrying out image coding on the slave CPU, and controlling all the target split images corresponding to the original panoramic image to be synchronously displayed;
the slave CPU is used for receiving the original split image sent by the image processor, carrying out image coding on the original split image received by the slave CPU to obtain a target split image corresponding to the original split image, and sending the target split image obtained by carrying out image coding to the master CPU;
the main CPU is specifically configured to:
correcting the received time stamp of the target split image obtained and sent by the image coding of the slave CPU according to the reference time stamp; the reference timestamp is a timestamp when the main CPU receives an original split image sent by the image processor;
controlling all target split images corresponding to the original panoramic image, and synchronously displaying according to a target timestamp; and the target time stamp corresponding to the target split image obtained by the image coding of the main CPU is the reference time stamp, and the target time stamp corresponding to the target split image received by the main CPU is the corrected time stamp.
2. The camera according to claim 1, characterized in that the image processor is specifically configured to:
and splitting the original panoramic image into a plurality of original split images according to at least one of the number and the processing capacity parameter value of the CPUs in the data processor group and the resolution of the original panoramic image.
3. The camera according to claim 1, wherein the main CPU is specifically configured to:
packaging all target split images corresponding to the original panoramic image to obtain an image package containing each target split image; and sending the image packet to a display terminal so that the display terminal synchronously displays all target split images corresponding to the original panoramic image according to corresponding target time stamps after decoding the received image packet.
4. The camera of claim 1, wherein the target split image is: the main CPU and the slave CPU are used for obtaining images according to image parameter coding configured in the main CPU; wherein the image parameters include: exposure parameters, white balance parameters, and a color correction matrix.
5. The camera of claim 1,
the image processor is further configured to perform scaling processing for reducing resolution on the original panoramic image, and obtain a scaled low-resolution panoramic image; sending the low resolution panoramic image to the data processor group;
the data processor group is further configured to perform image coding on the low-resolution panoramic image, obtain a target panoramic image corresponding to the low-resolution panoramic image, and control display of the target panoramic image.
6. The camera of claim 5,
the image processor is further used for obtaining a target panoramic image obtained after the data processor group carries out image coding; extracting a moving target in the target panoramic image; obtaining first pixel coordinates of the extracted moving object in the low-resolution panoramic image; determining a target split image in which a second pixel coordinate corresponding to the first pixel coordinate is located according to the pixel coordinate corresponding relation between the target panoramic image and each target split image; sending the determined identification information of the target split image to the data processor group;
and the data processor group is also used for controlling the determined target split image to be displayed.
7. The camera of claim 6,
the image processor is specifically configured to detect whether a trigger signal for controlling the determined target split image to be displayed is received; and if so, sending the determined identification information of the target split image to the data processor group.
8. The camera according to any one of claims 1 to 7, wherein the image processor is a module built on a Field Programmable Gate Array (FPGA) chip.
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| CN109286742B (en) * | 2018-10-19 | 2021-02-02 | 浙江大华技术股份有限公司 | Image acquisition equipment and method |
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