TWM636416U - Multi-viewpoint 3D display device - Google Patents

Multi-viewpoint 3D display device Download PDF

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TWM636416U
TWM636416U TW111208718U TW111208718U TWM636416U TW M636416 U TWM636416 U TW M636416U TW 111208718 U TW111208718 U TW 111208718U TW 111208718 U TW111208718 U TW 111208718U TW M636416 U TWM636416 U TW M636416U
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image
view
frame
display device
image data
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TW111208718U
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張簡毅仁
曾文柏
吳智孟
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創新服務股份有限公司
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Priority to CN202211324867.3A priority patent/CN117640913A/en
Publication of TWM636416U publication Critical patent/TWM636416U/en

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/106—Processing image signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/271—Image signal generators wherein the generated image signals comprise depth maps or disparity maps
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/282—Image signal generators for generating image signals corresponding to three or more geometrical viewpoints, e.g. multi-view systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/30—Image reproducers
    • H04N13/349—Multi-view displays for displaying three or more geometrical viewpoints without viewer tracking

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
  • Controls And Circuits For Display Device (AREA)
  • Devices For Indicating Variable Information By Combining Individual Elements (AREA)

Abstract

一種多視角3D顯示裝置，具有：一影像輸入單元，用以依一選擇信號之控制接收一單影像串流資料；一影像運算模組，用以處理該單影像串流資料以產生一幀3D影像資料，及在一記憶體中配置與多個預設視角對應之多幀輸出影像資料，其中，該些幀輸出影像資料中至少有一幀係該幀3D影像資料；以及一3D顯示器，具有與所述多個預設視角對應之多個像素陣列以依該些幀輸出影像資料顯示多個視角限定畫面。另外，該多視角3D顯示裝置亦可藉由一雙眼追跡模組偵測一觀者視角以為該觀者提供依該幀3D影像資料所顯示之一3D影像。A multi-view 3D display device, comprising: an image input unit for receiving a single image stream data controlled by a selection signal; an image computing module for processing the single image stream data to generate a frame of 3D image data, and disposing in a memory a multi-frame output image data corresponding to a plurality of preset viewing angles, wherein at least one of the frames of output image data is the frame of 3D image data; and a 3D display having the same A plurality of pixel arrays corresponding to the plurality of preset viewing angles are used to output image data according to the frames to display multiple viewing angle limited frames. In addition, the multi-view 3D display device can also detect a viewer's view angle through a binocular tracking module to provide the viewer with a 3D image displayed according to the frame of 3D image data.

Description

多視角3D顯示裝置Multi-view 3D display device

本創作係有關於顯示裝置，特別是關於一種多視角3D顯示裝置。 This creation is related to a display device, in particular to a multi-view 3D display device.

在內視鏡手術、探勘活動或救難任務中，常需要借助於一微型攝像頭拍攝人體內或洞穴中或倒榻的建築物中之2D影像，然後再將該2D影像顯示在一螢幕上。 In endoscopic surgery, exploration activities or rescue missions, it is often necessary to take 2D images of the human body, caves, or collapsed buildings with the help of a micro-camera, and then display the 2D images on a screen.

然而，在該些應用場域中，由於2D影像並無法把景深呈現出來，故2D影像有時並無法清楚地顯示現場的狀況。 However, in these application fields, since the 2D images cannot present the depth of field, the 2D images sometimes cannot clearly display the scene conditions.

因此，本領域亟需一種新穎的多視角3D顯示裝置。 Therefore, there is an urgent need in the art for a novel multi-view 3D display device.

本創作之一目的在於揭露一種多視角3D顯示裝置，其可依單影像串流資料產生一3D影像。 One purpose of this invention is to disclose a multi-view 3D display device, which can generate a 3D image according to a single image stream data.

本創作之另一目的在於揭露一種多視角3D顯示裝置，其可依一3D顯示器提供多個預設視角，且可為各該預設視角預備一對應的2D影像或3D影像。 Another purpose of the present invention is to disclose a multi-view 3D display device, which can provide multiple preset viewing angles according to a 3D display, and can prepare a corresponding 2D image or 3D image for each of the preset viewing angles.

本創作之又一目的在於揭露一種多視角3D顯示裝置，其可藉由一雙眼追跡模組偵測一觀者之視角以自動為該觀者在該視角提供一3D影像。 Another purpose of the present invention is to disclose a multi-view 3D display device, which can detect a viewer's view angle through a binocular tracking module to automatically provide the viewer with a 3D image at the view angle.

為達前述目的，一種多視角3D顯示裝置乃被提出，其具有：一影像輸入單元，用以依一選擇信號之控制接收一單影像串流資料資料；一影像運算模組，與該影像輸入單元耦接以接收該單影像串流資料，係用以執行一影像運算，該影像運算包括：依該選擇信號之控制自該單影像串流資料周期性地擷取一幀2D影像資料；依該選擇信號之控制對該幀2D影像資料進行一第一景深計算以產生一幀第一景深資料；依該選擇信號之控制對該幀2D影像資料與該幀第一景深資料進行一第一影像融合運算以產生一幀3D影像資料；及在一記憶體中配置與多個預設視角對應之多幀輸出影像資料，其中，該些幀輸出影像資料中至少有一幀係該幀3D影像資料；以及一多視角3D顯示器，與該影像運算模組耦接，具有與所述多個預設視角對應之多個像素陣列，且該些像素陣列係依該些幀輸出影像資料顯示與所述多個預設視角對應之多個視角限定畫面。 In order to achieve the aforementioned purpose, a multi-view 3D display device is proposed, which has: an image input unit, used to receive a single image stream data according to the control of a selection signal; an image computing module, connected with the image input The unit is coupled to receive the single image stream data, and is used to perform an image operation, and the image operation includes: periodically extracting a frame of 2D image data from the single image stream data according to the control of the selection signal; According to the control of the selection signal, a first depth of field calculation is performed on the frame of 2D image data to generate a frame of first depth of field data; according to the control of the selection signal, a first image is performed on the frame of 2D image data and the frame of the first depth of field data Fusion calculation to generate a frame of 3D image data; and disposing multiple frames of output image data corresponding to multiple preset viewing angles in a memory, wherein at least one frame of the output image data is the frame of 3D image data; And a multi-view 3D display, coupled with the image computing module, has a plurality of pixel arrays corresponding to the plurality of preset viewing angles, and the pixel arrays output image data according to the frames to display and display the multi-view A plurality of viewing angle limited frames corresponding to a preset viewing angle.

在一實施例中，該影像運算模組具有一影像擷取單元、一第一景深計算單元，其中，該影像擷取單元係用以自該單影像串流資料周期性地擷取該幀2D影像資料；及該第一景深計算單元係用以執行該第一景深計算。 In one embodiment, the image computing module has an image capture unit and a first depth of field calculation unit, wherein the image capture unit is used to periodically capture the frame 2D from the single video stream data image data; and the first depth-of-field calculation unit is used for performing the first depth-of-field calculation.

在一實施例中，該第一景深計算單元包含一第一類神經網路模組。 In one embodiment, the first depth calculation unit includes a first-type neural network module.

在一實施例中，該影像運算模組進一步具有一影像生成單元以執行該第一影像融合運算。 In one embodiment, the image computing module further has an image generating unit for performing the first image fusion operation.

在一實施例中，該影像運算模組進一步具有一多視角影像資料配置單元以在該記憶體中配置與所述多個預設視角對應之多幀輸出影像資料。 In one embodiment, the image computing module further has a multi-view image data configuration unit for configuring multiple frames of output image data corresponding to the plurality of preset viewing angles in the memory.

在一實施例中，該多視角3D顯示器係一柱狀透鏡式3D顯示器或一視差光柵式3D顯示器。 In one embodiment, the multi-view 3D display is a lenticular 3D display or a parallax barrier 3D display.

在一實施例中，所述之多視角3D顯示裝置進一步具有一雙眼追跡模組以偵測一觀者視角，且該影像運算模組係依該觀者視角映射所述多個預設視角以找出一索引視角，及將該幀3D影像資料載入該記憶體中之與該索引視角相對應之一幀所述輸出影像資料之儲存區中。 In one embodiment, the multi-view 3D display device further has a binocular tracking module to detect a viewer's viewing angle, and the image computing module maps the plurality of preset viewing angles according to the viewer's viewing angle to find an index viewing angle, and load the frame of 3D image data into the storage area of a frame of output image data corresponding to the index viewing angle in the memory.

在一實施例中，該些視角限定畫面皆係3D影像。 In one embodiment, the viewing angle limiting frames are all 3D images.

在一實施例中，該些視角限定畫面包含至少一2D影像。 In one embodiment, the viewing angle limiting frames include at least one 2D image.

在一實施例中，該些視角限定畫面包含至少一可縮放之3D影像。 In one embodiment, the viewing angle limiting frames include at least one zoomable 3D image.

在一實施例中，該些視角限定畫面包含至少一可縮放之2D影像。 In one embodiment, the viewing angle limiting frames include at least one scalable 2D image.

在可能的實施例中，所述之多視角3D顯示裝置之應用場域可為一內視鏡手術、一探勘活動或一救難任務。 In a possible embodiment, the application field of the multi-view 3D display device may be an endoscopic operation, an exploration activity or a rescue mission.

為使 貴審查委員能進一步瞭解本新型之結構、特徵及其目的，茲附以圖式及較佳具體實施例之詳細說明如後。 In order to enable your review committee to further understand the structure, characteristics and purpose of the present invention, the drawings and detailed descriptions of preferred embodiments are hereby attached.

100:多視角3D顯示裝置 100: Multi-view 3D display device

110:影像輸入單元 110: Image input unit

120:影像運算模組 120: Image computing module

130:多視角3D顯示器 130: Multi-view 3D display

140:雙眼追跡模組 140:Binocular tracking module

121:影像擷取單元 121: image capture unit

122:控制單元 122: Control unit

123:記憶體 123: memory

124:第一景深計算單元 124: The first depth of field calculation unit

126:影像生成單元 126: Image generation unit

127:多視角影像資料配置單元 127: Multi-view image data configuration unit

128:輸出單元 128: output unit

圖1繪示本創作之多視角3D顯示裝置之一實施例之方塊圖。 FIG. 1 shows a block diagram of an embodiment of a multi-view 3D display device of the present invention.

圖2繪示圖1之多視角3D顯示裝置之影像運算模組之一實施例之方塊圖。 FIG. 2 is a block diagram of an embodiment of an image computing module of the multi-view 3D display device in FIG. 1 .

請參照圖1，其繪示本創作之多視角3D顯示裝置之一實施例之方塊圖。 Please refer to FIG. 1 , which shows a block diagram of an embodiment of the multi-view 3D display device of the present invention.

如圖1所示，一多視角3D顯示裝置100具有一影像輸入單元110、一影像運算模組120、一多視角3D顯示器130及一雙眼追跡模組140。 As shown in FIG. 1 , a multi-view 3D display device 100 has an image input unit 110 , an image computing module 120 , a multi-view 3D display 130 and a binocular tracking module 140 .

影像輸入單元110係用以依一選擇信號SEL之控制接收一單影像串流資料D1。 The image input unit 110 is used to receive a single image stream data D1 according to the control of a selection signal SEL.

影像運算模組120係與影像輸入單元110耦接以接收一輸入資料DIN，該輸入資料DIN可為該單影像串流資料D1，以據以執行一影像運算。請參照圖2，其繪示影像運算模組120之一實施例之方塊圖。如圖2所示，影像運算模組120具有一影像擷取單元121、一控制單元122、一記憶體123、一第一景深計算單元124、一影像生成單元126、一多視角影像資料配置單元127及一輸出單元128。 The image operation module 120 is coupled to the image input unit 110 to receive an input data D IN , which can be the single image stream data D1 , so as to perform an image operation. Please refer to FIG. 2 , which shows a block diagram of an embodiment of the image computing module 120 . As shown in Figure 2, the image computing module 120 has an image capture unit 121, a control unit 122, a memory 123, a first depth of field calculation unit 124, an image generation unit 126, and a multi-view image data configuration unit 127 and an output unit 128 .

影像擷取單元121係用以對該輸入資料DIN進行一影像擷取操作，以自該單影像串流資料D1周期性地擷取該幀2D影像資料。 The image capture unit 121 is configured to perform an image capture operation on the input data D IN to periodically capture the frame of 2D image data from the single video stream data D1 .

控制單元122係用以依影像擷取單元121的輸出資料執行該影像運算，其包括：依該選擇信號SEL之控制自該單影像串流資料D1周期性地擷取一幀2D影像資料並將該幀2D影像資料存入記憶體123中；驅使第一景深計算單元124對該幀2D影像資料進行一第一景深計算以產生一幀第一景深資料；驅使影像生成單元126對該幀2D影像資料與該幀第一景深資料進行一第一影像融合運算以產生一幀3D影像資料D3D；驅使多視角影像資料配置單元127在記憶體123中配置與多個預設視角對應之多幀輸出影像資料DOUT，其中，該些幀輸出 影像資料DOUT中至少有一幀係該幀3D影像資料D3D；以及驅使輸出單元128輸出該些幀輸出影像資料DOUT。 The control unit 122 is used to execute the image calculation according to the output data of the image capture unit 121, which includes: periodically capture a frame of 2D image data from the single image stream data D1 according to the control of the selection signal SEL and The frame of 2D image data is stored in the memory 123; the first depth of field calculation unit 124 is driven to perform a first field depth calculation on the frame of 2D image data to generate a frame of first depth of field data; the image generation unit 126 is driven to the frame of 2D image Data and the first depth of field data of the frame perform a first image fusion operation to generate a frame of 3D image data D 3D ; drive the multi-view image data configuration unit 127 to configure multi-frame outputs corresponding to multiple preset viewing angles in the memory 123 Image data D OUT , wherein at least one frame of the frames of output image data D OUT is the frame of 3D image data D 3D ; and driving the output unit 128 to output the frames of output image data D OUT .

多視角3D顯示器130係與影像運算模組120耦接，且其具有與所述多個預設視角對應之多個像素陣列，且該些像素陣列係依該些幀輸出影像資料DOUT顯示與所述多個預設視角對應之多個視角限定畫面。 The multi-view 3D display 130 is coupled to the image computing module 120, and has multiple pixel arrays corresponding to the multiple preset viewing angles, and these pixel arrays output image data D OUT for display and display according to the frames. A plurality of viewing angles corresponding to the plurality of preset viewing angles define frames.

另外，雙眼追跡模組140係用以偵測一觀者視角並將與該觀者視角對應一觀者視角資料DA傳送給影像運算模組120，且影像運算模組120係依該觀者視角資料DA映射所述多個預設視角以找出一索引視角，及將該幀3D影像資料載入記憶體123中之與該索引視角相對應之一幀所述輸出影像資料之儲存區中。 In addition, the binocular tracking module 140 is used to detect a viewer's angle of view and send a viewer's angle of view data D A corresponding to the viewer's angle of view to the image computing module 120, and the image computing module 120 is based on the viewer's angle of view or viewing angle data D A maps the plurality of preset viewing angles to find an index viewing angle, and loads the frame of 3D image data into the storage of a frame of output image data corresponding to the index viewing angle in the memory 123 in the district.

另外，第一景深計算單元124可包含一第一類神經網路模組。 In addition, the first depth calculation unit 124 may include a first-type neural network module.

另外，多視角3D顯示器130可為一柱狀透鏡式3D顯示器或一視差光柵式3D顯示器。 In addition, the multi-view 3D display 130 can be a lenticular 3D display or a parallax barrier 3D display.

另外，該些視角限定畫面可皆為3D影像，或包含至少一2D影像，或包含至少一可縮放之3D影像，或包含至少一可縮放之2D影像。 In addition, the viewing angle limiting frames may all be 3D images, or include at least one 2D image, or include at least one scalable 3D image, or include at least one scalable 2D image.

另外，本創作之多視角3D顯示裝置100之應用場域可為一內視鏡手術、一探勘活動或一救難任務。 In addition, the application field of the multi-view 3D display device 100 of the present invention may be an endoscopic operation, an exploration activity or a rescue mission.

藉由前述所揭露的設計，本創作可提供以下功效： With the design disclosed above, this creation can provide the following effects:

(一)本創作的多視角3D顯示裝置可依單影像串流資料產生一3D影像。 (1) The multi-view 3D display device of the present invention can generate a 3D image according to a single video streaming data.

(二)本創作的多視角3D顯示裝置可依一3D顯示器提供多個預設視角，且可為各該預設視角預備一對應的2D影像或3D影像。 (2) The multi-view 3D display device of the present invention can provide multiple preset viewing angles according to a 3D display, and can prepare a corresponding 2D image or 3D image for each preset viewing angle.

(三)本創作的多視角3D顯示裝置可藉由一雙眼追跡模組偵測一觀者之視角以自動為該觀者在該視角提供一3D影像。相對地，在使用傳統的多視角顯示器時，觀看者須站在特定角度才能正確看到3D的影像，亦即，觀看者要自已調整位置、角度才能看得到3D影像。 (3) The multi-view 3D display device of the invention can detect the view angle of a viewer through a binocular tracking module to automatically provide a 3D image for the viewer at the view angle. In contrast, when using a traditional multi-view display, the viewer must stand at a specific angle to see the 3D image correctly, that is, the viewer has to adjust the position and angle to see the 3D image.

本案所揭示者，乃較佳實施例，舉凡局部之變更或修飾而源於本案之技術思想而為熟習該項技藝之人所易於推知者，俱不脫本案之專利權範疇。 What is disclosed in this case is a preferred embodiment. For example, any partial changes or modifications derived from the technical ideas of this case and easily deduced by those who are familiar with the technology are within the scope of the patent right of this case.

綜上所陳，本案無論目的、手段或功效，皆顯示其迥異於習知技術，且其首先創作合於實用，確實符合新型之專利要件，懇請 貴審查委員明察並早日賜予專利俾嘉惠社會，是為至禱。 To sum up, this case, no matter the purpose, means or efficacy, shows that it is very different from the conventional technology, and its first creation is practical, and it does meet the requirements of a new patent. I urge your review committee to clearly understand and grant a patent as soon as possible to benefit the society. , is for the Most Prayer.

100:多視角3D顯示裝置 100: Multi-view 3D display device

110:影像輸入單元 110: Image input unit

120:影像運算模組 120: Image computing module

130:多視角3D顯示器 130: Multi-view 3D display

140:雙眼追跡模組 140:Binocular tracking module

Claims (11)

一種多視角3D顯示裝置，其具有： 一影像輸入單元，用以依一選擇信號之控制接收一單影像串流資料； 一影像運算模組，與該影像輸入單元耦接以接收該單影像串流資料，係用以執行一影像運算，該影像運算包括：依該選擇信號之控制自該單影像串流資料周期性地擷取一幀2D影像資料；對該幀2D影像資料進行一第一景深計算以產生一幀第一景深資料；對該幀2D影像資料與該幀第一景深資料進行一第一影像融合運算以產生一幀3D影像資料；及在一記憶體中配置與多個預設視角對應之多幀輸出影像資料，其中，該些幀輸出影像資料中至少有一幀係該幀3D影像資料；以及 一多視角3D顯示器，與該影像運算模組耦接，具有與所述多個預設視角對應之多個像素陣列，且該些像素陣列係依該些幀輸出影像資料顯示與所述多個預設視角對應之多個視角限定畫面，其中，該多視角3D顯示器係一柱狀透鏡式3D顯示器或一視差光柵式3D顯示器。 A multi-view 3D display device, which has: An image input unit for receiving a single image stream data controlled by a selection signal; An image operation module, coupled with the image input unit to receive the single image stream data, is used to perform an image operation, the image operation includes: according to the control of the selection signal from the single image stream data periodically Accurately capture a frame of 2D image data; perform a first depth of field calculation on the frame of 2D image data to generate a frame of first depth of field data; perform a first image fusion operation on the frame of 2D image data and the frame of first depth of field data to generate a frame of 3D image data; and configure multiple frames of output image data corresponding to multiple preset viewing angles in a memory, wherein at least one frame of the output image data is the frame of 3D image data; and A multi-view 3D display, coupled with the image computing module, has a plurality of pixel arrays corresponding to the plurality of preset viewing angles, and the pixel arrays output image data according to the frames to display and display the plurality of A plurality of viewing-angle-defining frames corresponding to preset viewing angles, wherein the multi-viewing angle 3D display is a lenticular-type 3D display or a parallax-barrier-type 3D display. 如請求項1所述之多視角3D顯示裝置，其中，該影像運算模組具有一影像擷取單元及一第一景深計算單元，其中，該影像擷取單元係用以自該單影像串流資料周期性地擷取該幀2D影像資料；該第一景深計算單元係用以執行該第一景深計算。The multi-view 3D display device as described in Claim 1, wherein the image computing module has an image capture unit and a first field depth calculation unit, wherein the image capture unit is used to stream from the single image The data periodically captures the frame of 2D image data; the first field depth calculation unit is used to execute the first field depth calculation. 如請求項2所述之多視角3D顯示裝置，其中，該第一景深計算單元包含一第一類神經網路模組。The multi-view 3D display device according to claim 2, wherein the first depth-of-field calculation unit includes a first-type neural network module. 如請求項2所述之多視角3D顯示裝置，其中，該影像運算模組進一步具有一影像生成單元以執行該第一影像融合運算。The multi-view 3D display device according to claim 2, wherein the image calculation module further has an image generation unit for performing the first image fusion operation. 如請求項4所述之多視角3D顯示裝置，其中，該影像運算模組進一步具有一多視角影像資料配置單元以在該記憶體中配置與所述多個預設視角對應之多幀輸出影像資料。The multi-view 3D display device as described in Claim 4, wherein the image computing module further has a multi-view image data configuration unit to configure the multi-frame output images corresponding to the plurality of preset viewing angles in the memory material. 如請求項1所述之多視角3D顯示裝置，其進一步具有一雙眼追跡模組以偵測一觀者視角，且該影像運算模組係依該觀者視角映射所述多個預設視角以找出一索引視角，及將該幀3D影像資料載入該記憶體中之與該索引視角相對應之一幀所述輸出影像資料之儲存區中。The multi-view 3D display device as described in claim 1, which further has a binocular tracking module to detect a viewer's viewing angle, and the image computing module maps the plurality of preset viewing angles according to the viewer's viewing angle to find an index viewing angle, and load the frame of 3D image data into the storage area of a frame of output image data corresponding to the index viewing angle in the memory. 如請求項1所述之多視角3D顯示裝置，其中，該些視角限定畫面皆係3D影像。The multi-view 3D display device as claimed in claim 1, wherein all the view-limited frames are 3D images. 如請求項1所述之多視角3D顯示裝置，其中，該些視角限定畫面包含至少一2D影像。The multi-view 3D display device as claimed in claim 1, wherein the view-limited frames include at least one 2D image. 如請求項1所述之多視角3D顯示裝置，其中，該些視角限定畫面包含至少一可縮放之3D影像。The multi-view 3D display device according to claim 1, wherein the view-limited frames include at least one zoomable 3D image. 如請求項1所述之多視角3D顯示裝置，其中，該些視角限定畫面包含至少一可縮放之2D影像。The multi-view 3D display device according to claim 1, wherein the view-limited frames include at least one scalable 2D image. 如請求項1所述之多視角3D顯示裝置，其應用場域係選自於一內視鏡手術、一探勘活動和一救難任務所組成群組所選擇的一種場域。The application field of the multi-view 3D display device as described in Claim 1 is selected from a field selected from the group consisting of an endoscopic operation, an exploration activity and a rescue mission.
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