Image system and image processing method

Abstract

The invention relates to an image system and an image processing method. The image system comprises an input device, an input device and a processor. The input unit is configured to input an image, and the image carries preset information for correction; the output device is configured to output an image; the processor is configured to: receive an image input by the input unit, and acquire preset information for correction from the image; receiving attitude information of an output device; calculating an image correction angle according to preset information for correction and attitude information of the output device; receiving the shape and size of the image output for framing; and the framed image is output by the output device. The image system does not need to worry about the horizontal angle of a picture on an image acquisition site; the stability level of the obtained picture can be always ensured no matter the display is at any angle during playback; the display frame proportion change can be adapted at any time, and the diagonal resolution is kept unchanged.

Description

Technical Field

[0001] The invention relates to an image system and an image processing method. Background Art

[0002] At present, all aspects of digital transformation of image acquisition, storage, and playback have been perfectly developed, making digital images surpass analog technology in all aspects. However, these transformations are based on the framework of analog systems. In existing digital imaging systems, when acquiring images, there may be drift errors and installation errors introduced during the installation process. These errors will cause the image to be skewed, drifted, or even jittered at a certain angle, so the image needs to be corrected. However, due to the constraints of the frame ratio of acquisition and playback, for example, after the image is corrected by rotating it, the image processing cannot maintain the original resolution, and it is impossible to freely match displays with different frame ratios in real time.

[0003] The above description of the background technology is only for facilitating an in-depth understanding of the technical solution of the present invention (such as the technical means used, the technical problems solved and the technical effects produced), and should not be regarded as an admission or any form of implication that the information constitutes prior art already known to those skilled in the art. Summary of the invention

[0004] The purpose of the present invention is to provide an image system and an image processing method, which are not restricted by the frame ratio of acquisition and playback. After the image is rotated, the picture can maintain the original resolution and can be freely matched to displays with different frame ratios in real time.

[0005] According to one embodiment of the present invention, an imaging system is provided, which includes: an input device, which is configured to input an image, and the image carries preset information for correction; an output device, which is configured to output an image; a processor, which is configured to: receive an image input by the input device, and obtain preset information for correction from the image; receive posture information of the output device; calculate an image correction angle based on the preset information for correction and the posture information of the output device, and the image correction angle indicates a correction direction and a correction angle size; receive a shape and a size of an image output; rotate the image according to the correction direction and the correction angle size and determine a frame range according to the shape and size of the received image output and frame the rotated image using the determined frame range, or, apply a direction opposite to the correction direction and the correction angle size to the shape and size of the received image output to determine a frame range and frame the image using the determined frame range; and output the framed image by the output device.

[0006] The imaging system further includes: an image acquisition device, which is configured to acquire images and send the acquired images to an input device, and the image acquisition device includes: an image sensor, which is configured to receive incident light and generate a corresponding acquired image; a lens, which is configured to introduce incident light of a scene to the image sensor; wherein all incident light introduced by the lens is projected onto the image sensor, and the image sensor forms a circular image by receiving the incident light.

[0007] The pre-set information for correction is the posture information of the image acquisition device, and the posture information of the image acquisition device includes the horizontal deflection angle α, the pitch deflection angle β and the geocentric deflection angle γ of the image acquisition device; the processor includes an encoder, and the encoder sets the horizontal deflection angle α field, the pitch deflection angle β field and the geocentric deflection angle γ field in the frame start field of the frame information of the image.

[0008] The imaging system further includes: at least one angle sensor, which is configured to detect the horizontal deflection angle α, the pitch deflection angle β and the geocentric deflection angle γ of the image acquisition device, and send the detected horizontal deflection angle α, the pitch deflection angle β, and the geocentric deflection angle γ of the image acquisition device to the processor.

[0009] The image is generated manually or automatically, and the pre-set information for correction carried by the image includes a horizontal deflection angle α, a pitch deflection angle β and a geodetic pole deflection angle γ; the processor includes an encoder, and the encoder sets a horizontal deflection angle α field, a pitch deflection angle β field and a geodetic pole deflection angle γ field in a frame start field of the frame information of the image.

[0010] The pre-set information for correction further includes a horizontal deflection angle calibration value α', a pitch deflection angle calibration value β', and a pole deflection angle calibration value γ'; the encoder is further configured to set a resolution D field, a horizontal deflection angle calibration value α' field, a pitch deflection angle calibration value β' field, and a pole deflection angle calibration value γ' field in the header of the image file where the image is located.

[0011] The processor includes a decoder, which is configured to obtain a horizontal deflection angle α, a pitch deflection angle β, a polar deflection angle γ, and / or a horizontal deflection angle calibration value α' field, a pitch deflection angle calibration value β' field, and a polar deflection angle calibration value γ' field from an image by decoding.

[0012] The processor is configured to: determine whether the pitch deflection angle β is close to ±90°; when it is determined that the pitch deflection angle β is close to ±90°, calculate the image correction angle according to the earth's pole deflection angle γ and the horizontal angle ω; when it is determined that the pitch deflection angle is not close to ±90°, calculate the image correction angle according to the horizontal deflection angle α and the horizontal angle ω; wherein the horizontal angle ω is the horizontal angle of the output device included in the posture information of the output device.

[0013] The processor is configured to calculate the image correction angle by the following formula: when β is not close to ±90°, Φ=α+α'+ω; when β is close to ±90°, Φ=γ+γ'+ω; wherein Φ is the image correction angle, α is the horizontal deflection angle, β is the pitch deflection angle, γ is the pole deflection angle, α' is the horizontal deflection angle calibration value, γ' is the pole deflection angle calibration value, and ω is the horizontal angle of the output device.

[0014] The angle range represented by close to ±90° is determined according to the failure angle of the angle sensor, which is encoded in other fields of the header of the image file where the image is located.

[0015] The processor is configured to: perform rotation calculation on the pixel address matrix of the image around the center of the image according to the calculated image correction angle, and project it to a new pixel address matrix, thereby rotating the image.

[0016] The processor is configured to select a range of image pixel values ​​in a box in a pixel matrix address and output them through an output device.

[0017] According to one embodiment of the present invention, there is provided an image processing method, which comprises the following steps: an image is inputted by an input device, the image carrying preset information for correction; a processor obtains the preset information for correction from the image; the processor receives posture information of an output device; the processor calculates an image correction angle according to the preset information for correction and the posture information of the output device, the image correction angle indicating a correction direction and a correction angle; the processor receives the shape and size of the image output; the processor rotates the image according to the correction direction and the correction angle and determines a frame range according to the shape and size of the received image output and frames the rotated image using the determined frame range, or the processor applies a direction opposite to the correction direction and the correction angle to the shape and size of the received image output to determine a frame range and frames the image using the determined frame range; the processor causes the framed image to be outputted by the output device.

[0018] The image processing method further includes the steps of: acquiring images by an image acquisition device and sending the acquired images to an input device, wherein the image acquisition device includes a projector and an image sensor; introducing incident light of a scene to the image sensor by a lens; receiving the incident light by the image sensor to generate a corresponding acquired image, and sending the acquired image to the input device; wherein all the incident light introduced by the lens is projected onto the image sensor, and the image sensor forms a circular image by receiving the incident light.

[0019] The preset information for correction is the posture information of the image acquisition device, and the posture information of the image acquisition device includes the horizontal deflection angle α, the pitch deflection angle β and the geocentric deflection angle γ of the image acquisition device. The image processing method further includes the step of: an encoder included in the processor sets the horizontal deflection angle α field, the pitch deflection angle β field and the geocentric deflection angle γ field in the frame start field of the frame information of the image, so that the image carries the preset information for correction.

[0020] The image processing method further includes the steps of: detecting the horizontal deflection angle α, the pitch deflection angle β and the geocentric deflection angle γ of the image acquisition device by at least one angle sensor, and sending the detected horizontal deflection angle α, the pitch deflection angle β and the geocentric deflection angle γ of the image acquisition device to the processor.

[0021] The image processing method further includes the steps of: manually or automatically generating an image, wherein the image carries preset information for correction including a horizontal deflection angle α, a pitch deflection angle β and a geocentric deflection angle γ; and an encoder included in a processor sets a horizontal deflection angle α field, a pitch deflection angle β field and a geocentric deflection angle γ field in a frame start field of the frame information of the image, so that the image carries the preset information for correction.

[0022] The pre-set information for correction further includes a horizontal deflection angle calibration value α', a pitch deflection angle calibration value β', and a pole deflection angle calibration value γ'. The image processing method further includes the steps of: the encoder sets a resolution D field, a horizontal deflection angle calibration value α' field, a pitch deflection angle calibration value β' field, and a pole deflection angle calibration value γ' field in the header of the image file where the image is located.

[0023] The step of obtaining pre-set information for correction from the image by the processor includes: obtaining the horizontal deflection angle α, the pitch deflection angle β, the polar deflection angle γ and / or the horizontal deflection angle calibration value α' field, the pitch deflection angle calibration value β' field, and the polar deflection angle calibration value γ' field from the image by decoding by the decoder included in the processor.

[0024] The step of calculating the image correction angle by the processor includes: determining whether the pitch deflection angle β is close to ±90°; when it is determined that the pitch deflection angle β is close to ±90°, calculating the image correction angle according to the earth's pole deflection angle γ and the horizontal angle ω; when it is determined that the pitch deflection angle is not close to ±90°, calculating the image correction angle according to the horizontal deflection angle α and the horizontal angle ω; wherein the horizontal angle ω is the horizontal angle of the output device included in the posture information of the output device.

[0025] The image correction angle is calculated by the processor using the following formula: when β is not close to ±90°, Φ=α+α'+ω; when β is close to ±90°, Φ=γ+γ'+ω; wherein Φ is the image correction angle, α is the horizontal deflection angle, β is the pitch deflection angle, γ is the polar deflection angle, α' is the horizontal deflection angle calibration value, γ' is the polar deflection angle calibration value, and ω is the horizontal angle of the output device.

[0026] The angle range represented by close to ±90° is determined according to the failure angle of the angle sensor, which is encoded in other fields of the header of the image file.

[0027] The step of rotating the image by the processor includes: performing a rotation calculation on the pixel address matrix of the image around the center of the image according to the calculated image correction angle, and projecting it to a new pixel address matrix, thereby rotating the image.

[0028] The step of causing the processor to output the framed image from the output device includes: the processor selects the image pixel value of the framed range in the pixel matrix address, and outputs it from the output device.

[0029] The present invention adopts the above technical scheme, which has the following beneficial effects: the imaging system of the present invention does not need to worry about the horizontal angle of the picture at the image acquisition site; during playback, no matter what angle the display is at, the obtained picture can always be guaranteed to be stable; at the same time, it can adapt to the changes in the display frame ratio at any time to ensure that the diagonal resolution remains unchanged, the image does not need to be stretched or rendered, and the on-site information is complete. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The following will describe the exemplary embodiments of the present invention in more detail with reference to the accompanying drawings. For the sake of clarity, the same components in different drawings are shown with the same reference numerals. It should be noted that the drawings are only for illustration and are not necessarily drawn to scale. In these drawings:

[0031] Figure 1 is a block diagram of an imaging system according to an exemplary embodiment of the present invention.

[0032] Figure 2 is a schematic structural diagram of an image acquisition device according to an exemplary embodiment of the present invention.

[0033] Figure 3 is a schematic diagram of a captured image according to an exemplary embodiment of the present invention.

[0034] Figure 4A is a schematic diagram of a framed image according to an embodiment of the present invention.

[0035] Figure 4B is a schematic diagram of a framed image according to another embodiment of the present invention.

[0036] Figure 4C is a schematic diagram of an image output by an output device according to an embodiment of the present invention.

[0037] Figure 5 is a schematic diagram of encoding results of an encoder according to an embodiment of the present invention.

[0038] Fig. 6A Schematic diagram of the horizontal deflection angle α of the image acquisition device according to an embodiment of the present invention.

[0039] Figure 6B Schematic diagram of the horizontal angle ω of the image reproducing device according to the embodiment of the present invention.

[0040] Figure 6C is a schematic diagram of image correction angles according to an embodiment of the present invention.

[0041] Figure 7 is a flow chart of an image processing method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0042] The implementation scheme of the present invention is described in detail below. This implementation scheme is implemented on the premise of the technical scheme of the present invention, and a detailed implementation method and specific operation process are given, but the protection scope of the present invention is not limited to the implementation scheme described below.

[0043] Figure 1 is a block diagram of an imaging system according to an exemplary embodiment of the present invention. The imaging system according to an embodiment of the present invention includes an input device, an output device, and a processor. The components of the imaging system can be formed separately or as a whole. That is, the processor can be a part of the input device or the output device, and the input device and the output device can also be a whole.

[0044] The input device is configured to input an image. As an example, the imaging system may further include an image acquisition device, and the image may be an image acquired by the image acquisition device (e.g., a digital video camera). In this case, the input device may be a part of the image acquisition device or a separate device that receives the image from the image acquisition device.

[0045] Figure 2 is a schematic diagram of the structure of an image acquisition device according to an exemplary embodiment of the present invention. Figure 2 As shown, the image acquisition device may include at least a lens 10 and an image sensor 20. The image sensor 20 is configured to detect incident light and generate a corresponding captured image. The lens 10 is configured to introduce the incident light of the scene to the image sensor 20. As an example, the image sensor 20 includes but is not limited to a CCD sensor or a CMOS sensor. The shape of the plane receiving the incident light of the image sensor 20 may be as follows: Figure 2 A square is shown, but a circle is also possible.

[0046] In the prior art, the captured image is rectangular, and the maximum number of pixels in the horizontal and vertical directions are different. For example, 2k resolution means 2560 pixels in the horizontal direction and 1440 pixels in the vertical direction; 4K resolution means 4096 pixels in the horizontal direction and 2160 pixels in the vertical direction; 8K resolution means 7680 pixels in the horizontal direction and 4320 pixels in the vertical direction.

[0047] However, according to the embodiment of the present invention, all the incident light introduced by the lens 10 is projected onto the image sensor 20, and the image sensor 20 forms a circular image by receiving the incident light. Figure 3 Schematic diagram of an image collected according to an exemplary embodiment of the present invention. In this article, an image refers to Figure 3 An image frame is shown. In addition, the image includes matrix pixels, each pixel having a pixel value. As mentioned above, since the image is circular, the maximum number of pixels in the horizontal or vertical direction of the image is D.

[0048] The D value is related to the image sensor resolution. Taking the above resolution standard as an example, 2K resolution indicates D = 2203, that is, there are 2203 pixels in the horizontal and vertical directions; 4K resolution indicates D = 4406, that is, there are 4406 pixels in the horizontal and vertical directions; 8K resolution indicates D = 8812, that is, there are 8812 pixels in the horizontal and vertical directions.

[0049] According to the embodiment of the present invention, the output device may be any device having a display 30, for example, an image reproduction device (such as a projector, etc.). The output device may output an image, for example, display the image to a user by means of a display.

[0050] Since the input image is a circle that is not constrained by the frame ratio, the image ultimately reproduced to the user still needs to conform to the frame boundary or aspect ratio of the display. Therefore, the image system according to the embodiment of the present invention may further include a processor that can receive the shape and size of the image output.

[0051] The shape and size of the image output may be automatically fed back by the output device (specifically, the display 30 ) or manually preset, or may be constituted by a combination of the two.

[0052] Specifically, the shape of the image output may be a rectangle, however, the present invention is not limited thereto, and the shape of the image output may be any polygon, for example, a hexagon. For example, when the shape of the image output is a rectangle, the size of the image output may refer to the aspect ratio of the image (i.e., the horizontal and vertical dot values ​​of the display), for example, the aspect ratio of the image is 16:9.

[0053] Figure 4A FIG. 1 is a schematic diagram of a framed image according to an embodiment of the present invention. Figure 4A As shown, the processor can determine the frame range according to the shape and size of the received image output. Figure 4A As an example, the frame range is a rectangle with a length-to-width ratio of 16:9. The rectangle is inscribed in the circular image. That is, the four vertices of the rectangle are all on the periphery of the circular image, and the diagonal of the rectangle coincides with the diameter of the circular image. In addition, the symmetry axis of the rectangle along the length direction coincides with the horizontal axis in the coordinate axis, and the symmetry axis of the rectangle along the width direction coincides with the vertical axis in the coordinate axis.

[0054] Image rotation can solve the problem of image skew, drift or even shaking caused by the image acquisition device when acquiring images or the image reproduction device when replaying images. Figure 4A In the illustrated embodiment, when the image correction angle is Φ and Φ is a positive number, it indicates that the image needs to be rotated clockwise by an angle Φ to correct the image. The processor can frame the rotated image using the determined frame range.

[0055] As described above, since it is not constrained by the frame ratio of acquisition and playback, even if the image is rotated after the output operation and before the frame operation, the original resolution will not change. In addition, the image system according to the embodiment of the present invention can realize the free matching of displays 30 with different frame ratios in real time.

[0056] Figure 4B FIG. 1 is a schematic diagram of a framed image according to another embodiment of the present invention. Figure 4B As shown, Figure 4ASimilarly, the frame is a rectangle with a 16:9 aspect ratio, and the rectangle is inscribed in the circular image. Figure 4A Differently, the symmetry axis of the rectangle along the width direction is located in the counterclockwise direction of the vertical axis in the coordinate axis, and there is an angle Φ between the symmetry axis of the rectangle along the width direction and the vertical axis in the coordinate axis.

[0057] exist Figure 4B In the illustrated embodiment, the processor can frame the image using the determined frame range, and the image does not need to be rotated. In this case, the angle Φ between the symmetry axis of the rectangle along the width direction and the vertical axis in the coordinate axis needs to be equal to the image correction angle Φ, and the image rotation direction indicated by the image correction angle Φ is opposite to the rotation direction of the symmetry axis of the rectangle along the width direction relative to the vertical axis in the coordinate axis.

[0058] Whether using Figure 4A The embodiment shown still utilizes Figure 4B In the illustrated embodiment, the processor can cause the framed image to be outputted by an output device (specifically, the display 30).

[0059] Figure 4C Schematic diagram of an image output by an output device according to an embodiment of the present invention. Figure 4C As shown, the processor selects the image pixel value of the frame range in the pixel matrix address and outputs it by the output device. Figure 4B Convert to Figure 4C In the process, the frame range does not need to be rotated clockwise by an angle Φ, and the processor can select the image pixel value of the frame range and directly output it through the display 30.

[0060] The framed image output by the display 30 does not conform to the various resolutions of the above-mentioned prior art, and thus the size or resolution of the framed image may be further adjusted, however this is not the main purpose of the present invention, and thus a detailed description thereof is omitted.

[0061] In order to determine the image correction angle that enables the image to be corrected, the image needs to carry pre-set information for correction. In the case where the image is captured by an image capture device, the pre-set information for correction is the posture information of the image capture device.

[0062] Back to Figure 2, the posture information of the image acquisition device includes a horizontal deflection angle α, a pitch deflection angle β, and a polar deflection angle γ. Accordingly, in order to detect the posture information of the image acquisition device, the image system according to the embodiment of the present invention further includes at least one angle sensor, for example, the at least one angle sensor includes a horizontal angle sensor 41 for detecting a horizontal deflection angle α, a pitch angle sensor 42 for detecting a pitch deflection angle β, and a polar angle sensor 43 for detecting a polar deflection angle γ.

[0063] At least one angle sensor sends the collected posture information (horizontal deflection angle α, pitch deflection angle β and polar deflection angle γ) of the image acquisition device to the processor, and the processor can add the received horizontal deflection angle α, pitch deflection angle β and polar deflection angle γ to the frame information of the image, so that the image carries the posture information of the image acquisition device.

[0064] Specifically, the processor includes an encoder 50 . Figure 5 is a schematic diagram of the encoding result of the encoder according to an embodiment of the present invention. Figure 5 As shown, the encoder 50 sets the horizontal deflection angle α field, the pitch deflection angle β field, and the pole deflection angle γ field in the frame start field.

[0065] Other fields of the frame may record the number of rotations of the horizontal angle sensor 41 , the pitch angle sensor 42 , and the polar angle sensor 43 .

[0066] The maximum acquisition accuracy of each sensor is 0.1 degrees, and the bit length of the angle field in the encoding file is set to meet the maximum acquisition volume of 3600 points or + / -1800. In implementation, the acquisition volume can be reduced to increase the processing speed while meeting the application requirements.

[0067] Since the sensor is used to detect the deflection angle, the detection data of the sensor needs to be calibrated. Therefore, the calibration value of the deflection angle can be further carried as information for correction. Since multiple images formed in a time series can form an image file, the calibration field of the deflection angle and the image sensor resolution D in the same image file are the same. Therefore, the encoder 50 can add the image sensor resolution D field and the calibration field of the deflection angle detected by the sensor to the image file corresponding to the image.

[0068] like Figure 5 As shown, the encoder 50 sets an image sensor resolution D field, a horizontal deflection angle calibration value α' field, a pitch deflection angle calibration value β' field, and a pole deflection angle calibration value γ' field in the header of the image file.

[0069] Other fields in the header of the image file can record parameters such as the failure angles of the horizontal angle sensor 41, the pitch angle sensor 42 and the polar angle sensor 43 for use in decoding, which will be described in detail later.

[0070] Since a calibration field of the sensor is provided, the accuracy requirement of the sensor when it is installed in the image acquisition device can be reduced, and its initial accuracy can be ensured through post-calibration during use.

[0071] According to an embodiment of the present invention, in addition to the images captured by the video sensor, the images also include artificially generated (e.g., drawn, scanned) images or automatically generated images that conform to the above-mentioned file format. That is, such an image can be circular, and the pre-set information for correction carried by the image includes the horizontal deflection angle α, the pitch deflection angle β, and the earth's pole deflection angle γ, and the encoder can set the fields of this information in the frame start field of the frame information of the image. In an exemplary embodiment, the pre-set information for correction can further include resolution D, horizontal deflection angle calibration value α', pitch deflection angle calibration value β', and earth's pole deflection angle calibration value γ', and the encoder can set these fields in the header of the image file where the image is located.

[0072] After encoding by the encoder, the image is recorded or output in the horizontal scan encoding format of the video sensor, and can be stored or read by the input device after output.

[0073] When the image is read by the input device, the processor includes a decoder, and the decoder can decode the encoded image file. During the decoding process, the decoder can obtain the matrix address and matrix pixel value that constitute the image. In addition, the decoder can obtain the information carried by the image for correction, namely the horizontal deflection angle α field, the pitch deflection angle β field and the pole deflection angle γ. In a preferred embodiment of the present invention, the decoder can further obtain the image sensor resolution D field (or resolution D field), the horizontal deflection angle calibration value α' field, the pitch deflection angle calibration value β' field and the pole deflection angle calibration value γ' field.

[0074] In addition, the processor can obtain the posture information of the output device. At this time, the posture information of the output device includes the horizontal angle ω, which is preset manually, or collected by the output device (on which an angle sensor can be set) and sent to the processor in real time, or the horizontal angle ω is obtained by a combination of the two. The accuracy and response speed of the angle sensor set in the output device are the same as the accuracy and response speed of the angle sensors 41, 42, and 43 set in the image acquisition device.

[0075] Subsequently, the processor may rotate the image according to the information for correction of the image and the posture information of the output device, so that the image is corrected.

[0076] When the pitch deflection angle β is ±90°, it means that the direction of the incident light is Figure 2 The up and down directions in the image, so the skewness of the image refers to the deflection at the polar deflection angle γ. Therefore, at this time, the processor calculates the image correction angle Φ based on the polar deflection angle γ and the horizontal angle ω.

[0077] When the pitch deflection angle is determined to be 0°, it means that the direction of the incident light is Figure 2 The left and right directions in the image, so the skew of the image refers to the change in the horizontal deflection angle α. At this time, the processor calculates the image correction angle Φ based on the horizontal deflection angle α and the horizontal angle ω.

[0078] As an example, Fig. 6A Schematic diagram of the horizontal deflection angle α of the image acquisition device according to an embodiment of the present invention. Figure 6B Schematic diagram of the horizontal angle ω of the image reproducing device according to the embodiment of the present invention. Figure 6C Schematic diagram of the image correction angle Φ according to an embodiment of the present invention. FIG. 6A to FIG. 6C , the horizontal deflection angle of the image acquisition device is α, and the horizontal angle of the display 30 is ω, so the image correction angle Φ=α+ω.

[0079] Thus, according to an embodiment of the present invention, the processor can determine whether the pitch angle β of the image acquisition device is close to ±90°. In a preferred embodiment of the present invention, when β is not close to ±90°, Φ=α+α'+ω, and when β is close to ±90°, Φ=γ+γ'+ω.

[0080] It can be assumed that one of the two critical values ​​that constitute the angle range close to ±90° is ±θ. Since the two critical values ​​are centered on ±90°, the other critical value is ±(180°-θ). The angle range close to ±90° is [θ,(180°-θ)]∪[-(180°-θ),-θ], where the critical value θ can range from [71°,90°].

[0081] For the image captured by the image acquisition device, in an exemplary embodiment, the value range of the critical value θ (i.e., the angle range close to ±90°) can be determined according to the failure angle of the angle sensor (e.g., the horizontal angle sensor). ′ When , the horizontal angle sensor cannot detect the horizontal deflection angle, that is, the failure angle of the horizontal angle sensor is θ', then the critical value θ can be in the range of [(θ ′-Δθ, θ′+Δθ], and the value range of Δθ can be 3° to 5°. For example, in the case of θ=76° and Δθ=5°, the value range of the critical value θ can be [71°, 81°].

[0082] Regardless of whether the image is captured by an image acquisition device or is manually or automatically generated, the critical value θ can be composed of a default, a given correction value, and a given function value, and can be pre-set and encoded by the encoder in other fields of the header of the image file. For example, when the preset critical value θ is 71°, the angle range represented by close to ±90° is [71°, 100°] ∪ [-100°, -71°]. When β is within this angle range, Φ = γ + γ' + ω, and when β is not within this angle range, Φ = α + α' + ω.

[0083] The calculated image correction angle indicates the correction direction and the correction angle size. Specifically, whether the image correction angle is a positive number or a negative number indicates the correction direction. For example, when the image correction angle is a positive number, it indicates that the correction direction is clockwise, and when the image correction angle is a negative number, it indicates that the correction direction is counterclockwise. The absolute value of the image correction angle indicates the correction angle size.

[0084] In one embodiment, according to the image correction angle Φ of the above-mentioned "overlap angle calculation", the processor can rotate the pixel address matrix around the center of the image and project it to the new pixel address matrix, thereby realizing image rotation. In this case, the image rotation direction is the same as the correction direction. Then, return to Figure 4A The processor frames the rotated image using a frame range determined according to the shape and size of the received image output, so that the framed image is output by the output device.

[0085] In another embodiment, according to the image correction angle Φ, the processor may apply the direction opposite to the correction direction and the correction angle size to the shape and size of the received image output to determine the frame range, for example, Figure 4B The frame range shown. In this case, the rotation direction of the symmetry axis of the rectangle along the width direction relative to the vertical axis in the coordinate axis is opposite to the correction direction. That is, when the correction direction is clockwise, the symmetry axis of the rectangle along the width direction is located in the counterclockwise direction of the vertical axis in the coordinate axis, and when the correction direction is counterclockwise, the symmetry axis of the rectangle along the width direction is located in the clockwise direction of the vertical axis in the coordinate axis. Subsequently, the processor can use the determined frame range to frame the image, and the image does not need to be rotated.

[0086] In addition, the output of the image includes the output of the display and the output of the file. In the case of the display output image, after the frame is taken, the scanning signal value is directly output according to the new address. In the case of the file output image, after the frame is taken, the horizontal angle ω of the display 30 and the image correction angle Φ are ignored, and the new dot matrix address after the frame is taken is recombined with the corresponding signal value, and output according to the required traditional image format to achieve format conversion.

[0087] In addition, image processing includes single frame and multi-frame. For single frame images, a single decoding can complete the output, and for continuous images, cyclic decoding is required for continuous output.

[0088] Figure 7 is a flow chart of an image processing method according to an embodiment of the present invention. Figure 7 As shown, the image processing method according to the embodiment of the present invention comprises the following steps: an image is inputted by an input device, and the image carries pre-set information for correction (S10). The pre-set information for correction is obtained from the image by a processor (S20). The posture information of the output device is received by the processor (S30). The image correction angle is calculated by the processor according to the pre-set information for correction and the posture information of the output device, and the image correction angle indicates the correction direction and the correction angle size (S40). The shape and size of the image output are received by the processor (S50).

[0089] In one embodiment, after step S50, the processor rotates the image according to the correction direction and correction angle, determines a framing range according to the shape and size of the received image output, and frames the rotated image using the determined framing range (S61).

[0090] In another embodiment, after step S50, the processor applies the direction opposite to the correction direction and the correction angle to the shape and size of the received image output to determine a framing range and frames the image using the determined framing range (S62).

[0091] Finally, the processor causes the framed image to be outputted by the output device (S70).

[0092] The image processing method may further include: an image acquisition device acquires an image and sends the acquired image to an input device. The image acquisition device includes a projector and an image sensor. The lens introduces incident light of the scene to the image sensor, the image sensor receives the incident light and generates a corresponding acquired image, and the acquired image is sent to the input device. The incident light introduced by the lens is all projected on the image sensor, and the image sensor forms a circular image by receiving it.

[0093] The preset information for correction may be the posture information of the image acquisition device, and the posture information of the image acquisition device includes the horizontal deflection angle α, the pitch deflection angle β and the pole deflection angle γ of the image acquisition device.

[0094] The image processing method may further include: an encoder included in the processor sets a horizontal deflection angle α field, a pitch deflection angle β field and a polar deflection angle γ field in a frame start field of the frame information of the image, so that the image carries pre-set information for correction.

[0095] The image processing method may further include the steps of: detecting the horizontal deflection angle α, the pitch deflection angle β and the geocentric deflection angle γ of the image acquisition device by at least one angle sensor, and sending the detected horizontal deflection angle α, the pitch deflection angle β and the geocentric deflection angle γ of the image acquisition device to the processor.

[0096] The image processing method may further include the steps of: the encoder setting the image sensor resolution D field, the horizontal deflection angle calibration value α' field, the pitch deflection angle calibration value β' field, and the pole deflection angle calibration value γ' field in the header of the image file where the image is located, and the information corresponding to these fields also constitutes the pre-set information for correction.

[0097] However, in addition to images captured by the video sensor, images also include artificially generated (eg, drawn, scanned) images or automatically generated images that conform to the above file format (ie, carry the above pre-set information for correction).

[0098] The image processing method further includes the steps of: setting the horizontal deflection angle α field, the pitch deflection angle β field and the earth's pole deflection angle γ field in the frame start field of the frame information of the image by an encoder included in the processor. Setting the resolution D field, the horizontal deflection angle calibration value α' field, the pitch deflection angle calibration value β' field and the earth's pole deflection angle calibration value γ' field in the header of the image file where the image is located by the encoder.

[0099] The step of obtaining, by the processor, pre-set information for correction from the image may include: obtaining, by a decoder included in the processor, the horizontal deflection angle α, the pitch deflection angle β, the earth's pole deflection angle γ and / or the horizontal deflection angle calibration value α' field, the pitch deflection angle calibration value β' field, and the earth's pole deflection angle calibration value γ' field from the image by decoding.

[0100] The step of calculating the image correction angle by the processor may include: determining whether the pitch deflection angle β is close to ±90°; when it is determined that the pitch deflection angle β is close to ±90°, calculating the image correction angle according to the earth's pole deflection angle γ and the horizontal angle ω; when it is determined that the pitch deflection angle is not close to ±90°, calculating the image correction angle according to the horizontal deflection angle α and the horizontal angle ω. The horizontal angle ω is the horizontal angle of the output device included in the posture information of the output device, which can be detected by an angle sensor provided on the output device.

[0101] In an exemplary embodiment, the processor can calculate the image correction angle by the following formula: when β is not close to ±90°, Φ=α+α'+ω; when β is close to ±90°, Φ=γ+γ'+ω. Wherein, Φ is the image correction angle, α is the horizontal deflection angle, β is the pitch deflection angle, γ is the earth's pole deflection angle, α' is the horizontal deflection angle calibration value, γ' is the earth's pole deflection angle calibration value, and ω is the horizontal angle of the output device.

[0102] For the image captured by the image acquisition device, the angle range represented by close to ±90° can be determined based on the failure angle of the angle sensor, and the failure angle of the angle sensor is encoded in other fields of the header of the image file. Regardless of whether the image is captured by the image acquisition device or is manually or automatically generated, the critical value θ can be composed of a default, a given correction value, and a given function value, and can be pre-set and encoded by the encoder in other fields of the header of the image file. For example, the angle range represented by close to ±90° is [θ, (180°-θ)] ∪ [-(180°-θ), -θ], where the critical value θ can range from [71°, 81°].

[0103] The step of rotating the image by the processor includes: performing a rotation calculation on the pixel address matrix of the image around the center of the image according to the calculated image correction angle, and projecting it to a new pixel address matrix, thereby rotating the image.

[0104] The step of causing the processor to output the framed image through the output device may include: the processor selecting the image pixel value of the framed range in the pixel matrix address, and outputting it through the output device.

[0105] The imaging system and the imaging processing method according to the implementation scheme of the present invention do not need to worry about the horizontal angle of the picture at the scene of image acquisition; during playback, no matter at what angle the display is, the obtained picture can always be kept stable; at the same time, it can adapt to the changes in the display frame ratio at any time to ensure that the diagonal resolution remains unchanged, the image does not need to be stretched or rendered, and the on-site information is complete.

[0106] The image system and image processing method according to the embodiments of the present invention encode image information, which will generate an image file standard with a completely new structure, and the standard will be an open structure for storage and transmission.

[0107] The imaging system and the imaging processing method according to the implementation scheme of the present invention are based on re-examining the imaging system framework, and propose an imaging system constructed with a digital concept, which provides a new foundation for future digital imaging applications.

[0108] The various embodiments of the invention are not an exhaustive list of all possible combinations, but are intended to describe representative aspects of the invention, and what is described in various embodiments may be applied independently or in combinations of two or more.

[0109] The description presented in the above exemplary embodiments is only used to illustrate the technical solution of the present invention, and is not intended to be exhaustive, nor is it intended to limit the present invention to the precise form described. Obviously, it is possible for a person of ordinary skill in the art to make many changes and variations based on the above teachings. The exemplary embodiments are selected and described to explain the specific principles of the present invention and its practical application, so that other technicians in the field can easily understand, implement and use the various exemplary embodiments of the present invention and its various selected forms and modified forms. The scope of protection of the present invention is intended to be limited by the attached claims and their equivalent forms.

Claims

1. An imaging system, comprising: An input device configured to input an image, wherein the image carries preset information for correction; an output device configured to output an image; Processor, which is configured as: Receiving an image input by an input device, and acquiring preset information for correction from the image; Receiving attitude information of the output device; Calculate the image correction angle according to the preset information for correction and the posture information of the output device, wherein the image correction angle indicates the correction direction and the correction angle size; The shape and size of the received image output; Rotating the image according to the correction direction and the correction angle, determining a frame range according to the shape and size of the received image output, and framing the rotated image using the determined frame range, or applying a direction opposite to the correction direction and the correction angle to the shape and size of the received image output to determine a frame range, and framing the image using the determined frame range; The framed image is output by the output device.

2. The imaging system according to claim 1, further comprising: An image acquisition device, configured to acquire images and send the acquired images to an input device, the image acquisition device comprising: an image sensor configured to receive incident light and generate a corresponding captured image; a lens configured to direct incident light of a scene toward the image sensor; The incident light introduced by the lens is all projected onto the image sensor, and the image sensor forms a circular image by receiving it.

3. The imaging system according to claim 2, wherein: The information preset for correction is the posture information of the image acquisition device, and the posture information of the image acquisition device includes the horizontal deflection angle α, the pitch deflection angle β and the earth's pole deflection angle γ of the image acquisition device; The processor includes an encoder, which sets a horizontal deflection angle α field, a pitch deflection angle β field and a ground pole deflection angle γ field in a frame start field of frame information of an image.

4. The imaging system according to claim 3, further comprising: At least one angle sensor is configured to detect the horizontal deflection angle α, the pitch deflection angle β and the earth's pole deflection angle γ of the image acquisition device, and send the detected horizontal deflection angle α, the pitch deflection angle β and the earth's pole deflection angle γ of the image acquisition device to the processor.

5. The imaging system according to claim 1, wherein: The image is an image generated manually or automatically, and the preset correction information carried by the image includes a horizontal deflection angle α, a pitch deflection angle β and a polar deflection angle γ; The processor includes an encoder, which sets a horizontal deflection angle α field, a pitch deflection angle β field and a ground pole deflection angle γ field in a frame start field of frame information of an image.

6. The imaging system according to claim 3 or 5, wherein: The preset information for correction further includes a horizontal deflection angle calibration value α', a pitch deflection angle calibration value β', and a pole deflection angle calibration value γ'; The encoder is further configured to set a resolution D field, a horizontal deflection angle calibration value α' field, a pitch deflection angle calibration value β' field and a pole deflection angle calibration value γ' field in the header of the image file where the image is located.

7. The imaging system according to claim 6, wherein: The processor includes a decoder, which is configured to obtain a horizontal deflection angle α, a pitch deflection angle β, a polar deflection angle γ, and / or a horizontal deflection angle calibration value α' field, a pitch deflection angle calibration value β' field, and a polar deflection angle calibration value γ' field from an image by decoding.

8. The imaging system according to claim 4, wherein: The processor is configured as follows: Determine whether the pitch angle β is close to ±90°; When it is determined that the pitch deflection angle β is close to ±90°, the image correction angle is calculated according to the earth's pole deflection angle γ and the horizontal angle ω; When it is determined that the pitch deflection angle is not close to ±90°, the image correction angle is calculated according to the horizontal deflection angle α and the horizontal angle ω; Here, the horizontal angle ω is the horizontal angle of the output device included in the posture information of the output device.

9. The imaging system according to claim 7, wherein: The processor is configured to calculate the image correction angle using the following formula: When β is not close to ±90°, Φ=α+α'+ω; When β is close to ±90°, Φ=γ+γ'+ω; Among them, Φ is the image correction angle, α is the horizontal deflection angle, β is the pitch deflection angle, γ is the polar deflection angle, α' is the horizontal deflection angle calibration value, γ' is the polar deflection angle calibration value, and ω is the horizontal angle of the output device.

10. The imaging system according to claim 8, wherein: The angle range represented by close to ±90° is determined according to the failure angle of the angle sensor, which is encoded in other fields of the header of the image file where the image is located.

11. The imaging system according to claim 1, wherein: The processor is configured to: perform rotation calculation on the pixel address matrix of the image around the center of the image according to the calculated image correction angle, and project it to a new pixel address matrix, thereby rotating the image.

12. The imaging system according to claim 1, wherein: The processor is configured to select a range of image pixel values ​​in a box in a pixel matrix address and output them through an output device.

13. An image processing method comprising the following steps: Inputting an image through an input device, wherein the image carries preset information for correction; The processor obtains preset information for correction from the image; The processor receives the posture information of the output device; The processor calculates the image correction angle according to the preset information for correction and the posture information of the output device, wherein the image correction angle indicates the correction direction and the correction angle size; The shape and size of the image output is received by the processor; The processor rotates the image according to the correction direction and the correction angle, determines a frame range according to the shape and size of the received image output, and frames the rotated image using the determined frame range, or the processor applies a direction opposite to the correction direction and the correction angle to the shape and size of the received image output to determine a frame range, and frames the image using the determined frame range; The processor causes the framed image to be outputted by the output device.

14. The image processing method according to claim 13, further comprising the steps of: acquiring images by an image acquisition device and sending the acquired images to an input device, the image acquisition device comprising a projector and an image sensor; The lens directs incident light from the scene toward the image sensor; The image sensor receives incident light to generate a corresponding captured image, and sends the captured image to the input device; in, All incident light introduced by the lens is projected onto the image sensor, which forms a circular image by receiving it.

15. The image processing method according to claim 14, wherein: The information preset for correction is the posture information of the image acquisition device, and the posture information of the image acquisition device includes the horizontal deflection angle α, the pitch deflection angle β and the earth's pole deflection angle γ of the image acquisition device. The image processing method further includes the steps of: The encoder included in the processor sets the horizontal deflection angle α field, the pitch deflection angle β field and the polar deflection angle γ field in the frame start field of the frame information of the image, so that the image carries the preset information for correction.

16. The image processing method according to claim 15, further comprising the steps of: The horizontal deflection angle α, the pitch deflection angle β and the geocentric deflection angle γ of the image acquisition device are detected by at least one angle sensor, and the detected horizontal deflection angle α, the pitch deflection angle β and the geocentric deflection angle γ of the image acquisition device are sent to the processor.

17. The image processing method according to claim 13, wherein: Further comprising the steps of: The image is generated manually or automatically, and the preset correction information carried by the image includes a horizontal deflection angle α, a pitch deflection angle β and a polar deflection angle γ; The encoder included in the processor sets the horizontal deflection angle α field, the pitch deflection angle β field and the polar deflection angle γ field in the frame start field of the frame information of the image, so that the image carries the preset information for correction.

18. The image processing method according to claim 15 or 17, wherein the preset information for correction further comprises a horizontal deflection angle calibration value α', a pitch deflection angle calibration value β', and a polar deflection angle calibration value γ', and the image processing method further comprises the steps of: The encoder sets the resolution D field, the horizontal deflection angle calibration value α' field, the pitch deflection angle calibration value β' field, and the pole deflection angle calibration value γ' field in the header of the image file where the image is located.

19. The image processing method according to claim 18, wherein: The step of obtaining, by the processor, preset information for correction from the image includes: A decoder included in the processor obtains the horizontal deflection angle α, the pitch deflection angle β, the polar deflection angle γ and / or the horizontal deflection angle calibration value α' field, the pitch deflection angle calibration value β' field, and the polar deflection angle calibration value γ' field from the image by decoding.

20. The image processing method according to claim 16, wherein: The steps of calculating the image correction angle by the processor include: Determine whether the pitch angle β is close to ±90°; When it is determined that the pitch deflection angle β is close to ±90°, the image correction angle is calculated according to the earth's pole deflection angle γ and the horizontal angle ω; When it is determined that the pitch deflection angle is not close to ±90°, the image correction angle is calculated according to the horizontal deflection angle α and the horizontal angle ω; Here, the horizontal angle ω is the horizontal angle of the output device included in the posture information of the output device.

21. The image processing method according to claim 19, wherein: The image correction angle is calculated by the processor using the following formula: When β is not close to ±90°, Φ=α+α'+ω; When β is close to ±90°, Φ=γ+γ'+ω; Among them, Φ is the image correction angle, α is the horizontal deflection angle, β is the pitch deflection angle, γ is the polar deflection angle, α' is the horizontal deflection angle calibration value, γ' is the polar deflection angle calibration value, and ω is the horizontal angle of the output device.

22. The image processing method according to claim 20, wherein: The angle range represented by close to ±90° is determined according to the failure angle of the angle sensor, which is encoded in other fields of the header of the image file.

23. The image processing method according to claim 13, wherein: The steps of rotating the image by the processor include: According to the calculated image correction angle, the pixel address matrix of the image is rotated around the center of the image and projected to a new pixel address matrix, thereby rotating the image.

24. The image processing method according to claim 13, wherein: The steps of causing the processor to output the framed image through the output device include: The processor selects a range of image pixel values ​​in the pixel matrix address and outputs them through the output device.

Images