Image processing method and device, head-up display and storage medium

Abstract

The invention discloses an image processing method and device, a head-up display and a storage medium, and relates to the technical field of auxiliary driving, the method is applied to the head-up display, and the method comprises the steps: obtaining the viewpoint position coordinates of a target user in real time, and judging whether the viewpoint position of the target user deviates or not; if it is determined that the viewpoint position of the target user deviates, pixel gray level adjustment is carried out on the 3D composite image according to the current viewpoint position coordinates; and according to the current viewpoint position coordinate, carrying out pixel brightness adjustment on the 3D composite image after the pixel gray level adjustment, and displaying the 3D composite image after the pixel brightness adjustment. According to the technical scheme provided by the embodiment of the invention, the crosstalk problem of the naked-eye 3D image is solved, the left eye image and the right eye image are prevented from overlapping in the eyes of a viewer, meanwhile, the naked-eye 3D image is ensured to keep a relatively high display parameter, and the display effect of the naked-eye 3D image is improved.

Description

Technical Field

[0001] The present invention relates to the field of assisted driving technology, and in particular to an image processing method, device, head-up display and storage medium. Background Art

[0002] With the continuous development of intelligent assisted driving technology, head-up display (HUD) is widely used in various vehicles. It can project information such as vehicle speed, navigation and warning in the form of 3D composite images in front of the driver with the help of optical components.

[0003] As a non-uniform system, the head-up display is prone to crosstalk problems, which causes the left and right eye images to cross, thereby destroying the display effect of the 3D composite image. The crosstalk in the head-up display is mainly generated at the arc edges of the lenticular grating. In the prior art, the crosstalk problem is usually solved by periodically blackening the arc edges of the lenticular grating or globally reducing the number of lit pixels.

[0004] However, the above two improvement methods will both reduce the display parameters such as resolution, contrast and brightness of the 3D composite image, which greatly affects the display effect of the 3D composite image and poor user experience. Summary of the invention

[0005] The present invention provides an image processing method, device, head-up display and storage medium to solve the crosstalk problem of naked-eye 3D images.

[0006] According to one aspect of the present invention, there is provided an image processing method, which is applied to a head-up display, comprising:

[0007] Acquire the viewpoint position coordinates of the target user in real time, and determine whether the viewpoint position of the target user is offset;

[0008] If it is determined that the viewpoint position of the target user is offset, adjusting the pixel grayscale of the 3D composite image according to the current viewpoint position coordinates;

[0009] According to the current viewpoint position coordinates, pixel brightness is adjusted for the 3D synthesized image after pixel grayscale adjustment, and the 3D synthesized image after pixel brightness adjustment is displayed.

[0010] The determining whether the viewpoint position of the target user is offset comprises: obtaining a grid area where the viewpoint of the target user is located according to the viewpoint position coordinates of the target user, and determining whether the viewpoint position of the target user is offset according to whether the viewpoint of the target user has changed the grid area; wherein, if it is determined that the viewpoint of the target user has changed the grid area, it is determined that the viewpoint position of the target user is offset; if it is determined that the viewpoint of the target user has not changed the grid area, it is determined that the viewpoint position of the target user is not offset.

[0011] The pixel grayscale adjustment of the 3D composite image according to the current viewpoint position coordinates includes: obtaining a matching target grayscale adjustment rule through a grayscale rule mapping table according to the current viewpoint position coordinates, and adjusting the pixel grayscale of the 3D composite image according to the target grayscale adjustment rule; wherein the target grayscale adjustment rule includes a pixel point identifier of the grayscale to be adjusted and an identifier of the adjusted grayscale source.

[0012] The method of obtaining a matching target grayscale adjustment rule through a grayscale rule mapping table according to the current viewpoint position coordinates specifically includes: if no matching target grayscale adjustment rule is obtained through the grayscale rule mapping table according to the current viewpoint position coordinates, obtaining the first viewpoint position coordinate in the grayscale rule mapping table that is closest to the current viewpoint position coordinates; and using the grayscale adjustment rule corresponding to the first viewpoint position coordinates as the target grayscale adjustment rule that matches the current viewpoint position coordinates.

[0013] The step of adjusting pixel brightness of the 3D synthesized image after adjusting pixel grayscale according to the current viewpoint position coordinates comprises: obtaining a matching target brightness adjustment rule through a brightness rule mapping table according to the current viewpoint position coordinates, and adjusting pixel brightness of the 3D synthesized image after adjusting pixel grayscale according to the target brightness adjustment rule; wherein the target brightness adjustment rule comprises a pixel point identifier of a brightness to be adjusted and a brightness value after adjustment; and the brightness of each pixel point in the target brightness adjustment rule is greater than or equal to a minimum brightness threshold.

[0014] The pixel brightness of the 3D composite image after the pixel grayscale adjustment is adjusted according to the current viewpoint position coordinates, including: reducing the brightness of the crosstalk pixel points and increasing the brightness of the non-crosstalk similar points, so that the total pixel brightness of the 3D composite image after the pixel brightness adjustment is equal to the total pixel brightness of the 3D composite image before the pixel brightness adjustment.

[0015] According to one aspect of the present invention, there is provided an image processing method, which is applied to a head-up display, comprising:

[0016] A position offset detection module is used to obtain the viewpoint position coordinates of the target user in real time and determine whether the viewpoint position of the target user is offset;

[0017] A grayscale adjustment execution module, configured to adjust the pixel grayscale of the 3D composite image according to the current viewpoint position coordinates if it is determined that the viewpoint position of the target user is offset;

[0018] The brightness adjustment execution module is used to adjust the pixel brightness of the 3D composite image after the pixel grayscale is adjusted according to the current viewpoint position coordinates, and display the 3D composite image after the pixel brightness is adjusted.

[0019] The position shift detection module is specifically used to obtain a grid area where the viewpoint of the target user is located according to the viewpoint position coordinates of the target user, and determine whether the viewpoint position of the target user is shifted according to whether the viewpoint of the target user has changed the grid area where the viewpoint of the target user is located; wherein, if it is determined that the viewpoint of the target user has changed the grid area where the viewpoint of the target user is located, it is determined that the viewpoint position of the target user is shifted; if it is determined that the viewpoint of the target user has not changed the grid area where the viewpoint of the target user is located, it is determined that the viewpoint position of the target user is not shifted.

[0020] The grayscale adjustment execution module is specifically used to obtain a matching target grayscale adjustment rule through a grayscale rule mapping table according to the current viewpoint position coordinates, and perform pixel grayscale adjustment on the 3D synthetic image according to the target grayscale adjustment rule; wherein the target grayscale adjustment rule includes a pixel point identifier of the grayscale to be adjusted and an identifier of the adjusted grayscale source.

[0021] The grayscale adjustment execution module is specifically used to obtain the first viewpoint position coordinates in the grayscale rule mapping table that are closest to the current viewpoint position coordinates if no matching target grayscale adjustment rules are obtained through the grayscale rule mapping table according to the current viewpoint position coordinates; and use the grayscale adjustment rule corresponding to the first viewpoint position coordinates as the target grayscale adjustment rule that matches the current viewpoint position coordinates.

[0022] The brightness adjustment execution module is specifically used to obtain a matching target brightness adjustment rule through a brightness rule mapping table according to the current viewpoint position coordinates, and perform pixel brightness adjustment on the 3D synthetic image after the pixel grayscale is adjusted according to the target brightness adjustment rule; wherein the target brightness adjustment rule includes a pixel point identifier of the brightness to be adjusted and a brightness value after adjustment; and the brightness of each pixel point in the target brightness adjustment rule is greater than or equal to a minimum brightness threshold.

[0023] The brightness adjustment execution module is specifically used to reduce the brightness of crosstalk pixels and increase the brightness of non-crosstalk similar points, so that the total pixel brightness of the 3D synthetic image after the pixel brightness adjustment is equal to the total pixel brightness of the 3D synthetic image before the pixel brightness adjustment.

[0024] According to another aspect of the present invention, a head-up display is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the image processing method described in any embodiment of the present invention.

[0025] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the image processing method described in any embodiment of the present invention when executed.

[0026] According to another aspect of the present invention, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the image processing method according to any embodiment of the present invention is implemented.

[0027] According to the technical solution of the embodiment of the present invention, the head-up display determines whether the viewpoint position of the target user is offset according to the viewpoint position coordinates of the target user obtained in real time, and when it is determined that the viewpoint position of the target user is offset, the 3D composite image is adjusted in pixel grayscale according to the current viewpoint position coordinates, and then the pixel brightness of the 3D composite image after the pixel grayscale adjustment is adjusted according to the current viewpoint position coordinates, so as to display the 3D composite image after the pixel brightness adjustment, thereby solving the crosstalk problem of the naked-eye 3D image, avoiding the overlapping of the left and right eye images in the eyes of the viewer, and ensuring that the naked-eye 3D image maintains a high display parameter, thereby improving the display effect of the naked-eye 3D image.

[0028] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0030] Figure 1 is a flowchart of an image processing method provided according to Embodiment 1 of the present invention;

[0031] Figure 2 is a schematic diagram of a grayscale value matrix before and after pixel grayscale adjustment provided according to Embodiment 1 of the present invention;

[0032] Figure 3 is a schematic diagram of a 3D composite image before and after pixel grayscale adjustment according to the first embodiment of the present invention;

[0033] Figure 4 is a schematic diagram of pixel light before pixel brightness adjustment provided by Embodiment 1 of the present invention;

[0034] Figure 5 is a schematic diagram of pixel light after pixel brightness adjustment according to the first embodiment of the present invention;

[0035] Figure 6 is a schematic diagram of a brightness value matrix before and after pixel brightness adjustment provided according to Embodiment 1 of the present invention;

[0036] Figure 7 is a schematic diagram of a 3D composite image before and after pixel brightness adjustment according to the first embodiment of the present invention;

[0037] Figure 8 is a flowchart of an image processing method provided according to Embodiment 2 of the present invention;

[0038] Fig. 9 is a flowchart of an image processing method provided according to Embodiment 3 of the present invention;

[0039] Fig.10 is a structural schematic diagram of an image processing device provided according to a fourth embodiment of the present invention;

[0040] Fig.11 It is a schematic diagram of the structure of a head-up display for implementing the image processing method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0041] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0042] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0043] Embodiment 1

[0044] Figure 1 This is a flowchart of an image processing method provided in the first embodiment of the present invention. The method is applicable to the case where a head-up display solves the crosstalk problem of a 3D composite image by adjusting the pixel grayscale source and the pixel brightness. The method can be executed by an image processing device in any embodiment of the present invention. The image processing device can be implemented in the form of hardware and / or software. The image processing device can be configured in a head-up display. Figure 1 As shown, the method includes:

[0045] S101 . Acquire the viewpoint position coordinates of a target user in real time, and determine whether the viewpoint position of the target user is offset.

[0046] The head-up display can obtain the viewpoint position of the driver (i.e., the observer) in real time through a viewpoint detection device installed inside the cab; the viewpoint detection device may include an eye tracker or a driver monitoring system (DMS), etc.; the viewpoint position actually refers to the driver's pupil position, and the viewpoint detection device can obtain the driver's viewpoint position information by detecting the driver's eye movement direction and line of sight direction.

[0047] In particular, for some driving scenarios, the 3D composite image provided by the head-up display is used to provide auxiliary information for the co-pilot or the rear seat. At this time, the actual user of the head-up display is the co-pilot or the rear seat passenger. Correspondingly, the target user at this time specifically refers to the co-pilot or the rear seat passenger. Obviously, the viewpoint position coordinates obtained are also the viewpoint position coordinates of the co-pilot or the rear seat passenger.

[0048] After obtaining the viewpoint position coordinates of the target user in real time, if the viewpoint position coordinates between the two sampling moments are different, it means that the viewpoint position of the target user has moved, that is, the viewpoint position at the latter sampling moment is offset compared to the viewpoint position at the previous sampling moment; if the viewpoint position coordinates between the two sampling moments are the same, it means that the viewpoint position of the target user has not moved, that is, the viewpoint position at the latter sampling moment is not offset compared to the viewpoint position at the previous sampling moment.

[0049] In particular, if the moving distance of the viewpoint position is small, it means that the user has only made a slight posture adjustment, and the user is actually still at the same viewpoint position. At this time, there is no need to adjust the pixel grayscale and pixel brightness of the 3D composite image, that is, it is determined at this time that the viewpoint position of the target user has not shifted; the viewpoint position of the user can be judged whether it has shifted by the pre-set viewpoint position moving distance threshold; that is, if the moving distance between the previous and next sampling moments is determined to be less than the moving distance threshold, it indicates that the viewpoint position of the target user has not shifted.

[0050] Similarly, if the moving distance of the viewpoint position is large, it means that the user has changed the viewpoint position and the user is at a different viewpoint position. At this time, the 3D composite image needs to be adjusted in pixel grayscale and pixel brightness, which means that it is determined that the viewpoint position of the target user has shifted. In other words, if the moving distance between the previous and next sampling moments is determined to be greater than or equal to the moving distance threshold, it indicates that the viewpoint position of the target user has shifted.

[0051] Optionally, in an embodiment of the present invention, determining whether the viewpoint position of the target user is offset includes: obtaining a grid area where the viewpoint of the target user is located according to the viewpoint position coordinates of the target user, and determining whether the viewpoint position of the target user is offset according to whether the viewpoint of the target user has changed the grid area where the viewpoint of the target user is located; wherein, if it is determined that the viewpoint of the target user has changed the grid area where the viewpoint of the target user is located, it is determined that the viewpoint position of the target user is offset; if it is determined that the viewpoint of the target user has not changed the grid area where the viewpoint of the target user is located, it is determined that the viewpoint position of the target user is not offset.

[0052] Specifically, the interior space of the vehicle can be pre-divided into multiple different grid areas, and the grid area where the current viewpoint is located can be determined based on the viewpoint position coordinates of the target user; if the viewpoint position coordinates acquired at two adjacent sampling moments are located in the same grid area, it means that the grid area where the viewpoint of the target user is located has not changed. At this time, it is determined that the viewpoint position of the target user has not shifted, and there is no need to adjust the pixel grayscale and pixel brightness of the 3D composite image.

[0053] If the viewpoint position coordinates obtained at two adjacent sampling moments are located in different grid areas, it means that the grid area where the target user's viewpoint is located has changed. At this time, it is determined that the viewpoint position of the target user has not shifted, and there is no need to adjust the pixel grayscale and pixel brightness of the 3D composite image. Therefore, by pre-dividing the interior space of the vehicle into multiple different grid areas, and judging whether the viewpoint position of the target user has shifted according to the grid area where the viewpoint of the target user is located, the coordinate point comparison is converted into the point area comparison, thereby improving the efficiency of viewpoint position offset detection.

[0054] S102: If it is determined that the viewpoint position of the target user is offset, adjust the pixel grayscale of the 3D composite image according to the current viewpoint position coordinates.

[0055] In actual applications, due to tolerances in the design, processing and assembly of the head-up display, there is actually still a pixel crosstalk problem in the naked-eye 3D image generated by the image synthesis technology, and the pixel arrangement needs to be adjusted.

[0056] The parallax image of the head-up display and the final generated 3D composite image have the same resolution (assuming that the resolution is represented by H×V); and each pixel is actually composed of three pixels: R (red), G (green), and B (blue). Therefore, the pixel matrix of the parallax image and the 3D composite image can actually be expressed as 3H×V, that is, each pixel is sequentially expanded into a row vector composed of "R value", "B value", and "G value". Figure 2 Taking the gray value matrix A in as an example, if the resolution of the current 3D synthesized image is "5×4", then when it is converted into 3H×V form, it can actually form a "15×4" gray value matrix A.

[0057] The "1", "2", "3", and "4" in the gray value matrix A represent the numbers of the disparity images, that is, which disparity image the gray value filled by the current pixel comes from. The disparity image of the head-up display is pre-configured when the head-up display is assembled. Figure 2 In the figure, the number of parallax images of the head-up display is four as an example; if it is determined that the viewpoint position of the target user is offset, for example, the user changes from viewpoint position A to viewpoint position B (viewpoint position B is the viewpoint position coordinate at the current moment), viewpoint position B can be sent to an auxiliary computing device in the current vehicle, and the auxiliary computing device calculates and obtains the corresponding pixel grayscale adjustment rule.

[0058] For example, the pixel grayscale adjustment rule corresponding to the viewpoint position B can be specifically: modify the grayscale value sources of the pixels in the sixth, seventh, and eighth columns of the first row to "3", "4", and "2" respectively; modify the grayscale value sources of the pixels in the seventh, eighth, and ninth columns of the second row to "3", "4", and "2" respectively; modify the grayscale value sources of the pixels in the eighth, ninth, and tenth columns of the third row to "3", "4", and "2" respectively; modify the grayscale value sources of the pixels in the ninth, tenth, and eleventh columns of the fourth row to "3", "4", and "2" respectively.

[0059] The head-up display adjusts the pixel grayscale value sources in the grayscale value matrix A according to the above-mentioned pixel grayscale adjustment rules, thereby obtaining the grayscale value matrix B, and the grayscale value matrix B is the 3D composite image after the pixel grayscale is adjusted. Figure 3 , respectively, show the display effect of the gray value matrix A (ie, the 3D composite image before the pixel grayscale adjustment), and the display effect of the gray value matrix B (ie, the 3D composite image after the pixel grayscale adjustment).

[0060] S103 . According to the current viewpoint position coordinates, adjust the pixel brightness of the 3D synthesized image after the pixel grayscale is adjusted, and display the 3D synthesized image after the pixel brightness is adjusted.

[0061] Due to the differences in the positions of different pixels in the cylindrical grating and the existence of brightness tolerance, for an observation position, the energy contributed by different pixels is different; Figure 4 As shown in the figure, taking the two-viewpoint grating as an example, the solid arrows represent the light that actually needs to be split by the grating, and the dotted arrows represent the crosstalk light. The light emitted by a pixel can reach both observation point 1 and observation point 2, but the energy is different, and the energy ratio of each pixel at observation point 1 and observation point 2 is different.

[0062] Assuming that the energy value of the brightness of each pixel is 1, observation point 1 can observe 10% of the energy of pixel 2, 20% of the energy of pixel 3, 80% of the energy of pixel 4, 90% of the energy of pixel 5, and 100% of the energy of pixel 6. The total brightness value that observation point 1 can receive is 3; among them, 0.3 brightness is crosstalk, 2.7 brightness is non-crosstalk, and the crosstalk ratio is 10%.

[0063] Similarly, observation point 2 can observe 100% of the energy of pixel 1, 90% of the energy of pixel 2, 80% of the energy of pixel 3, 20% of the energy of pixel 4, and 10% of the energy of pixel 5. The total brightness value that observation point 2 can receive is 3; among them, 0.3 brightness is crosstalk, 2.7 brightness is non-crosstalk, and the crosstalk ratio is 10%.

[0064] By reducing the brightness of the crosstalk pixels, the crosstalk ratio of the observation point can be reduced; Figure 5 For example, the energy of pixel 2, the energy of pixel 3, the energy of pixel 4, and the energy of pixel 5 are adjusted to 0.8, 0.6, 0.6, and 0.8 respectively; at this time, the total brightness value that observation point 1 can receive is 2.4; among them, 0.2 brightness is crosstalk, 2.2 brightness is non-crosstalk, and the crosstalk accounts for 8.3%; the total brightness value that observation point 2 can receive is 2.4; among them, 0.2 brightness is crosstalk, 2.2 brightness is non-crosstalk, and the crosstalk accounts for 8.3%; obviously, by reducing the brightness of crosstalk pixels, the crosstalk of the 3D synthetic image is reduced.

[0065] The head-up display can send the current viewpoint position coordinates to the auxiliary computing device in the current vehicle, and the auxiliary computing device calculates and obtains the corresponding pixel brightness adjustment rules; Figure 6 As shown, the head-up display adjusts the pixel brightness in the brightness value matrix C according to the above pixel grayscale adjustment rule, so as to obtain the brightness value matrix D, and the brightness value matrix D is the 3D composite image after the pixel brightness adjustment is completed. Figure 7 , respectively, show the display effect of the brightness value matrix A (ie, the 3D composite image before the pixel brightness is adjusted), and the display effect of the brightness value matrix B (ie, the 3D composite image after the pixel brightness is adjusted).

[0066] Optionally, in an embodiment of the present invention, the pixel brightness of the 3D composite image after the pixel grayscale adjustment is adjusted according to the current viewpoint position coordinates, including: reducing the brightness of the crosstalk pixels and increasing the brightness of non-crosstalk similar points, so that the sum of the pixel brightness of the 3D composite image after the pixel brightness adjustment is equal to the sum of the pixel brightness of the 3D composite image before the pixel brightness adjustment.

[0067] Specifically, in the pixel brightness adjustment rule, while reducing the brightness of the pixel points that generate crosstalk, the brightness of the pixel points that do not generate crosstalk is increased, so that the total pixel brightness of the 3D synthetic image before and after the pixel brightness adjustment remains unchanged; taking the above technical solution as an example, after adjusting the energy of pixel point 2, the energy of pixel point 3, the energy of pixel point 4, and the energy of pixel point 5 to 0.8, 0.6, 0.6, and 0.8 respectively, the energy of pixel point 1 and the energy of pixel point 3 are both adjusted to 1.6; at this time, the total brightness value that can be received by observation point 1 is still 3; among which, 0.2 brightness is crosstalk, 2.8 brightness is non-crosstalk, and the crosstalk accounts for 6.7%; the total brightness value that can be received by observation point 2 is also 3; among which, 0.2 brightness is crosstalk, 2.8 brightness is non-crosstalk, and the crosstalk accounts for 6.7%. Based on this, while reducing the crosstalk of the 3D synthetic image, the brightness of the image observed by the user at different viewing angles remains consistent, thereby improving the display effect of the naked eye 3D image.

[0068] According to the technical solution of the embodiment of the present invention, the head-up display determines whether the viewpoint position of the target user is offset according to the viewpoint position coordinates of the target user obtained in real time, and when it is determined that the viewpoint position of the target user is offset, the 3D composite image is adjusted in pixel grayscale according to the current viewpoint position coordinates, and then the pixel brightness of the 3D composite image after the pixel grayscale adjustment is adjusted according to the current viewpoint position coordinates, so as to display the 3D composite image after the pixel brightness adjustment, thereby solving the crosstalk problem of the naked-eye 3D image, avoiding the overlapping of the left and right eye images in the eyes of the viewer, and ensuring that the naked-eye 3D image maintains a high display parameter, thereby improving the display effect of the naked-eye 3D image.

[0069] Embodiment 2

[0070] Figure 8 This is a flowchart of an image processing method provided by Embodiment 2 of the present invention. The relationship between this embodiment and the above embodiment is that the head-up display records the grayscale adjustment rules at each viewpoint position through a grayscale rule mapping table. Figure 4 As shown, the method includes:

[0071] S201, obtaining the viewpoint position coordinates of a target user in real time, and determining whether the viewpoint position of the target user is offset.

[0072] S202. If it is determined that the viewpoint position of the target user is offset, a matching target grayscale adjustment rule is obtained through a grayscale rule mapping table according to the current viewpoint position coordinates, and pixel grayscale adjustment is performed on the 3D composite image according to the target grayscale adjustment rule; wherein the target grayscale adjustment rule includes a pixel point identifier of the grayscale to be adjusted and an identifier of the adjusted grayscale source.

[0073] The grayscale rule mapping table is pre-constructed through a large amount of test data. It records the pixel point identifiers of the grayscale to be adjusted at different viewpoint positions and the identifiers of the adjusted grayscale sources, that is, which pixels' grayscale values ​​need to be adjusted, and which parallax image the adjusted grayscale values ​​of the pixels should come from. Therefore, after obtaining the viewpoint position coordinates at the current moment, the matching target grayscale adjustment rules can be obtained according to the viewpoint position coordinates, thereby completing the pixel grayscale adjustment of the 3D composite image. Therefore, while realizing the pixel arrangement adjustment of the 3D composite image, the efficiency of obtaining the pixel grayscale adjustment results is improved, ensuring the real-time display of the 3D composite image.

[0074] Optionally, in an embodiment of the present invention, obtaining a matching target grayscale adjustment rule through a grayscale rule mapping table based on the current viewpoint position coordinates specifically includes: if no matching target grayscale adjustment rule is obtained through the grayscale rule mapping table based on the current viewpoint position coordinates, obtaining the first viewpoint position coordinates in the grayscale rule mapping table that are closest to the current viewpoint position coordinates; and using the grayscale adjustment rule corresponding to the first viewpoint position coordinates as the target grayscale adjustment rule that matches the current viewpoint position coordinates.

[0075] Specifically, when constructing the grayscale rule mapping table, it may not be possible to plan the grayscale adjustment rules for all viewpoint positions, or the user's actual viewpoint position exceeds the viewpoint range recorded in the grayscale rule mapping table. At this time, by comparing the current viewpoint position coordinates with the viewpoint positions recorded in the grayscale rule mapping table, the first viewpoint position coordinates that are closest are obtained, and the grayscale adjustment rules corresponding to the first viewpoint position coordinates are used as the target grayscale adjustment rules that match the current viewpoint position coordinates. When the accurate grayscale adjustment rules cannot be obtained through the grayscale rule mapping table, similar grayscale adjustment rules can be obtained by obtaining them nearby, thereby minimizing the crosstalk effect of the naked-eye 3D image and improving the display effect of the naked-eye 3D image.

[0076] In addition, as described in the above technical solution, if the interior space of the vehicle has been pre-divided into multiple different grid areas, then the grayscale rule mapping table records the different grid areas and the corresponding grayscale adjustment rules. At this time, after determining the matching grid area according to the current viewpoint position coordinates, the grayscale adjustment rule corresponding to the grid area is used as the target grayscale adjustment rule that matches the current viewpoint position coordinates.

[0077] S203 . According to the current viewpoint position coordinates, adjust the pixel brightness of the 3D synthesized image after the pixel grayscale is adjusted, and display the 3D synthesized image after the pixel brightness is adjusted.

[0078] According to the technical solution of the embodiment of the present invention, when the head-up display determines that the viewpoint position of the target user is offset, it obtains the matching target grayscale adjustment rule through the grayscale rule mapping table according to the current viewpoint position coordinates, and adjusts the pixel grayscale of the 3D composite image according to the target grayscale adjustment rule. This improves the efficiency of obtaining the pixel grayscale adjustment result while achieving the pixel arrangement adjustment of the 3D composite image, thereby ensuring the real-time display of the 3D composite image.

[0079] Embodiment 3

[0080] Fig. 9 This is a flowchart of an image processing method provided by Embodiment 3 of the present invention. The relationship between this embodiment and the above embodiments is that the head-up display records the brightness adjustment rules at each viewpoint position through a brightness rule mapping table. Fig. 9 As shown, the method includes:

[0081] S301 : Acquire the viewpoint position coordinates of a target user in real time, and determine whether the viewpoint position of the target user is offset.

[0082] S302: If it is determined that the viewpoint position of the target user is offset, adjust the pixel grayscale of the 3D composite image according to the current viewpoint position coordinates.

[0083] S303. According to the current viewpoint position coordinates, a matching target brightness adjustment rule is obtained through a brightness rule mapping table, and according to the target brightness adjustment rule, pixel brightness adjustment is performed on the 3D composite image after the pixel grayscale is adjusted; wherein the target brightness adjustment rule includes a pixel point identifier of the brightness to be adjusted and a brightness value after adjustment; and the brightness of each pixel point in the target brightness adjustment rule is greater than or equal to a minimum brightness threshold.

[0084] The brightness rule mapping table is also pre-constructed through a large amount of test data. It records the pixel identification of the brightness to be adjusted at different viewpoint positions and the adjusted brightness value, that is, which pixel grayscale values ​​need to be adjusted and what the brightness value of the pixel after adjustment is. Therefore, after obtaining the viewpoint position coordinates at the current moment, the matching target brightness adjustment rule can be obtained according to the viewpoint position coordinates, and then the pixel brightness adjustment is performed on the 3D composite image after the pixel grayscale adjustment. Therefore, while realizing the pixel brightness adjustment of the 3D composite image, the efficiency of obtaining the pixel brightness adjustment result is improved, ensuring the real-time display of the 3D composite image.

[0085] In particular, a minimum brightness threshold can be set in advance. For various brightness adjustment rules, the brightness of each pixel needs to be greater than or equal to the minimum brightness threshold to avoid the brightness of some pixels in the display screen being too low, affecting the viewing effect of the 3D composite image; at the same time, a maximum brightness threshold can also be set in advance. For various brightness adjustment rules, the brightness of each pixel needs to be less than or equal to the maximum brightness threshold to avoid the brightness of some pixels in the display screen being too high, so as to improve the display uniformity of the 3D composite image.

[0086] Optionally, in an embodiment of the present invention, obtaining a matching target brightness adjustment rule through a brightness rule mapping table based on the current viewpoint position coordinates specifically includes: if no matching target brightness adjustment rule is obtained through the brightness rule mapping table based on the current viewpoint position coordinates, obtaining the second viewpoint position coordinates in the brightness rule mapping table that are closest to the current viewpoint position coordinates; and using the brightness adjustment rule corresponding to the second viewpoint position coordinates as the target brightness adjustment rule that matches the current viewpoint position coordinates.

[0087] Specifically, when constructing the brightness rule mapping table, it may not be possible to plan the brightness adjustment rules for all viewpoint positions, or the user's actual viewpoint position exceeds the viewpoint range recorded in the brightness rule mapping table. At this time, the current viewpoint position coordinates are compared with the viewpoint positions recorded in the brightness rule mapping table to obtain the second viewpoint position coordinates that are closest, and the brightness adjustment rules corresponding to the second viewpoint position coordinates are used as the target brightness adjustment rules that match the current viewpoint position coordinates. When the accurate brightness adjustment rules cannot be obtained through the brightness rule mapping table, similar brightness adjustment rules can be obtained by obtaining them nearby, thereby minimizing the crosstalk effect of the naked-eye 3D image and improving the display effect of the naked-eye 3D image.

[0088] In addition, as described in the above technical solution, if the interior space of the vehicle has been pre-divided into multiple different grid areas, then the different grid areas and the corresponding brightness adjustment rules are recorded in the brightness rule mapping table. At this time, after determining the matching grid area according to the current viewpoint position coordinates, the brightness adjustment rule corresponding to the grid area is used as the target brightness adjustment rule matching the current viewpoint position coordinates.

[0089] S304: Display the 3D composite image after pixel brightness adjustment.

[0090] According to the technical solution of the embodiment of the present invention, when the head-up display determines that the viewpoint position of the target user is offset, it obtains the matching target brightness adjustment rule through the brightness rule mapping table according to the current viewpoint position coordinates, and adjusts the pixel brightness of the 3D composite image according to the target brightness adjustment rule. Thus, while realizing the pixel brightness adjustment of the 3D composite image, the efficiency of obtaining the pixel brightness adjustment result is improved, thereby ensuring the real-time display of the 3D composite image.

[0091] Embodiment 4

[0092] Fig.10 : is a structural block diagram of an image processing device provided by Embodiment 4 of the present invention, and the image processing device specifically includes:

[0093] The position shift detection module 401 is used to obtain the viewpoint position coordinates of the target user in real time and determine whether the viewpoint position of the target user is shifted;

[0094] A grayscale adjustment execution module 402 is used to adjust the pixel grayscale of the 3D composite image according to the current viewpoint position coordinates if it is determined that the viewpoint position of the target user is offset;

[0095] The brightness adjustment execution module 403 is used to adjust the pixel brightness of the 3D synthesized image after the pixel grayscale is adjusted according to the current viewpoint position coordinates, and display the 3D synthesized image after the pixel brightness is adjusted.

[0096] According to the technical solution of the embodiment of the present invention, the head-up display determines whether the viewpoint position of the target user is offset according to the viewpoint position coordinates of the target user obtained in real time, and when it is determined that the viewpoint position of the target user is offset, the 3D composite image is adjusted in pixel grayscale according to the current viewpoint position coordinates, and then the pixel brightness of the 3D composite image after the pixel grayscale adjustment is adjusted according to the current viewpoint position coordinates, so as to display the 3D composite image after the pixel brightness adjustment, thereby solving the crosstalk problem of the naked-eye 3D image, avoiding the overlapping of the left and right eye images in the eyes of the viewer, and ensuring that the naked-eye 3D image maintains a high display parameter, thereby improving the display effect of the naked-eye 3D image.

[0097] The position shift detection module 401 is specifically used to obtain the grid area where the viewpoint of the target user is located according to the viewpoint position coordinates of the target user, and determine whether the viewpoint position of the target user is shifted according to whether the viewpoint of the target user has changed the grid area where the viewpoint of the target user is located; wherein, if it is determined that the viewpoint of the target user has changed the grid area where the viewpoint of the target user is located, it is determined that the viewpoint position of the target user is shifted; if it is determined that the viewpoint of the target user has not changed the grid area where the viewpoint of the target user is located, it is determined that the viewpoint position of the target user is not shifted.

[0098] The grayscale adjustment execution module 402 is specifically used to obtain a matching target grayscale adjustment rule through a grayscale rule mapping table according to the current viewpoint position coordinates, and perform pixel grayscale adjustment on the 3D composite image according to the target grayscale adjustment rule; wherein the target grayscale adjustment rule includes a pixel point identifier of the grayscale to be adjusted and an identifier of the adjusted grayscale source.

[0099] The grayscale adjustment execution module 402 is further specifically used to obtain the first viewpoint position coordinates in the grayscale rule mapping table that are closest to the current viewpoint position coordinates if no matching target grayscale adjustment rule is obtained through the grayscale rule mapping table according to the current viewpoint position coordinates; and use the grayscale adjustment rule corresponding to the first viewpoint position coordinates as the target grayscale adjustment rule that matches the current viewpoint position coordinates.

[0100] The brightness adjustment execution module 403 is specifically used to obtain a matching target brightness adjustment rule through a brightness rule mapping table according to the current viewpoint position coordinates, and perform pixel brightness adjustment on the 3D synthetic image after the pixel grayscale is adjusted according to the target brightness adjustment rule; wherein the target brightness adjustment rule includes a pixel point identifier of the brightness to be adjusted and a brightness value after adjustment; and the brightness of each pixel point in the target brightness adjustment rule is greater than or equal to a minimum brightness threshold.

[0101] The brightness adjustment execution module 403 is specifically used to reduce the brightness of the crosstalk pixel points and increase the brightness of the non-crosstalk similar points, so that the total pixel brightness of the 3D synthetic image after the pixel brightness adjustment is equal to the total pixel brightness of the 3D synthetic image before the pixel brightness adjustment.

[0102] The image processing device provided by the present invention can execute the image processing method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not fully described in this embodiment, please refer to the image processing method provided by any embodiment of the present invention.

[0103] Embodiment 5

[0104] Fig.11A schematic diagram of a head-up display 10 that can be used to implement an embodiment of the present invention is shown. The head-up display is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The head-up display can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0105] like Fig.11 As shown, the head-up display 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by the at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the head-up display 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0106] A number of components in the head-up display 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the head-up display 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0107] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as an image processing method.

[0108] In some embodiments, the image processing method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit. In some embodiments, part or all of the computer program may be loaded and / or installed on a heterogeneous hardware accelerator via a ROM and / or a communication unit. When the computer program is loaded into RAM and executed by a processor, one or more steps of the image processing method described above may be performed. Alternatively, in other embodiments, the processor may be configured to perform the image processing method in any other appropriate manner (e.g., by means of firmware).

[0109] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0110] The computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable image processing device, so that when the computer programs are executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer programs may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0111] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0112] To provide interaction with a user, the systems and techniques described herein may be implemented on a heterogeneous hardware accelerator having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) through which a user can provide input to the heterogeneous hardware accelerator. Other types of devices may also be used to provide interaction with a user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0113] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0114] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0115] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0116] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An image processing method, characterized in that: Applied to head-up display, including: Acquire the viewpoint position coordinates of the target user in real time, and determine whether the viewpoint position of the target user is offset; If it is determined that the viewpoint position of the target user is offset, adjusting the pixel grayscale of the 3D composite image according to the current viewpoint position coordinates; According to the current viewpoint position coordinates, pixel brightness is adjusted for the 3D synthesized image after pixel grayscale adjustment, and the 3D synthesized image after pixel brightness adjustment is displayed.

2. The method according to claim 1, characterized in that The determining whether the viewpoint position of the target user is offset includes: According to the viewpoint position coordinates of the target user, a grid area where the viewpoint of the target user is located is obtained, and according to whether the viewpoint of the target user has changed the grid area where the viewpoint of the target user is located, whether the viewpoint position of the target user is offset; If it is determined that the grid area where the viewpoint of the target user has changed is located, it is determined that the viewpoint position of the target user has shifted; if it is determined that the grid area where the viewpoint of the target user has not changed is located, it is determined that the viewpoint position of the target user has not shifted.

3. The method according to claim 1, characterized in that The step of adjusting the pixel grayscale of the 3D composite image according to the current viewpoint position coordinates includes: According to the current viewpoint position coordinates, a matching target grayscale adjustment rule is obtained through a grayscale rule mapping table, and pixel grayscale adjustment is performed on the 3D composite image according to the target grayscale adjustment rule; The target grayscale adjustment rule includes the pixel point identifier of the grayscale to be adjusted and the grayscale source identifier after adjustment.

4. The method according to claim 3, characterized in that The step of obtaining a matching target grayscale adjustment rule through a grayscale rule mapping table according to the current viewpoint position coordinates specifically includes: If no matching target grayscale adjustment rule is obtained through the grayscale rule mapping table according to the current viewpoint position coordinates, obtain the first viewpoint position coordinates in the grayscale rule mapping table that are closest to the current viewpoint position coordinates; The grayscale adjustment rule corresponding to the first viewpoint position coordinates is used as a target grayscale adjustment rule matching the current viewpoint position coordinates.

5. The method according to claim 1, characterized in that The step of adjusting the pixel brightness of the 3D composite image after the pixel grayscale adjustment according to the current viewpoint position coordinates includes: According to the current viewpoint position coordinates, obtaining a matching target brightness adjustment rule through a brightness rule mapping table, and adjusting pixel brightness of the 3D composite image after pixel grayscale adjustment according to the target brightness adjustment rule; The target brightness adjustment rule includes a pixel identifier of a pixel whose brightness is to be adjusted and a brightness value after adjustment; the brightness of each pixel in the target brightness adjustment rule is greater than or equal to a minimum brightness threshold.

6. The method according to claim 1, characterized in that The step of adjusting the pixel brightness of the 3D composite image after the pixel grayscale adjustment according to the current viewpoint position coordinates includes: The brightness of the crosstalk pixel points is reduced, and the brightness of the non-crosstalk similar points is increased, so that the total pixel brightness of the 3D composite image after the pixel brightness adjustment is equal to the total pixel brightness of the 3D composite image before the pixel brightness adjustment.

7. An image processing device, characterized in that: Applied to head-up display, including: A position offset detection module is used to obtain the viewpoint position coordinates of the target user in real time and determine whether the viewpoint position of the target user is offset; A grayscale adjustment execution module, configured to adjust the pixel grayscale of the 3D composite image according to the current viewpoint position coordinates if it is determined that the viewpoint position of the target user is offset; The brightness adjustment execution module is used to adjust the pixel brightness of the 3D composite image after the pixel grayscale is adjusted according to the current viewpoint position coordinates, and display the 3D composite image after the pixel brightness is adjusted.

8. The device according to claim 7, characterized in that The position shift detection module is specifically used to obtain the grid area where the viewpoint of the target user is located according to the viewpoint position coordinates of the target user, and determine whether the viewpoint position of the target user is shifted according to whether the viewpoint of the target user has changed the grid area where the viewpoint is located; If it is determined that the grid area where the viewpoint of the target user has changed is located, it is determined that the viewpoint position of the target user has shifted; if it is determined that the grid area where the viewpoint of the target user has not changed is located, it is determined that the viewpoint position of the target user has not shifted.

9. The device according to claim 7, characterized in that The grayscale adjustment execution module is specifically used to obtain a matching target grayscale adjustment rule through a grayscale rule mapping table according to the current viewpoint position coordinates, and perform pixel grayscale adjustment on the 3D composite image according to the target grayscale adjustment rule; The target grayscale adjustment rule includes the pixel point identifier of the grayscale to be adjusted and the grayscale source identifier after adjustment.

10. The device according to claim 9, characterized in that The grayscale adjustment execution module is specifically used to obtain the first viewpoint position coordinates in the grayscale rule mapping table that are closest to the current viewpoint position coordinates if no matching target grayscale adjustment rules are obtained through the grayscale rule mapping table according to the current viewpoint position coordinates; and use the grayscale adjustment rule corresponding to the first viewpoint position coordinates as the target grayscale adjustment rule that matches the current viewpoint position coordinates.

11. The device according to claim 7, characterized in that The brightness adjustment execution module is specifically used to obtain a matching target brightness adjustment rule through a brightness rule mapping table according to the current viewpoint position coordinates, and perform pixel brightness adjustment on the 3D composite image after the pixel grayscale is adjusted according to the target brightness adjustment rule; The target brightness adjustment rule includes a pixel identifier of a pixel whose brightness is to be adjusted and a brightness value after adjustment; the brightness of each pixel in the target brightness adjustment rule is greater than or equal to a minimum brightness threshold.

12. The device according to claim 7, characterized in that The brightness adjustment execution module is specifically used to reduce the brightness of crosstalk pixels and increase the brightness of non-crosstalk similar points, so that the total pixel brightness of the 3D synthetic image after the pixel brightness adjustment is equal to the total pixel brightness of the 3D synthetic image before the pixel brightness adjustment.

13. A head-up display, characterized in that: The head-up display comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the image processing method according to any one of claims 1 to 6.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the image processing method according to any one of claims 1 to 6 when executed.

15. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the image processing method according to any one of claims 1 to 6 is implemented.

Images