Image system and image processing method

Abstract

The present invention relates to an image system and an image processing method. The image system comprises an input device, an output device and a processor. The input device is configured to input an image, wherein the image carries preset information for correction. The output device is configured to output the image. The processor is configured to: receive the image that is input by the input device, and acquire from the image the preset information for correction; receive pose information of the output device; on the basis of the preset information for correction and the pose information of the output device, calculate an image correction angle; receive the shape and size of the image output for framing; and output the framed image by the output device. The image system in the present invention eliminates the need to consider a horizontal angle of a picture at an image collection site, can ensure that the obtained picture is always stable and horizontal during playback regardless of a display being at any angle, and adapts to a change in the aspect ratio of the display at any time to ensure that the diagonal resolution remains unchanged.

Description

Image system and image processing method TECHNICAL FIELD

[0001] The present application relates to an image system and an image processing method. BACKGROUND

[0002] At present, each link of the digital reconstruction of image acquisition, storage, playback, etc. has been perfectly developed, so that the digital image is fully superior to the analog technology. However, these modifications are all based on the analog system framework. In the existing digital image system, when the image is acquired, there may be drift error and installation error introduced in the installation process, which will cause the image to be skewed, drift or even jitter at a certain angle, so the image needs to be corrected. However, due to the frame ratio constraints of acquisition and playback, for example, after being corrected by rotating the image, the picture processing cannot maintain the original resolution, and cannot instantly and freely match the display of different frame ratios.

[0003] The above statements of background art are only for the convenience of the in-depth understanding of the technical solutions of the present application (the technical means used, the technical problems solved and the technical effects generated, etc.), and should not be regarded as acknowledging or in any form implying that the message constitutes the prior art known to those skilled in the art. SUMMARY

[0004] The purpose of the present application is to provide an image system and an image processing method which are not subject to the frame ratio constraints of acquisition and playback, and after the image is rotated, the picture can maintain the original resolution and instantly and freely match the display of different frame ratios.

[0005] According to one embodiment of the present application, an image system is provided, which comprises: an input device configured to input an image, the image carrying pre-set information for correction; an output device configured to output the image; a processor configured to: receive the image input by the input device, and obtain the pre-set information for correction from the image; receive attitude information of the output device; calculate an image correction angle according to the pre-set information for correction and the attitude information of the output device, the image correction angle indicating a correction direction and a correction angle size; receive a shape and a size of the image output; rotate the image according to the correction direction and the correction angle size, and determine a clipping range according to the received shape and size of the image output, and clip the rotated image using the determined clipping range, or apply a direction opposite to the correction direction and the correction angle size to the received shape and size of the image output to determine a clipping range, and clip the image using the determined clipping range; and make the clipped image output by the output device.

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

[0007] The pre-set information for correction is attitude information of the image acquisition device, and the attitude information of the image acquisition device comprises a horizontal deflection angle α, a pitch deflection angle β and a polar deflection angle γ of the image acquisition device; the processor comprises an encoder, which 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 frame information of the image.

[0008] The image system further comprises at least one angle sensor configured to detect the horizontal deflection angle α, the pitch deflection angle β and the polar deflection angle γ of the image acquisition device, and send the detected horizontal deflection angle α, the pitch deflection angle β and the polar deflection angle γ of the image acquisition device to the processor.

[0009] The image is an image generated artificially or automatically, and the pre-set information for correction carried by the image comprises a horizontal deflection angle α, a pitch deflection angle β and a polar deflection angle γ; the processor comprises an encoder, which 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 frame information of the image.

[0010] The pre-set 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'; 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 polar deflection angle calibration value γ' field in a header of an image file in which the image is located.

[0011] The processor comprises a decoder configured to obtain the horizontal deflection angle α, the pitch deflection angle β and 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.

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

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

[0014] The angle range 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 in which the image is located.

[0015] The processor is configured to rotate the pixel address matrix of the image around the center of the image according to the calculated image correction angle, and project to a new pixel address matrix, so as to rotate the image.

[0016] The processor is configured to select the image pixel values in the frame range in the pixel matrix address, and output by the output device.

[0017] According to an embodiment of the present application, an image processing method is provided, which comprises the following steps: inputting an image by an input device, the image carrying preset information for correction; obtaining the preset information for correction from the image by a processor; receiving the attitude information of an output device by the processor; calculating the image correction angle by the processor according to the preset information for correction and the attitude information of the output device, the image correction angle indicating the correction direction and the correction angle size; receiving the shape and size of the image output by the processor; rotating the image according to the correction direction and the correction angle size, determining the frame range according to the received shape and size of the image output, and framing the rotated image by using the determined frame range, or applying the direction opposite to the correction direction and the correction angle size to the received shape and size of the image output to determine the frame range, and framing the image by using the determined frame range; and outputting the framed image by the output device.

[0018] The image processing method further comprises the steps of: collecting the image by the image collecting device and sending the collected image to the inputter, wherein the image collecting device comprises a projection and an image sensor; introducing the incident light of the scene to the image sensor by the lens; receiving the incident light by the image sensor to generate the corresponding collected image, and sending the collected image to the inputter; wherein the incident light introduced by the lens is all projected on the image sensor, and the image sensor forms a circular image by receiving.

[0019] The preset information for correction is the attitude information of the image collecting device, and the attitude information of the image collecting device comprises a horizontal deflection angle α, a pitch deflection angle β and a polar deflection angle γ of the image collecting device, and the image processing method further comprises the step of: setting 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 by the encoder included in the processor, so that the image carries the preset information for correction.

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

[0021] The image processing method further comprises the steps of: automatically or manually generating the image, and the preset information for correction carried by the image comprises the horizontal deflection angle α, the pitch deflection angle β and the polar deflection angle γ; setting 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 by the encoder included in the processor, so that the image carries the preset information for correction.

[0022] 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 step of: setting the resolution D field, 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 in the header of the image file where the image is located by the encoder.

[0023] The step of obtaining the preset information for correction from the image by the processor comprises: 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 the decoder included in the processor in a decoding manner.

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

[0025] The step of calculating the image correction angle by the processor comprises: determining whether the pitch deflection angle β is close to ±90°; calculating the image correction angle according to the ground pole deflection angle γ and the horizontal angle ω when it is determined that the pitch deflection angle β is close to ±90°; calculating the image correction angle according to the horizontal deflection angle α and the horizontal angle ω when it is determined that the pitch deflection angle is not close to ±90°; wherein the horizontal angle ω is the horizontal angle of the output device included in the attitude information of the output device.

[0026] The angle range 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 comprises: rotating the pixel address matrix of the image around the center of the image according to the calculated image correction angle, and projecting to a new pixel address matrix, so as to rotate the image.

[0028] The step of outputting the framed image by the output device by the processor comprises: selecting the image pixel value of the framing range in the pixel matrix address by the processor, and outputting by the output device.

[0029] The image system of the present application has the following advantages: the image system of the present application does not need to consider the horizontal angle of the image in the image acquisition site; when playing back, no matter the display is at any angle, the obtained image is always stable; at the same time, the diagonal resolution is always unchanged, and the image does not need to be stretched and rendered, and the field information is complete. BRIEF DESCRIPTION OF DRAWINGS

[0030] The exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. For the sake of clarity, the same components in the different drawings are denoted by the same reference numerals. It needs to be noted that the drawings only serve the purpose of illustration and are not necessarily drawn to scale. In these drawings:

[0031] Fig. 1 is a block diagram of an image system according to an exemplary embodiment of the present application.

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

[0033] FIG. 3 is a schematic view of a captured image according to an exemplary embodiment of the present application.

[0034] FIG. 4A is a schematic view of a framed image according to an embodiment of the present application.

[0035] FIG. 4B is a schematic view of a framed image according to another embodiment of the present application.

[0036] FIG. 4C is a schematic view of an output image output by an outputter according to an embodiment of the present application.

[0037] FIG. 5 is a schematic view of an encoding result of an encoder according to an embodiment of the present application.

[0038] FIG. 6A is a schematic view of a horizontal deflection angle a of an image capturing device according to an embodiment of the present application.

[0039] FIG. 6B is a schematic view of a horizontal angle ω of an image reproducing device according to an embodiment of the present application.

[0040] FIG. 6C is a schematic view of an image correction angle according to an embodiment of the present application.

[0041] FIG. 7 is a flowchart of an image processing method according to an embodiment of the present application. DETAILED DESCRIPTION

[0042] Hereinafter, an embodiment of the present application will be described in detail with the present technical idea as a premise, and a detailed embodiment and a specific operation process are given, but the scope of the present application is not limited to the following embodiment.

[0043] FIG. 1 is a block diagram of an image system according to an exemplary embodiment of the present application. The image system according to an embodiment of the present application includes an inputter, an outputter, and a processor. Each component of the image system can be formed separately or can be formed as one whole. That is, the processor can be a part of the inputter or the outputter, and the inputter and the outputter can be one whole.

[0044] The inputter is configured to input an image. As an example, the image system can further include an image capturing device, and the image can be an image captured by the image capturing device (e.g., a digital video camera). At this time, the inputter can be a part of the image capturing device or a separate device that receives the image from the image capturing device.

[0045] FIG. 2 is a structural schematic diagram of an image acquisition device according to an exemplary embodiment of the present application. As shown in FIG. 2, the image acquisition device can include at least a lens 10 and an image sensor 20. The image sensor 20 is configured to detect incident light to generate a corresponding acquired image. The lens 10 is configured to introduce the incident light of a 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, and the shape of the plane receiving the incident light of the image sensor 20 can be a square as shown in FIG. 2, or a circle.

[0046] In the prior art, the acquired image is rectangular, and the maximum number of pixel points in the horizontal direction and the vertical direction are different from each other, for example, 2K resolution refers to 2560 pixel points in the horizontal direction and 1440 pixel points in the vertical direction; 4K resolution refers to 4096 pixel points in the horizontal direction and 2160 pixel points in the vertical direction; and 8K resolution refers to 7680 pixel points in the horizontal direction and 4320 pixel points in the vertical direction.

[0047] However, according to an embodiment of the present application, the incident light introduced by the lens 10 is all projected on the image sensor 20, and the image sensor 20 forms a circular image by receiving. FIG. 3 is a schematic diagram of an acquired image according to an exemplary embodiment of the present application. In this context, the image refers to one image frame as shown in FIG. 3. In addition, the image includes matrix pixel points, each of which has a pixel value. As described above, since the image is circular, the maximum number of pixel points in the horizontal or vertical direction is D.

[0048] The value of D is related to the resolution of the image sensor. Taking the above resolution standards as an example, 2K resolution indicates that D = 2203, i.e., there are 2203 pixel points in the horizontal direction and the vertical direction; 4K resolution indicates that D = 4406, i.e., there are 4406 pixel points in the horizontal direction and the vertical direction; and 8K resolution indicates that D = 8812, i.e., there are 8812 pixel points in the horizontal direction and the vertical direction.

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

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

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

[0052] In particular, the shape of the image output can be a rectangle, however, the present application is not limited thereto, and the shape of the image output can be any polygon, for example, a hexagon. For example, in the case where the shape of the image output is a rectangle, the size of the image output can refer to the aspect ratio (i.e., the horizontal and vertical dot values of the display) of the image, for example, the aspect ratio of the image is 16:9.

[0053] FIG. 4A is a schematic diagram of framing an image according to one embodiment of the present application. As shown in FIG. 4A, the processor can determine a framing range according to the shape and size of the received image output. Taking FIG. 4A as an example, the framing range is a rectangle with an aspect ratio of 16:9. The rectangle circumscribes the circular image. That is, the four vertices of the rectangle are on the circumference of the circular image, and the diagonal of the rectangle coincides with the diameter of the circular image. In addition, the axis of symmetry of the rectangle in the length direction coincides with the horizontal axis in the coordinate axis, and the axis of symmetry of the rectangle in the width direction coincides with the vertical axis in the coordinate axis.

[0054] Image rotation can solve the problem of imaging skew, drift or even jitter caused by the image acquisition device when acquiring the image or the image playback device when playing back the image. For example, in the embodiment shown in FIG. 4A, when the image correction angle is Φ and Φ is positive, it is indicated that the image needs to be rotated in the clockwise direction by an angle of Φ to correct the image. The processor can frame the rotated image using the determined framing 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 framing operation, the original resolution will not change. In addition, the image system according to the embodiment of the present application can realize instant and free matching of different frame ratios of the display 30.

[0056] FIG. 4B is a schematic diagram of framing an image according to another embodiment of the present application. As shown in FIG. 4B, similar to FIG. 4A, the framing range is a rectangle with an aspect ratio of 16:9, and the rectangle circumscribes the circular image. However, unlike FIG. 4A, the axis of symmetry of the rectangle in the width direction is located in the counterclockwise direction of the vertical axis in the coordinate axis, and the axis of symmetry of the rectangle in the width direction has an angle Φ with the vertical axis in the coordinate axis.

[0057] In the embodiment shown in FIG. 4B, the processor can crop the image using the determined cropping range, and the image does not need to be rotated. In this case, it is necessary to make the angle Φ between the axis of symmetry of the rectangle in the width direction and the vertical axis in the coordinate axis equal to the image correction angle Φ, and the direction of rotation of the image indicated by the image correction angle Φ is opposite to the direction of rotation of the axis of symmetry of the rectangle in the width direction with respect to the vertical axis in the coordinate axis.

[0058] Regardless of whether the embodiment shown in FIG. 4A or the embodiment shown in FIG. 4B is used, the processor can cause the cropped image to be output by the outputter (specifically, the display 30).

[0059] FIG. 4C is a schematic view of an image output by an outputter according to an embodiment of the present application. As shown in FIG. 4C, the processor selects the image pixel values of the cropping range in the pixel matrix address, and outputs them by the outputter. In particular, for the process of converting from FIG. 4B to FIG. 4C for the cropping range, the cropping range does not need to be rotated by the angle Φ in the clockwise direction, and the processor can select the image pixel values of the cropping range and output them directly by the display 30.

[0060] The cropped image output by the display 30 does not conform to the various resolutions of the above-mentioned prior art, and thus further adjustment of the size or resolution of the cropped image can be made, but this is not the main point of the present application, and thus a detailed description thereof is omitted.

[0061] In order to determine the image correction angle that can correct the image, the image needs to carry the pre-set information for correction. In the case of an image captured by an image capture device, the pre-set information for correction is the attitude information of the image capture device.

[0062] Returning to FIG. 2, the attitude information of the image capture device includes a horizontal deflection angle α, a pitch deflection angle β, and a polar deflection angle γ. Accordingly, in order to detect the attitude information of the image capture device, the image system according to an embodiment of the present application further includes at least one angle sensor, for example, the at least one angle sensor includes a horizontal angle sensor 41 for detecting the horizontal deflection angle α, a pitch angle sensor 42 for detecting the pitch deflection angle β, and a polar angle sensor 43 for detecting the polar deflection angle γ.

[0063] The at least one angle sensor sends the captured attitude information (the horizontal deflection angle α, the pitch deflection angle β, and the polar deflection angle γ) of the image capture 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 attitude information of the image capture device.

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

[0065] Other fields of the frame can record the rotation number of the horizontal angle sensor 41, the pitch angle sensor 42 and the geodetic angle sensor 43.

[0066] The maximum collection precision of each of the sensors is 0.1 degree, and the bit length of the angle field in the encoding file is set to meet the maximum collection of 3600 points or + / - 1800. In the implementation, the collection can be reduced to meet the application requirements to improve the processing speed.

[0067] Since the deflection angle is detected by the sensor, the detection data of the sensor needs to be calibrated, and therefore, the calibration value of the deflection angle can be further carried as information for correction. Since a plurality of images formed in time sequence 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 in the image file corresponding to the image.

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

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

[0070] Since the calibration field of the sensor is provided, the precision requirement of the sensor when the image collection device is installed can be reduced, and the initial precision thereof is ensured by the post-correction in use.

[0071] According to the embodiment of the present application, the image includes not only the image captured by the video sensor, but also the artificially generated (e.g. drawn, scanned) image or the automatically generated image conforming to the above-mentioned file format. That is, the image can be a circle, and the pre-set information for correction carried by the image includes the horizontal deflection angle a, the tilt deflection angle β and the polar deflection angle γ, and the encoder can set the fields of these information in the frame start field of the frame information of the image. In the exemplary embodiment, the pre-set information for correction can further include the resolution D, the horizontal deflection angle calibration value a', the tilt deflection angle calibration value β' and the polar deflection angle calibration value γ', and the encoder can set these fields in the header of the image file in which the image is located.

[0072] After being encoded by the encoder, the image is recorded or outputted in the horizontal scanning encoding format of the video sensor, and after being outputted, the image can be stored or read by the inputter.

[0073] When the image is read by the inputter, the processor includes a decoder which can decode the encoded image file. In the process of decoding, the decoder can obtain the matrix address and the matrix pixel value constituting the image. In addition, the decoder can obtain the information for correction carried by the image, i.e. the horizontal deflection angle a field, the tilt deflection angle β field and the polar deflection angle γ. In the preferred embodiment of the present application, the decoder can further obtain the image sensor resolution D field (or the resolution D field), the horizontal deflection angle calibration value a' field, the tilt deflection angle calibration value β' field and the polar deflection angle calibration value γ' field.

[0074] In addition, the processor can obtain the attitude information of the outputter. At this time, the attitude information of the outputter includes the horizontal angle ω, which is artificially pre-set, or is instantaneously captured by the outputter (on which the angle sensor can be arranged) and sent to the processor, or is obtained by the combination of the above two. The accuracy and response speed of the angle sensor arranged on the outputter are the same as those of the angle sensors 41, 42, 43 arranged on the image capturing device.

[0075] Subsequently, the processor can rotate the image according to the information for correction of the image and the attitude information of the outputter, so that the image is corrected.

[0076] When the tilt deflection angle β is ±90°, it means that the direction of the incident light is the up-down direction in FIG. 2, so that the skew of the image refers to the deflection on the polar deflection angle γ, and therefore at this time, the processor calculates the image correction angle Φ according to the polar deflection angle γ and the horizontal angle ω.

[0077] When the pitch deflection angle β is determined to be 0°, it means that the direction of the incident light is the left-right direction in FIG. 2, and thus the skew of the image refers to the change in the horizontal deflection angle a. In this case, the processor calculates the image correction angle Φ according to the horizontal deflection angle a and the horizontal angle ω.

[0078] As an example, FIG. 6A is a schematic diagram of the horizontal deflection angle a of the image acquisition device according to an embodiment of the present application. FIG. 6B is a schematic diagram of the horizontal angle ω of the image reproduction device according to an embodiment of the present application. FIG. 6C is a schematic diagram of the image correction angle Φ according to an embodiment of the present application. In conjunction with FIGS. 6A to 6C, the horizontal deflection angle of the image acquisition device is a, the horizontal angle of the display 30 is ω, and thus the image correction angle Φ = a + ω.

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

[0080] It can be assumed that one of the two critical values constituting the angle range close to ±90° is ±θ, and since the two critical values are centered at ±90°, the other critical value is ±(180°-θ), the angle range close to ±90° is [θ, (180°-θ)]∪[-(180°-θ), -θ], and the value range of the critical value θ can be [71°, 90°].

[0081] For the image acquired 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). For example, when β = ±θ', the horizontal angle sensor cannot detect the horizontal deflection angle, i.e., the failure angle of the horizontal angle sensor is θ', the value range of the critical value θ can be [(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] The threshold value θ can be constituted by default, given correction value and given function value, whether the image is collected by the image collecting device or artificially or automatically generated, and can be pre-set and encoded in the head of the image file by the encoder in other fields. For example, in the case of pre-set threshold value θ of 71°, the angle range close to ±90° is [71°, 100°]∪[-100°, -71°]. When β is in the angle range, Φ = γ + γ' + ω, when β is not in the 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 positive or negative indicates the correction direction. For example, when the image correction angle is positive, it indicates that the correction direction is clockwise, and when the image correction angle is negative, 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 calculated by the above-mentioned "overlap angle calculation", the processor can perform a rotation calculation on the pixel address matrix around the center of the image, project to a new pixel address matrix, so as to realize the image rotation. In this case, the image rotation direction is the same as the correction direction. Subsequently, referring back to FIG. 4A, the processor crops the rotated image by using the cropping range determined according to the shape and size of the received image output, so that the cropped image is output by the output device.

[0085] In another embodiment, according to the image correction angle Φ, the processor can 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 cropping range, for example, the cropping range shown in FIG. 4B. In this case, the rotation direction of the symmetry axis of the rectangle in 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 in 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 in the width direction is located in the clockwise direction of the vertical axis in the coordinate axis. Subsequently, the processor can crop the image by using the determined cropping range, 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 displaying the image, after cropping, the scanning signal values are directly output in the new addresses. In the case of outputting the image in the file, after cropping, the horizontal angle ω of the display 30 and the image correction angle Φ are ignored, the new dot matrix addresses after cropping are recombined with the corresponding signal values, and output in the required traditional image format, so as to realize the format conversion.

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

[0088] Fig. 7 is a flow chart of the image processing method according to the embodiment of the present application. As shown in Fig. 7, the image processing method according to the embodiment of the present application includes the following steps: inputting an image by an inputter, the image carrying pre-set information for correction (S10). Obtaining the pre-set information for correction from the image by a processor (S20). Receiving attitude information of an outputter by the processor (S30). Calculating an image correction angle by the processor according to the pre-set information for correction and the attitude information of the outputter, the image correction angle indicating a correction direction and a correction angle size (S40). Receiving a shape and a size of image output by the processor (S50).

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

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

[0091] Finally, outputting the clipped image by the outputter by the processor (S70).

[0092] The image processing method can further include: collecting an image by an image collecting device, and sending the collected image to the inputter. The image collecting device includes a lens and an image sensor. The incident light of a scene is introduced to the image sensor by the lens, the incident light is received by the image sensor to generate a corresponding collected image, and the collected image is sent to the inputter. Wherein, the incident light introduced by the lens is all projected on the image sensor, and the image sensor forms a circular image by receiving.

[0093] The pre-set information for correction can be attitude information of the image collecting device, and the attitude information of the image collecting device includes a horizontal deflection angle a, a pitch deflection angle β and a zenith deflection angle γ of the image collecting device.

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

[0095] The image processing method can further include the steps of detecting the horizontal deflection angle a, the pitch deflection angle β, and the zenith deflection angle γ of the image capturing device by at least one angle sensor, and transmitting the detected horizontal deflection angle a, the pitch deflection angle β, and the zenith deflection angle γ of the image capturing device to the processor.

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

[0097] However, the image includes not only the image captured by the video sensor, but also the artificially generated (e.g., drawn, scanned) image or the automatically generated image conforming to the above-mentioned file format (i.e., carrying the above-mentioned pre-set information for correction).

[0098] The image processing method further includes the steps of setting, by the encoder included in the processor, the horizontal deflection angle a field, the pitch deflection angle β field, and the zenith deflection angle γ field in the frame start field of the frame information of the image. The resolution D field, the horizontal deflection angle calibration value a' field, the pitch deflection angle calibration value β' field, and the zenith deflection angle calibration value γ' field are set by the encoder in the header of the image file in which the image is located.

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

[0100] The step of calculating, by the processor, the image correction angle can include the steps of determining whether the pitch deflection angle β is close to ±90°, calculating the image correction angle according to the zenith deflection angle γ and the horizontal angle ω when it is determined that the pitch deflection angle β is close to ±90°, and calculating the image correction angle according to the horizontal deflection angle a and the horizontal angle ω when it is determined that the pitch deflection angle is not close to ±90°. The horizontal angle ω is the horizontal angle of the output device included in the attitude information of the output device, which can be detected by the angle sensor provided on the output device.

[0101] In the 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 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.

[0102] For the image collected by the image collection device, the angle range close to ±90° can be determined according to the failure angle of the angle sensor, which is encoded in other fields of the header of the image file. For the image collected by the image collection device or the image artificially or automatically generated, the critical value θ can be composed of default, given correction value and given function value, and can be pre-set and encoded in other fields of the header of the image file by the encoder. For example, the angle range close to ±90° is [θ, (180°-θ)]∪[-(180°-θ), -θ], wherein the value range of the critical value θ can be [71°, 81°].

[0103] The step of rotating the image by the processor includes: according to the calculated image correction angle, rotating the pixel address matrix of the image around the center of the image, and projecting to a new pixel address matrix, so as to rotate the image.

[0104] The step of outputting the framed image by the output device by the processor can include: selecting the image pixel value of the framing range in the pixel matrix address by the processor, and outputting by the output device.

[0105] The image system and the image processing method according to the embodiment of the present application do not need to consider the horizontal angle of the image collection site; when replaying, no matter the display is at any angle, the obtained image can always be stable horizontally; at the same time, the display frame ratio can be adapted at any time, the diagonal resolution is ensured to be unchanged, and the image does not need to be stretched and rendered, and the field information is complete.

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

[0107] The image system and the image processing method according to the embodiment of the present application are based on the re-examination of the image system framework, and propose an image system constructed based on the digital concept, which provides a new basis for future digital image applications.

[0108] The various embodiments of the application are not intended to represent all possible combinations, but are intended to describe representative aspects of the application, and what is described in the various embodiments can be applied independently or in combination with two or more.

[0109] The above description of the exemplary embodiments presented is merely intended to illustrate the technical solutions of the application, and is not intended to be exhaustive without omission, nor intended to limit the application to the precise forms described. Obviously, many changes and variations are possible according to the above teachings for those of ordinary skill in the art. The exemplary embodiments are selected and described in order to explain the specific principles of the application and its practical applications, so that other skilled persons in the art can easily understand, implement and utilize the various exemplary embodiments of the application and various selected forms and modified forms thereof. The protection scope of the application is intended to be defined by the appended claims and their equivalent forms.

Claims

1. An image system, comprising: an input configured to input an image, the image carrying preset information for correction; an output configured to output the image; a processor configured to: receive the image input by the input, and obtain the preset information for correction from the image; receive attitude information of the output; calculate an image correction angle according to the preset information for correction and the attitude information of the output, the image correction angle indicating a correction direction and a correction angle size; receive a shape and a size of the image output; rotate the image according to the correction direction and the correction angle size, and determine a cropping range according to the received shape and size of the image output, and crop the rotated image using the determined cropping range, or apply a direction opposite to the correction direction and the correction angle size to the received shape and size of the image output to determine a cropping range, and crop the image using the determined cropping range; cause the cropped image to be output by the output.

2. The image system according to claim 1, further comprising: an image acquisition device configured to acquire the image and send the acquired image to the input, the image acquisition device comprising: an image sensor configured to receive incident light to generate a corresponding acquired image; a lens configured to introduce incident light of a scene to the image sensor; wherein all of the incident light introduced by the lens is projected on the image sensor, and the image sensor forms a circular image by receiving the incident light.

3. The imaging system of claim 2, wherein, The preset information for correction is attitude information of the image acquisition device, and the attitude information of the image acquisition device includes a horizontal deflection angle a, a pitch deflection angle β and a nadir deflection angle γ of the image acquisition device; the processor comprises an encoder, and the encoder sets a horizontal deflection angle a field, a pitch deflection angle β field and a nadir deflection angle γ field in a frame start field of frame information of the image.

4. The image system according to claim 3, further comprising: at least one angle sensor configured to detect the horizontal deflection angle a, the pitch deflection angle β and the nadir deflection angle γ of the image acquisition device, and send the detected horizontal deflection angle a, the pitch deflection angle β and the nadir deflection angle γ of the image acquisition device to the processor.

5. The imaging system of claim 1, wherein, The image is an image generated by a human or automatically, and the preset information for correction carried by the image includes the horizontal deflection angle a, the pitch deflection angle β and the nadir deflection angle γ; the processor comprises an encoder, and the encoder sets a horizontal deflection angle a field, a pitch deflection angle β field and a nadir deflection angle γ field in a frame start field of frame information of the image.

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

7. The imaging system of claim 6, wherein, The processor comprises a decoder configured to acquire the horizontal deflection angle α, the pitch deflection angle β, the zenith deflection angle γ, and / or the horizontal deflection angle calibration value α', the pitch deflection angle calibration value β', and the zenith deflection angle calibration value γ' from the image by decoding.

8. The imaging system of claim 4, wherein, 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 zenith 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 attitude information of the output device.

9. The imaging system of claim 7, wherein, 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 zenith deflection angle, α' is the horizontal deflection angle calibration value, γ' is the zenith deflection angle calibration value, and ω is the horizontal angle of the output device.

10. The imaging system of claim 8, wherein, The angle range 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 of claim 1, wherein, The processor is configured to rotate the pixel address matrix of the image around the center of the image according to the calculated image correction angle, and project to a new pixel address matrix, so as to rotate the image.

12. The imaging system of claim 1, wherein, The processor is configured to select the image pixel values in the frame range in the pixel matrix address, and output by the output device.

13. An image processing method, comprising the following steps: inputting an image by an input device, the image carrying pre-set information for correction; acquiring the pre-set information for correction from the image by a processor; receiving attitude information of an output device by the processor; calculating an image correction angle by the processor according to the pre-set information for correction and the attitude information of the output device, the image correction angle indicating a correction direction and a correction angle size; receiving a shape and a size of an image output by the processor; rotating the image according to the correction direction and the correction angle size, determining a frame range according to the received shape and size of the image output, and framing the rotated image with the determined frame range, or applying a direction opposite to the correction direction and the correction angle size to the received shape and size of the image output to determine a frame range, and framing the image with the determined frame range, by the processor; outputting the framed image by the output device by the processor.

14. The image processing method according to claim 13, further comprising the step of: acquiring an image by an image acquisition device comprising a projector and an image sensor, and sending the acquired image to the input device; introducing incident light of a scene to the image sensor by a lens; receiving incident light by the image sensor to generate a corresponding captured image, and sending the captured image to the inputter; wherein the incident light introduced by the lens is projected on the image sensor entirely, and the image sensor forms a circular image by receiving.

15. The image processing method of claim 14, wherein, The pre-set information for correction is the attitude information of the image capturing device, and the attitude information of the image capturing device includes a horizontal deflection angle α, a pitch deflection angle β and a polar deflection angle γ of the image capturing device, and the image processing method further comprises the steps of: setting 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 by the encoder included in the processor, so that the image carries the pre-set information for correction.

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

17. The image processing method of claim 13, wherein, further comprising the steps of: automatically generating the image, and the pre-set information for correction carried by the image includes the horizontal deflection angle α, the pitch deflection angle β and the polar deflection angle γ; setting 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 by the encoder included in the processor, so that the image carries the pre-set information for correction.

18. The image processing method according to claim 15 or 17, the pre-set information for correction further includes 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: setting the resolution D field, 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 in the header of the image file where the image is located by the encoder.

19. The image processing method of claim 18, wherein, The step of obtaining the pre-set information for correction from the image by the processor includes: obtaining the horizontal deflection angle α, the pitch deflection angle β and 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 the decoder included in the processor through decoding.

20. The image processing method of claim 16, wherein, 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 polar 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 outputter included in the attitude information of the outputter.

21. The image processing method of claim 19, wherein, The step of calculating the image correction angle by the processor includes: 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 ground pole deflection angle, α' is the horizontal deflection angle calibration value, γ' is the ground pole deflection angle calibration value, and ω is the horizontal angle of the output device.

22. The image processing method of claim 20, wherein, The angle range 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 of claim 13, wherein, The step of rotating the image by the processor comprises: According to the calculated image correction angle, the pixel address matrix of the image is rotated around the center of the image, and is projected to a new pixel address matrix, so as to rotate the image.

24. The image processing method of claim 13, wherein, The step of outputting the framed image by the output device comprises: The processor selects the image pixel value of the framing range in the pixel matrix address, and the output device outputs.

Images