CN102253057A - Endoscope system and measurement method using endoscope system - Google Patents

Endoscope system and measurement method using endoscope system Download PDF

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CN102253057A
CN102253057A CN2011100926270A CN201110092627A CN102253057A CN 102253057 A CN102253057 A CN 102253057A CN 2011100926270 A CN2011100926270 A CN 2011100926270A CN 201110092627 A CN201110092627 A CN 201110092627A CN 102253057 A CN102253057 A CN 102253057A
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video image
image
camera
main
anaglyph
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CN102253057B (en
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宋展
郑翔
聂磊
陆丕清
黎文富
李涛
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SHENZHEN YATAI PHOTOELECTRIC TECHNOLOGY CO LTD
Shenzhen Institute of Advanced Technology of CAS
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SHENZHEN YATAI PHOTOELECTRIC TECHNOLOGY CO LTD
Shenzhen Institute of Advanced Technology of CAS
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Abstract

The invention relates to an endoscope system which is characterized by at least comprising an image acquisition device, a controller and an image processing device, wherein the image acquisition device is used for shooting a video image and comprises a main camera head and an auxiliary camera head, and the resolution of the main camera head is higher than that of the auxiliary camera head; the controller is used for controlling opening of the main camera head and the auxiliary camera head and transmitting the video image; and the image processing device is used for getting points to be measured on the video image according to a user command and performing calculation on the video image for getting three-dimensional information of the points to be measured in the video image. As for the endoscope system and a measurement method using the endoscope system, the main camera head and the auxiliary camera head are arranged in the image acquisition device, in order to get the three-dimensional information of the points to be measured, the main camera head and the auxiliary camera head are opened for measurement; and by combining the main camera head with the auxiliary camera head, the cost of the endoscope system is greatly reduced and the volume of the image acquisition device is reduced.

Description

The measuring method of endoscopic system and use endoscopic system
[technical field]
The present invention relates to computer vision technique, particularly relate to the measuring method of a kind of endoscope system and use endoscopic system.
[background technology]
Endoscope is owing to exist the advantage that can nondestructively detect small items, and can observe the advantages such as place that the people can't arrive, be widely used in the every field, for example, detection to wall in the building trade, the detection of pipe interior situation in oil and gas industry, endoscope has all been used in the fields such as detection of explosive widely in the detection of engine maintenance and the safety-security area in auto industry.
In the evolution of endoscope, the simple two-dimensional image can not provide abundant information, and making to provide the endoscope of three-dimensional information to develop rapidly.
According to principle of work, can provide the endoscope of three-dimensional information to be divided into virtual reality formula and optical profile type.Wherein, the endoscope of virtual reality formula is a right and left eyes of respectively the left and right cameras shot picture being sent into the user by grating, thereby forms stereopsis., the endoscope of virtual reality formula need use all wears special stereoscopic vision equipment, as the stereoscopic vision helmet, glasses etc., can't accurately carry out three-dimensional measurement, and price is expensive in the extreme.The endoscope of optical profile type is to form the stereoscopic vision measuring system by two endoscopes, must utilize accurate movement control device or structured light device to come three groups of information of reconstruct, and cost is very high.
[summary of the invention]
Based on this, be necessary to provide a kind of endoscopic system that reduces cost.
In addition, also be necessary to provide a kind of measuring method of having used the use endoscopic system of above-mentioned endoscopic system.
A kind of endoscopic system is characterized in that, comprises at least:
Image collecting device is used for the capture video image, comprises main camera and secondary camera, and the resolution of described main camera is higher than the resolution of secondary camera;
Controller is used to control the unlatching of described main camera and secondary camera, and transmits described video image;
Image processing apparatus is used for obtaining tested point on the video image according to user instruction, and described video image is calculated the three-dimensional information of tested point in the video image.
Preferably, described image collecting device also comprises the light source that is used for floor light.
Preferably, described controller cuts out described secondary camera, and described image collecting device is by main camera capture video image, and shows described video image in described image processing apparatus.
Preferably, described controller is opened main camera and secondary camera, described main camera shooting obtains principal mark and decides image, and described secondary camera is taken and obtained secondary uncalibrated image, and described image processing apparatus decides image according to described principal mark and secondary uncalibrated image calculates calibrating parameters.
Preferably, described video image comprises the main video image of main camera shooting and the secondary video image that secondary camera is taken, described image processing apparatus adopts local moving window mode or global mode that main video image and secondary video image are mated and obtains anaglyph, obtain the match point of tested point in secondary video image according to the user at tested point of selecting on the main video image and anaglyph, and calculate the three-dimensional information of tested point according to the match point in described calibrating parameters and the secondary video image.
A kind of measuring method of using endoscopic system may further comprise the steps:
Take by main camera and secondary camera respectively and obtain video image, the resolution of described main camera is higher than the resolution of secondary camera;
Calculate the anaglyph in the described video image;
Obtain tested point on the video image according to user instruction;
Described video image is calculated the three-dimensional information of tested point in the video image according to described anaglyph.
Preferably, also comprise:
Close described secondary camera, show the picture in the described main camera.
Preferably, describedly also comprise before taking the step that obtains video image by main camera and secondary camera respectively:
Described main camera and secondary camera are demarcated the step that obtains calibrating parameters.
Preferably, described video image comprises the main video image of main camera shooting and the secondary video image that secondary video camera is taken, and the step of the anaglyph in the described video image of described calculating is:
By local moving window mode or global mode main video image and secondary video image are mated and to obtain anaglyph.
Preferably, the described step of obtaining the tested point on the video image according to user instruction is:
Obtain the tested point that the user selects on main video image;
Describedly to the step that described video image calculates the three-dimensional information of tested point in the video image be according to described anaglyph:
Obtain the match point of tested point in secondary video image according to the tested point on anaglyph and the main video image;
Calculate the three-dimensional information of described tested point by the match point in calibrating parameters and the secondary video image.
The measuring method of above-mentioned endoscopic system and use endoscopic system, main camera and secondary camera are set in image collecting device, for the three-dimensional information that obtains tested point is opened main camera and secondary camera is measured, the cost that has reduced endoscopic system widely that combines of main camera and secondary camera has reduced the volume of image collecting device.
In the measuring method of above-mentioned endoscopic system and use endoscopic system, when the user observes by video image, close secondary camera,, and show, greatly saved system resource only by main camera capture video image.
[description of drawings]
Fig. 1 is the structural representation of endoscopic system among the embodiment;
Fig. 2 is the structural representation of image collecting device among Fig. 1;
Fig. 3 is the synoptic diagram of main video image among the embodiment;
Fig. 4 is the synoptic diagram of secondary video image corresponding with main video image among Fig. 3;
Fig. 5 is the synoptic diagram that the three-dimensional information of tested point among the embodiment calculates;
Fig. 6 is the process flow diagram that uses the measuring method of endoscopic system among the embodiment;
Fig. 7 is for calculating the process flow diagram of the three-dimensional information of tested point in the video image to video image according to anaglyph among Fig. 6;
Fig. 8 is the application synoptic diagram of endoscopic system among the embodiment;
Fig. 9 is another angle synoptic diagram of image collecting device among Fig. 8.
[embodiment]
Fig. 1 shows the detailed structure of endoscopic system among the embodiment, and this endoscopic system comprises image collecting device 10, controller 30 and image processing apparatus 50.
In conjunction with consulting Fig. 2, image collecting device 10 is used for the capture video image, comprises main camera 101 and secondary camera 103, and the resolution of main camera 101 is higher than the resolution of secondary camera 103.In the present embodiment, image collecting device 10 places the front end of endoscopic system, integrated main camera 101 and secondary camera 103, and the resolution of main camera 101 is higher, and the resolution of secondary camera 103 is lower.For example, the model of main camera 101 is 640 * 480 pixels, 30 frame/seconds, about 4.5 millimeters of diameter; The model of secondary camera 103 is 320 * 240 pixels, 30 frame/seconds, about 2.5 millimeters of diameter.Compare with traditional single camera endoscopic system, image collecting device 10 has guaranteed picture quality by the secondary camera 103 that increases low cost, small size, and the three-dimensional measurement function of the system of realization.
Before measuring, need carry out the demarcation of endoscopic system, the main camera of having opened 101 is taken and is obtained principal mark and decide image, and secondary camera 103 shootings obtain secondary uncalibrated image.Particularly, the plane target drone image is positioned over the front end of endoscopic system, open main camera 101 and secondary camera 103 simultaneously, take the uncalibrated image of many group diverse location different angles respectively, wherein, each group uncalibrated image has comprised that principal mark decides image and secondary uncalibrated image, and each principal mark is decided image all the secondary uncalibrated image corresponding with it.Be the accuracy that guarantees to demarcate, principal mark decides image and secondary uncalibrated image all is no less than three.The plane target drone image can be cross-hatch pattern picture, circular image or concentric circle diagram picture.
Also comprised the light source that is used for floor light in the image collecting device 10.Be the illumination in the auxiliary dark surrounds, light source is preferably LED (Light Emitting Diode, light emitting diode) light source.The quantity of light source is preferably 2.
Controller 30 is used to control the unlatching of main camera 101 and secondary camera 103, and transmitting video image.In the present embodiment, when measuring, controller 30 is opened main camera 101 and secondary camera 103.Controller 30 links to each other with image collecting device 10 by video transmission line, is controlling the unlatching of main camera 101 and secondary camera 103 or closes.In the use of reality, the user only just need open two cameras simultaneously only needing to use a camera to observe mostly when needs are measured, therefore, when the user observed, controller 30 was opened main camera 101, closes secondary camera 103; When the user need measure, controller 30 was opened main camera 101 and secondary camera 103 simultaneously, thereby had realized making full use of of system resource.In a preferred embodiment, controller 30 is USB (Universal Serial Bus, a USB (universal serial bus)) controller.
Image processing apparatus 50 is used for obtaining tested point on the video image according to user instruction, and video image is calculated the three-dimensional information of tested point in the video image.In the present embodiment, video image comprises the main video image of main camera 101 shootings and the secondary video image that secondary camera 103 is taken, the user selects tested point in the shown main video image of image processing apparatus 50, image processing apparatus 50 obtains the tested point that needs are measured according to user instruction.
For carrying out the demarcation of endoscopic system, image processing apparatus 50 decides image according to principal mark and secondary uncalibrated image calculates calibrating parameters.
Decide extract minutiae image and the secondary uncalibrated image from principal mark respectively, utilize principal mark to decide unique point in image and the secondary uncalibrated image and the coordinate in the known plane target drone image can calculate calibrating parameters.Relative position relation and camera inner parameter between main camera 101 and the secondary camera 103 have been comprised in the calibrating parameters.Relative position relation has comprised rotation parameter and translation parameters etc., and the camera inner parameter has comprised focal length, photocentre position and the distortion parameter of camera.It is according to the image type decision of plane target drone image that principal mark is decided unique point in image and the secondary uncalibrated image, for example, if the plane target drone image is a checkerboard image, then with the angle point in the image as unique point; If the plane target drone image is circular image or concentric circle diagram picture, then with the center of circle in the image as unique point.
After image collecting device 10 has been taken video image, image processing apparatus 50 adopts local moving window modes or global mode that main video image and secondary video image are mated and obtains anaglyph, obtain the match point of tested point in secondary video image according to the user at tested point of selecting on the main video image and anaglyph, and calculate the three-dimensional information of tested point according to the match point in calibrating parameters and the secondary video image.
Particularly, as shown in Figure 3 and Figure 4, local moving window mode is mated in the process that obtains anaglyph main video image and secondary video image, if corresponding point all are parallel to the v axle in main video image 300 and the secondary video image 400, (u v), moves to point (u with moving window for any point on the main video image 300, v), the picture coding that obtains is vectorial w; (u+d, v), moving window is moved to point, and (u+d, v), the picture coding that obtains is vectorial w ' for any point on the secondary video image 400.Calculate the similarity of w and w ' by methods such as dot product or angles, the similarity of w and w ' can be used as main video image mid point, and (u, v) (u+d, similarity v) constantly change the size of d, to obtain a bit the highest (u+d of similarity with secondary video image mid point Max, v) as master image mid point (u, match point v), and then generation anaglyph.Can proofread and correct the anaglyph that generates by local moving window mode, greatly improve the quality of anaglyph.
In order further to improve the quality of anaglyph, also can proofread and correct the anaglyph that generates after local moving window mode obtains anaglyph having passed through by the position relation of adjacent match point.
By global mode main video image and secondary video image are being mated in the process that obtains anaglyph, for finding the solution match point, construct image coupling energy carries out the coupling of main video image and secondary video image, for calculating the energy theorem E (D) of anaglyph D, computation process is shown in following formula:
E ( D ) = Σ p C ( p , D p ) + Σ q ∈ N p P 1 T [ | D p - D q | = 1 ] + Σ q ∈ N p P 2 T [ | D p - D q | > 1 ]
Wherein, C (p, D p) expression main video image in any point p and secondary video image mid point p+D pCoupling mistake
Figure BDA0000055178670000062
Big parallax punishment energy, P 2Relevant with gradient magnitude.To make in the process of mating by global mode that the matching effect of the more local moving window mode of matching effect of general image is good.
Minimizing of energy can directly solve anaglyph in the above anaglyph by finding the solution.
Among another embodiment, the user also can carry out manual coupling, to reduce owing to the mistake that texture information was brought that repeats is mated with it fails to match.
The user selects tested point on main video image, image processing apparatus 50 obtains match point on the secondary video image by anaglyph, calculates the three-dimensional information that can obtain tested point according to match point on this pair video image and calibrating parameters.
For example, as shown in Figure 5, the three-dimensional information computation process of tested point can be: establish Be main camera 101 centers,
Figure BDA0000055178670000064
Be secondary camera 103 centers, the center distance between main camera 101 and the secondary camera 103 is T, x lBe the tested point on the main camera 101, x rBe the match point on the secondary camera 103.Can obtain according to similar triangles Find the solution and to obtain z=-Tf/x l-x rAs from the foregoing, x among any point p on demarcating T, f and main video image lAnd x rCan calculate depth information z under the situation before, again by calibrating parameters can obtain three-dimensional information (x, y, z).
Among another embodiment, the controller 30 of above-mentioned endoscopic system cuts out secondary camera 103, and image collecting device 10 is by main camera 101 capture video images, and in image processing apparatus 50 display video image.When the user observes, only open main camera 101 and can obtain high-resolution video image.In a preferred embodiment, controller 30 is connected with image processing apparatus 50 by the USB output line.Because secondary camera 103 all is in idle state in most of the time, only when measuring, to open, this USB output line can only be provided with 1, and main camera 101 links to each other with image processing apparatus 50 with secondary camera 103 shared USB output lines.
In addition, also be necessary to provide a kind of measuring method of using endoscopic system, as shown in Figure 6, this measuring method may further comprise the steps:
Step S10 takes by main camera and secondary camera respectively and obtains video image, and the resolution of main camera is higher than the resolution of secondary camera.In the present embodiment, carrying out measuring channel crack, dangerous combustible and explosive articles etc. when measuring, opening main camera and secondary camera carries out the shooting of video image, and wherein, the resolution of main camera is higher, and the resolution of secondary camera is lower.For example, the model of main camera is 640 * 480 pixels, 30 frame/seconds, about 4.5 millimeters of diameter; The model of secondary camera is 320 * 240 pixels, 30 frame/seconds, about 2.5 millimeters of diameter.
In the measuring method of above-mentioned use endoscopic system, before taking the step that obtains video image by main camera and secondary camera respectively, also comprised main camera and secondary camera have been demarcated the step that obtains calibrating parameters.In the present embodiment, relative position relation and camera inner parameter between main camera and the secondary camera have been comprised in the calibrating parameters.Relative position relation has comprised rotation parameter and translation parameters etc., and the camera inner parameter has comprised focal length, photocentre position and the distortion parameter of camera.The main camera of having opened is taken and is obtained principal mark and decide image, and secondary camera shooting obtains secondary uncalibrated image.Particularly, open main camera simultaneously and secondary camera carries out the shooting of plane target drone image, to obtain many group uncalibrated images.Wherein, each group uncalibrated image has comprised that principal mark decides image and secondary uncalibrated image, and each principal mark is decided image all the secondary uncalibrated image corresponding with it.Be the accuracy that guarantees to demarcate, principal mark decides image and secondary uncalibrated image all is no less than three.The plane target drone image can be cross-hatch pattern picture, circular image or concentric circle diagram picture.
Decide extract minutiae image and the secondary uncalibrated image from principal mark respectively, utilize principal mark to decide the unique point of image and secondary uncalibrated image and the coordinate in the known plane target drone image can calculate calibrating parameters.Relative position relation and inner parameter between main camera and the secondary camera have been comprised in the calibrating parameters.Principal mark is decided unique point in image and the secondary uncalibrated image according to plane target drone image decision, for example, if the plane target drone image is a checkerboard image, then with the angle point in the image as unique point; If the plane target drone image is circular image or concentric circle diagram picture, then with the center of circle in the image as unique point.
Step S30 calculates the anaglyph in the video image.In the present embodiment, the step of calculating the anaglyph in the video image is: by local moving window mode or global mode main video image and secondary video image are mated and obtain anaglyph.
Particularly, local moving window mode is mated in the process that obtains anaglyph main video image and secondary video image, on main video image, moving window is moved to any point, obtain the picture coding vector of this point, on secondary video image, equally moving window is moved to any point, and obtain corresponding picture coding vector.Calculate the similarity between the picture coding vector in vector of picture coding in the main video image and the secondary video image by methods such as dot product or angles, point in the secondary video image of continuous conversion, with obtain with main video image in picture coding vector similarity the highest a bit as match point, thereby generate anaglyph.Transferring window mode by the part can proofread and correct the anaglyph that generates, and has greatly improved the quality of anaglyph.
In order further to improve the quality of anaglyph, after having passed through local moving window mode anaglyph is proofreaied and correct, also can proofread and correct anaglyph by the position relation of adjacent match point.
By global mode main video image and secondary video image are being mated in the process that obtains anaglyph, for finding the solution match point, construct image coupling energy carries out the coupling of main video image and secondary video image, for calculating the energy theorem E (D) of anaglyph D, computation process is shown in following formula:
E ( D ) = Σ p C ( p , D p ) + Σ q ∈ N p P 1 T [ | D p - D q | = 1 ] + Σ q ∈ N p P 2 T [ | D p - D q | > 1 ]
Wherein, C (p, D p) expression main video image in any point p and secondary video image mid point p+D pMatching error,
Figure BDA0000055178670000082
Represent any point p and its field pixel N in the main video image pPenalty factor,
Figure BDA0000055178670000091
Represent pixel q and its field pixel N in the main video image pBig parallax punishment energy, P 2Relevant with gradient magnitude.To make in the process of mating by global mode that the matching effect of the more local moving window mode of matching effect of general image is good.
Minimizing of energy can directly solve anaglyph in the above anaglyph by finding the solution.
Among another embodiment, the user also can carry out manual coupling, to reduce owing to the mistake that texture information was brought that repeats is mated with it fails to match.
Step S50 obtains tested point on the video image according to user instruction.In the present embodiment, the step of obtaining the tested point on the video image according to user instruction is: obtain the tested point that the user selects on main video image.
Step S70 calculates the three-dimensional information of tested point in the video image to video image according to anaglyph.In the present embodiment, the user selects tested point on main video image, obtains match point on the secondary video image by anaglyph, calculates the three-dimensional information that can obtain tested point according to match point on this pair video image and calibrating parameters.
In a specific embodiment, as shown in Figure 7, to the step that video image calculates the three-dimensional information of tested point in the video image be according to anaglyph:
Step S701 obtains the match point of tested point in secondary video image according to the tested point on anaglyph and the main video image.In the present embodiment, can obtain match point corresponding in the secondary video image with tested point by anaglyph.
Step S703 calculates the three-dimensional information of tested point by the match point in calibrating parameters and the secondary video image.In the present embodiment, write down the three dimensional space coordinate of tested point in the three-dimensional information.
In addition, according to user's demand, also can calculate according to the three dimensional space coordinate of tested point the degree of depth, highly, information such as area and cross section.
Among other embodiment, above-mentioned measuring method has also comprised closes secondary camera, shows the step of the picture in the main camera.In the present embodiment, when the user observes, only open main camera and can obtain high-resolution video image.
Elaborate the application process of the measuring method of above-mentioned endoscopic system and use endoscopic system below in conjunction with an embodiment.Among this embodiment, as Fig. 8 and shown in Figure 9, after endoscopic system having been carried out demarcation, with image collecting device 10 move around the object under test can blur-free imaging the position, this position can be decided according to lens focus, for example, can be the position apart from 50～100 millimeters of objects under test.
Assisting down of light source 105, if the user need observe object under test, then 30 needs of controller are opened main cameras 101, observe by main camera 101 captured video images.
If the user need measure in the object under test certain any position, then controller 30 will be opened main camera 101 and secondary camera 103 simultaneously, and take respectively and obtain main video image and secondary video image.Image mates main video image and secondary video image by local moving window mode or global mode and obtains anaglyph.
The user carries out the selection of tested point to image processing apparatus 50 shown main video images, image processing apparatus 50 obtains match point on the secondary video image according to user-selected tested point by anaglyph, calculates the three-dimensional information that can obtain tested point according to match point and calibrating parameters on the secondary video image.
The measuring method of above-mentioned endoscopic system and use endoscopic system, main camera and secondary camera are set in image collecting device, for the three-dimensional information that obtains tested point is opened main camera and secondary camera is measured, the cost that has reduced endoscopic system widely that combines of main camera and secondary camera has reduced the volume of image collecting device.
In the measuring method of above-mentioned endoscopic system and use endoscopic system, when the user observes by video image, close secondary camera,, and show, greatly saved system resource only by main camera capture video image
The above embodiment has only expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to claim of the present invention.Should be pointed out that for the person of ordinary skill of the art without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.

Claims (10)

1. an endoscopic system is characterized in that, comprises at least:
Image collecting device is used for the capture video image, comprises main camera and secondary camera, and the resolution of described main camera is higher than the resolution of secondary camera;
Controller is used to control the unlatching of described main camera and secondary camera, and transmits described video image;
Image processing apparatus is used for obtaining tested point on the video image according to user instruction, and described video image is calculated the three-dimensional information of tested point in the video image.
2. endoscopic system according to claim 1 is characterized in that described image collecting device also comprises the light source that is used for floor light.
3. according to right 1 described endoscopic system, it is characterized in that described controller cuts out described secondary camera, described image collecting device is by main camera capture video image, and shows described video image in described image processing apparatus.
4. endoscopic system according to claim 1, it is characterized in that, described controller is opened main camera and secondary camera, described main camera shooting obtains principal mark and decides image, described secondary camera is taken and is obtained secondary uncalibrated image, and described image processing apparatus decides image according to described principal mark and secondary uncalibrated image calculates calibrating parameters.
5. endoscopic system according to claim 4, it is characterized in that, described video image comprises the main video image of main camera shooting and the secondary video image that secondary camera is taken, described image processing apparatus adopts local moving window mode or global mode that main video image and secondary video image are mated and obtains anaglyph, obtain the match point of tested point in secondary video image according to the user at tested point of selecting on the main video image and anaglyph, and calculate the three-dimensional information of tested point according to the match point in described calibrating parameters and the secondary video image.
6. measuring method of using endoscopic system may further comprise the steps:
Take by main camera and secondary camera respectively and obtain video image, the resolution of described main camera is higher than the resolution of secondary camera;
Calculate the anaglyph in the described video image;
Obtain tested point on the video image according to user instruction;
Described video image is calculated the three-dimensional information of tested point in the video image according to described anaglyph.
7. the measuring method of use endoscopic system according to claim 6 is characterized in that, also comprises:
Close described secondary camera, show the picture in the described main camera.
8. the measuring method of use endoscopic system according to claim 6 is characterized in that, describedly also comprises before taking the step that obtains video image by main camera and secondary camera respectively:
Described main camera and secondary camera are demarcated the step that obtains calibrating parameters.
9. the measuring method of use endoscopic system according to claim 7, it is characterized in that, described video image comprises the main video image of main camera shooting and the secondary video image that secondary video camera is taken, and the step of the anaglyph in the described video image of described calculating is:
By local moving window mode or global mode main video image and secondary video image are mated and to obtain anaglyph.
10. the measuring method of use endoscopic system according to claim 8 is characterized in that, the described step of obtaining the tested point on the video image according to user instruction is:
Obtain the tested point that the user selects on main video image;
Describedly to the step that described video image calculates the three-dimensional information of tested point in the video image be according to described anaglyph:
Obtain the match point of tested point in secondary video image according to the tested point on anaglyph and the main video image;
Calculate the three-dimensional information of described tested point by the match point in calibrating parameters and the secondary video image.
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