1. A magnetic connector acquiring connection with a mating connector by magnetic force, the connector comprising:
a base member having a particular surface to be faced to the mating connector upon connection; and
an electrode terminal fixed to the base member and adapted to be electrically connected to the mating connector, the base member having a magnetic force generating portion having a plurality of magnetic poles for producing the magnetic force, N and the S poles of the magnetic poles being alternately arranged along the particular surface in a predetermined direction, the connector being properly positioned relative to the mating connector by the magnetic force.
2. The magnetic connector according to claim 1, wherein the magnetic force generating portion has a plurality of permanent magnets arranged adjacent to each other in the predetermined direction.
3. The magnetic connector according to claim 2, wherein the magnetic force generating portion has a magnetically neutral member interposed between adjacent ones of the permanent magnets.
4. The magnetic connector according to claim 1, wherein the magnetic force generating portion has a magnetic material of a plate-like shape, the magnetic poles being formed by perpendicular magnetization of the magnetic material in its thickness direction and arranged adjacent to each other in the predetermined direction.
5. The magnetic connector according to claim 4, wherein the magnetic material has an unmagnetized portion interposed between adjacent ones of the magnetic poles.
6. The magnetic connector according to claim 1, wherein the base member has an elastic insulating layer coupled to the magnetic force generating portion and defining the particular surface, the electrode terminal being fixed to the insulating layer.
7. The magnetic connector according to claim 6, wherein the electrode terminal comprises a metal thin film extending along the particular surface.
8. The magnetic connector according to claim 7, wherein the insulating layer has a cohesive layer interposed between the magnetic force generating portion and the metal thin film.
9. The magnetic connector according to claim 8, wherein the insulating layer has a resin layer interposed between the magnetic force generating portion and the cohesive layer.
10. The magnetic connector according to claim 9, wherein the insulating layer has a cohesive layer interposed between the magnetic force generating portion and the resin layer.
11. The magnetic connector according to claim 1, wherein the particular surface is formed as a flat surface.
12. The magnetic connector according to claim 1, wherein the particular surface is formed as a cylindrical surface around an axis extending in the predetermined direction.
13. The magnetic connector according to claim 1, wherein the base member has a stopper formed at one end in the predetermined direction to engage the mating connector.
14. The magnetic connector according to claim 1, wherein the magnetic poles comprise a first one and a second one which are different from each other in size in the predetermined direction.
15. A magnetic connector apparatus comprising first and second connectors connected to each other by magnetic force, the first connector having a magnet and a stopper adjacent to the magnet, the second connector having a magnet with different magnetic poles alternately arranged, the second connector being butted to the stopper by repulsive force produced between the magnets of the first and the second connectors, thereby positioning the first and the second connectors relative to each other.
16. A magnetic connector acquiring connection with a mating connector by magnetic force, the connector comprising:
a peripheral electrode having a particular surface to be faced to the mating connector upon connection and a groove formed in the particular surface;
an insulating member disposed in the groove, a center electrode fixed to the insulating member; and
a magnet fixed to a rear surface of the peripheral electrode opposite to the particular surface and producing the magnetic force.
17. A magnetic connector according to claim 16, wherein the peripheral electrode has a protruding portion formed on the rear surface at a position corresponding to the groove, the magnet being arranged near the protruding portion.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A method for correcting a rolling shutter effect on an image processing device, comprising:
obtaining a plurality of feature point pairs in a plurality of images of a video, wherein each of the feature point pairs corresponds to a motion vector, and the video is captured by an image capturing unit;
obtaining a plurality of sampling points between two consecutive images of the images in time, wherein each of the sampling points corresponds to a row location;
setting at least one moving velocity and at least one angular velocity of the image capturing unit at each of the sampling points as a plurality of variables;
obtaining a plurality of estimating motion vectors of the feature point pairs according to the variables, a focal length of the image capturing unit and the row locations where the feature point pairs are located;
executing an optimization algorithm according to a difference between the motion vectors and the estimating motion vectors, so as to calculate the at least one moving velocity and the at least one angular velocity corresponding to the variables; and
varying locations of a plurality of pixels in one of the images according to the at least one moving velocity and the at least one angular velocity corresponding to the variables, so as to generate a first corrected image.
2. The method for correcting the rolling shutter effect according to claim 1, wherein the feature point pairs comprise a second feature point pair, and the second feature point pair comprises a second feature point and a third feature point, where a location of the second feature point is (x1, y1), a location of the third feature point is (x2, y2) and the motion vector corresponding to the second feature point pair is (x2-x1, y2-y1), wherein the step of obtaining the estimating motion vectors of the feature point pairs according to the variables, the focal length of the image capturing unit and the row locations where the feature point pairs are located comprises:
calculating an x-component of the estimating motion vector corresponding to the second feature point pair according to the following Equation (1), and calculating a y-component of the estimating motion vector corresponding to the second feature point pair according to the following Equation (2):
\u2211
i
=
S
\ue89e
\ue89e
1
S
\ue89e
\ue89e
2
\ue89e
f
Z
\ue89e
v
x
_
\ue8a0
(
i
)
+
x
1
\ue89e
y
1
f
\ue89e
w
x
_
\ue8a0
(
i
)
–
(
f
+
x
1
2
f
)
\ue89e
\ue89e
w
y
_
\ue8a0
(
i
)
+
y
1
\ue89e
w
z
_
\ue8a0
(
i
)
(
1
)
\u2211
i
=
S
\ue89e
\ue89e
1
S
\ue89e
\ue89e
2
\ue89e
f
Z
\ue89e
v
y
_
\ue8a0
(
i
)
+
x
1
\ue89e
y
1
f
\ue89e
w
y
_
\ue8a0
(
i
)
–
(
f
+
y
1
2
f
)
\ue89e
\ue89e
w
x
_
\ue8a0
(
i
)
+
x
1
\ue89e
w
z
_
\ue8a0
(
i
)
(
2
)
wherein S1 and S2 are real numbers, S1 represents the sampling point corresponding to the row location where the second feature point is located, and S2 represents the sampling point corresponding to the row location where the third feature point is located, f is a focal length of the image capturing unit, Z is a depth of field of the images, vx(i) is the at least one moving velocity of the image capturing unit at a sampling point i in an x-direction, vy(i) is the at least one moving velocity of the i image capturing unit at the sampling point i in a y-direction, wx(i) is the at least one angular velocity of the image capturing unit at the sampling point i on an x-axis, wy(i) is the at least one angular velocity of the image capturing unit at the sampling point i on a y-axis, and wz(i) is the at least one angular velocity of the image capturing unit at the sampling point i on a z-axis.
3. The method for correcting the rolling shutter effect according to claim 1, wherein the step of executing the optimization algorithm according to the difference between the motion vectors and the estimating motion vectors comprises:
generating a plurality of constraints according to x-components and y-components of the motion vectors;
generating a first matrix according to the estimating motion vectors, wherein the number of rows in the first matrix is greater than the number of columns in the first matrix; and
generating a cost function according to a result obtained by subtracting the constraints from the product of the first matrix and the variables, and executing the optimization algorithm according to the cost function so as to obtain the at least one moving velocity and the at least one angular velocity corresponding to the variables.
4. The method for correcting the rolling shutter effect according to claim 3, wherein the cost function further comprises a result obtained from the product of the variables and a differential matrix, wherein a value of a jth column and a jth row in the differential matrix is \u22121, and a value of the jth row and a j+1th column in the differential matrix is 1, where j is a positive integer.
5. The method for correcting the rolling shutter effect according to claim 3, wherein the product of a second matrix and a third matrix is the first matrix,
in an ith row of the second matrix, only values from a 5(i\u22121)+1th column to a 5ith column are not equal to zero, and an ith column of the second matrix corresponds to an ith constraint of the constraints, where i is a positive integer, and
the ith constraint corresponds to a (5(i\u22121)+1)th row to a 5ith row of the third matrix, and values of a sampling interval without corresponding to the ith constraint in the (5(i\u22121)+1)th row to the 5ith row are equal to zero.
6. The method for correcting the rolling shutter effect according to claim 1, wherein the images comprise a second image, a location of a first pixel in the second image is (xrs, yrs), wherein the step of varying the locations of the pixels in one of the images according to the at least one moving velocity and the at least one angular velocity corresponding to the variables so as to generate the first corrected image comprises:
calculating a translation px of the first pixel in an x-direction according to Equation (3), and calculating a translation py of the first pixel in a y-direction according to Equation (4), where px and py are real numbers,
p
x
=
\u222b
(
n
+
a
\ue89e
\ue89e
y
rs
)
\ue89e
S
(
n
+
0.5
)
\ue89e
S
\ue89e
f
Z
\ue89e
v
x
\ue8a0
(
t
)
+
1
f
\ue89e
x
rs
\ue89e
y
rs
\ue89e
w
x
\ue8a0
(
t
)
–
(
f
+
x
rs
2
f
)
\ue89e
\ue89e
w
y
\ue8a0
(
t
)
+
y
rs
\ue89e
w
z
\ue8a0
(
t
)
\ue89e
\uf74c
t
(
3
)
p
y
=
\u222b
(
n
+
a
\ue89e
\ue89e
y
rs
)
\ue89e
S
(
n
+
0.5
)
\ue89e
S
\ue89e
f
Z
\ue89e
v
y
\ue8a0
(
t
)
–
1
f
\ue89e
x
rs
\ue89e
y
rs
\ue89e
w
y
\ue8a0
(
t
)
+
(
f
+
y
rs
2
f
)
\ue89e
\ue89e
w
x
\ue8a0
(
t
)
–
x
rs
\ue89e
w
z
\ue8a0
(
t
)
\ue89e
\uf74c
t
(
4
)
wherein n is a positive integer, the second image begins to expose from a time point nS to a time point (n+1)S, a is a floating point number, f is a focal length of the image capturing unit, Z is a depth of field of the images, vx(t) is the at least one moving velocity of the image capturing unit at a time point t in the x-direction, vy(t) is the at least one moving velocity of the image capturing unit at the time point t in the y-direction, wx(t) is the at least one angular velocity of the image capturing unit at the time point t on an x-axis, wy(t) is the at least one angular velocity of the image capturing unit at the time point t on a y-axis, and wz(t) is the at least one angular velocity of the image capturing unit at the time point t on a z-axis.
7. The method for correcting the rolling shutter effect according to claim 1, further comprising:
generating a capturing trajectory according to the at least one moving velocity and the at least one angular velocity;
executing a filter calculation for the capturing trajectory;
setting a smooth capturing trajectory as a second variable, and generating a cost function according to a second difference between the second variable and the capturing trajectory after executing the filter calculation; and
executing a second optimization algorithm according to the cost function, so as to obtain the smooth capturing trajectory.
8. The method for correcting the rolling shutter effect according to claim 7, further comprising:
varying the locations of the pixels in the first corrected image according to a difference between the smooth capturing trajectory and the capturing trajectory, so as to generate a second corrected image.
9. An image processing device, comprising:
a memory, storing a plurality of instructions; and
a processor, coupled to the memory, configured to execute the instructions to execute a plurality of steps:
obtaining a plurality of feature point pairs in a plurality of images of a video, wherein each of the feature point pairs corresponds to a motion vector, and the video is captured by an image capturing unit;
obtaining a plurality of sampling points between two consecutive images of the images in time, wherein each of the sampling points corresponds to a row location;
setting at least one moving velocity and at least one angular velocity of the image capturing unit at each of the sampling points as a plurality of variables;
obtaining a plurality of estimating motion vectors of the feature point pairs according to the variables, a focal length of the image capturing unit and the row locations where the feature point pairs are located;
executing an optimization algorithm according to a difference between the motion vectors and the estimating motion vectors, so as to calculate the at least one moving velocity and the at least one angular velocity corresponding to the variables; and
varying locations of a plurality of pixels in one of the images according to the at least one moving velocity and the at least one angular velocity corresponding to the variables, so as to generate a first corrected image.
10. The image processing device according to claim 9, wherein the feature point pairs comprise a second feature point pair, and the second feature point pair comprises a second feature point and a third feature point, where a location of the second feature point is (x1, y1), a location of the third feature point is (x2, y2), and the motion vector corresponding to the second feature point pair is (x2-x1, y2-y1), wherein the step of obtaining the estimating motion vectors of the feature point pairs according to the variables, the focal length of the image capturing unit and the row locations where the feature point pairs are located comprises:
calculating an x-component of the estimating motion vector corresponding to the second feature point pair according to the following Equation (1), and calculating a y-component of the estimating motion vector corresponding to the second feature point pair according to the following Equation (2):
\u2211
i
=
S
\ue89e
\ue89e
1
S
\ue89e
\ue89e
2
\ue89e
f
Z
\ue89e
v
x
_
\ue8a0
(
i
)
+
x
1
\ue89e
y
1
f
\ue89e
w
x
_
\ue8a0
(
i
)
–
(
f
+
x
1
2
f
)
\ue89e
\ue89e
w
y
_
\ue8a0
(
i
)
+
y
1
\ue89e
w
z
_
\ue8a0
(
i
)
(
1
)
\u2211
i
=
S
\ue89e
\ue89e
1
S
\ue89e
\ue89e
2
\ue89e
f
Z
\ue89e
v
y
_
\ue8a0
(
i
)
+
x
1
\ue89e
y
1
f
\ue89e
w
y
_
\ue8a0
(
i
)
–
(
f
+
y
1
2
f
)
\ue89e
\ue89e
w
x
_
\ue8a0
(
i
)
+
x
1
\ue89e
w
z
_
\ue8a0
(
i
)
(
2
)
wherein S1 and S2 are real numbers, S1 represents the sampling point corresponding to the row location where the second feature point is located, and S2 represents the sampling point corresponding to the row location where the third feature point is located, f is a focal length of the image capturing unit, Z is a depth of field of the images, vx(i) is the at least one moving velocity of the image capturing unit at a sampling point i in an x-direction, vy(i) is the at least one moving velocity of the i image capturing unit at the sampling point i in a y-direction, wx(i) is the at least one angular velocity of the image capturing unit at the sampling point i on an x-axis, wy(i) is the at least one angular velocity of the image capturing unit at the sampling point i on a y-axis, and wz(i) is the at least one angular velocity of the image capturing unit at the sampling point i on a z-axis.
11. The image processing device according to claim 9, wherein the step of executing the optimization algorithm according to the difference between the motion vectors and the estimating motion vectors comprises:
generating a plurality of constraints according to x-components and y-components of the motion vectors;
generating a first matrix according to the estimating motion vectors, wherein the number of rows in the first matrix is greater than the number of columns in the first matrix; and
generating a cost function according to a result obtained by subtracting the constraints from the product of the first matrix and the variables, and executing the optimization algorithm according to the cost function so as to obtain the at least one moving velocity and the at least one angular velocity corresponding to the variables.
12. The image processing device according to claim 11, wherein the cost function further comprises a result obtained from the product of the variables and a differential matrix, wherein a value of a jth column and a jth row in the differential matrix is \u22121, and a value of the jth row and a j+1th column in the differential matrix is 1, where j is a positive integer.
13. The image processing device according to claim 11, wherein the product of a second matrix and a third matrix is the first matrix,
in an ith row of the second matrix, only values from a 5(i\u22121)+1th column to a 5ith column are not equal to zero, and an ith column of the second matrix corresponds to an ith constraint of the constraints, where i is a positive integer, and
the ith constraint corresponds to a (5(i\u22121)+1)th row to a 5ith row of the third matrix, and values of a sampling interval without corresponding to the ith constraint in the (5(i\u22121)+1)th row to the 5ith row are equal to zero.
14. The image processing device according to claim 9, wherein the images comprise a second image, a location of a first pixel in the second image is (xrs, yrs), wherein the step of varying the locations of the pixels in one of the images according to the at least one moving velocity and the at least one angular velocity corresponding to the variables so as to generate the first corrected image comprises:
calculating a translation px of the first pixel in an x-direction according to Equation (3), and calculating a translation py of the first pixel in a y-direction according to Equation (4), wherein px and py are real numbers,
p
x
=
\u222b
(
n
+
a
\ue89e
\ue89e
y
rs
)
\ue89e
S
(
n
+
0.5
)
\ue89e
S
\ue89e
f
Z
\ue89e
v
x
\ue8a0
(
t
)
+
1
f
\ue89e
x
rs
\ue89e
y
rs
\ue89e
w
x
\ue8a0
(
t
)
–
(
f
+
x
rs
2
f
)
\ue89e
\ue89e
w
y
\ue8a0
(
t
)
+
y
rs
\ue89e
w
z
\ue8a0
(
t
)
\ue89e
\uf74c
t
(
3
)
p
y
=
\u222b
(
n
+
a
\ue89e
\ue89e
y
rs
)
\ue89e
S
(
n
+
0.5
)
\ue89e
S
\ue89e
f
Z
\ue89e
v
y
\ue8a0
(
t
)
–
1
f
\ue89e
x
rs
\ue89e
y
rs
\ue89e
w
y
\ue8a0
(
t
)
+
(
f
+
y
rs
2
f
)
\ue89e
\ue89e
w
x
\ue8a0
(
t
)
–
x
rs
\ue89e
w
z
\ue8a0
(
t
)
\ue89e
\uf74c
t
(
4
)
wherein n is a positive integer, the second image begins to expose from a time point nS to a time point (n+1)S, a is a floating point number, f is a focal length of the image capturing unit, Z is a depth of field of the images, vx(t) is the at least one moving velocity of the image capturing unit at a time point t in the x-direction, vy(t) is the at least one moving velocity of the image capturing unit at the time point t in the y-direction, wx(t) is the at least one angular velocity of the image capturing unit at the time point t on an x-axis, wy(t) is the at least one angular velocity of the image capturing unit at the time point t on a y-axis, and wz(t) is the at least one angular velocity of the image capturing unit at the time point t on a z-axis.
15. The image processing device according to claim 9, wherein the steps further comprise:
generating a capturing trajectory according to the at least one moving velocity and the at least one angular velocity;
executing a filter calculation for the capturing trajectory;
setting a smooth capturing trajectory as a second variable, and generating a cost function according to a second difference between the second variable and the capturing trajectory after executing the filter calculation; and
executing a second optimization algorithm according to the cost function, so as to obtain the smooth capturing trajectory.
16. The image processing device according to claim 15, wherein the steps further comprise:
varying the locations of the pixels in the first corrected image according to a difference between the smooth capturing trajectory and the capturing trajectory, so as to generate a second corrected image.