Image processing method, mobile platform, control device and system

Abstract

An image processing method, a mobile platform, a control device and a system, wherein the method comprises: obtaining a panoramic shooting instruction; adjusting the current posture of a shooting device to a preset posture according to the panoramic shooting instruction, wherein the shooting device is arranged on a mobile platform; controlling the shooting device to shoot a target object in a preset shooting direction of the preset posture to obtain a set of shooting images; sending the set of shooting images to a control device of the mobile platform, wherein the set of shooting images is used to generate a panoramic image. Through the embodiments of the present application, an image set of a target object can be automatically shot according to the panoramic shooting instruction, and a panoramic image can be automatically generated according to the image set, thereby improving the efficiency of generating a panoramic image.

Description

Technical Field

[0001] The present application relates to the field of image technology, and in particular to an image processing method, a mobile platform, a control device and a system. Background Art

[0002] With the development of society, panoramic images have emerged to meet people's needs for diverse image expressions and are currently widely used in people's lives.

[0003] In the prior art, it is necessary to first collect multiple image materials, and then use a personal computer and image processing software to manually process the collected image materials to obtain a panoramic image. However, when generating a panoramic image in the above manner, the image material collection procedure is complicated, and the panoramic image cannot be quickly generated after the image materials are collected. The user needs to manually process the collected image materials, which wastes time and has low efficiency in generating panoramic images. Summary of the invention

[0004] The embodiments of the present application provide an image processing method, a mobile platform, a control device and a system, which can automatically capture a set of images of a target object according to a panoramic shooting instruction, and can automatically generate a panoramic image based on the image set, thereby improving the efficiency of generating panoramic images.

[0005] A first aspect of an embodiment of the present application provides an image processing method, which is applied to a mobile platform, comprising:

[0006] Get panoramic shooting instructions;

[0007] According to the panoramic shooting instruction, the shooting device is controlled to be in a first posture, and the shooting device is controlled to rotate and shoot the target object in a first preset direction in a first shooting direction to obtain a first image set in the first shooting direction; wherein the shooting device is arranged on the mobile platform, and during the shooting process, multiple shooting angles of view of the shooting device in the first shooting direction constitute a panoramic angle of view;

[0008] Controlling the photographing device to be in a second posture, and controlling the photographing device to rotate and photograph the target object in a second preset direction in a second photographing direction, so as to obtain a second image set in the second photographing direction; wherein, during the photographing process, a plurality of photographing angles of view of the photographing device in the second photographing direction constitute a panoramic angle of view; and an image photographed by the photographing device in the first photographing direction and a corresponding image photographed by the photographing device in the second photographing direction have an overlapping area of ​​a preset ratio;

[0009] A captured image set including the first image set and the second image set is sent to a control device of the mobile platform, wherein the first image set and the second image set are used to generate a 360-degree or spherical panoramic image of the target object.

[0010] A second aspect of an embodiment of the present application provides another image processing method, which is applied to a control device of a mobile platform, including:

[0011] Receive a set of captured images for a target object sent by the mobile platform, wherein the captured image set includes a first image set and a second image set, wherein the first image set is obtained by the mobile platform controlling its capturing device to be in a first posture, and controlling the capturing device to rotate and capture the target object in a first shooting direction according to a first preset direction, and during the shooting process, multiple shooting angles of the capturing device in the first shooting direction constitute a panoramic angle of view; the second image set is obtained by the mobile platform controlling its capturing device to be in a second posture, and controlling the capturing device to rotate and capture the target object in a second shooting direction according to a second preset direction, and during the shooting process, multiple shooting angles of the capturing device in the second shooting direction constitute a panoramic angle of view; wherein the image captured by the capturing device in the first shooting direction and the corresponding image captured by the capturing device in the second shooting direction have an overlapping area of ​​a preset ratio;

[0012] Processing the captured image set to generate a 360-degree or spherical panoramic image of the target object;

[0013] The panoramic image is displayed.

[0014] A third aspect of the embodiments of the present application provides a device, including: a memory and a processor;

[0015] The memory is used to store program instructions;

[0016] The processor is configured to call the program instructions to execute the image processing method provided by the first aspect, or to execute the image processing method provided by the second aspect.

[0017] The fourth aspect of an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the steps of the image processing method provided in the first aspect are implemented, or the steps of the image processing method provided in the second aspect are implemented.

[0018] In an embodiment of the present application, a panoramic shooting instruction is first obtained, and the current posture of the shooting device is adjusted to a preset posture according to the obtained panoramic shooting instruction, and then the shooting device is controlled to shoot the target object in a preset shooting direction of the preset posture to obtain a set of shooting images, and finally the set of shooting images is sent to a control device of the mobile platform, wherein the set of shooting images is used to generate a panoramic image; by adopting the above method, a set of images of the target object can be automatically shot according to the panoramic shooting instruction, and a panoramic image can be automatically generated according to the image set, thereby improving the efficiency of generating panoramic images. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0020] Figure 1 It is a flowchart of an image processing method provided in an embodiment of the present application;

[0021] Figure 2 is a schematic diagram of a panoramic shooting provided by an embodiment of the present application;

[0022] Figure 3 is a flowchart of another image processing method provided in an embodiment of the present application;

[0023] Figure 4 is a schematic diagram of an icon associated with a captured image set provided by an embodiment of the present application;

[0024] Figure 5 is a schematic diagram of a waiting prompt for loading a panoramic image provided by an embodiment of the present application;

[0025] Figure 6 is a schematic diagram of a panoramic image display interface provided by an embodiment of the present application;

[0026] Figure 7 is a schematic diagram of another panoramic image display interface provided by an embodiment of the present application;

[0027] Figure 8 is a schematic diagram of a prompt information provided by an embodiment of the present application;

[0028] Fig. 9 is a schematic diagram of another panoramic image display interface provided in an embodiment of the present application;

[0029] Fig.10 It is a flowchart of another image processing method provided in an embodiment of the present application;

[0030] Fig.11 It is a structural schematic diagram of a mobile platform provided in an embodiment of the present application;

[0031] Fig.12 is a structural schematic diagram of a control device provided in an embodiment of the present application;

[0032] Fig.13 It is a structural schematic diagram of an image processing system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0034] See also Figure 1 , Figure 1 A schematic diagram of a flow chart of an image processing method provided in an embodiment of the present application. The image processing method described in an embodiment of the present application includes:

[0035] S101: The mobile platform obtains a panoramic shooting instruction.

[0036] In the embodiment of the present application, the mobile platform may be a drone. Take the mobile platform as an example to illustrate:

[0037] The specific manner in which the mobile platform obtains the panoramic shooting instruction is as follows: the mobile platform receives the panoramic shooting instruction sent by the control device of the mobile platform. The panoramic shooting instruction may be sent to the mobile platform by the control device after obtaining the first operation information of the user. The first operation information may be information such as a click of the user on the panoramic shooting button of the control device. The panoramic shooting button may be physical or virtual, which is not limited in the embodiments of the present application.

[0038] In some feasible implementations, the specific manner in which the mobile platform obtains the panoramic shooting instruction is as follows: the mobile platform first receives the instruction information sent by the control device of the mobile platform, the instruction information including the panoramic position information and the panoramic shooting instruction; then the mobile platform is controlled to move to the panoramic position according to the panoramic position information included in the instruction information; further, whether the mobile platform is located at the panoramic position is detected, and when the mobile platform is detected to be located at the panoramic position, the panoramic shooting instruction included in the instruction information is obtained. The instruction information may be sent to the mobile platform according to the second operation information after the control device obtains the second operation information of the user. The second operation information may be the panoramic position information input by the user to the control device, the panoramic position information including the coordinate value and altitude of the panoramic shooting position, and the coordinate value and altitude of the panoramic shooting position may be manually input by the user, or may be obtained by the control device by obtaining the user's touch information for the displayed map and determining it according to the touch information.

[0039] It should be noted that the mobile platform may obtain the panoramic shooting instruction in other ways besides the above-mentioned ways, which is not limited in the embodiments of the present application.

[0040] S102: The mobile platform adjusts the current posture of the shooting device to a preset posture according to the panoramic shooting instruction.

[0041] In the embodiment of the present application, a shooting device (such as a camera or a video camera) is arranged on a mobile platform and can be supported on a carrier of the mobile platform, and the carrier of the mobile platform can be a pan / tilt device. The preset posture of the shooting device can include a first posture and a second posture. After the mobile platform obtains the panoramic shooting instruction, it can respond to the panoramic shooting instruction to adjust the current posture of the shooting device to the first posture or the second posture.

[0042] It should be noted that the preset posture of the shooting device can be one posture, and can also include other postures in addition to the first posture and the second posture described above, as long as a set of captured images that can be used to generate a panoramic image can be obtained, and the embodiments of the present application are not limited thereto.

[0043] S103: The mobile platform controls the shooting device to shoot the target object in a preset shooting direction with a preset posture to obtain a set of shot images.

[0044] In the embodiment of the present application, the preset shooting direction corresponding to the preset posture may include a first shooting direction and a second shooting direction. When the shooting device is in the first posture, the first shooting direction is upward and forms a third preset angle with the horizontal direction, and the third preset angle may be, for example, 0 degrees to 10 degrees. When the shooting device is in the second posture, the second shooting direction is downward and forms a fourth preset angle with the vertical direction, and the fourth preset angle may be, for example, 35 degrees to 55 degrees.

[0045] In some feasible implementations, when the camera is in a first posture, the first shooting direction is a horizontal direction. When the camera is in a second posture, the second shooting direction is downward and forms a fifth preset angle with the vertical direction, and the fifth preset angle may be, for example, 45 degrees. It should be noted that the fourth preset angle and the fifth preset angle may also be other angles, which are not limited in the embodiments of the present application; optionally, the fourth preset angle and the fifth preset angle may correspondingly make the image captured by the camera in the first shooting direction and the image captured by the camera in the second shooting direction have a certain (for example, 15% to 35%) overlapping area.

[0046] In the embodiment of the present application, the mobile platform first controls the shooting device to be in a first posture, and controls the shooting device to shoot the target object in a first shooting direction to obtain a first image set of the target object; then controls the shooting device to be in a second posture, and controls the shooting device to shoot the target object in the second shooting direction to obtain a second image set of the target object. Alternatively, the mobile platform may first control the shooting device to be in a second posture, and controls the shooting device to shoot the target object in the second shooting direction to obtain a second image set; then controls the shooting device to be in a first posture, and controls the shooting device to shoot the target object in the first shooting direction to obtain a first image set.

[0047] The mobile platform controls the shooting device to shoot the target object in the first shooting direction, and the specific method of obtaining the first image set is: the mobile platform controls the shooting device to rotate and shoot the target object in the first preset direction, and obtains the first image set in the first shooting direction. The first preset direction can be a clockwise direction or a counterclockwise direction.

[0048] Specifically, the mobile platform can control the mobile platform itself to rotate in a first preset direction, thereby driving the shooting device to rotate in the first preset direction, and after each rotation of the mobile platform by the first preset angle, the shooting device is controlled to shoot at least one shot for the target object, and after the shooting device completes the rotation and shooting of the target object, a first image set in the first shooting direction is obtained. Alternatively, the mobile platform controls the mobile platform itself to remain stationary, controls the carrier of the mobile platform to rotate in the first preset direction, thereby driving the shooting device to rotate in the first preset direction, and after each rotation of the carrier by the first preset angle, the shooting device is controlled to shoot at least one shot for the target object, thereby obtaining a first image set in the first shooting direction.

[0049] The specific method of obtaining the second image set by controlling the shooting device on the mobile platform to shoot the target object in the second shooting direction is as follows: the mobile platform controls the shooting device to rotate and shoot the target object in the second preset direction to obtain the second image set in the second shooting direction. The second preset direction can be a clockwise direction or a counterclockwise direction.

[0050] Specifically, the mobile platform controls the mobile platform to rotate in a second preset direction, thereby driving the camera to rotate in the second preset direction, and controls the camera to take at least one shot of the target object after the mobile platform rotates by the second preset angle, and obtains a second image set in the second shooting direction after the camera completes the rotation and shooting of the target object. Alternatively, the mobile platform controls the mobile platform to remain stationary, controls the carrier of the mobile platform to rotate in the second preset direction, thereby driving the camera to rotate in the second preset direction, and controls the camera to take at least one shot of the target object after the carrier rotates by the second preset angle, thereby obtaining a second image set in the second shooting direction.

[0051] In the embodiment of the present application, the first preset angle and the second preset angle may be no greater than 45 degrees, so as to obtain multiple photos with overlapping areas to generate a panoramic image. Furthermore, when the mobile platform controls the shooting device to rotate and shoot the target object in the first preset direction, and when the mobile platform controls the shooting device to rotate and shoot the target object in the second preset direction, the rotation angle may be at least 360 degrees, so that the target object is not missed, and image screening can be performed to enhance the generation effect of the panoramic image.

[0052] In some feasible implementations, when the mobile platform controls the camera to rotate and shoot the target object at a rotation angle greater than 360 degrees, the camera starts shooting in a different direction in each 360-degree rotation circle. For example, assuming that the mobile platform controls the camera to rotate and shoot at a rotation angle of 720 degrees, and first controls the camera to rotate and shoot in a clockwise direction in the east, after the camera rotates 360 degrees, the mobile platform can control the camera to rotate and shoot in a counterclockwise or clockwise direction starting at 10 degrees east of north.

[0053] It should be noted that in the embodiments of the present application, some or all of the images in the captured image set may have overlapping areas or adjacent image contents, but some or all of the images in the captured image set can be used to synthesize a panoramic image. After explaining this here, it will not be repeated in the following.

[0054] S104: The mobile platform sends the captured image set to a control device of the mobile platform.

[0055] In the embodiment of the present application, the mobile platform sends the first image set and the second image set of the target object to the control device of the mobile platform. The first image set and the second image set can be used to generate a panoramic image of the target object.

[0056] In some feasible implementations, after the mobile platform acquires the first image set and the second image set of the target object, it first selects a preset number of target images that meet the preset conditions from the first image set and the second image set. Specifically, the mobile platform selects a preset number of target images whose matching feature points meet the first requirement from the first image set and the second image set based on the matching feature points of adjacent images. For example, when there is a gap between adjacent images a and b, images with the same feature points can be selected from other images to fill the gap. That is, assuming that there are 5 feature points on the right side of image a and 4 feature points on the left side of image b, image c including the above 9 feature points can be selected to fill the gap between a and b. Alternatively, the mobile platform selects a preset number of target images whose overlapping areas meet the second requirement from the first image set and the second image set based on the overlapping areas of adjacent images. For example, when there is a gap between adjacent images a and b, images including the gap can be selected from other images to fill the gap. That is, when the overlapping areas of image c with images a and b are the largest, image c can be selected to fill the gap between a and b. The preset number of target images includes all pictures of the target object, and the preset number may be, for example, at least 17. Then, the mobile platform sends the screened preset number of target images to the control device of the mobile platform, and the preset number of target images may be used to generate a panoramic image of the target object.

[0057] In some feasible implementations, the preset posture of the shooting device may further include a third posture, and correspondingly, the preset shooting direction may further include a third shooting direction. When the shooting device is in the third posture, the third shooting direction is vertical and downward. After the mobile platform obtains the panoramic shooting instruction, or after obtaining the first image of the target object, or after obtaining the second image of the target object, or after obtaining the first image and the second image of the target object, the mobile platform controls the shooting device to be in the third posture, and controls the shooting device to shoot the target object at least once in the third shooting direction to obtain a third image set of the target object. The specific manner in which the mobile platform sends the captured image set to the control device of the mobile platform is: the mobile platform sends the first image set, the second image set and the third image set of the target object to the control device of the mobile platform, and the first image set, the second image set and the third image set can be used to generate a panoramic image of the target object.

[0058] For example, see also Figure 2 , Figure 2The schematic diagram of the camera device performing rotation shooting for the target object. After the mobile platform obtains the panoramic shooting instruction, the mobile platform first controls the camera device to perform 360-degree rotation shooting for the target object in the horizontal direction. Specifically, the mobile platform controls the camera device to shoot at least one image for the target object after rotating the first preset angle (e.g., 45 degrees) in the clockwise or counterclockwise direction, so as to ensure that about 30% of the content between the left and right adjacent images overlap, until the 360-degree rotation shooting is completed, and the first image set is obtained. Then, the camera device is controlled to perform 360-degree rotation shooting for the target object obliquely downward. Specifically, the mobile platform controls the shooting direction of the camera device to be downward and at a fifth preset angle (e.g., 45 degrees) with the vertical direction, and controls the camera device to shoot at least one image for the target object after rotating the second preset angle (e.g., 45 degrees) in the clockwise or counterclockwise direction, so as to ensure that about 30% of the content between the left and right adjacent images overlap, and about 30% of the content between the horizontally shot adjacent images overlap, until the 360-degree rotation shooting is completed, and the second image set is obtained. Finally, the shooting device is controlled to shoot at least one photo of the target object vertically downward to obtain a third image set. With the above method, the shooting angle adjustment is more accurate, and the mobile platform can automatically shoot and obtain an image set of the target object according to the panoramic shooting instruction. The images in the image set have more matching feature points, the overlapping area between adjacent images is also larger, and the image stitching effect is good. An ideal panoramic image can be generated according to the image set.

[0059] In an embodiment of the present application, a panoramic shooting instruction is first obtained, and the current posture of the shooting device is adjusted to a preset posture according to the obtained panoramic shooting instruction, and then the shooting device is controlled to shoot the target object in a preset shooting direction at the preset posture to obtain a set of shot images, and finally the set of shot images is sent to a control device of the mobile platform; by adopting the above method, a set of images of the target object can be automatically captured according to the panoramic shooting instruction, without the need for the user to manually adjust the shooting direction and angle, thereby improving the efficiency of obtaining the shot image set.

[0060] See also Figure 3 , Figure 3 A flowchart of another image processing method provided in an embodiment of the present application. The image processing method described in an embodiment of the present application includes:

[0061] S301: A control device receives a set of photographed images of a target object sent by a mobile platform.

[0062] In the embodiment of the present application, the control device may be a remote control device or a mobile terminal, and the mobile platform may be a drone. The embodiment of the present application is described by taking the mobile platform as a drone as an example. Based on the different shooting directions of the mobile platform or the screening processing of the images, the shooting image set received by the control device may be the first image set and the second image set of the target object; it may also be the first image set, the second image set and the third image set of the target object; it may also be a preset number of target images that meet the preset conditions. Among them, the first shooting image set is obtained by the mobile platform controlling the shooting device of the mobile platform to be in a first posture and controlling the shooting device to shoot the target object in the first shooting direction; the second shooting image set is obtained by the mobile platform controlling the shooting device to be in a second posture and controlling the shooting device to shoot the target object in the second shooting direction; the third shooting image set is obtained by the mobile platform controlling the shooting device to be in a third posture and controlling the shooting device to shoot the target object in the third shooting direction. The target image is screened out from the first image set and the second image set by the mobile platform according to the matching feature points or overlapping areas of adjacent images, or the mobile platform screens out from the first image set, the second image set and the third image set according to the matching feature points or overlapping areas of adjacent images.

[0063] In some feasible implementations, before receiving the set of captured images of the target object sent by the mobile platform, the control device first obtains the first operation information of the user on the control device; then sends a panoramic shooting instruction to the mobile platform according to the first operation information, and the panoramic shooting instruction is used to instruct the mobile platform to perform panoramic shooting of the target object to obtain the set of captured images. The first operation information can be information such as a click of the user on a panoramic shooting button of the control device, and the panoramic shooting button can be physical or virtual.

[0064] In some feasible implementations, before receiving the set of captured images of the target object sent by the mobile platform, the control device first obtains the second operation information of the user on the control device; then sends the instruction information to the mobile platform according to the second operation information, and the instruction information includes the panoramic position information and the panoramic shooting instruction. Specifically, the control device obtains the panoramic position information input by the user, and then carries the panoramic position information and the panoramic shooting instruction in the instruction information and sends it to the mobile platform. Alternatively, the control device obtains the user's touch information on the map displayed on the display interface of the control device, determines the panoramic position information according to the touch information, and then carries the panoramic position information and the panoramic shooting instruction in the instruction information and sends it to the mobile platform. Among them, the panoramic position information includes the coordinate value and altitude of the panoramic shooting position and other information. The instruction information is used to instruct the mobile platform to move to the panoramic shooting position, respond to the panoramic shooting instruction, and perform panoramic shooting for the target object to obtain a set of captured images.

[0065] It should be noted that the control device may also send the panoramic shooting command to the mobile platform in other forms after obtaining other operation information from the user, such as voice commands, and the embodiment of the present application is not limited thereto.

[0066] In some feasible implementations, after the control device obtains the panoramic position information, before sending the instruction information to the mobile platform, the control device may first obtain the panoramic image sample of the panoramic position according to the panoramic position information, and then provide a shooting prompt according to the panoramic image sample. Specifically, exemplarily, the control device first obtains the best panoramic image sample and the worst panoramic image sample of the panoramic position from the cloud server, and displays the best panoramic image sample and the worst panoramic image sample of the panoramic position, so that the user can judge whether to perform panoramic shooting at the panoramic position according to the best panoramic image sample and the worst panoramic image sample of the panoramic position. The control device then outputs shooting prompt information, which is used to prompt the user whether to perform panoramic shooting at the panoramic position; when the control device receives the confirmation instruction input by the user for the shooting prompt information, the instruction information is sent to the mobile platform. Among them, the best panoramic image sample and the worst panoramic image sample of the panoramic position can be obtained based on the comprehensive evaluation of multiple users.

[0067] It should be noted that the control device can also obtain the panoramic image samples of the panoramic position through other means. At the same time, the panoramic image samples of the panoramic position obtained by the control device can be other types of panoramic images in addition to the best or worst panoramic image samples. They can be set according to specific circumstances and are not limited to the embodiments of the present application.

[0068] In some feasible implementations, after the control device obtains the panoramic position information, before sending the instruction information to the mobile platform, it can first obtain the environmental information of the panoramic position, and then provide a shooting prompt based on the environmental information. Specifically, the control device can obtain the environmental information of the panoramic position through the Internet, or it can obtain the environmental information of the panoramic position through at least one image of the environment in which the panoramic position is located collected by the mobile platform. The environmental information of the panoramic position includes information such as climate, season, and light. The control device outputs shooting prompt information based on the acquired environmental information of the panoramic position, and the shooting prompt information is used to prompt the user to perform operations such as adjusting the shooting mode, and can also be used to prompt the user whether to perform panoramic shooting at the panoramic position; when the control device receives the confirmation instruction input by the user for the shooting prompt information, the instruction information is sent to the mobile platform.

[0069] In some feasible implementations, after the control device receives the captured image set for the target object sent by the mobile platform, the captured image set can be archived and stored, such as storing the captured image set in a folder or an album; further, the control device can use a preset identifier to store the captured image set of the target object. The preset identifier is a panoramic image identifier, which is used to prompt the user that the image set corresponding to the panoramic image identifier can be used to generate a panoramic image to distinguish it from other ordinary images. Furthermore, the display interface of the control device may include an icon associated with the archived captured image set, and the icon may include a panoramic image identifier and a cover image obtained based on the captured image set. For example, please refer to Figure 4 , Figure 4 is a schematic diagram of the icon, wherein the panoramic image logo may be located at the lower left corner of the icon, or in other words, the panoramic image logo is located at the lower left corner of the cover image obtained according to the set of photographed images. It should be noted that the panoramic image logo may also be located at other corners of the icon, or in the middle of the icon, which is not limited in the embodiments of the present application.

[0070] S302: If the control device detects a first operation on the captured image set, the control device processes the captured image set according to the first operation to generate a panoramic image of the target object.

[0071] In the embodiment of the present application, the first operation may be a click operation on the captured image set, or may be a click operation on an icon associated with the stored captured image set. The click operation may be a single click operation of a finger or a knuckle, or may be a multiple click operation of a finger or a knuckle. It should be noted that the first operation may also be other types of touch operations, or other operations, such as gesture operations or voice operations, which are not limited in the embodiment of the present application.

[0072] Specifically, after the control device detects the user's first operation on the captured image set, it first performs projection transformation on each image in the captured image set, which may be plane projection, cylindrical projection, cubic projection or spherical projection, etc.; because different images may be captured by the shooting device at different angles, they are not on the same projection plane. If the overlapping images are directly seamlessly spliced, the visual consistency of the actual scene will be destroyed, so the image needs to be projected first. Then, the control device obtains the effective feature matching points of each image in the image set, and splices each image in the image set according to the obtained effective feature matching points to obtain a panoramic view of the target object. Among them, image splicing includes registration and blending. Registration is to register each image in the image set to the same coordinate system according to the geometric motion model, and fusion is to synthesize the registered images into a large spliced ​​image.

[0073] In some feasible implementations, after detecting the first operation on the captured image set, the control device may output a second prompt message before processing the captured image according to the first operation to generate a panoramic image of the target object, and the second prompt message is used to prompt the user to select a panoramic image generation mode; wherein the panoramic image generation mode includes a spherical panoramic image generation mode and a 360-degree panoramic image generation mode. Then, the control device receives a selection instruction input by the user for the second prompt message. If the selection instruction input by the user indicates that the panoramic image generation mode is a spherical panoramic image, the control device processes the captured image set in response to the selection instruction to generate a spherical panoramic image of the target object; if the selection instruction input by the user indicates that the panoramic image generation mode is a 360-degree panoramic image, the control device processes the captured image set in response to the selection instruction to generate a 360-degree panoramic image of the target object.

[0074] In some feasible implementations, the control device may output a waiting prompt for loading the panoramic image when processing the captured image set to generate the panoramic image of the target object, wherein the waiting prompt includes a preset icon and / or preset words. For example, please refer to Figure 5 ,like Figure 5As shown, the waiting prompt can be given in the form of an interface. The waiting prompt interface can include a preset icon. The preset icon can be a spherical icon. The spherical icon can include the word "360". The spherical icon can also include the word "generating" below it. The waiting prompt interface can also include a delete icon. When the panoramic image is generated, if the user detects a click operation on the delete icon, the intermediate document generated in the process of generating the panoramic image can be deleted, and the waiting prompt interface is exited. It should be noted that the waiting prompt can also be in other forms, such as voice prompts, photoelectric prompts, etc. The preset icon and the preset words can also be in other forms, which can be set according to specific needs, and the embodiments of the present application are not limited.

[0075] In some feasible implementations, the control device processes the captured image set, generates a panoramic image of the target object, and then saves the panoramic image of the target object. The panoramic image of the target object and the captured image set can be saved in the same folder or album. If the control device detects the user's first operation on the captured image set again, the panoramic image of the target object is directly displayed, so there is no need to generate the panoramic image of the target object again, saving the software and hardware resources of the control device.

[0076] S303: Control the device to display the panoramic image.

[0077] In the embodiment of the present application, after the control device generates the panoramic image of the target object, the panoramic image is displayed. Figure 6 , Figure 6 A schematic diagram of a panoramic image display interface provided in an embodiment of the present application is shown as follows: Figure 6 As shown, the display interface of the panoramic image includes a panoramic image of the target object, and includes a menu bar, which includes a toolbar and a title bar. When the control device detects the second operation of the user on the panoramic image, the browsing mode of the panoramic image is switched. Among them, the browsing mode of the panoramic image includes a manual browsing mode and a somatosensory browsing mode, and the second operation can be a double-click or triple-click operation of the user's finger or knuckle. Specifically, if the current browsing mode of the panoramic image is a manual browsing mode, the control device switches the browsing mode of the panoramic image to a somatosensory browsing mode when detecting the second operation of the user on the panoramic image; if the current browsing mode of the panoramic image is a somatosensory browsing mode, the control device switches the browsing mode of the panoramic image to a manual browsing mode when detecting the second operation of the user on the panoramic image. It should be noted that the second operation can also be other types of touch operations (such as pressing, sliding, etc.), and can also be gesture operations or voice operations, etc., which are not limited in the embodiments of the present application.

[0078] In some feasible implementations, after the control device displays the panoramic image of the target object, when detecting a third operation of the user on the panoramic image, the control device hides or displays the menu bar of the display interface of the panoramic image, wherein the third operation may be a single-click operation on the panoramic image. Figure 6 and Figure 7 ,like Figure 6 As shown, the display interface of the panoramic image displays a menu bar. When the control device detects the third operation on the panoramic image, the menu bar of the display interface of the panoramic image is hidden. The display interface after the menu bar is hidden is as shown in FIG. Figure 7 Similarly, Figure 7 The menu bar of the display interface of the panoramic image shown in FIG. 1 is hidden. When the control device detects a third operation on the panoramic image, the menu bar of the display interface of the panoramic image is displayed. The display interface after the menu bar is displayed is as shown in FIG. Figure 6 It should be noted that the third operation may also be other types of touch operations, such as gesture operations or voice operations, which are not limited in the present embodiment of the application.

[0079] It can be understood that the first operation, the second operation, and the third operation are different to implement corresponding functions. At the same time, the functions corresponding to the first operation, the second operation, and the third operation can be set before the control terminal leaves the factory, or can be customized by the user, and the embodiments of the present application are not limited thereto.

[0080] In some feasible implementations, after the control device switches the browsing mode of the panoramic image to the somatosensory browsing mode, it may output a first prompt message. The first prompt message is used to prompt the user to adjust the posture of the control device, and the prompt duration of the first prompt message may be 1.5 seconds to 3 seconds. Figure 8 , Figure 8 is a schematic diagram of a display interface of the first prompt information, such as Figure 8 As shown, the first prompt information is displayed in the middle of the panoramic image, and the first prompt information includes prompt words such as "tilt the device to view". It should be noted that the prompt duration of the first prompt information can also be other durations, and the first prompt information can be in the form of text, voice prompt, breathing light flashing, etc., which is not limited in the embodiment of the present application.

[0081] In some feasible implementations, after the control device outputs the first prompt information, if it is detected that the posture of the control device has changed, the first prompt information is immediately closed.

[0082] In some feasible implementations, after switching the browsing mode of the panoramic image to the somatosensory browsing mode, the control device obtains the posture information of the control device at preset time intervals or in real time, and adjusts the display screen of the panoramic image according to the acquired posture information of the control device. Specifically, exemplarily, the control device first obtains the posture information of the control device through a preset sensor (such as a gravity sensor, a gyroscope, etc.), and the posture information includes the tilt direction and tilt angle of the control device, and then adjusts the display screen of the panoramic image according to the tilt direction and tilt angle of the control device. When the tilt direction and tilt angle of the control device are different, the content of the display screen based on the panoramic image may be different.

[0083] In some feasible implementations, after the control device switches the browsing mode of the panoramic image to the manual browsing mode, it obtains the user's manual operation information on the panoramic image, and adjusts the display screen of the panoramic image according to the manual operation information. The manual operation information includes touch information and / or gesture information. For example, when the control device detects the user's dragging operation on the panoramic image, it obtains the direction and distance of the dragging operation, and adjusts the display screen of the panoramic image according to the direction and distance of the dragging operation; when the control device detects the user's zoom-in gesture on the panoramic image, it zooms in on the panoramic image, or in other words, expands the spherical panoramic image or the 360 ​​panoramic image into a flat panoramic image, such as Fig. 9 As shown, Fig. 9 It is a schematic diagram of expanding the spherical panoramic image or the 360 ​​panoramic image into a flat panoramic image; when the control device detects a zoom-out gesture of the user on the panoramic image, the panoramic image is zoomed out.

[0084] In the embodiment of the present application, the control device first receives a set of captured images of the target object sent by the mobile platform, and then, if a first operation on the captured image set is detected, the captured image is processed according to the first operation to generate a panoramic image of the target object, and finally the panoramic image is displayed. In the above manner, a panoramic image can be automatically generated according to the captured image set of the target object, thereby improving the efficiency of generating a panoramic image. At the same time, the user can preview the panoramic shooting effect through the control device, which is highly timely.

[0085] See also Fig.10 , Fig.10 A flowchart of another image processing method provided in an embodiment of the present application. Exemplarily, the image processing method described in an embodiment of the present application includes:

[0086] S1001: A control device obtains operation information of a user on the control device.

[0087] S1002: The control device sends a panoramic shooting instruction to the mobile platform.

[0088] In the embodiment of the present application, the control device first obtains the first operation information of the user on the control device, and then sends a panoramic shooting instruction to the mobile platform according to the first operation information. The first operation information can be the user's click information on the panoramic shooting button of the control device.

[0089] In some feasible implementations, the control device first obtains second operation information of the user on the control device, and then sends instruction information to the mobile platform according to the second operation information, where the instruction information includes panoramic position information and panoramic shooting instructions.

[0090] S1003: The mobile platform obtains a panoramic shooting instruction.

[0091] In the embodiment of the present application, the mobile platform receives the panoramic shooting instruction sent by the control device. Alternatively, the mobile platform first receives the instruction information sent by the control device, the instruction information including the panoramic position information and the panoramic shooting instruction; then controls the mobile platform to move to the panoramic position according to the panoramic position information included in the instruction information; further, detects whether the mobile platform is located at the panoramic position, and when it is detected that the mobile platform is located at the panoramic position, obtains the panoramic shooting instruction included in the instruction information.

[0092] S1004: The mobile platform adjusts the current posture of the shooting device to a preset posture according to the panoramic shooting instruction.

[0093] In the embodiment of the present application, the shooting device is arranged on the mobile platform, and the preset posture of the shooting device includes a first posture and a second posture. After the mobile platform obtains the panoramic shooting instruction, it responds to the panoramic shooting instruction and adjusts the current posture of the shooting device to the first posture or the second posture.

[0094] S1005: The mobile platform controls the shooting device to shoot the target object in a preset shooting direction with a preset posture to obtain a set of shot images.

[0095] In the embodiment of the present application, the preset shooting direction includes a first shooting direction and a second shooting direction. When the shooting device is in the first posture, the first shooting direction is upward and forms a third preset angle with the horizontal direction. When the shooting device is in the second posture, the second shooting direction is downward and forms a fourth preset angle with the vertical direction.

[0096] Specifically, the mobile platform first controls the shooting device to be in a first posture, and controls the shooting device to shoot the target object in a first shooting direction to obtain a first image set of the target object; then controls the shooting device to be in a second posture, and controls the shooting device to shoot the target object in a second shooting direction to obtain a second image set of the target object.

[0097] S1006: The mobile platform sends the captured image set to the control device.

[0098] In the embodiment of the present application, the mobile platform sends the first image set and the second image set of the target object to the control device. The first image set and the second image set can be used to generate a panoramic image of the target object.

[0099] S1007: Control the device to receive a set of photographed images of the target object sent by the mobile platform.

[0100] S1008: If the control device detects a first operation on the captured image set, the control device processes the captured image set according to the first operation to generate a panoramic image of the target object.

[0101] In the embodiment of the present application, the first operation may be a click operation on the captured image set. Specifically, after the control device detects the user's first operation on the captured image set, the control device first performs a projection transformation on each image in the image set, then obtains valid feature matching points of each image in the image set, and performs image stitching on each image in the image set according to the obtained valid feature matching points to obtain a panoramic image of the target object.

[0102] S1009: Control the device to display the panoramic image.

[0103] In the embodiment of the present application, the control device may be a remote control device or a mobile terminal; the mobile platform may be a drone.

[0104] It should be noted that the various steps in the image processing method provided in the embodiment of the present application can refer to the specific implementation method described in the above method embodiment, which will not be repeated here.

[0105] In the embodiment of the present application, the control device first obtains the user's operation information, and sends a panoramic shooting instruction to the mobile platform according to the operation information; then, after the mobile platform obtains the panoramic shooting instruction, the shooting device is controlled to shoot the target object in a preset shooting direction with a preset posture, obtain a shooting image set, and send the shooting image set to the control device; then, after the control device detects the first operation on the shooting image set, it generates and displays a panoramic image of the target object. In the above manner, the image set of the target object can be automatically shot according to the panoramic shooting instruction, and the panoramic image can be automatically generated according to the image set, thereby improving the efficiency of generating the panoramic image.

[0106] See also Fig.11 , Fig.111 is a schematic diagram of the structure of a mobile platform provided in an embodiment of the present application. The mobile platform described in the embodiment of the present application includes: a processor 1101, a communication interface 1102, and a memory 1103. The processor 1101, the communication interface 1102, and the memory 1103 may be connected via a bus or other means. The embodiment of the present application takes the connection via a bus as an example.

[0107] The processor 1101 may be a central processing unit (CPU), a network processor (NP), or a combination of a CPU and a NP. The processor 1101 may also be a core in a multi-core CPU or a multi-core NP for implementing communication identifier binding.

[0108] The processor 1101 may be a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL) or any combination thereof.

[0109] The communication interface 1102 can be used for the interaction of sending and receiving information or signaling, as well as the reception and transmission of signals. The memory 1103 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and a storage program required for at least one function (such as a text storage function, a location storage function, etc.); the data storage area can store data created according to the use of the mobile platform (such as image data, text data), etc., and can include application storage programs, etc. In addition, the memory 1103 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0110] The memory 1103 is also used to store program instructions. The processor 1101 can call the program instructions stored in the memory 1103 to implement the following: Figure 1 The image processing method shown. Specifically:

[0111] Processor 1101, used for obtaining a panoramic shooting instruction;

[0112] The processor 1101 is further used to adjust the current posture of the shooting device to a preset posture according to the panoramic shooting instruction, and the shooting device is set on the mobile platform;

[0113] The processor 1101 is further configured to control the photographing device to photograph the target object in a preset photographing direction with a preset posture to obtain a set of photographed images;

[0114] The communication interface 1102 is used to send the captured image set to the control device of the mobile platform.

[0115] In some feasible implementations, the processor 1101 is further configured to screen a preset number of target images that meet a preset condition from the captured image set;

[0116] The communication interface 1102 is specifically used to send the target image to the control device of the mobile platform.

[0117] In some feasible implementations, the specific method in which the processor 1101 screens a preset number of target images that meet preset conditions in the captured image set is: based on the matching feature points of adjacent images, screen a preset number of target images whose matching feature points meet the first requirement in the captured image set.

[0118] In some feasible implementations, the specific method by which the processor 1101 screens a preset number of target images that meet preset conditions in the captured image set is: based on the overlapping area of ​​adjacent images, screening a preset number of target images whose overlapping areas meet the second requirement in the captured image set.

[0119] In some feasible implementations, the preset posture includes a first posture and a second posture, the preset shooting direction includes a first shooting direction and a second shooting direction, and the processor 1101 is specifically used to:

[0120] Controlling the photographing device to be in a first posture, and controlling the photographing device to photograph the target object in a first photographing direction to obtain a first image set;

[0121] Controlling the photographing device to be in a second posture, and controlling the photographing device to photograph the target object in a second photographing direction to obtain a second image set;

[0122] The communication interface 1102 is specifically configured to send the first image set and the second image set to a control device of the mobile platform.

[0123] In some feasible implementations, the processor 1101 is specifically configured to:

[0124] Controlling the shooting device to rotate and shoot the target object in a first preset direction to obtain a first image set in the first shooting direction;

[0125] The shooting device is controlled to rotate and shoot the target object in a second preset direction to obtain a second image set in a second shooting direction.

[0126] In some feasible implementations, the processor 1101 is specifically configured to:

[0127] Controlling the mobile platform to rotate in a first preset direction, and controlling the shooting device to shoot a target object after the mobile platform rotates by a first preset angle each time, to obtain a first image set in a first shooting direction;

[0128] The mobile platform is controlled to rotate in a second preset direction, and after the mobile platform rotates by a second preset angle each time, the shooting device is controlled to shoot the target object to obtain a second image set in a second shooting direction.

[0129] In some feasible implementations, the processor 1101 is specifically used to: control the carrier of the mobile platform to rotate in a first preset direction, and control the shooting device to shoot the target object after the carrier rotates by a first preset angle each time, to obtain a first image set in a first shooting direction, wherein the shooting device is supported on the carrier;

[0130] The carrier is controlled to rotate in a second preset direction, and after the carrier rotates by a second preset angle each time, the shooting device is controlled to shoot the target object to obtain a second image set in a second shooting direction.

[0131] In some feasible implementations, the first preset angle and the second preset angle are not greater than 45 degrees. The angle of the photographing device during rotation for photographing is at least 360 degrees.

[0132] In some feasible implementations, when the angle of rotation of the photographing device is greater than 360 degrees, the starting photographing direction of the photographing device in each 360-degree rotation circle is different.

[0133] In some feasible implementations, the preset posture further includes a third posture, the preset shooting direction further includes a third shooting direction, and the processor 1101 is further configured to:

[0134] Controlling the photographing device to be in a third posture, and controlling the photographing device to photograph the target object in a third photographing direction to obtain a third image set;

[0135] The communication interface 1102 is specifically configured to send the first image set, the second image set and the third image set to a control device of the mobile platform.

[0136] In some feasible embodiments, when the shooting device is in a first posture, the first shooting direction is upward and forms a third preset angle with the horizontal direction; when the shooting device is in a second posture, the second shooting direction is downward and forms a fourth preset angle with the vertical direction; when the shooting device is in a third posture, the third shooting direction is vertical and downward.

[0137] In some feasible implementations, the third preset angle is 0 degrees to 10 degrees.

[0138] In some feasible embodiments, when the shooting device is in a first posture, the first shooting direction is a horizontal direction; when the shooting device is in a second posture, the second shooting direction is downward and forms a fifth preset angle with the vertical direction; when the shooting device is in a third posture, the third shooting direction is a vertical direction and downward.

[0139] In some feasible implementations, the communication interface 1102 is further used to: receive a panoramic shooting instruction sent by a control device of the mobile platform.

[0140] In some feasible implementations, the communication interface 1102 is further used to: receive instruction information sent by a control device of the mobile platform, the instruction information including panoramic position information and panoramic shooting instructions;

[0141] The processor 1101 is further configured to: detect whether the mobile platform is located at the position indicated by the panoramic position information; if so, obtain the panoramic shooting instruction in the instruction information.

[0142] In some feasible implementations, the control device includes a remote control device or a mobile terminal; and the mobile platform is a drone.

[0143] In a specific implementation, the processor 1101, the communication interface 1102, and the memory 1103 described in the embodiment of the present application can execute the implementation method on the mobile platform side described in an image processing method provided in the embodiment of the present application, which will not be repeated here.

[0144] In an embodiment of the present application, a panoramic shooting instruction is first obtained, and the current posture of the shooting device is adjusted to a preset posture according to the obtained panoramic shooting instruction, and then the shooting device is controlled to shoot the target object in a preset shooting direction of the preset posture to obtain a set of shot images, and finally the set of shot images is sent to a control device of the mobile platform; by adopting the above method, a set of images of the target object can be automatically shot according to the panoramic shooting instruction, thereby improving the efficiency of obtaining the set of shot images.

[0145] See also Fig.12 , Fig.12A schematic diagram of the structure of a control device provided in an embodiment of the present application. The control device described in the embodiment of the present application includes: a user interface 1201, a display screen 1202, a processor 1203, a communication interface 1204 and a memory 1205, and the user interface 1201, the display screen 1202, the processor 1203, the communication interface 1204 and the memory 1205 can be connected through a bus or in other ways.

[0146] Processor 1203 may be a central processing unit (CPU), a network processor (NP), a graphics processing unit (GPU), or a combination of a CPU, a GPU, and a NP. Processor 1203 may also be a core in a multi-core CPU, a multi-core GPU, or a multi-core NP for implementing communication identification binding. Communication interface 1204 may be used for the interaction of sending and receiving information or signaling, and receiving and sending signals. In particular, communication interface 1204 may communicate with a network and a signal transmitting device through wireless communication, and receive data from a signal transmitting device.

[0147] The user interface 1201 can be used to receive input digital or character information, and to generate key signal input related to the user settings and function control of the control device. Specifically, the above-mentioned user interface 1201 may include a touch panel and other input devices. The touch panel, also known as a touch screen, can collect the user's touch operation on or near it (such as the user uses any suitable object or accessory such as a finger, a stylus, etc. on the touch panel or near the touch panel), and drive the corresponding connection device according to a pre-set program. Other input devices may include but are not limited to one or more of a physical keyboard, a function key (such as a volume control button, a switch button, etc.), a trackball, a mouse, a joystick, etc. The display screen 1202 can be used to display information input by the user or information provided to the user and various menus of the control device. The display screen 1202 can be configured in the form of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode, Organic Light Emitting Diode), etc.

[0148] The above-mentioned memory 1205 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and a storage program required for at least one function (such as a text storage function, a location storage function, etc.); the data storage area may store data created according to the use of the control device (such as image data, text data), etc., and may include a network communication module, a user interface module, an application storage program, etc.

[0149] The memory 1205 is also used to store program instructions. The processor 1203 can call the program instructions stored in the memory 1205 to implement the following: Figure 3 The image processing method shown. Specifically:

[0150] The communication interface 1204 is used to receive a set of captured images of a target object sent by a mobile platform;

[0151] The processor 1203 is configured to, if a first operation on the captured image set is detected, process the captured image set according to the first operation to generate a panoramic image of the target object;

[0152] Display screen 1202 is used to display panoramic images.

[0153] In some feasible implementations, the processor 1203 is further configured to obtain first operation information of the user on the control device;

[0154] The communication interface 1204 is further configured to send a panoramic shooting instruction to the mobile platform according to the first operation information.

[0155] In some feasible implementations, the processor 1203 is further configured to obtain second operation information of the user on the control device;

[0156] The communication interface 1204 is further used to send instruction information to the mobile platform according to the second operation information, where the instruction information includes panoramic position information and panoramic shooting instructions.

[0157] In some feasible implementations, the processor 1203 is specifically used to obtain the panoramic position information input by the user; the communication interface 1204 is specifically used to send instruction information to the mobile platform according to the panoramic position information.

[0158] In some feasible implementations, the processor 1203 is specifically used to obtain the user's touch information for displaying the map, and determine the panoramic position information according to the touch information; the communication interface 1204 is specifically used to send instruction information to the mobile platform according to the panoramic position information.

[0159] In some feasible implementations, the processor 1203 is further configured to:

[0160] Acquire a panoramic image sample at the panoramic position according to the panoramic position information;

[0161] Shooting tips based on panoramic image samples.

[0162] In some feasible implementations, the processor 1203 is further used to: obtain environmental information of the panoramic position according to the panoramic position information; and provide shooting prompts according to the environmental information.

[0163] In some feasible implementations, the processor 1203 is further configured to: if a second operation on the panoramic image is detected, switch the browsing mode of the panoramic image, wherein the browsing mode includes a manual browsing mode and a somatosensory browsing mode.

[0164] In some feasible implementations, the display screen 1202 is also used for:

[0165] When the browsing mode is switched to the somatosensory browsing mode, first prompt information is output, and the first prompt information is used to prompt the user to adjust the posture of the control device.

[0166] Among them, the prompt duration of the first prompt information is 1.5 seconds to 3 seconds.

[0167] In some feasible implementations, the processor 1203 is further configured to: close the first prompt information when the posture of the control device changes.

[0168] In some feasible implementations, the processor 1203 is further configured to: when the browsing mode of the panoramic image is a somatosensory browsing mode, obtain the posture information of the control device;

[0169] The display screen of the panoramic image is adjusted according to the posture information.

[0170] In some feasible implementations, the processor 1203 is further configured to: when the browsing mode of the panoramic image is the manual browsing mode, obtain manual operation information for the panoramic image;

[0171] The display screen of the panoramic image is adjusted according to the manual operation information.

[0172] The manual operation information includes touch information and / or gesture information.

[0173] In some feasible implementations, the processor 1203 is further configured to: store a set of captured images.

[0174] In some feasible implementations, the processor 1203 is specifically configured to: store the captured image set using a preset identifier.

[0175] In some feasible implementations, the display screen 1202 is further used to output second prompt information, where the second prompt information is used to prompt the user to select a generation mode of the panoramic image;

[0176] The user interface 1201 is used to receive a selection instruction input by a user for the second prompt information;

[0177] The processor 1203 is specifically configured to process the captured image set according to the first operation and the selection instruction to generate a panoramic image of the target object.

[0178] In some feasible implementations, the generation modes include a spherical panoramic image generation mode and a 360-degree panoramic image generation mode.

[0179] In some feasible implementations, the display screen 1202 is further configured to hide or display a menu bar of the display interface of the panoramic image if a third operation on the panoramic image is detected.

[0180] In some feasible implementations, the display screen 1202 is further used to output a waiting prompt for loading the panoramic image during the process of generating the panoramic image.

[0181] In some feasible implementations, the waiting prompt includes a preset icon and / or preset words; the control device includes a remote control device or a mobile terminal; and the mobile platform is a drone.

[0182] In a specific implementation, the user interface 1201, display screen 1202, processor 1203, communication interface 1204, and memory 1205 described in the embodiment of the present application can execute the implementation method described on the control device side in the image processing method provided in the embodiment of the present application, which will not be repeated here.

[0183] In the embodiment of the present application, a set of captured images of a target object sent by a mobile platform is first received, and then if a first operation on the captured image set is detected, the captured images are processed according to the first operation to generate a panoramic image of the target object, and finally the panoramic image is displayed. In the above manner, a panoramic image can be automatically generated according to the set of captured images of the target object, thereby improving the efficiency of generating a panoramic image.

[0184] See also Fig.13 , Fig.13 The image processing system described in the embodiment of the present application includes:

[0185] The control device 1301 is used to obtain the user's operation information on the control device.

[0186] The control device 1301 is further configured to send a panoramic shooting instruction to the mobile platform 1302 according to the operation information.

[0187] The mobile platform 1302 is used to obtain a panoramic shooting instruction.

[0188] The mobile platform 1302 is also used to adjust the current posture of the shooting device to a preset posture according to the panoramic shooting instruction.

[0189] The mobile platform 1302 is also used to control the shooting device to shoot the target object in a preset shooting direction with a preset posture to obtain a set of shot images.

[0190] The mobile platform 1302 is also used to send the captured image set to the control device.

[0191] The control device 1301 is further configured to receive a set of photographed images of a target object sent by a mobile platform.

[0192] The control device 1301 is further configured to, if a first operation on the captured image set is detected, process the captured image set according to the first operation to generate a panoramic image of the target object.

[0193] The control device 1301 is also used to display the panoramic image.

[0194] It can be understood that the functions of the control device 1301 and the mobile platform 1302 of the embodiment of the present application can be specifically implemented according to the method in the above method embodiment. The specific implementation process can refer to the relevant description of the above method embodiment, which will not be repeated here.

[0195] In the embodiment of the present application, the control device first obtains the user's operation information, and sends a panoramic shooting instruction to the mobile platform according to the operation information; then, after the mobile platform obtains the panoramic shooting instruction, the shooting device is controlled to shoot the target object in a preset shooting direction with a preset posture, obtain a shooting image set, and send the shooting image set to the control device; then, after the control device detects the first operation on the shooting image set, it generates and displays a panoramic image of the target object. In the above manner, the image set of the target object can be automatically shot according to the panoramic shooting instruction, and the panoramic image can be automatically generated according to the image set, thereby improving the efficiency of generating the panoramic image.

[0196] Based on the mobile platform side or the control device side, the embodiments of the present application can respectively provide a computer-readable storage medium, in which a computer program is stored, and the computer-readable storage medium stores a computer program. When the computer program is executed by the processor, the various step processes described in the above corresponding method embodiments can be implemented.

[0197] It should be noted that, for the above-mentioned various method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0198] A person skilled in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the storage medium may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0199] The above is a detailed introduction to an image processing method, mobile platform, control device and system provided in the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, according to the ideas of the present application, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. An image processing method, characterized in that: The method comprises: Get panoramic shooting instructions; According to the panoramic shooting instruction, the shooting device is controlled to be in a first posture, and the shooting device is controlled to rotate in a first preset direction in a first shooting direction to shoot a target object, so as to obtain a first image set in the first shooting direction; wherein, during the shooting process, a plurality of shooting angles of view when the shooting device rotates in the first shooting direction constitute a panoramic angle of view; Controlling the photographing device to switch from the first posture to the second posture, and controlling the photographing device to rotate in a second preset direction in a second photographing direction to photograph the target object, so as to obtain a second image set in the second photographing direction; wherein, during the photographing process, a plurality of photographing angles of view when the photographing device is rotated in the second photographing direction constitute a panoramic angle of view, wherein the first posture is different from the second posture; and an image photographed by the photographing device in the first photographing direction and a corresponding image photographed by the photographing device in the second photographing direction have an overlapping area of ​​a preset ratio; The first image set and the second image set are used to generate a panoramic image of the target object.

2. The method according to claim 1, characterized in that The step of controlling the photographing device to rotate in a first preset direction in a first photographing direction to photograph a target object and obtaining a first image set in the first photographing direction includes: Controlling a mobile platform for carrying the photographing device to rotate in a first preset direction, and controlling the photographing device to photograph a target object after each rotation of the mobile platform by a first preset angle, so as to obtain a first image set in the first photographing direction; or controlling a carrier for carrying the photographing device to rotate in a first preset direction, thereby driving the photographing device to rotate in a first preset direction, and controlling the photographing device to photograph a target object after each rotation of the carrier by a first preset angle, so as to obtain a first image set in the first photographing direction, wherein the carrier is carried on the mobile platform; and / or, The step of controlling the photographing device to rotate in a second preset direction in a second photographing direction to photograph the target object and obtaining a second image set in the second photographing direction includes: Controlling a mobile platform for carrying the photographing device to rotate in a second preset direction, and controlling the photographing device to photograph the target object after each rotation of the mobile platform by a second preset angle, so as to obtain a second set of images in the second photographing direction; or controlling a carrier for carrying the photographing device to rotate in a second preset direction, thereby driving the photographing device to rotate in a second preset direction, and controlling the photographing device to photograph the target object after each rotation of the carrier by a second preset angle, so as to obtain a second set of images in the second photographing direction, wherein the carrier is carried on the mobile platform; The pitch angle of the shooting device when it is in the first posture is different from the pitch angle of the shooting device when it is in the second posture.

3. The method according to claim 1 or 2, characterized in that: After obtaining the second image set in the second shooting direction, the method further includes: The photographing device is controlled to be in a third posture, and is controlled to photograph the target object in a third photographing direction to obtain a third image set, wherein the third image set is associated with the panoramic image of the target object.

4. The method according to claim 1 or 2, characterized in that: The method further comprises: The first image set and the second image set are sent to a control device of a mobile platform carrying the photographing device, and the first image set and the second image set are used to synthesize the panoramic image.

5. The method according to claim 3, characterized in that: The method further comprises: A captured image set including the first image set, the second image set and the third image set is sent to a control device of a mobile platform carrying the capturing device, and the first image set, the second image set and the third image set are used to synthesize the panoramic image.

6. The method according to claim 1 or 2, characterized in that: When the photographing device is in the first posture, the first photographing direction is upward and forms a third preset angle with the horizontal direction, and, when the photographing device is in the second posture, the second photographing direction is downward and forms a fourth preset angle with the vertical direction; or, When the photographing device is in the first posture, the first photographing direction is a horizontal direction, and when the photographing device is in the second posture, the second photographing direction is downward and forms a fifth preset angle with the vertical direction.

7. The method according to claim 3, characterized in that When the photographing device is in the first posture, the first photographing direction is upward and forms a third preset angle with the horizontal direction, and, when the photographing device is in the second posture, the second photographing direction is downward and forms a fourth preset angle with the vertical direction; and when the photographing device is in the third posture, the third photographing direction is the vertical direction and downward; or, When the shooting device is in the first posture, the first shooting direction is a horizontal direction, and when the shooting device is in the second posture, the second shooting direction is downward and forms a fifth preset angle with the vertical direction; and when the shooting device is in the third posture, the third shooting direction is the vertical direction and downward.

8. The method according to claim 1 or 2, characterized in that: The first preset direction is a clockwise direction or a counterclockwise direction, and / or the second preset direction is a clockwise direction or a counterclockwise direction.

9. An image processing method, characterized in that: The method comprises: A set of captured images of a target object collected by a capturing device is obtained, wherein the captured image set includes a first image set and a second image set, wherein the first image set is obtained when the capturing device is in a first posture and rotates in a first preset direction in a first capturing direction to capture the target object, and a plurality of capturing angles of view in the first capturing direction constitute a panoramic angle of view; the second image set is obtained when the capturing device is in a second posture and rotates in a second preset direction in a second capturing direction to capture the target object, and a plurality of capturing angles of view in the second capturing direction constitute a panoramic angle of view, wherein the first posture and the second posture are different; an image captured by the capturing device in the first capturing direction and a corresponding image captured by the capturing device in the second capturing direction have an overlapping area of ​​a preset ratio; The captured image set is synthesized to generate a panoramic image of the target object.

10. The method according to claim 9, characterized in that The synthesizing process of the captured image set to generate a panoramic image of the target object includes: If a first operation on the captured image set is detected, the captured image set is synthesized according to the first operation to generate a panoramic image of the target object.

11. The method according to claim 9 or 10, characterized in that: The method further comprises: Outputting the panoramic image; If a second operation on the panoramic image is detected, the browsing mode of the panoramic image is switched; the browsing mode includes a manual browsing mode and a somatosensory browsing mode; Wherein, when the browsing mode of the panoramic image is the somatosensory browsing mode, the posture information of the control device of the mobile platform carrying the shooting device is obtained, and the display screen of the panoramic image is adjusted according to the posture information; When the browsing mode of the panoramic image is the manual browsing mode, manual operation information for the panoramic image is acquired, and a display screen of the panoramic image is adjusted according to the manual operation information.

12. The method according to claim 9, characterized in that The method further comprises: Outputting prompt information, wherein the prompt information is used to prompt a user to select a generation mode of the panoramic image, wherein the generation mode includes a spherical panoramic image generation mode and a 360-degree panoramic image generation mode; receiving a selection instruction input by the user in response to the prompt information; The synthesizing process of the captured image set to generate a panoramic image of the target object includes: The captured image set is synthesized according to the selection instruction to generate a spherical panorama or a 360-degree panoramic image of the target object.

13. The method according to claim 9, characterized in that The method further comprises: displaying the panoramic image; If a third operation on the panoramic image is detected, the menu bar of the display interface of the panoramic image is hidden or displayed.

14. An image processing device, characterized in that: include: Memory and processor; The memory is used to store program instructions; The processor is configured to call the program instructions to execute the image processing method according to any one of claims 1 to 8, or to execute the image processing method according to any one of claims 9 to 13.

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