A camera control method and device, a terminal device and a storage medium

Abstract

Embodiments of the present application provide a camera control method and device, terminal equipment and storage medium, the method comprising: obtaining first rotation information and second rotation information, wherein the first rotation information is the rotation information of the first video acquisition device rotating from the initial position to the direction of the second video acquisition device, and the second rotation information is the rotation information of the first video acquisition device rotating from the direction of the second video acquisition device to the direction of the object to be observed; determining third rotation information of the second video acquisition device rotating from the direction of the first video acquisition device to the direction of the object to be observed according to the first rotation information and the second rotation information; and controlling the second video acquisition device to rotate to the direction of the object to be observed and take a picture according to the third rotation information, so that the second video acquisition device follows the first video acquisition device to move and take a picture of the object to be observed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of communication, and in particular to a camera control method and device, a terminal device and a storage medium. BACKGROUND

[0002] With the rapid development of video networking, the functions provided by a video networking terminal for a user are becoming richer and richer. When in a large meeting place, the video presentation effect of the camera on one video networking terminal cannot meet the needs of the meeting. For example, the visual angle of one camera is certain, but it cannot involve every angle. Therefore, multiple cameras on multiple video networking terminals are needed to obtain the video pictures of the meeting place during the meeting. How to control the cameras on multiple video networking terminals is a problem to be solved at present. SUMMARY

[0003] In view of the above problems, the embodiments of the present application are proposed to provide a camera control method, device, terminal device and storage medium which can overcome the above problems or at least partially solve the above problems.

[0004] In a first aspect, the embodiments of the present application provide a camera control method, which comprises:

[0005] obtaining first rotation information and second rotation information, wherein the first rotation information is rotation information of a first video acquisition device rotating from an initial position to a direction of a second video acquisition device, and the second rotation information is rotation information of the first video acquisition device rotating from the direction of the second video acquisition device to a direction of an object to be observed;

[0006] determining third rotation information of the second video acquisition device rotating from a direction of the first video acquisition device to the direction of the object to be observed according to the first rotation information and the second rotation information;

[0007] controlling the second video acquisition device to rotate to the direction of the object to be observed and take a picture according to the third rotation information.

[0008] Optionally, the first rotation information comprises a first distance between the first video acquisition device and the second video acquisition device, and a first vertical angle of the second video acquisition device; and the second rotation information comprises a second distance between the first video acquisition device and the object to be observed, and a second horizontal angle.

[0009] The determining of the third rotation information of the second video acquisition device rotating from the direction of the first video acquisition device to the direction of the object to be observed according to the first rotation information and the second rotation information comprises:

[0010] According to the first distance, the second distance, a first vertical angle and a second horizontal angle of the second video collection device, a third horizontal angle of rotation of the second video collection device in a horizontal direction is determined.

[0011] Optionally, the determining the third horizontal angle of rotation of the second video collection device in the horizontal direction according to the first distance, the second distance, the first vertical angle and the second horizontal angle of the second video collection device comprises:

[0012] According to the first distance and the first vertical angle of the second video collection device, a first projection distance of the first distance on a horizontal plane is determined.

[0013] According to the second distance and the first vertical angle of the second video collection device, a second projection distance of the second distance on the horizontal plane is determined.

[0014] According to the first projection distance, the second projection distance and the second horizontal angle, a third projection distance of a third distance between the second video collection device and the object to be observed on the horizontal plane is determined.

[0015] According to the first projection distance, the second projection distance and the third projection distance, the third horizontal angle of rotation of the second video collection device in the horizontal direction is determined.

[0016] Optionally, the determining the third rotation information of the second video collection device following the video interconnection terminal from the direction of the first video collection device to the direction of the object to be observed according to the first rotation information and the second rotation information further comprises:

[0017] According to the first distance, the second distance and a first vertical angle of the second video collection device, a third vertical angle of rotation of the second video collection device in a vertical direction is determined.

[0018] Optionally, the determining the third vertical angle of rotation of the second video collection device in the vertical direction according to the first distance, the second distance and the first vertical angle of the second video collection device comprises:

[0019] According to the second distance and the first vertical angle of the second video collection device, a fourth projection distance of the second distance on a vertical plane is determined.

[0020] According to the first distance and the first vertical angle of the second video collection device, a fifth projection distance of the second distance on the vertical plane is determined.

[0021] According to the fourth projection distance and the fifth projection distance, a sixth projection distance is determined.

[0022] According to the fourth projection distance, the fifth projection distance and the sixth projection distance, a third vertical angle of rotation of the second video collection device in the vertical direction is determined.

[0023] Optionally, the first distance is obtained by controlling the first video collection device and the second video collection device to move through a remote controller, and the first video collection device obtains the first distance through a laser ranging sensor when the first video collection device and the second video collection device are located at the relative position.

[0024] In a second aspect, an embodiment of the present application provides a camera control device, the device comprising:

[0025] a receiving module configured to obtain first rotation information and second rotation information, wherein the first rotation information is rotation information of the first video collection device from an initial position to a direction of the second video collection device, and the second rotation information is rotation information of the first video collection device from the direction of the second video collection device to a direction of an object to be observed;

[0026] a parsing module configured to determine, according to the first rotation information and the second rotation information, third rotation information of the second video collection device from the direction of the first video collection device to the direction of the object to be observed;

[0027] a control module configured to control the second video collection device to rotate to the direction of the object to be observed and take a picture according to the third rotation information.

[0028] Optionally, the first rotation information comprises a first distance between the first video collection device and the second video collection device, and a first vertical angle of the second video collection device; and the second rotation information comprises a second distance between the first video collection device and the object to be observed, and a second horizontal angle.

[0029] The parsing module is configured to:

[0030] determine, according to the first distance, the second distance, the first vertical angle of the second video collection device and the second horizontal angle, a third horizontal angle of rotation of the second video collection device in the horizontal direction.

[0031] Optionally, the parsing module is configured to:

[0032] determine, according to the first distance and the first vertical angle of the second video collection device, a first projection distance of the first distance on a horizontal plane;

[0033] determine, according to the second distance and the first vertical angle of the second video collection device, a second projection distance of the second distance on the horizontal plane.

[0034] According to the first projection distance, the second projection distance and the second horizontal angle, a third distance between the second video acquisition device and the object to be observed is determined, and a third projection distance of the third distance on a horizontal plane is determined.

[0035] According to the first projection distance, the second projection distance and the third projection distance, a third horizontal angle of rotation of the second video acquisition device in a horizontal direction is determined.

[0036] Optionally, the analyzing module is further configured to:

[0037] According to the first distance, the second distance and a first vertical angle of the second video acquisition device, a third vertical angle of rotation of the second video acquisition device in a vertical direction is determined.

[0038] Optionally, the analyzing module is configured to:

[0039] According to the second distance and the first vertical angle of the second video acquisition device, a fourth projection distance of the second distance on a vertical plane is determined.

[0040] According to the first distance and the first vertical angle of the second video acquisition device, a fifth projection distance of the second distance on the vertical plane is determined.

[0041] According to the fourth projection distance and the fifth projection distance, a sixth projection distance is determined.

[0042] According to the fourth projection distance, the fifth projection distance and the sixth projection distance, the third vertical angle of rotation of the second video acquisition device in the vertical direction is determined.

[0043] Optionally, the first distance is obtained by controlling the first video acquisition device and the second video acquisition device to move through a remote controller, and is obtained by the first video acquisition device through a laser ranging sensor when the first video acquisition device and the second video acquisition device are located at a relative position.

[0044] In a third aspect, an embodiment of the present application provides a terminal device, comprising at least one processor and a memory.

[0045] The memory stores a computer program, and the at least one processor executes the computer program stored in the memory to implement the camera control method provided in the first aspect.

[0046] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed to implement the camera control method provided in the first aspect.

[0047] Embodiments of the present application include the following advantages:

[0048] The camera control method, device, terminal equipment and storage medium provided by the embodiments of the present application, by acquiring first rotation information and second rotation information, wherein the first rotation information is the rotation information of the first video acquisition device from the initial position to the direction of the second video acquisition device, and the second rotation information is the rotation information of the first video acquisition device from the direction of the second video acquisition device to the direction of the object to be observed; according to the first rotation information and the second rotation information, the third rotation information of the second video acquisition device from the direction of the first video acquisition device to the direction of the object to be observed is determined; and the second video acquisition device is controlled to rotate to the direction of the object to be observed and take a picture according to the third rotation information, so that the second video acquisition device follows the first video acquisition device to move and take a picture of the object to be observed. BRIEF DESCRIPTION OF DRAWINGS

[0049] Figure 1 is a step flow chart of a camera control method embodiment of the present application;

[0050] Figure 2 is a step flow chart of another camera control method embodiment of the present application;

[0051] Figure 3 is a structural schematic diagram of a camera control system embodiment of the present application;

[0052] Figure 4 is a step flow chart of another camera control method embodiment of the present application;

[0053] Figure 5 is a structural block diagram of a camera control device embodiment of the present application;

[0054] Figure 6 is a structural schematic diagram of a terminal equipment of the present application. DETAILED DESCRIPTION

[0055] In order to make the above objectives, features and advantages of the present application more apparent and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0056] An embodiment of the present application provides a camera control method for controlling a second video acquisition device by a first video acquisition device. The execution subject of the present embodiment is a camera control device, which is arranged on the video acquisition device.

[0057] Referring to Figure 1 , a step flow chart of a camera control method embodiment of the present application is shown, which can specifically include the following steps:

[0058] S101, acquire first rotation information and second rotation information, wherein the first rotation information is the rotation information of the first video acquisition device from the initial position to the direction of the second video acquisition device, and the second rotation information is the rotation information of the first video acquisition device from the direction of the second video acquisition device to the direction of the object to be observed;

[0059] Specifically, after the terminal starts the conference, in order to obtain the meeting data as comprehensively as possible, a plurality of video acquisition devices are arranged at each meeting site, and the video acquisition devices are linked with each other and can obtain more comprehensive conference video data in the meeting site. The video acquisition device is provided with a camera, that is, a terminal device with video acquisition function, or the camera is externally connected to the video acquisition device. The video acquisition device can be an Internet terminal or a video networking terminal.

[0060] One of the video acquisition devices is taken as a master video acquisition device, that is, a first video acquisition device, and the other video acquisition devices are taken as following video acquisition devices, that is, second video acquisition devices. In the embodiment of the application, the number of the first video acquisition device and the second video acquisition device is not limited, that is, there can be one first video acquisition device corresponding to one or more second video acquisition devices, or there can be a plurality of first video acquisition devices corresponding to a plurality of second video acquisition devices, and the plurality means two or more.

[0061] When the first video acquisition device turns to the direction of the object to be observed, the second video acquisition device also turns to the object to be observed, so that the object to be observed in the meeting site is photographed from multiple directions.

[0062] As an optional implementation, in the specific implementation process, the first video acquisition device rotates from the initial position to the position corresponding to the second video acquisition device and acquires the first rotation information, and then the first video acquisition device rotates from the direction of the second video acquisition device to the direction of the object to be observed and acquires the second rotation information. The first video acquisition device sends the first rotation information and the second rotation information to the second video acquisition device through the video networking server.

[0063] As another optional implementation, after each following rotation is completed, the video acquisition device returns to the initial position, and the first rotation information and the second rotation information are recorded on each video acquisition device, so that the video acquisition device can directly acquire the first rotation information and the second rotation information from the local in the next rotation.

[0064] S102, according to the first rotation information and the second rotation information, determine the third rotation information of the second video acquisition device from the direction of the first video acquisition device to the direction of the object to be observed;

[0065] Specifically, the first rotation information includes angle information and distance information, and the second rotation information also includes angle information and distance information, and the second video acquisition device determines angle information and distance information of the second video acquisition device rotating from the first video acquisition device to the direction of the object to be observed according to the angle information and distance information in the first rotation information and the angle information and distance information in the second rotation information, that is, third rotation information.

[0066] S103, control the second video acquisition device to rotate to the direction of the object to be observed and take a picture according to the third rotation information.

[0067] Specifically, the second video acquisition device controls the second video acquisition device to rotate from the direction of the first video acquisition device to the direction of the object to be observed according to the angle information and distance information in the third rotation information, and then takes a picture, so that the object to be observed can be taken in all directions.

[0068] The camera control method provided by the embodiment of the application, by acquiring first rotation information and second rotation information, wherein the first rotation information is rotation information of the first video acquisition device rotating from an initial position to the direction of the second video acquisition device, and the second rotation information is rotation information of the first video acquisition device rotating from the direction of the second video acquisition device to the direction of the object to be observed; according to the first rotation information and the second rotation information, third rotation information of the second video acquisition device rotating from the direction of the first video acquisition device to the direction of the object to be observed is determined; and the second video acquisition device is controlled to rotate to the direction of the object to be observed and take a picture according to the third rotation information, so that the second video acquisition device can follow the first video acquisition device to move and take a picture of the object to be observed.

[0069] Another embodiment of the application further supplements the camera control method provided by the above-mentioned embodiment.

[0070] As shown in the figure, a step flow chart of another camera control method embodiment of the application is shown, and the camera control method comprises: Figure 2

[0071] S201, the first video acquisition device acquires first rotation information and second rotation information;

[0072] Specifically, the user manually rotates the first video acquisition device and the second video acquisition device to a relative position through a remote controller, measures a first distance between the first video acquisition device and the second video acquisition device through a laser ranging sensor on the first video acquisition device, and acquires rotation angles of the first video acquisition device moving from an initial position to the relative position, that is, a first horizontal angle and a first vertical angle,

[0073] ​The horizontal angle is an angle of rotation left and right in a horizontal plane parallel to the ground, and the vertical angle is an angle of rotation up and down in a vertical plane perpendicular to the horizontal plane, that is, the first video acquisition device obtains the first rotation information.

[0074] The laser ranging sensor: first, a laser diode emits a laser pulse aiming at the target, and after being reflected by the target, the laser scatters in all directions. Part of the scattered light returns to the sensor receiver and is imaged onto the avalanche photodiode after being received by the optical system. The avalanche photodiode is an optical sensor with amplification function inside, so it can detect extremely weak light signals. The time experienced from the emission of the light pulse to the return of the received light is recorded and processed, and the distance of the target can be measured.

[0075] Further, the user manually controls the first video acquisition device to rotate from the direction of the second video acquisition device to the direction of the object to be observed through the remote control, that is, the first video acquisition device obtains the second rotation information.

[0076] S202, the first video acquisition device sends the first rotation information and the second rotation information to the vision Internet server;

[0077] S203, the second video acquisition device receives the first rotation information and the second rotation information sent by the vision Internet server, wherein the first rotation information is the rotation information of the first video acquisition device rotating from the initial position to the direction of the second video acquisition device, and the second rotation information is the rotation information of the first video acquisition device rotating from the direction of the second video acquisition device to the direction of the object to be observed;

[0078] Specifically, the first rotation information includes a first distance between the first video acquisition device and the second video acquisition device, a first horizontal angle and a first vertical angle of the second video acquisition device; the second rotation information includes a second distance between the first video acquisition device and the object to be observed, a second horizontal angle;

[0079] S204, determining a third horizontal angle of the second video acquisition device rotating in the horizontal direction according to the first distance, the second distance, the first vertical angle and the second horizontal angle of the second video acquisition device;

[0080] Specifically, it includes:

[0081] Step A1, determining a first projection distance of the first distance projected on the horizontal plane according to the first distance and the first vertical angle of the second video acquisition device;

[0082] Step A2, determining a second projection distance of the second distance projected on the horizontal plane according to the second distance and the first vertical angle of the second video acquisition device;

[0083] Step A3, according to the first projection distance, the second projection distance and the second horizontal angle, determining a third projection distance of a third distance between the second video acquisition device and the object to be observed on the horizontal plane;

[0084] Step A4, according to the first projection distance, the second projection distance and the third projection distance, determining a third horizontal angle of the second video acquisition device rotating in the horizontal direction.

[0085] S205, according to the first distance, the second distance and the first vertical angle of the second video acquisition device, determining a third vertical angle of the second video acquisition device rotating in the vertical direction.

[0086] Specifically includes:

[0087] Step B1, according to the second distance and the first vertical angle of the second video acquisition device, determining a fourth projection distance of the second distance projected on the vertical plane;

[0088] Step B2, according to the first distance and the first vertical angle of the second video acquisition device, determining a fifth projection distance of the second distance projected on the vertical plane;

[0089] Step B3, according to the fourth projection distance and the fifth projection distance, determining a sixth projection distance;

[0090] Step B4, according to the fourth projection distance, the fifth projection distance and the sixth projection distance, determining a third vertical angle of the second video acquisition device rotating in the vertical direction.

[0091] S206, according to the third rotation information, controlling the second video acquisition device to rotate to the direction of the object to be observed and take pictures.

[0092] Figure 3 is the structural schematic diagram of the camera control system embodiment of the application, as Figure 3 shown, by starting a meeting through the video networking terminal, setting 3 video networking terminals in the meeting site, wherein the video networking terminal B is the main video networking terminal, that is, the first video acquisition device, the main video networking terminal is provided with a main camera, the video networking terminal A and the video networking terminal C are the following video networking terminals, that is, the second video acquisition device following the video networking terminal is provided with a following camera, the video networking terminal A and the video networking terminal B are located at any relative position in the three-dimensional space and are placed parallel to the ground, and the main video networking terminal and the following video networking terminal transmit data through the video networking.

[0093] 1. Before the meeting, manually rotate the camera of the WebRTC terminal A and the camera of the WebRTC terminal B through the remote controller, so that the camera of the WebRTC terminal A and the camera of the WebRTC terminal B are opposite to each other, and the relative position of the two WebRTC terminals and the initial rotation angle of the two terminals, i.e. the first rotation information, can be obtained through the laser ranging sensor on the camera.

[0094] 2. The WebRTC terminal B is controlled to rotate the camera through the remote controller, and the angle of rotation in the horizontal or vertical direction and the distance from the object to be observed, i.e. the second rotation information, are obtained, and the WebRTC terminal B transmits the first rotation information and the second rotation information to the WebRTC terminal A through the WebRTC server.

[0095] 3. After the WebRTC terminal A receives the first rotation information and the second rotation information, the angle of rotation of the WebRTC terminal A is obtained through an algorithm, and the camera of the WebRTC terminal A is rotated to the object to be observed.

[0096] 4. Similarly, the following WebRTC terminal C can follow the main WebRTC terminal B.

[0097] Figure 4 is a step flow chart of another camera control method embodiment of the application, as shown in Figure 4 , the camera control method comprises:

[0098] 1. A is a following WebRTC terminal, B is a main WebRTC terminal, and C is an object to be observed. The WebRTC terminals are all placed parallel to the horizontal ground, wherein the initial orientation of the camera of the WebRTC terminal is parallel to the horizontal ground at each startup.

[0099] 2. Establish a coordinate system: a three-dimensional coordinate system is established with the camera of the WebRTC terminal A as the center O point, and the initial orientation of the camera is defined as the Y axis on the horizontal plane of the camera of the WebRTC terminal A, i.e. the XOY plane, the direction perpendicular to the initial orientation of the camera is defined as the X axis, and the direction perpendicular to the XOY plane is defined as the Z axis.

[0100] 3. Before the meeting, the BA connection is used to manually adjust the observation of the WebRTC terminal A to the line of sight of the WebRTC terminal B after the horizontal and vertical rotation of the camera of the WebRTC terminal A, i.e. the WebRTC terminal A is rotated by ∠A3AA2 in the horizontal direction and ∠BAA2 in the vertical direction, so that the WebRTC terminal B can be seen. The WebRTC terminal B is rotated to the direction of the WebRTC terminal A through the remote controller, so that the relative position of the WebRTC terminal A and the WebRTC terminal B is determined.

[0101] 4. The place where the line of sight of the video networking terminal B passes through is the surface of a conical surface with the video networking terminal B as the apex, that is, the video networking terminal B reaches the position B after rotating horizontally by an angle of ∠AA2C1 from the position B, and at this time, the object C to be observed is observed. The angle that the video networking terminal A needs to rotate in the horizontal direction and the vertical direction is calculated, and the object C to be observed can also be observed, that is, the AC direction. In the embodiment of the application, after the main video networking terminal B rotates in the horizontal direction, the rotation algorithm of the video networking terminal A in the vertical direction is followed, and the process of rotating the remote control terminal is also horizontal and vertical rotation.

[0102] 5. Model decomposition transformation: it can be obtained through the auxiliary line that AC1 is the projection of AC in the horizontal direction and AC3 is the projection of AC in the vertical direction, so that ∠C1AA2 and ∠B3AC3 are calculated, and the angles that the video networking terminal A needs to rotate in the horizontal and vertical directions are obtained.

[0103] 6. The angle that the video networking terminal A needs to rotate in the horizontal direction is calculated:

[0104] a. The length of AB can be obtained through the laser ranging sensor of the video networking terminal A;

[0105] According to the elevation angle of the video networking terminal A, the size of ∠BAA2 is obtained, and according to the cosine theorem, AA2 = AB*cos ∠BAA2 is obtained.

[0106] b. The length of BC can be obtained through the laser ranging sensor of the video networking terminal B;

[0107] ∠CBA2 = ∠ABA2 = 90° - ∠BAA2 (mutually complementary) first vertical angle, and A2C1 = BC*sin ∠CBA2 can be obtained through the sine theorem.

[0108] c. In triangle AA2C1: the lengths of two sides AA2 and A2C1 and the size of ∠AA2C1 are obtained.

[0109] According to the cosine theorem, the following is obtained:

[0110] AC1 2 = AA2 2 +A2C1 2 – 2*AA2*A2C1*cos ∠AA2C1,

[0111] Taking the square root, the following is obtained:

[0112] AC1 = √(AA2 2 +A2C1 2 – 2*AA2*A2C1*cos ∠AA2C1).

[0113] d. According to the cosine law formula 2, we can get:

[0114] cos ∠C1AA2= (AA2 2 +AC1 2 -A2C1 2 ) / (2*AA2*AC1).

[0115] According to the inverse cosine law, we can get ∠C1AA2=arccos((AA2 2 +AC1 2 -A2C1 2 ) / (2*AA2*AC1)), that is, the angle that the video networking terminal A needs to rotate in the horizontal direction.

[0116] 7. Calculate the angle that the video networking terminal A rotates in the vertical direction:

[0117] a. Through step 6.b, we can get B3C3=BC2=BC*cos ∠CBA2.

[0118] b. Through step 6.a, we can get AA3=AA2*cos ∠A3AA2, A3B3=A2B=AB*sin ∠BAA2. According to the Pythagorean theorem, we can get AB3=√(AA3 2 +A3B3 2 ).

[0119] c. According to the Pythagorean theorem, we can get AC3=√(AA3 2 +A3C3 2 )=√(AA3 2 +(A3B3–B3C3) 2 ).

[0120] d. According to the cosine law formula 2, we can get cos ∠B3AC3=(AB3 2 +AC3 2 -B3C3 2 ) / (2*AB3*AC3).

[0121] According to the inverse cosine law, we can get:

[0122] ∠B3AC3=arccos(AB3 2 +AC3 2 -B3C3 2 ) / (2*AB3*AC3)),

[0123] that is, the angle that the video networking terminal A needs to rotate in the vertical direction.

[0124] In this way, the videoconferencing terminal A controls the camera on the videoconferencing terminal A to rotate from the AB direction to the AC direction according to the calculated angle of rotation in the horizontal direction and the angle of rotation in the vertical direction, and captures the object to be detected.

[0125] The embodiment of the present application provides a method for following a main videoconferencing terminal to automatically capture a conference based on hardware conditions of a videoconferencing terminal and a videoconferencing service, and provides a user with a better angle of view when multiple videoconferencing terminals simultaneously join a conference to record, so that a following videoconferencing terminal can automatically follow the camera of the main videoconferencing terminal, thereby providing a better angle of view for a conference host to select.

[0126] It should be noted that, for the method embodiments, in order to simply describe, the method embodiments are all described as a series of action combinations, but those skilled in the art should know that the embodiment of the present application is not limited to the action sequence described, because according to the embodiment of the present application, certain steps can be performed in other sequences or at the same time. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions involved are not necessarily essential to the embodiment of the present application.

[0127] The camera control method provided by the embodiment of the present application comprises the following steps: acquiring first rotation information and second rotation information, wherein the first rotation information is rotation information of a first video acquisition device rotating from an initial position to a direction of a second video acquisition device, and the second rotation information is rotation information of the first video acquisition device rotating from the direction of the second video acquisition device to a direction of an object to be observed; determining third rotation information of the second video acquisition device rotating from the direction of the first video acquisition device to the direction of the object to be observed according to the first rotation information and the second rotation information; and controlling the second video acquisition device to rotate to the direction of the object to be observed and capture according to the third rotation information, so that the second video acquisition device follows the first video acquisition device to move and capture the object to be observed.

[0128] Another embodiment of the present application provides a camera control device for executing the camera control method provided by the above embodiment.

[0129] Reference Figure 5 The structure block diagram of the camera control device embodiment of the present application is shown, and the device can specifically comprise the following modules: a receiving module 501, an analysis module 502 and a control module 503, wherein:

[0130] The receiving module 501 is configured to acquire first rotation information and second rotation information, wherein the first rotation information is rotation information of the first video acquisition device rotating from an initial position to a direction of the second video acquisition device, and the second rotation information is rotation information of the first video acquisition device rotating from the direction of the second video acquisition device to a direction of the object to be observed.

[0131] The analyzing module 502 is configured to determine, according to the first rotation information and the second rotation information, third rotation information of the second video acquisition device rotating from the direction of the first video acquisition device to the direction of the object to be observed.

[0132] The control module 503 is configured to control the second video acquisition device to rotate to the direction of the object to be observed according to the third rotation information and perform photographing.

[0133] The camera control device provided by the embodiment of the application acquires first rotation information and second rotation information, wherein the first rotation information is rotation information of the first video acquisition device rotating from an initial position to a direction of the second video acquisition device, and the second rotation information is rotation information of the first video acquisition device rotating from the direction of the second video acquisition device to a direction of the object to be observed; the third rotation information of the second video acquisition device rotating from the direction of the first video acquisition device to the direction of the object to be observed is determined according to the first rotation information and the second rotation information; and the second video acquisition device is controlled to rotate to the direction of the object to be observed according to the third rotation information and perform photographing, so that the second video acquisition device follows the first video acquisition device to move and perform photographing on the object to be observed.

[0134] Another embodiment of the application further supplements the camera control device provided in the above embodiment.

[0135] Optionally, the first rotation information includes a first distance between the first video acquisition device and the second video acquisition device, and a first vertical angle of the second video acquisition device; and the second rotation information includes a second distance between the first video acquisition device and the object to be observed, and a second horizontal angle.

[0136] The analyzing module is configured to:

[0137] According to the first distance, the second distance, the first vertical angle of the second video acquisition device, and the second horizontal angle, the third horizontal angle of the second video acquisition device rotating in the horizontal direction is determined.

[0138] Optionally, the analyzing module is configured to:

[0139] According to the first distance and the first vertical angle of the second video acquisition device, a first projection distance of the first distance projected on a horizontal plane is determined.

[0140] determine a second projection distance of the second distance on the horizontal plane according to the second distance and the first vertical angle of the second video collection device;

[0141] determine a third projection distance of the third distance between the second video collection device and the object to be observed on the horizontal plane according to the first projection distance, the second projection distance and the second horizontal angle;

[0142] determine a third horizontal angle of the second video collection device rotating on the horizontal direction according to the first projection distance, the second projection distance and the third projection distance.

[0143] Optionally, the analyzing module is further configured to:

[0144] determine a third vertical angle of the second video collection device rotating on the vertical direction according to the first distance, the second distance and the first vertical angle of the second video collection device.

[0145] Optionally, the analyzing module is configured to:

[0146] determine a fourth projection distance of the second distance on the vertical plane according to the second distance and the first vertical angle of the second video collection device;

[0147] determine a fifth projection distance of the second distance on the vertical plane according to the first distance and the first vertical angle of the second video collection device;

[0148] determine a sixth projection distance according to the fourth projection distance and the fifth projection distance;

[0149] determine a third vertical angle of the second video collection device rotating on the vertical direction according to the fourth projection distance, the fifth projection distance and the sixth projection distance.

[0150] Optionally, the first distance is obtained by controlling the first video collection device and the second video collection device to move through the remote controller, and is obtained by the first video collection device through the laser ranging sensor when the first video collection device and the second video collection device are located at the relative position.

[0151] It should be noted that each implementable manner in the present embodiment can be implemented alone or in any combination manner without conflict, and the present application is not limited.

[0152] For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the related parts refer to the part of the method embodiment.

[0153] The camera control device provided by the embodiment of the present application obtains first rotation information and second rotation information, wherein the first rotation information is rotation information of the first video acquisition device rotating from an initial position to the direction of the second video acquisition device, and the second rotation information is rotation information of the first video acquisition device rotating from the direction of the second video acquisition device to the direction of the object to be observed; the third rotation information of the second video acquisition device rotating from the direction of the first video acquisition device to the direction of the object to be observed is determined according to the first rotation information and the second rotation information; and the second video acquisition device is controlled to rotate to the direction of the object to be observed and take a picture according to the third rotation information, so that the second video acquisition device moves following the first video acquisition device and takes a picture of the object to be observed.

[0154] The embodiment of the present application further provides a terminal device used for executing the camera control method provided by the above-mentioned embodiments.

[0155] Figure 6 Figure 1 is a structural schematic diagram of a terminal device according to the present application, as shown in the figure, the terminal device comprises at least one processor 601 and a memory 602. Figure 6

[0156] The memory stores a computer program; and the at least one processor executes the computer program stored in the memory to realize the camera control method provided by the above-mentioned embodiments.

[0157] The terminal device provided by the embodiment of the present application obtains first rotation information and second rotation information, wherein the first rotation information is rotation information of the first video acquisition device rotating from an initial position to the direction of the second video acquisition device, and the second rotation information is rotation information of the first video acquisition device rotating from the direction of the second video acquisition device to the direction of the object to be observed; the third rotation information of the second video acquisition device rotating from the direction of the first video acquisition device to the direction of the object to be observed is determined according to the first rotation information and the second rotation information; and the second video acquisition device is controlled to rotate to the direction of the object to be observed and take a picture according to the third rotation information, so that the second video acquisition device moves following the first video acquisition device and takes a picture of the object to be observed.

[0158] The computer readable storage medium provided by the embodiment of the present application stores a computer program, and the computer program is executed to realize the camera control method provided by any of the above-mentioned embodiments.

[0159] ​According to the computer readable storage medium of the embodiment, the first rotation information and the second rotation information are acquired, the first rotation information is rotation information of the first video acquisition device rotating from an initial position to a direction of the second video acquisition device, and the second rotation information is rotation information of the first video acquisition device rotating from the direction of the second video acquisition device to a direction of the object to be observed; the third rotation information of the second video acquisition device rotating from the direction of the first video acquisition device to the direction of the object to be observed is determined according to the first rotation information and the second rotation information; and the second video acquisition device is controlled to rotate to the direction of the object to be observed and to perform shooting according to the third rotation information, so that the second video acquisition device moves following the first video acquisition device and performs shooting on the object to be observed.

[0160] Each of the embodiments in the specification is described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0161] Those skilled in the art should understand that the embodiments of the embodiments of the present application can be provided as a method, device or computer program product. Therefore, the embodiments of the present application can be in the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the embodiments of the present application can be in the form of a computer program product implemented on one or more computer usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0162] The embodiments of the present application are described with reference to flowcharts and / or block diagrams of the method, electronic device (system) and computer program product according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of the flows and / or blocks in the flowchart and / or block diagram can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, special-purpose computer, embedded processor or other programmable data processing electronic device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing electronic device produce a device for implementing the functions specified in the flowchart and / or block diagram. Figure 1 The functions specified in one or more flows and / or blocks Figure 1 The device for implementing the functions specified in one or more flows and / or blocks.

[0163] These computer program instructions can also be stored in a computer readable storage medium which can guide the computer or other programmable data processing electronic device to work in a specific way, so that the instructions stored in the computer readable storage medium produce a product including instruction device, which implements the functions specified in the flowchart and / or block diagram. Figure 1 The functions specified in one or more flows and / or blocks Figure 1 The device for implementing the functions specified in one or more flows and / or blocks.

[0164] These computer program instructions can also be loaded into computer or other programmable data processing electronic devices, so that a series of operational steps are performed on the computer or other programmable electronic devices to generate a computer implemented process, so that the instructions executed on the computer or other programmable electronic devices provide a process for implementing the flowchart Figure 1 one flowchart or multiple flowcharts and / or blocks Figure 1 one block or multiple blocks.

[0165] Although the preferred embodiments of the present application have been described, those skilled in the art will be able to make additional changes and modifications to these embodiments once they grasp the fundamental inventive concept. Therefore, the appended claims are intended to cover all changes and modifications that fall within the scope of the embodiments of the present application.

[0166] Finally, it should be noted that, in the context of this document, the terms "first" and "second" and the like are used merely to distinguish one entity or action from another, and do not necessarily require or imply any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0167] The above describes in detail a camera control method and a camera control device provided by the present application. The principles and implementation manners of the present application are described by using specific examples. The above description of the embodiments is only used to help understand the method of the present application and its core idea. For those skilled in the art, according to the idea of the present application, the specific implementation manners and application ranges can be changed. In summary, the content of the present description should not be understood as a limitation of the present application.

Claims

1. A camera control method, characterized by, The method comprises: obtaining first rotation information and second rotation information, wherein the first rotation information is rotation information of a first video acquisition device rotating from an initial position to a direction of a second video acquisition device, and the second rotation information is rotation information of the first video acquisition device rotating from the direction of the second video acquisition device to a direction of an object to be observed; determining third rotation information of the second video acquisition device rotating from the direction of the first video acquisition device to the direction of the object to be observed according to the first rotation information and the second rotation information; controlling the second video acquisition device to rotate to the direction of the object to be observed and to take a picture according to the third rotation information; the first rotation information comprises a first distance between the first video acquisition device and the second video acquisition device, and a first vertical angle of the second video acquisition device; and the second rotation information comprises a second distance between the first video acquisition device and the object to be observed, and a second horizontal angle; the determining of the third rotation information of the second video acquisition device rotating from the direction of the first video acquisition device to the direction of the object to be observed according to the first rotation information and the second rotation information comprises: determining a third horizontal angle of the second video acquisition device rotating in a horizontal direction according to the first distance, the second distance, the first vertical angle of the second video acquisition device, and the second horizontal angle; the determining of the third horizontal angle of the second video acquisition device rotating in the horizontal direction according to the first distance, the second distance, the first vertical angle of the second video acquisition device, and the second horizontal angle comprises: determining a first projection distance of the first distance on a horizontal plane according to the first distance and the first vertical angle of the second video acquisition device; determining a second projection distance of the second distance on the horizontal plane according to the second distance and the first vertical angle of the second video acquisition device; determining a third projection distance of a third distance between the second video acquisition device and the object to be observed on the horizontal plane according to the first projection distance, the second projection distance, and the second horizontal angle; determining the third horizontal angle of the second video acquisition device rotating in the horizontal direction according to the first projection distance, the second projection distance, and the third projection distance.

2. The method of claim 1, wherein, the determining of the third rotation information of the second video acquisition device rotating from the direction of the first video acquisition device to the direction of the object to be observed according to the first rotation information and the second rotation information further comprises: determining a third vertical angle of the second video acquisition device rotating in a vertical direction according to the first distance, the second distance, and the first vertical angle of the second video acquisition device.

3. The method of claim 2, wherein, the determining of the third vertical angle of the second video acquisition device rotating in the vertical direction according to the first distance, the second distance, and the first vertical angle of the second video acquisition device comprises: determining a fourth projection distance of the second distance on a vertical plane according to the second distance and the first vertical angle of the second video acquisition device; and determining the third vertical angle of the second video acquisition device rotating in the vertical direction according to the fourth projection distance. According to the first distance and the first vertical angle of the second video collection device, a fifth projection distance of the second distance on a vertical plane is determined; According to the fourth projection distance and the fifth projection distance, a sixth projection distance is determined; According to the fourth projection distance, the fifth projection distance and the sixth projection distance, a third vertical angle of the second video collection device rotating in a vertical direction is determined.

4. The method of claim 1, wherein, The first distance is obtained by controlling the first video collection device and the second video collection device to move through a remote controller, and is obtained by the first video collection device through a laser ranging sensor when the first video collection device and the second video collection device are located at a relative position.

5. A camera control device, characterized by, The device comprises: A receiving module is configured to obtain first rotation information and second rotation information, wherein the first rotation information is rotation information of a first video collection device rotating from an initial position to a direction of a second video collection device, and the second rotation information is rotation information of the first video collection device rotating from the direction of the second video collection device to a direction of an object to be observed; An analyzing module is configured to determine, according to the first rotation information and the second rotation information, third rotation information of the second video collection device rotating from the direction of the first video collection device to the direction of the object to be observed; A control module is configured to control the second video collection device to rotate to the direction of the object to be observed and to take a picture according to the third rotation information. The first rotation information comprises a first distance between the first video collection device and the second video collection device and a first vertical angle of the second video collection device, and the second rotation information comprises a second distance between the first video collection device and the object to be observed and a second horizontal angle. The analyzing module is configured to: Determine, according to the first distance, the second distance, the first vertical angle of the second video collection device and the second horizontal angle, a third horizontal angle of the second video collection device rotating in a horizontal direction; The analyzing module is configured to: Determine, according to the first distance and the first vertical angle of the second video collection device, a first projection distance of the first distance on a horizontal plane; Determine, according to the second distance and the first vertical angle of the second video collection device, a second projection distance of the second distance on the horizontal plane; Determine, according to the first projection distance, the second projection distance and the second horizontal angle, a third projection distance of a third distance between the second video collection device and the object to be observed on the horizontal plane; Determine, according to the first projection distance, the second projection distance and the third projection distance, the third horizontal angle of the second video collection device rotating in the horizontal direction.

6. A terminal device, comprising: Comprise: At least one processor and a memory; The memory stores a computer program; The at least one processor executes the computer program stored in the memory to implement the camera control method in any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed to implement the camera control method in any one of claims 1-4.

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