Method, device and electronic device for detecting virtual reality camera

Abstract

The disclosed embodiments disclose a method, apparatus, and electronic device for detecting a virtual reality camera. A specific implementation of the method includes: connecting a virtual reality camera to a gimbal; the method includes: controlling the gimbal's rotation based on a control instruction, wherein the control instruction instructs the gimbal to rotate the virtual reality camera within a first plane; determining posture data of the virtual reality camera during the rotation process; and determining, based on the posture data, whether the rotation plane of the virtual reality camera is parallel to the first plane, wherein the rotation plane is the plane formed by the optical axis of the virtual reality camera during the rotation process. Thus, a new method for detecting a virtual reality camera is provided.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technology, and in particular to a method, device, and electronic device for detecting a virtual reality camera. Background Art

[0002] With the development of computer technology, virtual reality (VR) technology has been recognized by more and more people. Users can experience the most realistic feelings in the virtual reality world. The authenticity of the simulated environment is difficult to distinguish from the real world, giving people an immersive feeling.

[0003] The images displayed in the virtual reality world can be collected from the real world. To collect images from the display world, a virtual display camera can be used. Summary of the Invention

[0004] This disclosure section is provided to briefly introduce concepts that will be described in detail in the detailed description section below. This disclosure section is not intended to identify key features or essential features of the claimed technical solution, nor is it intended to limit the scope of the claimed technical solution.

[0005] In a first aspect, an embodiment of the present disclosure provides a method for detecting a virtual reality camera, the method comprising: controlling the rotation of a gimbal based on a control instruction, wherein the control instruction instructs the gimbal to drive the virtual reality camera to rotate within a first plane; determining posture data of the virtual reality camera during the rotation process; and determining, based on the posture data, whether the rotation plane of the virtual reality camera is parallel to the first plane, wherein the rotation plane is a plane formed by the optical axis of the virtual reality camera during the rotation process.

[0006] In a second aspect, an embodiment of the present disclosure provides an apparatus for detecting a virtual reality camera, comprising: a control unit, for controlling the rotation of a gimbal based on a control instruction, wherein the control instruction instructs the gimbal to drive the virtual reality camera to rotate within a first plane; a first determination unit, for determining posture data of the virtual reality camera during the rotation process; and a second determination unit, for determining, based on the posture data, whether the rotation plane of the virtual reality camera is parallel to the first plane, wherein the rotation plane is a plane formed by the optical axis of the virtual reality camera during the rotation process.

[0007] In a third aspect, an embodiment of the present disclosure provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the method for detecting a virtual reality camera as described in the first aspect.

[0008] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method for detecting a virtual reality camera as described in the first aspect.

[0009] The disclosed embodiments provide a method, apparatus, and electronic device for detecting a virtual reality camera. These methods control the rotation of a gimbal based on control instructions, while simultaneously determining the posture data of the virtual reality camera during rotation. Based on the posture data, the method then determines whether the rotation plane of the virtual reality camera during rotation is parallel to a first plane indicated by the control instructions. This allows for detecting whether the assembled virtual reality camera and gimbal achieve the desired assembly results. This desired assembly result can indicate to the virtual reality camera and gimbal that, during rotation of the virtual reality camera driven by the gimbal, the virtual reality camera remains in the plane indicated by the control instructions, i.e., the rotation plane is parallel to the first plane. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The above and other features, advantages, and aspects of the various embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and that the originals and elements are not necessarily drawn to scale.

[0011] Figure 1 is a flow chart of one embodiment of a method for detecting a virtual reality camera according to the present disclosure;

[0012] Figure 2 is a schematic diagram of a virtual reality camera and a gimbal to which the present application can be applied;

[0013] Figure 3A and Figure 3B is a schematic diagram of an application scenario of the method for detecting a virtual reality camera according to the present disclosure;

[0014] Figure 4 is a flow chart of another embodiment of a method for detecting a virtual reality camera according to the present disclosure;

[0015] Figure 5 is a structural schematic diagram of an embodiment of a device for detecting a virtual reality camera according to the present disclosure;

[0016] Figure 6 is an exemplary system architecture to which the method for detecting a virtual reality camera according to an embodiment of the present disclosure may be applied;

[0017] Figure 7 It is a schematic diagram of the basic structure of an electronic device provided according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0018] The following describes embodiments of the present disclosure in more detail with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of protection of the present disclosure.

[0019] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0020] As used herein, the term "including" and its variations are open-ended, i.e., "including but not limited to." The term "based on" means "based, at least in part, on." The term "one embodiment" means "at least one embodiment," the term "another embodiment" means "at least one additional embodiment," and the term "some embodiments" means "at least some embodiments." Other terms are defined in the following description.

[0021] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0022] It should be noted that the modifications of "one" and "multiple" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, they should be understood as "one or more".

[0023] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0024] Please refer to Figure 1 , which shows a process of an embodiment of a method for detecting a virtual reality camera according to the present disclosure.

[0025] In this embodiment, if Figure 1 The method for detecting a virtual reality camera includes the following steps:

[0026] Step 101: Control the pan / tilt head to rotate based on a control instruction.

[0027] In this embodiment, the processor of the virtual reality camera can issue a control instruction to control the pan-tilt head to rotate. The control instruction is used to instruct the pan-tilt head to drive the virtual reality camera to rotate within the first plane.

[0028] Optionally, the virtual display camera may include a pan-tilt platform, i.e., the camera assembly in the virtual reality camera is connected to the pan-tilt platform. Optionally, the virtual reality camera may be connected to the pan-tilt platform. The pan-tilt platform may be used to support the image acquisition device.

[0029] Here, the rotation angle can be one circle, i.e. 360 degrees; it can be multiple circles; or it can be less than one circle, i.e. less than 360 degrees.

[0030] In this embodiment, the virtual camera rotates within the first plane, which may include the optical axis of the virtual reality camera being within the first plane.

[0031] It is understood that the optical axis of the virtual reality camera can be the optical axis of the image acquisition module of the virtual camera to capture images. During the rotation of the virtual reality camera, the position of the optical axis also changes, and the changed optical axis can form a plane.

[0032] If the gimbal and the VR camera have no positional errors, then the gimbal controlled by the control instructions can accurately rotate the VR camera within the first plane. However, if the gimbal or the VR camera have positional errors, then the gimbal controlled by the control instructions may cause the VR camera to rotate in a plane that deviates from the first plane.

[0033] For example, a control instruction issued by the processor indicates that the VR camera should maintain a 360-degree horizontal rotation. If the gimbal and the VR camera have no positional errors, then the control instruction ensures that the VR camera remains horizontal during the 360-degree rotation. However, if the gimbal or the VR camera have positional errors, the VR camera may not remain horizontal during the 360-degree rotation, meaning that the rotation plane formed by the coaxial axis is not parallel to the horizontal plane.

[0034] Step 102: Determine the posture data of the virtual reality camera during the rotation process.

[0035] In this embodiment, the processor may determine the posture data of the virtual reality camera during the rotation process in various ways.

[0036] The above-mentioned posture data may include multiple posture sub-data. The posture sub-data may correspond to various angles. For example, with the initial position of the virtual reality camera at 0 degrees, during the rotation process, a posture sub-data is recorded every 1 degree. Each recorded posture sub-data may correspond to the current angle of the virtual reality camera.

[0037] Here, the specific items of the posture data can be determined according to actual conditions and are not limited here.

[0038] Step 103: Determine whether the rotation plane of the virtual reality camera is parallel to the first plane based on the posture data.

[0039] Here, the rotation plane is a plane formed by the optical axis of the virtual reality camera during the rotation process.

[0040] It should be noted that the method for testing a virtual reality camera provided in this embodiment controls the rotation of the gimbal based on control instructions and simultaneously determines the posture data of the virtual reality camera during the rotation process. Based on the posture data, it is then determined whether the rotation plane of the virtual reality camera during the rotation process is parallel to the first plane indicated by the control instructions. This allows for testing whether the assembled virtual reality camera and gimbal achieve the expected assembly effect. The expected assembly effect can indicate that the virtual reality camera and gimbal remain in the plane indicated by the control instructions during the rotation of the virtual reality camera driven by the gimbal, i.e., the rotation plane is parallel to the first plane.

[0041] In some application scenarios, please refer to Figure 2 , Figure 2 A virtual reality camera and a gimbal are shown to which some embodiments of the present application can be applied.

[0042] As an example, Figure 2 The virtual reality camera and the pan-tilt head 202 can be connected to each other. The virtual reality camera can be installed and fixed on the pan-tilt head. The virtual reality camera and the pan-tilt head can be controlled by control instructions, that is, the virtual reality camera can communicate with each other.

[0043] As an example, Figure 2 The virtual reality camera may further include an image acquisition component 2011. The virtual reality camera may include one or more image acquisition components.

[0044] In some application scenarios, please refer to Figure 3A and Figure 3B , Figure 3A An exemplary scenario is shown where the rotation plane is parallel to the first plane, Figure 3B An exemplary scenario is shown where the rotation plane and the first plane are not parallel.

[0045] exist Figure 3A In the figure, the first plane 301 is parallel to the rotation plane 302. For the convenience of illustration, the first plane 301 is represented by a solid line and the rotation plane 302 is represented by a dotted line.

[0046] exist Figure 3BIn the figure, the first plane 301 is not parallel to the rotation plane 303, and the included angle a is not 0. For the convenience of illustration, the rotation plane 303 is represented by a dotted line.

[0047] In some embodiments, the virtual reality camera may include an inertial component.

[0048] Here, the inertial component, which may be referred to as an inertial measurement component, may include at least one of the following but is not limited to: an accelerometer and a gyroscope inertial element. The inertial component may be used to indicate the position and / or attitude of the virtual reality camera.

[0049] In some embodiments, step 102 may include: acquiring first measurement data of an inertial component during the rotation of the virtual reality camera; and determining posture data of the virtual reality camera during the rotation based on the first measurement data.

[0050] It should be noted that adding an inertial component to the virtual display camera and using it to determine the virtual camera's posture data can reduce the difficulty of determining posture data. Specifically, the first measurement data from the camera's inertial component can be transmitted in real time to a processor in the virtual reality environment. The processor can then generate posture data based on the first measurement data. This allows for convenient determination of the virtual reality camera's posture data during rotation.

[0051] In some embodiments, the first plane can be a horizontal plane. When assembling a virtual reality camera, it is necessary to ensure that the entire device (virtual camera and gimbal) remains level when the gimbal is rotated to each angle. This ensures the best stitching effect of the captured photos. Otherwise, the images may be skewed. Therefore, the first plane is a horizontal plane, which can detect whether the entire device remains level, ensuring that the captured images are not skewed as a whole, thereby improving the accuracy of the constructed virtual reality world.

[0052] In some embodiments, determining the posture data of the virtual reality camera during the rotation process based on the first measurement data includes: converting the first measurement data into second measurement data in a position coordinate system; and determining the deflection angle of the virtual reality camera relative to the first plane during the rotation process based on the second measurement data.

[0053] In some embodiments, data in a position coordinate system (which may be referred to as position data) may be converted based on the first measurement data and the parameters of the inertial component itself.

[0054] Here, the position coordinate system may be a rectangular coordinate system, which may include three mutually perpendicular axes, namely, an X-axis, a Y-axis, and a Z-axis. The plane formed by the X-axis and the Y-axis may be a horizontal plane.

[0055] Here, the first plane may be identified by coordinates of a position coordinate system. For example, the first plane may be defined by three points or two intersecting straight lines.

[0056] As an example, the first plane may be a horizontal plane, ie, a plane formed by the X-axis and the Y-axis.

[0057] Here, the angle between each piece of second measurement data and the first plane may be determined as the deflection angle of the virtual reality camera relative to the first plane.

[0058] It's important to note that the data measured by the inertial component in a VR camera generally represents the motion of the carrier relative to the inertial frame. By converting the first measurement data into the second measurement data, the VR camera's posture can be compared with the first plane indicated by the control instructions in the same coordinate system. By comparing them in the same coordinate system, the easily calculable deflection angle can be used as posture data, allowing for quick and accurate determination of whether the VR camera remains in the first plane during rotation.

[0059] In some embodiments, step 103 may include: determining whether fluctuations of the posture sub-data in the posture data satisfy a preset fluctuation condition; and in response to satisfying the preset fluctuation condition, determining that the rotation plane is parallel to the first plane.

[0060] Here, the posture sub-data can be obtained by converting each piece of first measurement data collected during the rotation process.

[0061] As an example, the attitude sub-data can be determined every 1 degree, thus obtaining 360 yaw angles. For these 360 ​​yaw angles, the fluctuation range of these yaw angles can be determined. If the fluctuation range meets a preset fluctuation condition, it can be determined that the rotation plane is parallel to the first plane.

[0062] In some embodiments, the attitude data includes a plurality of yaw angles.

[0063] In some embodiments, determining whether the fluctuation of the posture sub-data in the posture data satisfies a preset fluctuation condition may include: determining whether the maximum yaw angle among the yaw angles in the posture data is less than a first preset threshold; in response to the maximum yaw angle being less than the first preset threshold, determining whether the variance of the yaw angle in the posture data is less than a second preset threshold; in response to determining that the variance is less than the second preset threshold, determining that the preset fluctuation condition is satisfied.

[0064] As an example, attitude sub-data can be determined every 1 degree, resulting in 360 yaw angles. For these 360 ​​yaw angles, it can be determined whether the maximum yaw angle is less than a first preset threshold. If so, the variance of these 360 ​​yaw angles can be calculated to determine whether it is less than a second preset threshold. If so, it can be determined that the preset fluctuation condition is met. If the maximum yaw angle is not less than the first preset threshold, it can be determined that the preset fluctuation condition is not met. If the variance is not less than the second preset threshold, it can also be determined that the second preset fluctuation condition is not met.

[0065] As an example, Figure 3B The angle a shown in can be understood as the maximum yaw angle.

[0066] It should be noted that first determining whether the maximum yaw angle is less than a first preset threshold allows for rapid determination of whether the rotational plane has deviated from the first plane to an extent that exceeds the tolerance. Then, using the variance to determine whether the degree to which each optical axis deviates from the first plane exceeds the allowable tolerance range can eliminate optical axis jitter and improve the accuracy of determining whether the rotational plane is parallel to the first plane.

[0067] In some embodiments, the method further includes: in response to the rotation plane being not parallel to the first plane, performing at least one of the following but not limited to: reassembling the virtual reality camera and the gimbal, and adjusting the gimbal.

[0068] Here, reassembling the virtual reality camera and gimbal can be done automatically by a machine or by staff.

[0069] Optionally, in response to the rotation plane being non-parallel to the first plane, a reminder message may be issued. Based on the reminder message, the user may be informed that the current state of the virtual reality camera and the gimbal is not suitable for capturing images for constructing the virtual reality world.

[0070] Here, adjusting the gimbal may include adjusting the angle of the gimbal, etc.

[0071] Here, if there is no problem in assembling the virtual reality camera and the gimbal, the angle of the gimbal itself may not be in place, causing the rotation plane to be non-parallel to the first plane.

[0072] Here, if there is no problem with the angle of the gimbal itself, there may be a problem with the connection angle between the camera and the gimbal due to the assembly of the virtual reality camera and the gimbal, which causes the camera to be unable to remain in the first plane when rotating.

[0073] It should be noted that by setting an adjustment means, after detecting that the rotation plane is not parallel to the first plane, the virtual reality camera and / or the pan-tilt head can be quickly adjusted, so that the virtual reality camera and the pan-tilt head can be automatically and quickly adjusted to a state suitable for capturing images.

[0074] In some embodiments, the above method may further include: in response to the rotation plane being parallel to the first plane, determining that an image acquisition condition is satisfied.

[0075] Here, the image acquisition condition may be used to indicate a condition under which an image can be acquired. In other words, when the image acquisition condition is met, it indicates that the current state of the virtual reality camera and the gimbal is suitable for image acquisition (i.e., the acquired image can contribute to the accurate construction of the 3D model).

[0076] In some embodiments, the above method may further include: controlling the pan-tilt head to rotate based on whether an image acquisition condition is satisfied; and controlling the virtual reality camera to acquire an image corresponding to an acquisition angle during the rotation of the pan-tilt head.

[0077] Here, the images captured by the virtual reality camera can be used to generate a three-dimensional environment model that supports virtual reality playback.

[0078] Therefore, the image acquisition conditions are met, and the whole device can be guaranteed to rotate horizontally, so that the synthesized image can have a better effect after being synthesized using the images taken by the device.

[0079] Please refer to Figure 4 , which shows a process of an embodiment of a method for detecting a virtual reality camera according to the present disclosure.

[0080] In this embodiment, the virtual reality camera is connected to the pan-tilt head.

[0081] In this embodiment, if Figure 4 The method for detecting a virtual reality camera includes the following steps:

[0082] Step 401: Control the pan / tilt head to rotate based on the control instruction.

[0083] In this embodiment, the processor of the virtual reality camera can issue a control instruction to control the pan-tilt head to rotate. The control instruction is used to instruct the pan-tilt head to drive the virtual reality camera to rotate within the first plane.

[0084] In this embodiment, the first plane may be a horizontal plane.

[0085] Step 402: Acquire first measurement data of the inertial component during the rotation of the virtual reality camera.

[0086] The inertial component may include a gyroscope and / or an accelerometer. The first measurement data measured by the inertial component is data in the inertial system.

[0087] Step 403: Convert the first measurement data into second measurement data in the position coordinate system.

[0088] Converting the first measurement data into a position coordinate system can facilitate comparison of the posture of the virtual reality camera with the screen in the position coordinate system.

[0089] Step 404: Determine the deflection angle of the virtual reality camera relative to the first plane during the rotation process based on the second measurement data.

[0090] Here, the posture data may include a deflection angle. The determined deflection angles may be multiple, that is, a deflection angle data may be measured and calculated every certain angle.

[0091] Step 405: Determine whether the fluctuation of the deflection angle in the posture data meets a preset fluctuation condition.

[0092] In some embodiments, step 405 may include: determining whether the maximum yaw angle among the yaw angles in the attitude data is less than a first preset threshold; in response to the maximum yaw angle being less than the first preset threshold, determining whether the variance of the yaw angle in the attitude data is less than a second preset threshold; in response to determining that the variance is less than the second preset threshold, determining that the preset fluctuation condition is met.

[0093] Step 406 : In response to determining that the preset fluctuation condition is satisfied, determining that the rotation plane is parallel to the first plane.

[0094] Step 407 : In response to the rotation plane being not parallel to the first plane, performing at least one of the following but not limited to: reassembling the virtual reality camera and the gimbal, and adjusting the gimbal.

[0095] Step 408 : In response to the rotation plane being parallel to the first plane, determining that the image acquisition condition is satisfied.

[0096] In response to the image acquisition conditions being met, the pan-tilt head can be controlled to rotate, and the virtual reality camera can capture images during the rotation process to synthesize a panoramic image.

[0097] The implementation details and technical effects of the above steps 401 to 408 can be found in other parts of this application and will not be repeated here.

[0098] Further references Figure 5 As an implementation of the methods shown in the above figures, the present disclosure provides an embodiment of a device for detecting a virtual reality camera, wherein the virtual reality camera is connected to a pan-tilt platform. Figure 1 Corresponding to the method embodiment shown, the device can be specifically applied to various electronic devices.

[0099] like Figure 5As shown, the apparatus for detecting a virtual reality camera in this embodiment includes: a control unit 501, a first determination unit 502, and a second determination unit 503. The control unit is configured to control the rotation of the gimbal based on a control instruction, wherein the control instruction instructs the gimbal to drive the virtual reality camera to rotate within a first plane; the first determination unit is configured to determine posture data of the virtual reality camera during rotation; and the second determination unit is configured to determine, based on the posture data, whether the rotation plane of the virtual reality camera is parallel to the first plane, wherein the rotation plane is the plane formed by the optical axis of the virtual reality camera during rotation.

[0100] In this embodiment, the specific processing of the control unit 501, the first determination unit 502 and the second determination unit 503 of the device for detecting a virtual reality camera and the technical effects thereof can be referred to respectively. Figure 1 The relevant descriptions of step 101, step 102 and step 103 in the corresponding embodiment are not repeated here.

[0101] In some embodiments, the virtual reality camera includes an inertial component; and determining the posture data of the virtual reality camera during the rotation process includes: obtaining first measurement data of the inertial component during the rotation of the virtual reality camera; and determining the posture data of the virtual reality camera during the rotation process based on the first measurement data.

[0102] In some embodiments, determining the posture data of the virtual reality camera during the rotation process based on the first measurement data includes: converting the first measurement data into second measurement data in a position coordinate system; and determining the deflection angle of the virtual reality camera relative to the first plane during the rotation process based on the second measurement data.

[0103] In some embodiments, the first plane is a horizontal plane.

[0104] In some embodiments, the device is further used to: determine whether the fluctuation of the posture sub-data in the posture data meets a preset fluctuation condition; in response to determining that the preset fluctuation condition is met, determine that the rotation plane is parallel to the first plane.

[0105] In some embodiments, the above-mentioned determination of whether the fluctuation of the posture sub-data in the posture data meets the preset fluctuation condition may include: determining whether the maximum yaw angle among the yaw angles in the posture data is less than a first preset threshold; in response to the maximum yaw angle being less than the first preset threshold, determining whether the variance of the yaw angle in the posture data is less than a second preset threshold; in response to determining that the variance is less than the second preset threshold, determining that the preset fluctuation condition is met.

[0106] In some embodiments, the device is further configured to: in response to the rotation plane being not parallel to the first plane, perform at least one of the following but not limited to: reassembling the virtual reality camera and the gimbal, and adjusting the gimbal.

[0107] In some embodiments, the apparatus is further configured to: determine that an image acquisition condition is satisfied in response to the rotation plane being parallel to the first plane.

[0108] In some embodiments, the device is further used to: control the rotation of the pan-tilt head based on the image acquisition conditions being met; during the rotation of the pan-tilt head, control the virtual reality camera to acquire images corresponding to the acquisition angle, and the acquired images are used to generate a three-dimensional environment model that supports virtual reality playback.

[0109] Please refer to Figure 6 , Figure 6 An exemplary system architecture is shown in which the method for detecting a virtual reality camera according to an embodiment of the present disclosure can be applied.

[0110] like Figure 6 As shown, the system architecture may include terminal devices 601, 602, 603, a network 604, and a server 605. The network 604 is used to provide a medium for communication links between the terminal devices 601, 602, 603 and the server 605. The network 604 may include various connection types, such as wired or wireless communication links or fiber optic cables.

[0111] Terminal devices 601, 602, and 603 can interact with server 605 via network 604 to receive or send messages, etc. Various client applications can be installed on terminal devices 601, 602, and 603, such as web browser applications, search applications, and news and information applications. The client applications in terminal devices 601, 602, and 603 can receive user instructions and perform corresponding functions based on the user instructions, such as adding corresponding information to the message based on the user's instructions.

[0112] Terminal devices 601, 602, and 603 can be hardware or software. When terminal devices 601, 602, and 603 are hardware, they can be various electronic devices with display screens and support web browsing, including but not limited to smart phones, tablet computers, e-book readers, MP3 players (Moving Picture Experts Group Audio Layer III, Moving Picture Experts Group Audio Layer 3), MP4 (Moving Picture Experts Group Audio Layer IV, Moving Picture Experts Group Audio Layer 4) players, laptop computers, and desktop computers, etc. When terminal devices 601, 602, and 603 are software, they can be installed in the electronic devices listed above. It can be implemented as multiple software or software modules (for example, software or software modules used to provide distributed services), or it can be implemented as a single software or software module. No specific limitation is made here.

[0113] The server 605 may be a server that provides various services, such as receiving information acquisition requests sent by the terminal devices 601, 602, and 603, acquiring display information corresponding to the information acquisition requests through various means according to the information acquisition requests, and sending relevant data of the display information to the terminal devices 601, 602, and 603.

[0114] It should be noted that the method for detecting a virtual reality camera provided in the embodiments of the present disclosure can be executed by a terminal device, and accordingly, the apparatus for detecting a virtual reality camera can be provided in the terminal devices 601, 602, and 603. Furthermore, the method for detecting a virtual reality camera provided in the embodiments of the present disclosure can also be executed by a server 605, and accordingly, the apparatus for detecting a virtual reality camera can be provided in the server 605.

[0115] It should be understood that Figure 6 The number of terminal devices, networks and servers in the embodiment is merely illustrative. Any number of terminal devices, networks and servers may be provided as required.

[0116] Reference below Figure 7 , which shows an electronic device (eg Figure 6 The terminal device in the embodiments of the present disclosure may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (such as in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 7The electronic device shown is only an example and should not limit the functions and scope of use of the embodiments of the present disclosure.

[0117] like Figure 7 As shown, the electronic device may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 701, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 702 or a program loaded from a storage device 708 into a random access memory (RAM) 703. Various programs and data required for the operation of the electronic device 700 are also stored in the RAM 703. The processing device 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0118] Typically, the following devices may be connected to the I / O interface 705: an input device 706 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 707 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 708 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 709. The communication device 709 may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. Although Figure 7 The electronic device is shown with various devices, but it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed instead.

[0119] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication device 709, or installed from the storage device 708, or installed from the ROM 702. When the computer program is executed by the processing device 701, the above-mentioned functions defined in the method of the embodiment of the present disclosure are performed.

[0120] It should be noted that the computer-readable medium mentioned above in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection having one or more conductors, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such a propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to wires, optical cables, RF (radio frequency), etc., or any suitable combination thereof.

[0121] In some embodiments, the client and server can communicate using any currently known or future developed network protocol, such as HTTP (HyperText Transfer Protocol), and can be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0122] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0123] The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device: controls the rotation of the gimbal based on a control instruction, wherein the control instruction instructs the gimbal to drive the virtual reality camera to rotate within a first plane; determines the posture data of the virtual reality camera during the rotation process; and determines, based on the posture data, whether the rotation plane of the virtual reality camera is parallel to the first plane, wherein the rotation plane is the plane formed by the optical axis of the virtual reality camera during the rotation process.

[0124] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages, or a combination thereof, including, but not limited to, object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on the remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0125] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the module, program segment, or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of the boxes in the block diagram and / or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0126] The units described in the embodiments of the present disclosure may be implemented in software or hardware. In some cases, the name of a unit does not limit the unit itself. For example, a control unit may also be described as a "unit for controlling the rotation of the pan / tilt head."

[0127] The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, and without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chip (SOCs), complex programmable logic devices (CPLDs), and the like.

[0128] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of machine-readable storage media would include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0129] The above description is merely a preferred embodiment of the present disclosure and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but also includes other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the above-mentioned disclosed concepts. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in this disclosure.

[0130] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details have been included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0131] Although the subject matter has been described in language specific to structural features and / or methodological logical acts, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are merely example forms of implementing the claims.

Claims

1. A method for detecting a virtual reality camera, characterized in that: A virtual reality camera is connected to a pan / tilt platform, and the method includes: Controlling the pan-tilt platform to rotate based on a control instruction, wherein the control instruction instructs the pan-tilt platform to drive the virtual reality camera to rotate within a first plane; Determining posture data of the virtual reality camera during the rotation process; determining, based on the posture data, whether a rotation plane of the virtual reality camera is parallel to a first plane, wherein the rotation plane is a plane formed by an optical axis of the virtual reality camera during rotation; The virtual reality camera includes an inertial assembly including an accelerometer and a gyroscope inertial element; and Determining the posture data of the virtual reality camera during the rotation process includes: acquiring first measurement data of the inertial component during the rotation process of the virtual reality camera; and determining the posture data of the virtual reality camera during the rotation process based on the first measurement data; Wherein, determining whether the rotation plane of the virtual reality camera is parallel to the first plane based on the posture data includes: determining whether fluctuations of posture sub-data in the posture data satisfy a preset fluctuation condition; and in response to determining that the preset fluctuation condition is satisfied, determining that the rotation plane is parallel to the first plane; The posture data includes a plurality of yaw angles; and determining whether the fluctuation of the posture sub-data in the posture data satisfies a preset fluctuation condition includes: Determining whether a maximum yaw angle among the yaw angles in the attitude data is less than a first preset threshold; In response to the maximum yaw angle being less than a first preset threshold, determining whether a variance of the yaw angle in the attitude data is less than a second preset threshold; In response to determining that the variance is less than a second preset threshold, it is determined that a preset fluctuation condition is satisfied.

2. The method according to claim 1, characterized in that Determining the posture data of the virtual reality camera during the rotation process according to the first measurement data includes: Converting the first measurement data into second measurement data in a position coordinate system; A deflection angle of the virtual reality camera relative to the first plane during the rotation process is determined according to the second measurement data.

3. The method according to claim 1, characterized in that The first plane is a horizontal plane.

4. The method according to claim 1, wherein The method further comprises: In response to the rotation plane being not parallel to the first plane, at least one of the following is performed, but not limited to: reassembling the virtual reality camera and the gimbal, and adjusting the gimbal.

5. The method according to claim 1, wherein The method further comprises: In response to the rotation plane being parallel to the first plane, it is determined that the image acquisition condition is satisfied.

6. The method according to claim 5, characterized in that The method further comprises: Based on the image acquisition conditions being met, controlling the pan / tilt head to rotate; During the rotation of the pan-tilt head, the virtual reality camera is controlled to collect images corresponding to the collection angle, and the collected images are used to generate a three-dimensional environment model supporting virtual reality playback.

7. A device for detecting a virtual reality camera, characterized in that: The virtual reality camera is connected to the pan-tilt platform, and the device includes: A control unit, configured to control the pan-tilt platform to rotate based on a control instruction, wherein the control instruction instructs the pan-tilt platform to drive the virtual reality camera to rotate within a first plane; A first determining unit, configured to determine posture data of the virtual reality camera during rotation; a second determining unit, configured to determine, based on the posture data, whether a rotation plane of the virtual reality camera is parallel to a first plane, wherein the rotation plane is a plane formed by an optical axis of the virtual reality camera during rotation; The virtual reality camera includes an inertial assembly including an accelerometer and a gyroscope inertial element; and The first determining unit is further configured to: obtain first measurement data of the inertial component during the rotation of the virtual reality camera; and determine the posture data of the virtual reality camera during the rotation based on the first measurement data; Wherein, determining whether the rotation plane of the virtual reality camera is parallel to the first plane based on the posture data includes: determining whether fluctuations of posture sub-data in the posture data satisfy a preset fluctuation condition; and in response to determining that the preset fluctuation condition is satisfied, determining that the rotation plane is parallel to the first plane; The posture data includes a plurality of yaw angles; and determining whether the fluctuation of the posture sub-data in the posture data satisfies a preset fluctuation condition includes: Determining whether a maximum yaw angle among the yaw angles in the attitude data is less than a first preset threshold; In response to the maximum yaw angle being less than a first preset threshold, determining whether a variance of the yaw angle in the attitude data is less than a second preset threshold; In response to determining that the variance is less than a second preset threshold, it is determined that a preset fluctuation condition is satisfied.

8. An electronic device, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 6.

9. A computer-readable medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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