Pose adjustment method, device and equipment of collection device and readable storage medium

Abstract

The application is suitable for the technical field of device control, and provides a pose adjustment method and device of a collection device, equipment and a readable storage medium. The pose adjustment method of the collection device specifically comprises: obtaining reference shape information of a target shooting angle, the reference shape information being used to indicate a shape of display screen imaging obtained by collecting a display screen by a first collection device at the target shooting angle; and adjusting a pose of a second collection device according to the reference shape information until real-time shape information of the display screen imaging obtained by collecting the display screen by the second collection device satisfies a preset coincidence condition with the reference shape information, wherein a relative angle between the second collection device after the pose adjustment and the display screen is the same as the target shooting angle, or an error is less than a preset threshold. Embodiments of the application can accurately adjust a camera to a pose corresponding to a target shooting angle.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of device control, and particularly relates to a pose adjustment method and device of a collection device, a terminal device and a readable storage medium. BACKGROUND

[0002] Multi-view reconstruction refers to a process of estimating a corresponding three-dimensional structure or model from a limited two-dimensional image sequence. With the continuous development of computer vision, three-dimensional visual perception and other technologies, three-dimensional scene reconstruction, light emitting characteristic modeling and other technologies derived from multi-view reconstruction are increasingly applied in virtual shooting, metaverse and other fields. When modeling the light emitting characteristics of a display screen, people generally need to adjust the pose of a camera according to experience and visual observation to shoot the display screen from different shooting angles, and then establish a light emitting characteristic model using images at different shooting angles. The shooting angle corresponding to the image obtained in this way often has a large deviation from the actual required shooting angle. Therefore, how to accurately obtain a two-dimensional image at a specific shooting angle has become a problem to be solved. SUMMARY

[0003] Embodiments of the present application provide a pose adjustment method and device of a collection device, a terminal device and a readable storage medium, which solve the problem of low accuracy of the current shooting angle.

[0004] The first aspect of the embodiments of the present application provides a pose adjustment method of a collection device, comprising: obtaining reference shape information of a target shooting angle, the reference shape information being used to indicate a shape of display screen imaging obtained by a first collection device collecting a display screen at the target shooting angle; adjusting a pose of a second collection device according to the reference shape information until real-time shape information of the display screen imaging obtained by the second collection device collecting the display screen satisfies a preset coincidence condition with the reference shape information; wherein a relative angle between the second collection device after the pose adjustment and the display screen is the same as the target shooting angle, or an error is less than a preset threshold.

[0005] The second aspect of the embodiments of the present application provides a method for adjusting a pose of a collection device, the method is applied to a terminal device, and the method comprises: obtaining a reference diagram and displaying the reference diagram on a display interface of the terminal device, the reference diagram comprises reference shape information at a target shooting angle, and the reference shape information is used to indicate a shape of display screen imaging obtained by collecting the display screen by a first collection device at the target shooting angle; and adjusting a pose of a second collection device until real-time diagram displayed on the display interface and the reference diagram satisfy a preset coincidence condition, wherein the real-time diagram comprises real-time shape information obtained by real-time shooting, the real-time shape information is used to indicate a shape of imaging obtained by collecting the display screen by the second collection device at a real-time angle, and a relative angle between the second collection device after the pose adjustment and the display screen is the same as the target shooting angle or an error is less than a preset threshold.

[0006] The third aspect of the embodiments of the present application provides a device for adjusting a pose of a collection device, comprising: an information obtaining unit, configured to obtain reference shape information at a target shooting angle, and the reference shape information is used to indicate a shape of display screen imaging obtained by collecting the display screen by a first collection device at the target shooting angle; and a pose adjusting unit, configured to adjust a pose of a second collection device according to the reference shape information until real-time shape information of display screen imaging obtained by collecting the display screen by the second collection device and the reference shape information satisfy a preset coincidence condition; and wherein a relative angle between the second collection device after the pose adjustment and the display screen is the same as the target shooting angle or an error is less than a preset threshold.

[0007] The fourth aspect of the embodiments of the present application provides a device for adjusting a pose of a collection device, configured in a terminal device, comprising: a display unit, configured to obtain a reference diagram and display the reference diagram on a display interface of the terminal device, the reference diagram comprises reference shape information at a target shooting angle, and the reference shape information is used to indicate a shape of display screen imaging obtained by collecting the display screen by a first collection device at the target shooting angle; and a pose adjusting unit, configured to adjust a pose of a second collection device until real-time diagram displayed on the display interface and the reference diagram satisfy a preset coincidence condition, wherein the real-time diagram comprises real-time shape information obtained by real-time shooting, the real-time shape information is used to indicate a shape of imaging obtained by collecting the display screen by the second collection device at a real-time angle, and a relative angle between the second collection device after the pose adjustment and the display screen is the same as the target shooting angle or an error is less than a preset threshold.

[0008] The fifth aspect of the embodiment of the present application provides a terminal device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the pose adjustment method of the acquisition device when executing the computer program.

[0009] The sixth aspect of the embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program implements the steps of the pose adjustment method of the acquisition device when executed by a processor.

[0010] The seventh aspect of the embodiment of the present application provides a computer program product, which, when executed on a terminal device, causes the terminal device to execute the pose adjustment method of the acquisition device according to the first aspect or the pose adjustment method of the acquisition device according to the second aspect.

[0011] In the embodiment of the present application, by acquiring the reference shape information of the target shooting angle, since the reference shape information is used to indicate the shape of the display screen imaging obtained by the first acquisition device collecting the display screen at the target shooting angle, the pose of the second acquisition device is adjusted until the real-time shape information of the display screen imaging obtained by the second acquisition device collecting the display screen meets the preset coincidence condition with the reference shape information, and the shooting angle of the acquisition device shooting the display screen at the pose is basically consistent with the target shooting angle, thereby improving the accuracy of the image shooting angle. BRIEF DESCRIPTION OF DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0013] Figure 1 is an implementation flowchart of the pose adjustment method of the acquisition device provided by the embodiment of the present application Figure 1 ;

[0014] Figure 2 is a structural diagram of an image acquisition system provided by the embodiment of the present application;

[0015] Figure 3 is a schematic diagram of a display interface provided by the embodiment of the present application;

[0016] Figure 4 is a specific implementation flowchart of determining reference shape information provided by the embodiment of the present applicationFigure 1

[0017] Figure 5 is a schematic diagram of a front view provided by an embodiment of the present application;

[0018] Figure 6 is a specific implementation process of determining reference shape information provided by an embodiment of the present application Figure 2

[0019] Figure 7 is an implementation process of a pose adjustment method of a collection device provided by an embodiment of the present application Figure 2

[0020] Figure 8 is a structure diagram of a pose adjustment device of a collection device provided by an embodiment of the present application Figure 1

[0021] Figure 9 is a structure diagram of a pose adjustment device of a collection device provided by an embodiment of the present application Figure 2

[0022] Figure 10 is a structure diagram of a terminal device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0024] The present application aims to provide a pose adjustment method of a collection device, so that the collection device can shoot a display screen at a target shooting angle. It should be noted that the collection device mentioned in the embodiments of the present application can be an industrial camera, a video camera or other device for collecting images, or a smart terminal such as a smart phone or a tablet computer with a camera function. The display screen mentioned in the embodiments of the present application can be an LED display screen, an LCD display screen, a micro LED display screen or other types of display screens. The present application does not limit this.

[0025] In order to illustrate the technical scheme of the present application, the following will be described by specific embodiments.

[0026] Figure 1 ​​​​​An implementation flowchart of a method for adjusting a pose of a collection device is shown. The method can be applied to a terminal device and can be used in a situation where the accuracy of the shooting angle of an image needs to be improved. The terminal device can refer to a second collection device that needs to adjust its pose, or a control device used to control the second collection device, for example, the terminal device can be a host computer connected to the second collection device. For example, the host computer can refer to a server, which can control a display screen, a collection device, and other devices, and can implement functions such as color correction of the display screen and virtual shooting.

[0027] Exemplarily, Figure 2 An image collection system is shown. The image collection system can include a second collection device, a display screen, and a control device. The control device can adjust the pose of the second collection device based on the pose adjustment method provided in the present application to control the second collection device to shoot the display screen at a target shooting angle.

[0028] Specifically, the method for adjusting the pose of the collection device can include the following steps S101 to S102.

[0029] In step S101, reference shape information of a target shooting angle is obtained.

[0030] In the embodiments of the present application, the reference shape information can be used to indicate the shape of the display screen imaging obtained by the first collection device collecting the display screen at the target shooting angle.

[0031] The target shooting angle refers to a shooting angle required by the second collection device when collecting the display screen. In some embodiments, the target shooting angle can be used to obtain the luminous characteristic information of the display screen at the corresponding viewing angle of the target shooting angle. The luminous characteristic information can refer to information related to the luminous characteristic of the display screen, such as brightness, light chroma, brightness attenuation degree, light chroma attenuation degree, etc. In the embodiments of the present application, the target shooting angle can be adjusted according to actual conditions. For example, Figure 2 The image collection system shown can be applied to the field of virtual shooting, and the target shooting angle can be set according to the viewing angle required during virtual shooting. For example, Figure 2 The image collection system shown can be used for modeling the luminous characteristic of the display screen, and the target shooting angle can be set according to the viewing angle required for modeling the luminous characteristic.

[0032] In step S102, the pose of the second collection device is adjusted according to the reference shape information until the real-time shape information of the display screen imaging obtained by the display screen collected by the second collection device satisfies a preset coincidence condition with the reference shape information.

[0033] In embodiments of the present application, the terminal device can adjust the pose of the second acquisition device so that the second acquisition device can acquire the display screen at the target shooting angle. The second acquisition device and the first acquisition device can be the same or different acquisition devices. That is, the reference shape information obtained by the first acquisition device can be used to instruct the pose adjustment process of the second acquisition device. In the case where the second acquisition device and the first acquisition device are different acquisition devices, the first acquisition device and the second acquisition device can be acquisition devices of the same model, the same batch, or the same structure. In some embodiments, the first acquisition device can also be a virtual acquisition device, for example, the first acquisition device is virtually drawn in a three-dimensional mapping software to obtain the reference shape information, and the reference shape information is applied to the second acquisition device. Similarly, the second acquisition device can also be a virtual acquisition device.

[0034] In embodiments of the present application, the real-time shape information can be used to indicate the shape of the display screen imaging obtained by the second acquisition device in real-time acquisition of the display screen. It should be understood that when the same shape of the display screen is observed at different angles, the display screen will exhibit different shapes, and therefore, when the first acquisition device acquires the display screen at different shooting angles, the shapes of the display screen imaging obtained by the acquisition will have some differences.

[0035] During the pose adjustment of the second acquisition device, the terminal device can detect in real time whether the real-time shape information and the reference shape information satisfy a preset coincidence condition.

[0036] When the real-time shape information and the reference shape information satisfy the coincidence condition, it means that the shape of the display screen imaging obtained by the second acquisition device in real-time acquisition of the display screen is the same as or close to the shape of the display screen imaging obtained by the first acquisition device at the target shooting angle, indicating that the observation angle of the second acquisition device to the display screen and the observation angle corresponding to the target shooting angle are the same or similar. Therefore, the shooting angle of the second acquisition device for acquiring the display screen at the pose is the target shooting angle or a shooting angle close to the target shooting angle. In other words, the relative angle between the second acquisition device and the display screen after the pose adjustment is the same as the target shooting angle, or the error between the relative angle and the target shooting angle is less than a preset threshold. The relative angle can refer to the shooting angle of the second acquisition device for shooting the display screen at the corresponding pose. The preset threshold of the error between the relative angle and the target shooting angle can be set according to the relative distance between the display screen and the second acquisition device or the step precision, or can be customized by the user, for example, the preset threshold can be set to ±1°, ±3°, or ±5° of the target shooting angle, etc.

[0037] Specifically, in some embodiments, the terminal device can display a reference legend and a real-time legend on the display interface, the reference legend can include the aforementioned reference shape information at the target shooting angle, and the real-time legend can include the aforementioned real-time shape information of the real-time shooting. The display form of the reference legend and the real-time legend can be selected according to actual conditions. For example, the terminal device can display the positions of the vertices of the shape imaged by the display screen in the form of a pointing dot in the display interface. For another example, the terminal device can display the shape imaged by the display screen in the form of an indicating box in the display interface, which can be a closed indicating box or an unclosed indicating box. It should be understood that the present application is not limited thereto, and other display forms are also applicable to the present application.

[0038] For reference Figure 3 In the process of adjusting the pose of the second acquisition device, the terminal device can update the real-time legend in the display interface according to the change of the real-time shape information, and detect in real time whether the reference legend and the real-time legend satisfy the preset coincidence condition to confirm whether the real-time shape information and the reference shape information satisfy the preset coincidence condition. When the real-time shape information and the reference shape information satisfy the preset coincidence condition, the terminal device can further generate indication information indicating that the user stops the pose adjustment.

[0039] When the real-time shape information and the reference shape information do not satisfy the coincidence condition, it means that the shape imaged by the display screen obtained by the real-time acquisition of the display screen by the second acquisition device and the shape imaged by the display screen obtained by the acquisition of the display screen at the target shooting angle by the first acquisition device have a large degree of deviation, which indicates that the observation angle of the display screen by the second acquisition device and the observation angle corresponding to the target shooting angle are not the same. Therefore, the shooting angle of the display screen by the second acquisition device at the adjusted pose and the target shooting angle have a large difference. In other words, the error of the relative angle between the second acquisition device after the pose adjustment and the display screen and the target shooting angle is greater than or equal to the preset threshold.

[0040] It should be noted that the present application does not limit the specific implementation of the pose adjustment. In some embodiments, the terminal device can adjust the fixing device of the second acquisition device so that the fixing device drives the second acquisition device to change the pose when the fixing device is adjusted. In other embodiments, the terminal device can display pose adjustment indication information to prompt the user to adjust the position of the second acquisition device.

[0041] After completing the pose adjustment of the second acquisition device, the terminal device can acquire an image of the display screen at the target shooting angle through the second acquisition device. The image carries the luminous characteristic information of the display screen at the viewing angle corresponding to the target shooting angle, and thus can be used in the fields of virtual shooting, luminous characteristic modeling, etc.

[0042] When the number of target shooting angles is multiple, the terminal device can determine the reference shape information of each target shooting angle, and sequentially collect images under each target shooting angle. Based on the images under different target shooting angles, the terminal device can perform multi-view reconstruction. Multi-view reconstruction can also be performed based on the images under different target shooting angles, and light emitting characteristic modeling can be performed to assist in correcting the color cast problem of the display screen caused by different shooting angles. Of course, the terminal device can also apply the images under different target shooting angles to other fields, and the present application does not limit this.

[0043] Preferably, before acquiring the image, the terminal device can adjust the parameters of the second collection device to a preset reference threshold, and the reference threshold can be adjusted according to the imaging requirements. The adjusted parameters include but are not limited to the aperture, focal length, micro-focus and other related parameters of the second collection device. Among them, the aperture can be used to adjust the brightness of the imaging, the focal length can be used to adjust the size of the imaging, and the micro-focus can be used to adjust the blur degree of the imaging.

[0044] In the embodiments of the present application, by acquiring the reference shape information of the target shooting angle, since the reference shape information is used to indicate the shape of the display screen imaging obtained by the first collection device collecting the display screen at the target shooting angle, the pose of the second collection device is adjusted until the real-time shape information of the display screen imaging obtained by the second collection device collecting the display screen satisfies the preset coincidence condition with the reference shape information. When the shooting angle of the second collection device shooting the display screen at the pose is substantially consistent with the target shooting angle, the accuracy of the shooting angle of the image is improved. When the image is applied to the related fields such as virtual shooting and light emitting characteristic modeling, the light emitting characteristic information of the display screen at the target shooting angle corresponding to the view angle can also be more accurately obtained.

[0045] In order to facilitate the acquisition of the reference shape information, in some embodiments of the present application, the terminal device can obtain the reference shape information by transforming the acquired initial shape information.

[0046] Specifically, as shown in Figure 4 In some embodiments, the process of acquiring the reference shape information includes the following steps S401 to S403.

[0047] Step S401, acquiring initial shape information of an initial shooting angle.

[0048] The initial shape information is information used to transform the reference shape information, and can be used to indicate the shape of the display screen imaging obtained by the first collection device collecting the display screen at the initial shooting angle. In some embodiments, the initial shape information can be obtained by the first collection device collecting the display screen at the initial shooting angle, or can be calculated according to the physical properties of the display screen itself.

[0049] The initial shooting angle can be selected according to actual conditions, and the initial shooting angle is preferably a shooting angle corresponding to a main view for the purpose of facilitating operation. Please refer to Figure 5 The shooting angle corresponding to the main view refers to a shooting angle at which the optical axis of the first collection device passes through the center of the display screen and is perpendicular to the display screen.

[0050] In some embodiments of the present application, the terminal device can obtain a reference image of the display screen collected by the first collection device at the initial shooting angle, determine region information of the display screen in the reference image, and determine the initial shape information according to the region information.

[0051] The region information can be used to represent the contour of the display screen in the reference image, and can include the coordinate range, area, coordinate position of a specific point (such as a vertex) of the display screen in the image region in the reference image, and the like.

[0052] Specifically, the terminal device can control the first collection device to collect the display screen at the initial shooting angle to obtain the reference image, and extract the contour of the display screen in the reference image by contour recognition, feature point recognition, threshold segmentation or other algorithms to obtain the region information. Correspondingly, since the region information can be used to represent the contour of the display screen, that is, the shape of the display screen in the image, the terminal device can take the region information as the initial shape information.

[0053] In some other embodiments of the present application, the terminal device can also obtain the physical properties of the display screen, and determine the initial shape information of the display screen in the main view according to the physical properties.

[0054] The above-mentioned physical properties can include resolution information and contour information of the display screen, the contour information can represent the shape, length-width ratio and the like of the display screen, and the resolution information can include the resolution (or size) of the display screen, the resolution ratio of the display screen in the reference image and the like. According to the contour information and the resolution information, the terminal device can generate the initial shape information. For example, according to the length-width ratio of the display screen and the resolution of the display screen, the terminal device can generate the shape of the display screen in the main view.

[0055] In some other embodiments, the generation of the initial shape information can also be combined with the reference image, for example, the center of the reference image can be taken as the center of the display screen imaging, and the area information of the image area where the display screen imaging is located can be determined according to the length-width ratio and resolution ratio of the display screen, so as to take the area information as the initial shape information. Considering that the initial shape information is used to obtain the reference shape information through conversion, in order to avoid the display screen imaging corresponding to the reference shape information after conversion exceeding the image range, the length of the display screen imaging in the short side direction of the reference image can be less than or equal to one half of the short side of the reference image.

[0056] In step S402, an angle deflection relationship between the initial shooting angle and at least one to-be-shot angle is obtained.

[0057] In step S403, at least one reference shape information is determined according to the angle deflection relationship, the distance information between the display screen and the first acquisition device, and the initial shape information.

[0058] The to-be-shot angle refers to the shooting angle required when the second acquisition device acquires the display screen. Each reference shape information corresponds to one to-be-shot angle, and the target shooting angle is any one of the to-be-shot angles.

[0059] Specifically, the angle deflection relationship can include a deflection axis and a deflection angle. It should be understood that the target shooting angle can be regarded as a shooting angle obtained by deflection of the first acquisition device with the deflection axis until the deflection angle is reached. The deflection axis can refer to the horizontal or vertical center axis of the display screen. When the initial shooting angle is the shooting angle corresponding to the main view, the deflection angle can refer to the angle between the connecting line of the first acquisition device and the center of the display screen and the normal direction of the display screen. According to the specific deflection direction, the deflection angle can be divided into horizontal and vertical deflection angles. The terminal device can calculate the deflection axis and the deflection angle based on the relative relationship between the display screen and the first acquisition device, the target shooting angle and the initial shooting angle, or obtain the deflection axis and the deflection angle set by the user.

[0060] Specifically, the reference shape information can be represented as M times the initial shape information. Wherein M represents a transformation matrix, and the transformation matrix is related to an adjustment operation of adjusting the initial shape information according to the distance between the first acquisition device and the display screen in the camera coordinate system, the deflection axis, the deflection angle and other dimensions. The adjustment operation includes but is not limited to one or more operations of translation, rotation, scaling.

[0061] It should be understood that the distance between the display screen and the first acquisition device can be the distance in the world coordinate system, and the unit can be meters. For the camera coordinate system of the first acquisition device, the distance between the display screen and the first acquisition device is in pixels, which is in a proportional relationship with the distance in the world coordinate system.

[0062] In some embodiments, the terminal device can determine the reference shape information through the following formula:

[0063]

[0064]

[0065] wherein (x, y) is the position of the vertex of the display screen in the camera coordinate system in the initial shape information, (x2, y2) is the position of the vertex of the display screen in the camera coordinate system in the reference shape information, and r is the distance between the display screen and the first acquisition device in the camera coordinate system.

[0066] The rotation transformation of the display screen is processed in the camera coordinate system. Assuming that the points (x, y) in the initial shape information are all displayed on the plane z = r, and the distance between the first acquisition device and the display screen before rotation is r, that is, the coordinates of the corresponding points in the camera coordinate system are (x, y, r), then the corresponding points after rotation transformation are (x1, y1, z1). Since the image is two-dimensional, the transformed points (x1, y1, z1) still need to be projected back to the plane z = r for display, so x1 and y1 need to be scaled and projected according to the ratio of r and z1. At this time, the corresponding points (x2, y2) in the reference shape information can be obtained.

[0067] As an example, taking the longitudinal central axis of the display screen as the deflection axis, and θ representing the horizontal deflection angle, the transformation matrix is

[0068] As another example, taking the transverse central axis of the display screen as the deflection axis, representing the vertical deflection angle, the transformation matrix is

[0069] In some embodiments, the above reference shape information can include a target vertex coordinate group of the shape of the display screen imaging obtained by the first acquisition device capturing the display screen at a target shooting angle. The initial shape information can include an initial vertex coordinate group of the shape of the display screen imaging obtained by the first acquisition device capturing the display screen at an initial shooting angle. That is, in step S403, at least one target vertex coordinate group can be determined according to the angle deflection relationship, the distance information between the display screen and the first acquisition device, and the initial vertex coordinate group.

[0070] The preset points in the vertex coordinate set can be any point of the display screen, for example, a vertex, a center point or other point of the display screen. When the reference shape information is displayed in the form of a non-closed indication box, the preset points can also be the end points of the edges of the non-closed indication box. According to the preset points in the initial vertex coordinate set, another preset point in the target vertex coordinate set corresponding to the preset point can be obtained according to the angle deflection relationship and the distance information between the display screen and the first acquisition device. For example, based on the coordinate of the top-left corner vertex of the display screen in the initial vertex coordinate set, the coordinate of the top-left corner vertex of the display screen in the target vertex coordinate set can be obtained.

[0071] In some other embodiments, as shown in Figure 6 The acquisition process of the reference shape information includes the following steps S601 to S603.

[0072] In step S601, initial shape information at an initial shooting angle is acquired.

[0073] In step S602, an angle deflection relationship between the initial shooting angle and at least one to-be-shot angle is acquired.

[0074] The specific implementation of steps S601 and S602 can refer to the description of Figure 4 , and will not be described herein.

[0075] In step S603, at least one reference shape information is determined according to the angle deflection relationship, the angle information formed by the vertex of the display screen and the first acquisition device at the shooting angle corresponding to the main view, and the initial shape information.

[0076] Specifically, the angle information can include an included angle formed by the line connecting the vertex of the display screen and the first acquisition device and the plane on which the display screen is located, or a deflection angle formed by the line connecting the vertex of the display screen and the first acquisition device and the normal line of the display screen. According to the angle information of at least two vertices, mathematical modeling can be performed to obtain the distance information between the display screen and the first acquisition device. At this time, at least one reference shape information can be determined according to the manner of step S403, by using the angle deflection relationship, the distance information and the initial shape information.

[0077] In the embodiments of the present application, the initial shape information at the initial shooting angle which is relatively easy to acquire can be used to convert the reference shape information at the target shooting angle which is relatively difficult to acquire, so that the convenience of acquiring the reference shape information can be improved. In the case where images at multiple to-be-shot angles need to be acquired, the reference shape information at each to-be-shot angle can be converted by using the same initial shape information, so that the acquisition efficiency is higher.

[0078] In other embodiments, when the target shooting angle is the shooting angle corresponding to a specific pose, the terminal device can also directly generate reference shape information based on the relationship between the display screen and the first acquisition device at that shooting angle. For example, for the shooting angle corresponding to the main view, the terminal device can obtain resolution information and the outline information of the display screen, and generate reference shape information based on the outline information and resolution information. The detailed process can be referred to the aforementioned method for generating initial shape information, which will not be elaborated here.

[0079] After obtaining the reference shape information, the terminal device can detect whether the real-time shape information of the display image acquired by the second acquisition device meets the preset overlap condition with the reference shape information, in order to determine whether the pose of the second acquisition device has been adjusted in place.

[0080] In some implementations, the aforementioned reference shape information may include reference region information of the shape of the display screen image obtained by the first acquisition device from the target shooting angle. The real-time information may include real-time region information of the shape of the display screen image obtained by the second acquisition device. In this case, the pose of the second acquisition device can be adjusted based on the reference shape information until the overlap between the reference region information and the real-time region information meets a preset overlap threshold, confirming that the real-time information and the reference shape information meet the preset overlap condition.

[0081] The overlap threshold can be set according to the requirements for the accuracy of the target shooting angle.

[0082] Specifically, the terminal device can adjust the pose of the second acquisition device, determine the target area based on the reference area information and the real-time area information, and determine the degree of overlap based on the target area.

[0083] The target area may include at least two of the following: the area S of the intersection region between the image of the display screen acquired by the first acquisition device at the target shooting angle and the image of the display screen acquired by the second acquisition device. c The area S of the union region between the display screen image captured by the first acquisition device at the target shooting angle and the display screen image captured by the second acquisition device. v And, the area S of the display screen image acquired by the first acquisition device at the target shooting angle. a The area S of the image captured by the display screen on the second acquisition device. b The sum of S m =S a +S b .

[0084] As an example, the degree of overlap R c , and the area of the union region S v may be determined. The formula for calculating the degree of overlap R c may be expressed as c

[0085] As another example, the degree of overlap R c may be determined according to the area of the intersection region S a , and the sum of the areas S b and S m . The formula for calculating the degree of overlap R c may be expressed as c

[0086] As another example, the degree of overlap R v may be determined according to the area of the union region S a , and the sum of the areas S b and S m . The formula for calculating the degree of overlap R c may be expressed as c

[0087] As another example, the degree of overlap R c may be determined according to the area of the intersection region S v , the area of the union region S a , and the sum of the areas S b and S m . The formula for calculating the degree of overlap R c may be expressed as c

[0088] As another example, the degree of overlap R c may be determined according to the area of the intersection region S v , the area of the union region S a , and the sum of the areas S b and S m . The formula for calculating the degree of overlap R c may be expressed as c

[0089] ​​​​​In some embodiments, the reference shape information can include a target vertex coordinate set of a shape of the display screen imaging obtained by the first acquisition device capturing the display screen at the target shooting angle. The real-time information can include a real-time vertex coordinate set of a shape of the display screen imaging obtained by the second acquisition device capturing the display screen. The preset points in the target vertex coordinate set and the preset points in the real-time vertex coordinate set correspond to each other one by one. For example, the preset point A in the target vertex coordinate set corresponds to the preset point B in the real-time vertex coordinate set, and both of them are the same point on the display screen (e.g., the top-left vertex of the display screen).

[0090] At this time, the pose of the second acquisition device can be adjusted according to the reference shape information until the vertex distance calculated according to the target vertex coordinate set and the real-time vertex coordinate set meets the preset distance threshold.

[0091] The distance threshold can be set according to the accuracy requirement of the target shooting angle.

[0092] When the preset points in the target vertex coordinate set and the preset points in the real-time vertex coordinate set are both one, the distance between the two preset points can be taken as the vertex distance.

[0093] When the preset points in the target vertex coordinate set and the preset points in the real-time vertex coordinate set are both multiple, i.e., there are multiple pairs of corresponding preset points, the distance between each pair of corresponding preset points can be calculated, and the total distance is accumulated as the vertex distance and compared with the distance threshold representing the total distance. Alternatively, the distance between each pair of corresponding preset points can be calculated, and the average value is compared with the distance threshold representing the average value. The application does not limit this.

[0094] Since the image at the target shooting angle can be used for multi-view reconstruction, and the multi-view reconstruction is usually performed in a preset three-dimensional coordinate system, in some embodiments of the application, the terminal device can draw the display screen and the first acquisition device in the preset three-dimensional coordinate system, and determine the reference shape information according to the three-dimensional coordinates of the display screen and the first acquisition device in the three-dimensional coordinate system. In other words, the terminal device can determine the reference shape information in the three-dimensional coordinate system used for multi-view reconstruction.

[0095] Specifically, the determination process of the reference shape information described in the foregoing embodiments can be considered as being performed in the world coordinate system, and the display screen and the first acquisition device are drawn in the preset three-dimensional coordinate system, which can be considered as converting the display screen and the first acquisition device in the world coordinate system into the display screen and the first acquisition device in the preset three-dimensional coordinate system. In this way, the multi-view reconstruction and the image shooting at the target shooting angle can be combined, and the user can use the terminal device conveniently. When the reference shape information is determined, the reference shape information can be acquired by means of screenshot or imaging projection of the display screen onto a specific two-dimensional plane.

[0096] In some other embodiments, the terminal device can further acquire reference camera coordinates of the initial shape information acquired by the first acquisition device, transform the reference camera coordinates to obtain target camera coordinates of the second acquisition device at the target shooting angle. Then, the pose of the second acquisition device is adjusted until the distance between the coordinates of the second acquisition device and the target camera coordinates satisfies the coordinate distance threshold.

[0097] Suppose the coordinates of the center of the display screen are (0, 0, 0), and the reference acquisition device coordinates of the first acquisition device when capturing the reference image (e.g., the front view) are (x3, y3, z3), then the target acquisition device coordinates (x4, y4, z4) of the second acquisition device at the target shooting angle after transformation can be represented as:

[0098]

[0099] where M' is the inverse matrix of M. It should be understood that the reference acquisition device coordinates and the target acquisition device coordinates can both be physical coordinates in real space or both be virtual space coordinates in three-dimensional space.

[0100] As an example, taking the longitudinal central axis of the display screen as the deflection axis, and θ representing the horizontal deflection angle, the transformation matrix is

[0101] In an automated environment, the second acquisition device can be moved to the target acquisition device coordinates (x4, y4, z4); or the user can manually move the acquisition device until the distance between the coordinates of the second acquisition device and the target acquisition device coordinates (x4, y4, z4) satisfies the coordinate distance threshold.

[0102] Correspondingly, Figure 7 An implementation flowchart of a pose adjustment method of an acquisition device is shown, which can be applied to a terminal device and can be suitable for a situation where the accuracy of the shooting angle of an image needs to be improved.

[0103] Specifically, the pose adjustment method of the acquisition device can include the following steps S701 to S702.

[0104] In step S701, a reference legend is acquired and displayed on a display interface of the terminal device.

[0105] The reference legend can include reference shape information at a target shooting angle, and the reference shape information can be used to indicate a shape of imaging of the display screen acquired by the first acquisition device at the target shooting angle. The target shooting angle can be used to acquire the luminous characteristic information of the display screen at a visual angle corresponding to the target shooting angle.

[0106] In step S702, the pose of the second acquisition device is adjusted until the real-time legend displayed on the display interface and the reference legend satisfy a preset coincidence condition.

[0107] The real-time legend can include real-time shape information acquired in real time, and the real-time shape information can be used to indicate a shape of imaging of the display screen acquired by the second acquisition device at a real-time angle.

[0108] In some embodiments, the terminal device can adjust the pose of the second acquisition device so that a relative angle between the second acquisition device after the pose adjustment and the display screen is the same as the target shooting angle, or an error between the relative angle and the target shooting angle is less than a preset threshold.

[0109] Specifically, in some embodiments, the terminal device can determine a target area according to the reference area information and the real-time area information, and determine a coincidence degree according to the target area. If the coincidence degree does not satisfy a coincidence degree threshold, the pose of the second acquisition device is re-adjusted until the coincidence degree satisfies the coincidence degree threshold.

[0110] In other embodiments, the terminal device can adjust the pose of the second acquisition device until a vertex distance calculated according to the target vertex coordinate group and the real-time vertex coordinate group satisfies a preset distance threshold.

[0111] It should be understood that the specific implementation process of steps S701 to S702 described above can refer to the description of the foregoing Figures 1 to 6 , and the present application will not be described in detail.

[0112] It should be noted that, for the foregoing method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the action order described, because according to the present application, certain steps can be performed in other orders.

[0113] For example, Figure 8Fig. 8 shows a structural schematic diagram of a pose adjustment device 800 of a collection device according to an embodiment of the present application. The pose adjustment device 800 of the collection device is configured on a terminal device.

[0114] Specifically, the pose adjustment device 800 of the collection device can include:

[0115] An information acquisition unit 801 configured to acquire reference shape information of a target shooting angle, the reference shape information being used to indicate a shape of display screen imaging obtained by the first collection device collecting the display screen at the target shooting angle;

[0116] A pose adjustment unit 802 configured to adjust a pose of a second collection device according to the reference shape information until real-time shape information of display screen imaging obtained by the display screen being collected on the second collection device satisfies a preset coincidence condition with the reference shape information; wherein a relative angle between the second collection device after the pose adjustment and the display screen is the same as the target shooting angle, or an error is less than a preset threshold.

[0117] In some embodiments, the information acquisition unit 801 can be specifically configured to: acquire initial shape information of an initial shooting angle, the initial shape information being obtained by the first collection device collecting the display screen at the initial shooting angle, or being calculated according to physical attributes of the display screen itself; acquire an angle deflection relationship between the initial shooting angle and at least one to-be-shot angle; and determine at least one reference shape information according to the angle deflection relationship, distance information between the display screen and the first collection device, and the initial shape information. Determine at least one reference shape information according to the angle deflection relationship, angle information formed by a vertex of the display screen and the first collection device at a shooting angle corresponding to a main view, and the initial shape information.

[0118] In some embodiments, the reference shape information can include a target vertex coordinate group of a shape of display screen imaging obtained by the first collection device collecting the display screen at the target shooting angle; the initial shape information can include an initial vertex coordinate group of a shape of display screen imaging obtained by the first collection device collecting the display screen at the initial shooting angle; and the information acquisition unit 801 can be specifically configured to determine at least one target vertex coordinate group according to the angle deflection relationship, distance information between the display screen and the first collection device, and the initial vertex coordinate group.

[0119] In some embodiments, the information obtaining unit 801 can be specifically configured to: obtain a reference image of the display screen captured by the first acquisition device at an initial shooting angle; determine region information of the display screen in the reference image, and determine the initial shape information according to the region information; or, obtain physical attributes of the display screen, the physical attributes including resolution information and contour information of the display screen; and determine the initial shape information of the display screen in a main view according to the physical attributes.

[0120] In some embodiments, the reference shape information can include reference region information of a shape of display screen imaging obtained by the first acquisition device capturing the display screen at a target shooting angle; the real-time shape information can include real-time region information of a shape of display screen imaging obtained by the second acquisition device capturing the display screen; and the pose adjusting unit 802 can be specifically configured to: adjust the pose of the second acquisition device according to the reference shape information, until a coincidence degree between the reference region information and the real-time region information meets a preset coincidence degree threshold.

[0121] In some embodiments, the pose adjusting unit 802 can be specifically configured to: adjust the pose of the second acquisition device; determine a target area according to the reference region information and the real-time region information, wherein the target area includes at least two of: an area of an intersection region between display screen imaging obtained by the first acquisition device capturing the display screen at the target shooting angle and display screen imaging obtained by the second acquisition device capturing the display screen, an area of a union region between display screen imaging obtained by the first acquisition device capturing the display screen at the target shooting angle and display screen imaging obtained by the second acquisition device capturing the display screen, and a sum of an area of display screen imaging obtained by the first acquisition device capturing the display screen at the target shooting angle and an area of display screen imaging obtained by the second acquisition device capturing the display screen; determine the coincidence degree according to the target area; and if the coincidence degree does not meet the coincidence degree threshold, readjust the pose of the second acquisition device until the coincidence degree meets the coincidence degree threshold.

[0122] In some embodiments, the reference shape information can include a target vertex coordinate set of a shape of display screen imaging obtained by the first acquisition device collecting the display screen at a target shooting angle; the real-time shape information can include a real-time vertex coordinate set of a shape of display screen imaging obtained by the second acquisition device collecting the display screen; and the pose adjustment unit 802 can be specifically configured to: adjust the pose of the second acquisition device according to the reference shape information, until a vertex distance calculated according to the target vertex coordinate set and the real-time vertex coordinate set meets a preset distance threshold.

[0123] In some embodiments, the information acquisition unit 801 can be specifically configured to: plot the display screen and the first acquisition device in a preset three-dimensional coordinate system; and determine the reference shape information according to three-dimensional coordinates of the display screen and the first acquisition device in the three-dimensional coordinate system.

[0124] It should be noted that, for the convenience and brevity of description, the specific working process of the pose adjustment device 800 of the acquisition device can be referred to Figures 1 to 6 the corresponding process of the method, which will not be repeated here.

[0125] As Figure 9 FIG. 9 is a structural schematic diagram of a pose adjustment device 900 of an acquisition device according to an embodiment of the present application, which is configured on a terminal device.

[0126] Specifically, the pose adjustment device 900 of the acquisition device can include:

[0127] The display unit 901 is configured to acquire a reference legend and display the reference legend on a display interface of the terminal device, the reference legend including reference shape information at a target shooting angle, the reference shape information being used to indicate a shape of display screen imaging obtained by a first acquisition device collecting the display screen at a target shooting angle.

[0128] The pose adjustment unit 902 is configured to adjust the pose of a second acquisition device until a real-time legend displayed on the display interface and the reference legend meet a preset coincidence condition, wherein the real-time legend includes real-time shape information of real-time imaging obtained by the second acquisition device collecting the display screen at a real-time angle, the real-time shape information being used to indicate a shape of imaging; and wherein a relative angle between the second acquisition device after the pose adjustment and the display screen is the same as the target shooting angle, or an error is less than a preset threshold.

[0129] In some embodiments, the pose adjustment unit 902 described above may be specifically used to: adjust the pose of the second acquisition device; determine a target area based on the reference area information and the real-time area information, wherein the target area includes at least two of the following: the area of ​​the intersection region between the display image acquired by the first acquisition device at the target shooting angle and the display image acquired by the display on the second acquisition device; the area of ​​the union region between the display image acquired by the first acquisition device at the target shooting angle and the display image acquired by the display on the second acquisition device; and the sum of the area of ​​the display image acquired by the first acquisition device at the target shooting angle and the area of ​​the display image acquired by the display on the second acquisition device; determine the overlap degree based on the target area; if the overlap degree does not meet the overlap degree threshold, then readjust the pose of the second acquisition device until the overlap degree meets the overlap degree threshold.

[0130] It should be noted that, for the sake of convenience and brevity, the specific working process of the pose adjustment device 900 of the aforementioned data acquisition equipment can be found in the following reference: Figure 7 The corresponding process of the method will not be described in detail here.

[0131] like Figure 10 The diagram shown is a schematic of a terminal device provided in an embodiment of this application. The terminal device 10 may include: a processor 1000, a memory 1001, and a computer program 1002 stored in the memory 1001 and executable on the processor 1000, such as a pose adjustment program for a data acquisition device. When the processor 1000 executes the computer program 1002, it implements the steps in the pose adjustment method embodiments of the various data acquisition devices described above, for example... Figure 1 Steps S101 to S102 are shown. Alternatively, when the processor 1000 executes the computer program 1002, it implements the steps in the above embodiments of the pose adjustment methods for various acquisition devices, for example... Figure 7 Steps S701 to S702 are shown.

[0132] Alternatively, when the processor 1000 executes the computer program 1002, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 8 The information acquisition unit 801 and pose adjustment unit 802 are shown. Alternatively, when the processor 1000 executes the computer program 1002, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 9 The display unit 901 and the pose adjustment unit 902 are shown.

[0133] The computer program can be divided into one or more modules / units, which are stored in the memory 1001 and executed by the processor 1000 to complete the present application. The one or more modules / units can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program in the terminal device.

[0134] For example, the computer program can be divided into: an information acquisition unit and a pose adjustment unit. The specific functions of each unit are as follows: the information acquisition unit is configured to acquire reference shape information of a target shooting angle, the reference shape information being used to indicate a shape of display screen imaging obtained by collecting the display screen by a first collection device at the target shooting angle; the pose adjustment unit is configured to adjust a pose of a second collection device according to the reference shape information, until real-time shape information of display screen imaging obtained by collecting the display screen by the second collection device satisfies a preset coincidence condition with the reference shape information; wherein a relative angle between the second collection device after the pose adjustment and the display screen is the same as the target shooting angle, or an error is less than a preset threshold.

[0135] For another example, the computer program can be divided into: a display unit and a pose adjustment unit. The specific functions of each unit are as follows: the display unit is configured to acquire a reference legend and display the reference legend on a display interface of the terminal device, the reference legend including reference shape information of a target shooting angle, the reference shape information being used to indicate a shape of display screen imaging obtained by collecting the display screen by a first collection device at the target shooting angle; the pose adjustment unit is configured to adjust a pose of a second collection device, until a real-time legend displayed on the display interface satisfies a preset coincidence condition with the reference legend, wherein the real-time legend includes real-time shape information of real-time shooting, the real-time shape information being used to indicate a shape of imaging obtained by collecting the display screen by the second collection device at a real-time angle, and a relative angle between the second collection device after the pose adjustment and the display screen is the same as the target shooting angle, or an error is less than a preset threshold.

[0136] The terminal device can include, but is not limited to, the processor 1000, the memory 1001. Those skilled in the art can understand that, Figure 10 The terminal device is only an example and does not constitute a limitation on the terminal device, and can include more or fewer components than the illustration, or combine certain components, or different components, for example, the terminal device can also include an input / output terminal device, a network access terminal device, a bus, etc.

[0137] The processor 1000 can be a central processing unit (CPU), and can also be other general-purpose processors, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0138] The memory 1001 can be an internal storage unit of the terminal device, for example, a hard disk or a memory of the terminal device. The memory 1001 can also be an external storage terminal device of the terminal device, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device. Further, the memory 1001 can also include both the internal storage unit and the external storage terminal device of the terminal device. The memory 1001 is used to store the computer program and other programs and data required by the terminal device. The memory 1001 can also be used to temporarily store data that has been output or will be output.

[0139] It should be noted that, for the convenience and brevity of description, the structure of the terminal device can also refer to the specific description of the structure in the method embodiment, which will not be repeated here.

[0140] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is exemplified, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of software functional unit. In addition, the specific name of each functional unit and module is only for easy distinction, and does not limit the protection scope of the present application. The specific working process of the unit and module in the system can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

[0141] In the above embodiments, the description of each embodiment has its own focus, and the parts not described or recorded in a certain embodiment can be referred to the relevant description of other embodiments.

[0142] Those skilled in the art can understand that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0143] In the embodiments provided in the present application, it should be understood that the disclosed apparatus / terminal device and method can be implemented by other ways. For example, the apparatus / terminal device embodiments described above are only schematic, and the division of the modules or units is only a logical function division, and there can be another division way in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between the units can be indirect couplings or communication connections through some interfaces, devices or units, and can be electrical, mechanical or in other forms.

[0144] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the present embodiment.

[0145] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically independently, or two or more units can be integrated into one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0146] The integrated module / unit, if implemented in the form of a software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the above-mentioned embodiment methods can also be completed by a computer program instructing related hardware, and the computer program can be stored in a computer readable storage medium. The computer program can implement the steps of each method embodiment when executed by a processor. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or some intermediate forms. The computer readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the contents included in the computer readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.

[0147] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A method for adjusting the pose of a data acquisition device, characterized in that, The method comprises the following steps: obtaining reference shape information of a target shooting angle, the reference shape information being used to indicate a shape of display screen imaging obtained by the first acquisition device collecting the display screen at the target shooting angle; adjusting a pose of the second acquisition device according to the reference shape information until real-time shape information of the display screen imaging obtained by the second acquisition device collecting the display screen satisfies a preset coincidence condition with the reference shape information; wherein a relative angle between the second acquisition device after the pose adjustment and the display screen is the same as the target shooting angle, or an error is less than a preset threshold.

2. The method of claim 1, wherein, The method comprises the following steps: obtaining initial shape information of an initial shooting angle, the initial shape information being obtained by the first acquisition device collecting the display screen at the initial shooting angle or being calculated according to physical attributes of the display screen itself; obtaining an angle deflection relationship between the initial shooting angle and at least one to-be-shot angle; determining at least one reference shape information according to the angle deflection relationship, distance information between the display screen and the first acquisition device, and the initial shape information; or determining at least one reference shape information according to the angle deflection relationship, angle information formed by a vertex of the display screen and the first acquisition device at a shooting angle corresponding to a main view, and the initial shape information. The reference shape information comprises a target vertex coordinate group of a shape of display screen imaging obtained by the first acquisition device collecting the display screen at the target shooting angle; and the initial shape information comprises an initial vertex coordinate group of a shape of display screen imaging obtained by the first acquisition device collecting the display screen at the initial shooting angle.

3. The method of claim 2, wherein, The method comprises the following steps: determining at least one target vertex coordinate group according to the angle deflection relationship, the distance information between the display screen and the first acquisition device, and the initial vertex coordinate group. The method comprises the following steps:

4. The method of claim 2, wherein, obtaining a reference image of the display screen collected by the first acquisition device at the initial shooting angle; determining region information of the display screen in the reference image, and determining the initial shape information according to the region information; or obtaining physical attributes of the display screen, the physical attributes comprising resolution information and contour information of the display screen; and determining the initial shape information of the display screen at the main view according to the physical attributes. The reference shape information comprises reference region information of a shape of display screen imaging obtained by the first acquisition device collecting the display screen at the target shooting angle; The real-time shape information comprises real-time region information of a shape of display screen imaging obtained by the second acquisition device collecting the display screen. ​ 5. The pose adjustment method of the collection device according to any one of claims 1 to 4, characterized in that, ​ ​ The pose of the second acquisition device is adjusted according to the reference shape information until real-time shape information of display screen imaging acquired by the display screen on the second acquisition device and the reference shape information satisfy a preset coincidence condition. The pose of the second acquisition device is adjusted according to the reference shape information until coincidence degree between the reference area information and the real-time area information satisfies a preset coincidence degree threshold.

6. The method of adjusting the pose of the collection device of claim 5, wherein, The pose of the second acquisition device is adjusted until coincidence degree between the reference area information and the real-time area information satisfies a preset coincidence degree threshold, including: The pose of the second acquisition device is adjusted; According to the reference area information and the real-time area information, a target area is determined, wherein the target area includes at least two of the following: an area of an intersection region between display screen imaging acquired by the display screen on the first acquisition device at the target shooting angle and display screen imaging acquired by the display screen on the second acquisition device, an area of a union region between the display screen imaging acquired by the display screen on the first acquisition device at the target shooting angle and the display screen imaging acquired by the display screen on the second acquisition device, and a sum of an area of the display screen imaging acquired by the display screen on the first acquisition device at the target shooting angle and an area of the display screen imaging acquired by the display screen on the second acquisition device; The coincidence degree is determined according to the target area; If the coincidence degree does not satisfy the coincidence degree threshold, the pose of the second acquisition device is adjusted again until the coincidence degree satisfies the coincidence degree threshold.

7. The pose adjustment method of the collection device according to any one of claims 1 to 4, characterized in that, The reference shape information includes a target vertex coordinate group of a shape of display screen imaging acquired by the first acquisition device at a target shooting angle; The real-time shape information includes a real-time vertex coordinate group of a shape of display screen imaging acquired by the display screen on the second acquisition device; The pose of the second acquisition device is adjusted according to the reference shape information until real-time shape information of display screen imaging acquired by the display screen on the second acquisition device and the reference shape information satisfy a preset coincidence condition, including: The pose of the second acquisition device is adjusted according to the reference shape information until a vertex distance calculated according to the target vertex coordinate group and the real-time vertex coordinate group satisfies a preset distance threshold.

8. The pose adjustment method of the collection device according to any one of claims 1 to 4, characterized in that, The reference shape information of the target shooting angle is obtained, including: The display screen and the first acquisition device are drawn in a preset three-dimensional coordinate system; The reference shape information is determined according to three-dimensional coordinates of the display screen and the first acquisition device in the three-dimensional coordinate system. 9.A method for adjusting a pose of a collection device, the method comprising: The method is applied to a terminal device, and the method includes: obtain a reference legend, the reference legend comprising reference shape information at a target shooting angle, the reference shape information being used to indicate a shape of display screen imaging obtained by the first acquisition device at the target shooting angle; adjust a pose of the second acquisition device until a real-time legend displayed on the display interface and the reference legend satisfy a preset coincidence condition, wherein the real-time legend comprises real-time shape information of real-time shooting, the real-time shape information being used to indicate a shape of imaging obtained by the second acquisition device at a real-time angle, and a relative angle between the second acquisition device and the display screen after the pose adjustment is the same as the target shooting angle or an error is less than a preset threshold.

10. The method of claim 9, wherein, the reference shape information comprises reference area information of the shape of display screen imaging obtained by the first acquisition device at the target shooting angle; the real-time shape information comprises real-time area information of the shape of display screen imaging obtained by the second acquisition device; the adjusting of the pose of the second acquisition device until the real-time legend displayed on the display interface and the reference legend satisfy the preset coincidence condition comprises: adjusting the pose of the second acquisition device; determining a target area according to the reference area information and the real-time area information, wherein the target area comprises at least two of an area of an intersection region between the display screen imaging obtained by the first acquisition device at the target shooting angle and the display screen imaging obtained by the second acquisition device, an area of a union region between the display screen imaging obtained by the first acquisition device at the target shooting angle and the display screen imaging obtained by the second acquisition device, and a sum of an area of the display screen imaging obtained by the first acquisition device at the target shooting angle and an area of the display screen imaging obtained by the second acquisition device; determining a coincidence degree according to the target area; if the coincidence degree does not satisfy a coincidence degree threshold, re-adjusting the pose of the second acquisition device until the coincidence degree satisfies the coincidence degree threshold.

11. A pose adjustment apparatus of a harvesting device, characterized in that comprise: an information obtaining unit, configured to obtain reference shape information at a target shooting angle, the reference shape information being used to indicate a shape of display screen imaging obtained by a first acquisition device at the target shooting angle, the target shooting angle being used to obtain luminous characteristic information of the display screen at a corresponding viewing angle of the target shooting angle; The pose adjustment unit is configured to adjust a pose of a second acquisition device according to the reference shape information until real-time shape information of display screen imaging acquired by the second acquisition device on the display screen satisfies a preset coincidence condition with the reference shape information; and wherein a relative angle between the second acquisition device after the pose adjustment and the display screen is the same as the target shooting angle, or an error is less than a preset threshold.

12. A pose adjustment apparatus of a harvesting device, characterized in that The device is configured to be arranged in a terminal device, and the device comprises: The display unit is configured to acquire a reference legend and display the reference legend on a display interface of the terminal device, the reference legend comprising reference shape information at a target shooting angle, the reference shape information being used to indicate a shape of display screen imaging acquired by a first acquisition device on the display screen at the target shooting angle; The pose adjustment unit is configured to adjust a pose of a second acquisition device until a real-time legend displayed on the display interface satisfies a preset coincidence condition with the reference legend, wherein the real-time legend comprises real-time shape information acquired by real-time shooting, the real-time shape information being used to indicate a shape of imaging acquired by the second acquisition device on the display screen at a real-time angle, and a relative angle between the second acquisition device after the pose adjustment and the display screen is the same as the target shooting angle, or an error is less than a preset threshold.

13. A terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor implements the steps of the pose adjustment method of the acquisition device according to any one of claims 1 to 8 when executing the computer program, or the processor implements the steps of the pose adjustment method of the acquisition device according to any one of claims 9 to 10 when executing the computer program.

14. A computer-readable storage medium, the computer-readable storage medium storing a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the pose adjustment method of the acquisition device according to any one of claims 1 to 8; or the computer program is executed by the processor to implement the steps of the pose adjustment method of the acquisition device according to any one of claims 9 to 10.

Images