A method, apparatus, device, and medium for adjusting the image acquisition angle.

Abstract

This invention discloses a method, apparatus, device, and medium for adjusting the image acquisition angle. The method includes: acquiring at least two images to be used, captured by a camera device at a current acquisition angle; for any two images to be used, determining a target matching factor value between the two images based on the number of matching feature points between them and the current acquisition angle; determining an angle to be adjusted based on each target matching factor value and a preset matching factor threshold; and adjusting the current acquisition angle of the camera device based on the angle to be adjusted. The technical solution of this invention solves the problem of poor image quality caused by the inability to determine the optimal acquisition angle for image capture, thereby achieving the determination of the optimal acquisition angle and improving the quality of image acquisition.

Description

Technical Field

[0001] This invention relates to the field of image processing technology, and in particular to a method, apparatus, device, and medium for adjusting the image acquisition angle. Background Technology

[0002] With the rapid development of information technology, visible light imaging has been increasingly used in various fields. By combining visible light images with infrared images, three-dimensional digital twin models of objects can be generated, facilitating real-time monitoring of the operating status of large industrial equipment, which is of great significance. The quality of visible light images directly affects the smooth progress of subsequent image segmentation and judgment; therefore, how to enable the system to automatically acquire high-quality images is a pressing problem to be solved. Summary of the Invention

[0003] This invention provides a method, apparatus, device, and medium for adjusting the image acquisition angle, thereby determining the optimal image acquisition angle and improving the quality of image acquisition.

[0004] According to one aspect of the present invention, a method for adjusting the image acquisition angle is provided, comprising:

[0005] Acquire at least two images to be used, captured by the camera device at the current acquisition angle;

[0006] For any two images to be used, the target matching factor value between the two images is determined based on the number of matching feature points between the two images and the current acquisition angle.

[0007] The angle to be adjusted is determined based on the values ​​of each target matching factor and the preset matching factor threshold, and the current acquisition angle of the camera device is adjusted based on the angle to be adjusted.

[0008] According to another aspect of the present invention, an image acquisition angle adjustment device is provided, comprising:

[0009] The image acquisition module is used to acquire at least two images to be used, captured by the camera device at the current acquisition angle.

[0010] The matching determination module is used to determine the target matching factor value between any two images to be used based on the number of matching feature points between the two images to be used and the current acquisition angle.

[0011] An angle adjustment module is used to determine the angle to be adjusted based on the values ​​of each target matching factor and a preset matching factor threshold, and to adjust the current acquisition angle of the camera device based on the angle to be adjusted.

[0012] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0013] At least one processor; and

[0014] A memory communicatively connected to the at least one processor; wherein,

[0015] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the image acquisition angle adjustment method according to any embodiment of the present invention.

[0016] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the image acquisition angle adjustment method according to any embodiment of the present invention.

[0017] The technical solution of this invention involves acquiring at least two images to be used, captured by a camera device at a current acquisition angle. For any two images to be used, a target matching factor value is determined based on the number of matching feature points between the two images and the current acquisition angle. An adjustment angle is determined based on each target matching factor value and a preset matching factor threshold, and the current acquisition angle of the camera device is adjusted based on this adjustment angle. This technical solution solves the problem of poor image quality caused by the inability to determine the optimal acquisition angle, thereby improving the quality of image acquisition by determining the optimal acquisition angle.

[0018] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a flowchart of an image acquisition angle adjustment method provided in Embodiment 1 of the present invention;

[0021] Figure 2 A flowchart illustrating a method for adjusting the image acquisition angle according to Embodiment 2 of the present invention;

[0022] Figure 3 A flowchart illustrating a method for adjusting the image acquisition angle according to Embodiment 3 of the present invention;

[0023] Figure 4 This is the weighted connection diagram applicable to Embodiment 3 of the present invention;

[0024] Figure 5 This is a schematic diagram of the structure of an image acquisition angle adjustment device provided in Embodiment 4 of the present invention;

[0025] Figure 6 This is a schematic diagram of the structure of an electronic device provided in Embodiment 5 of the present invention. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] Example 1

[0029] Figure 1 This is a flowchart of an image acquisition angle adjustment method provided in Embodiment 1 of the present invention. This embodiment is applicable to determining the optimal acquisition angle of a camera device. The method can be executed by an image acquisition angle adjustment device, which can be implemented in hardware and / or software. This device can be configured in an image acquisition device, for example, in a visible light camera. Figure 1 As shown, the method includes:

[0030] S110. Acquire at least two images to be used, captured by the camera device at the current acquisition angle.

[0031] Here, the camera device refers to an electronic device with camera function. The camera device can be a webcam, camera, etc., and the current acquisition angle can be the angle at which the camera device captures the image. Accordingly, the image captured by the camera device at the current acquisition angle is the image to be used, and the number of images to be used is at least two.

[0032] It is understandable that the quality of images captured by a camera device varies depending on the acquisition angle. In order to find the optimal acquisition angle of the camera device, it is possible to control the camera device to capture at least two images at a fixed angle as images to be used.

[0033] Optionally, acquiring at least two images to be used by the camera device at the current acquisition angle includes: taking at least two visible light images at the current acquisition angle using a visible light camera, and determining the at least two visible light images as the images to be used.

[0034] With the rapid development of information technology, visible light imaging has been increasingly used in various fields. Therefore, a visible light camera can be used as a recording device to capture at least two visible light images at a fixed angle, and the visible light image can be selected as the image to be used.

[0035] S120. For any two images to be used, determine the target matching factor value between the two images based on the number of matching feature points between the two images and the current acquisition angle.

[0036] The number of feature points refers to the number of matching feature points in two images. For example, the number of matching feature points between image A and image B is N. The target matching factor is a value calculated based on the number of matching feature points and the current acquisition angle, and can be used to measure the matching degree between two images.

[0037] Specifically, for any two images to be used, feature matching can be performed on the two images to determine the number of matching feature point pairs between the two images. For example, if there are N matching feature point pairs between the two images, then the number of matching feature points between the two images to be used is N. Furthermore, the matching degree between the two images is quantified based on the number of matching feature points and the current acquisition angle, that is, the target matching factor value between the two images to be used is calculated.

[0038] It should be noted that the camera device captures at least two images. The above-mentioned target matching factor value calculation process can be performed on any two images to be used, or images with a certain matching relationship can be predetermined and the target matching factor value can be calculated.

[0039] S130. Determine the angle to be adjusted based on the values ​​of each target matching factor and the preset matching factor threshold, and adjust the current acquisition angle of the camera device based on the angle to be adjusted.

[0040] Among them, the preset matching factor threshold is a pre-set threshold used to judge the quality of the image at the current sampling angle, and the angle to be adjusted refers to the angle that the camera device needs to adjust from the current sampling angle to achieve the best acquisition angle.

[0041] It is understandable that a preset matching factor value can be used to determine whether the target matching factor values ​​of at least two images at the current acquisition angle meet the standard. Based on this, the quality of the images acquired at the current acquisition angle can be judged, and the angle that the camera device needs to adjust from the current sampling angle to achieve the optimal acquisition viewpoint can be determined. Furthermore, a drive signal corresponding to the angle to be adjusted is generated to control the rotation of the rotating parts on the camera device to change the current shooting angle until the optimal acquisition viewpoint is achieved.

[0042] Based on the above, determining the angle to be adjusted based on each of the target matching factor values ​​and the preset matching factor threshold includes: obtaining the maximum target matching factor value from the multiple target matching factor values, and determining the angle to be adjusted based on the maximum target matching factor value and the preset matching factor threshold.

[0043] Specifically, when there are multiple images to be used, two images can be used to determine a corresponding target matching factor value, and thus multiple target matching factor values ​​can be determined. The largest value among the multiple target matching factor values ​​can be determined as the maximum target matching factor value, and the angle to be adjusted can be determined based on the maximum target matching factor value and the preset matching factor threshold.

[0044] Based on the above, the step of determining the angle to be adjusted based on the values ​​of each target matching factor and the preset matching factor threshold further includes: if the maximum target matching factor value is greater than the preset matching factor value, then the angle to be adjusted of the camera device is determined to be zero; if the maximum target matching factor value is less than the preset matching factor value, then the current acquisition angle of the camera device is adjusted according to the preset adjustment step size, and the maximum target matching factor value under the corresponding current acquisition angle is determined, until the maximum target matching factor value is greater than the preset matching factor threshold, then the angle to be adjusted of the camera device is determined.

[0045] The preset step size refers to the adjustment step size of the camera device angle.

[0046] Specifically, if the maximum target matching factor value is greater than the preset matching factor value, it indicates that the matching degree between the images acquired from the current acquisition perspective is high. The higher the matching degree, the higher the quality of the acquired image. Therefore, there is no need to adjust the current sampling angle, and the angle to be adjusted can be determined to be zero. If the maximum target matching factor value is less than the preset matching factor value, it indicates that the current acquisition perspective is not the optimal acquisition perspective. In this case, the camera device can be controlled to continue adjusting the acquisition angle of the camera device according to the adjustment step size, and the maximum target matching factor at the acquisition angle can be calculated until the maximum target matching factor value at a certain acquisition angle is greater than the preset matching factor threshold. This is then taken as the optimal acquisition angle, thus acquiring a high-quality image at the optimal acquisition angle.

[0047] The technical solution of this invention involves acquiring at least two images to be used, captured by a camera device at a current acquisition angle. For any two images to be used, a target matching factor value is determined based on the number of matching feature points between the two images and the current acquisition angle. An adjustment angle is determined based on each target matching factor value and a preset matching factor threshold, and the current acquisition angle of the camera device is adjusted based on this adjustment angle. This technical solution solves the problem of poor image quality caused by the inability to determine the optimal acquisition angle, thereby improving the quality of image acquisition by determining the optimal acquisition angle.

[0048] Example 2

[0049] Figure 2 This is a flowchart of an image acquisition angle adjustment method provided in Embodiment 2 of the present invention. Based on the above implementation, this embodiment describes the process of determining the target matching factor value. For specific implementation details, please refer to the technical solution of this embodiment. Technical terms that are the same as or corresponding to those in the above embodiments will not be repeated here. Figure 2 As shown, the method includes:

[0050] S210. Acquire at least two images to be used, captured by the camera device at the current acquisition angle.

[0051] S220. Determine the feature point matching factor values ​​corresponding to the two images to be used based on the number of matching feature points between the two images to be used and the preset number of feature points.

[0052] The preset number of feature points can be understood as the minimum number of feature points required for a matching relationship between two images, while the feature point matching factor is used to measure the degree of matching between feature points in two images.

[0053] For any two images to be used, the formula (1) for calculating the feature point matching factor value can be as follows:

[0054]

[0055] Where, N min k is the preset number of feature points. M is the feature point matching factor value, and N is the number of matching feature points between the two images to be used.

[0056] S230. Determine the value of the rotation angle factor based on the current acquisition angle of the image to be used and the rotation angle range of the camera device.

[0057] The rotation angle factor value is used to represent the degree of rotation of the camera device, and the rotation angle factor value is also one of the factors that determine whether the current sampling angle is appropriate.

[0058] In this embodiment, the rotation angle range includes a maximum rotation angle and a minimum rotation angle. Determining the rotation angle factor value based on the current acquisition angle of the image to be used and the rotation angle range of the camera device may include: obtaining the maximum and minimum rotation angles of the camera device and determining the average of the maximum and minimum rotation angles as a preset rotation angle; determining a first angle value based on the difference between the current acquisition angle and the preset rotation angle, and determining a second angle value based on the difference between the maximum and minimum rotation angles; and determining the rotation angle factor value based on the square of the ratio of the first angle value to the second angle value.

[0059] The maximum rotation angle and the minimum rotation angle refer to the maximum and minimum rotation angles that the camera device can allow. The preset rotation angle can be the average of the maximum and minimum rotation angles.

[0060] Specifically, the rotation angle factor can be calculated using the following formula (2):

[0061]

[0062] Where, k θ This is the rotation angle factor value, where θ is the current acquisition angle and θ0 is the preset rotation angle. θ max and θ min These are the maximum and minimum rotation angles.

[0063] S240. Based on the feature point matching factor values ​​and the rotation angle factor values ​​corresponding to the two images to be used, obtain the target matching factor values ​​corresponding to the two images to be used.

[0064] Specifically, after the feature point matching factor and rotation angle factor values ​​have been calculated above, they can be substituted into the corresponding formulas to calculate the target matching factor value.

[0065] Optionally, obtaining the target matching factor value corresponding to the two images to be used based on the feature point matching factor value and the rotation angle factor value of the two images to be used includes: obtaining a first value corresponding to the two images to be used based on the feature point matching factor value and a first preset coefficient associated with the feature point matching factor value; obtaining a second value based on the rotation angle factor value and a second preset coefficient associated with the rotation angle factor value; and determining the target matching factor value corresponding to the two images to be used based on the sum of the first value and the second value.

[0066] Wherein, the sum of the first preset coefficient and the second preset coefficient is a preset value, the target matching factor value can be represented by k, α1 is the first preset coefficient, and α2 is the second preset coefficient, which are preset.

[0067] Specifically, the expression for k is:

[0068] k=α1k M +α2k θ (3)

[0069] In the formula, α1 and α2 satisfy α1 + α2 = 1. M Feature point matching factor value, k θ Let α1k be the rotation angle factor value. M The first value, α2k θ This is the second value.

[0070] S250. Determine the angle to be adjusted based on the values ​​of each target matching factor and the preset matching factor threshold, and adjust the current acquisition angle of the camera device based on the angle to be adjusted.

[0071] The technical solution of this invention involves acquiring at least two images to be used, captured by a camera device at a current acquisition angle. For any two images to be used, a target matching factor value is determined based on the number of matching feature points between the two images and the current acquisition angle. An adjustment angle is determined based on each target matching factor value and a preset matching factor threshold, and the current acquisition angle of the camera device is adjusted based on this adjustment angle. This technical solution solves the problem of poor image quality caused by the inability to determine the optimal acquisition angle, thereby improving the quality of image acquisition by determining the optimal acquisition angle.

[0072] Example 3

[0073] Figure 3 This is a flowchart of an image acquisition angle adjustment method provided in Embodiment 3 of the present invention. This embodiment is a preferred embodiment of the above implementation, and its specific implementation method can be found in the technical solution of this embodiment. Technical terms that are the same as or corresponding to those in the above embodiments will not be repeated here.

[0074] like Figure 3 As shown, the method includes:

[0075] The method of this invention can be implemented through a system for finding the optimal acquisition angle of visible light images based on a matching factor. This system includes a visible light camera, a rotating component, a data processing and analysis terminal, and a drive signal generation terminal. The visible light camera acquires visible light image data and sends the data to the data processing and analysis terminal. The rotating component can rotate the visible light camera to adjust the shooting angle. After receiving the visible light data, the data processing and analysis terminal calculates the matching factor and determines whether the current acquisition angle is the optimal one based on whether the matching factor exceeds a threshold. If the threshold is not exceeded, the drive signal generation terminal generates a drive signal to control the rotating component to rotate, changing the current shooting angle until the optimal acquisition angle is found.

[0076] In a preferred embodiment of the present invention, a visible light camera is arranged above a rotating component. When a drive signal is received, the rotating component can rotate along with the visible light camera to change the current shooting angle.

[0077] In a preferred embodiment of the present invention, the visible light camera is connected to the data processing and analysis terminal to establish real-time communication. The visible light camera transmits the currently acquired visible light image to the data processing and analysis terminal for analysis and processing in real time.

[0078] In a preferred embodiment of the present invention, the data processing and analysis end employs motion reconstruction structure technology to establish a weighted connectivity graph-based system for quantifying the stereo matching quality of images. This graph uses image pairs as vertices and matching relationships as edges, thereby quantifying the degree of matching between images and adding all images that satisfy the matching relationship to the matching set. Figure 4 The diagram shown is a weighted connection diagram applicable to embodiments of the present invention.

[0079] After quantization, the system calculates the matching factor k∈(0,1) for the samples in the matching set. The expression for k is:

[0080] k=α1k M +α2k θ (4)

[0081] In the formula, α1 and α2 are manually set parameters that satisfy α1 + α2 = 1. M k is the normalized feature point matching factor. θ This is the normalized rotation angle factor.

[0082] When the image quality captured by the device is low and the features are not obvious, α1 can be increased and α2 decreased to improve the influence of image features; conversely, when the image quality is high and the features are obvious, easy to extract and identify, α1 can be decreased and α2 increased.

[0083] k M The expression is:

[0084]

[0085] In the formula, N min Let N be the minimum number of feature point pairs required to assume a matching relationship between images, given in advance. Since the samples are selected from the matching set, N > Nmatching set. min k M ∈(0,1).

[0086] k θ The expression is:

[0087]

[0088] In the formula, θ 相对 θ and θ0 represent the current relative rotation angle and the optimal relative rotation angle of the device, respectively. max and θ min These are the maximum and minimum values ​​of the relative rotation angle of the equipment. θ0 is given manually and can generally be taken as...

[0089] Obviously, θ 相对 -θ0<θ max -θ min,k θ ∈(0,1).

[0090] In a preferred embodiment of the present invention, the data processing and analysis end and the drive signal generation end are connected to establish real-time communication. The system adjusts the shooting angle appropriately according to the value of k; the larger the value of k, the more ideal the current angle. A threshold value for k is set. If k is less than the threshold value, the data processing and analysis end notifies the drive signal generation end to generate a drive signal to drive the rotating component to rotate and change the shooting angle. When k is greater than the threshold value, the adjustment stops, thus finding the optimal acquisition angle.

[0091] The technical solution of this invention is a system that evaluates the quality of the current viewing angle by calculating the matching factor of the image. Given that the system hardware conditions are already determined, a system is designed that enables the visible light acquisition system to automatically seek the best acquisition viewing angle and acquire visible light data from this angle. This improves the matching degree between acquired images, enhances the quality of visible light images, and greatly helps in the subsequent work.

[0092] Example 4

[0093] Figure 5 This is a schematic diagram of an image acquisition angle adjustment device provided in Embodiment 4 of the present invention. Figure 5 As shown, the device includes:

[0094] The image acquisition module 410 is used to acquire at least two images to be used by the camera device at the current acquisition angle;

[0095] The matching determination module 420 is used to determine the target matching factor value between any two images to be used based on the number of matching feature points between the two images to be used and the current acquisition angle.

[0096] Angle adjustment module 430 is used to determine the angle to be adjusted based on the values ​​of each target matching factor and a preset matching factor threshold, and to adjust the current acquisition angle of the camera device based on the angle to be adjusted.

[0097] Optionally, the image acquisition module 410 includes:

[0098] The visible light image acquisition module is used to capture at least two visible light images at the current acquisition angle using a visible light camera, and to determine at least two of the visible light images as the images to be used.

[0099] Optionally, the matching determination module 420 includes:

[0100] The feature point matching factor value determination module is used to determine the feature point matching factor value corresponding to the two images to be used based on the number of matching feature points between the two images to be used and a preset number of feature points.

[0101] The rotation angle factor value determination module is used to determine the rotation angle factor value based on the current acquisition angle of the image to be used and the rotation angle range of the camera device; wherein, the rotation angle factor value is used to represent the degree of rotation of the camera device;

[0102] The target matching factor value calculation module is used to obtain the target matching factor value corresponding to the two images to be used based on the feature point matching factor value and the rotation angle factor value corresponding to the two images to be used.

[0103] Optionally, the target matching factor numerical calculation module includes:

[0104] The first numerical determination module is used to obtain the first numerical values ​​corresponding to the two images to be used based on the feature point matching factor values ​​and the first preset coefficients associated with the feature point matching factor values.

[0105] The second value determination module is used to obtain a second value based on the rotation angle factor value and a second preset coefficient associated with the rotation angle factor value;

[0106] The target matching factor numerical calculation unit is used to determine the target matching factor values ​​corresponding to the two images to be used based on the sum of the first value and the second value.

[0107] The sum of the first preset coefficient and the second preset coefficient is a preset value.

[0108] Optionally, the angle adjustment module 430 is specifically used for:

[0109] The maximum target matching factor value is obtained from multiple target matching factor values, and the angle to be adjusted is determined based on the maximum target matching factor value and the preset matching factor threshold.

[0110] Optionally, the angle adjustment module 430 is further configured to:

[0111] If the maximum target matching factor value is greater than the preset matching factor value, then the angle to be adjusted of the camera device is determined to be zero;

[0112] If the maximum target matching factor value is less than the preset matching factor value, the current acquisition angle of the camera device is adjusted according to the preset adjustment step size, and the maximum target matching factor value under the corresponding current acquisition angle is determined until the maximum target matching factor value is greater than the preset matching factor threshold, and then the angle to be adjusted of the camera device is determined.

[0113] Optionally, the rotation angle range includes a maximum rotation angle and a minimum rotation angle, and the rotation angle factor value determination module includes:

[0114] The maximum and minimum rotation angles of the camera device are obtained, and the average of the maximum and minimum rotation angles is determined as the preset rotation angle.

[0115] A first angle value is determined based on the difference between the current acquisition angle and the preset rotation angle, and a second angle value is determined based on the difference between the maximum rotation angle and the minimum rotation angle.

[0116] The rotation angle factor value is determined based on the square of the ratio of the first angle value to the second angle value.

[0117] The technical solution of this invention involves acquiring at least two images to be used, captured by a camera device at a current acquisition angle. For any two images to be used, a target matching factor value is determined based on the number of matching feature points between the two images and the current acquisition angle. An adjustment angle is determined based on each target matching factor value and a preset matching factor threshold, and the current acquisition angle of the camera device is adjusted based on this adjustment angle. This technical solution solves the problem of poor image quality caused by the inability to determine the optimal acquisition angle, thereby improving the quality of image acquisition by determining the optimal acquisition angle.

[0118] The image acquisition angle adjustment device provided in this embodiment of the invention can execute the image acquisition angle adjustment method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0119] Example 5

[0120] Figure 6This is a schematic diagram of an electronic device provided in Embodiment 5 of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0121] like Figure 6 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0122] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0123] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the method for adjusting the image acquisition angle.

[0124] In some embodiments, the image acquisition angle adjustment method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the image acquisition angle adjustment method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the image acquisition angle adjustment method by any other suitable means (e.g., by means of firmware).

[0125] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0126] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0127] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0128] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0129] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0130] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0131] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0132] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for adjusting the image acquisition angle, characterized in that, include: Acquire at least two images to be used, captured by the camera device at the current acquisition angle; For any two images to be used, a target matching factor value is determined based on the number of matching feature points between the two images and the current acquisition angle. Specifically, this includes: determining the feature point matching factor value corresponding to the two images based on the number of matching feature points and a preset number of feature points; determining the rotation angle factor value based on the current acquisition angle of the images and the rotation angle range of the camera device; wherein the rotation angle factor value represents the degree of rotation of the camera device; and obtaining the target matching factor value corresponding to the two images based on the feature point matching factor value and the rotation angle factor value. The angle to be adjusted is determined based on the values ​​of each target matching factor and the preset matching factor threshold, and the current acquisition angle of the camera device is adjusted based on the angle to be adjusted. The step of determining the angle to be adjusted based on the values ​​of each target matching factor and a preset matching factor threshold includes: The maximum target matching factor value is obtained from a plurality of target matching factor values, and the angle to be adjusted is determined based on the maximum target matching factor value and the preset matching factor threshold. The step of determining the angle to be adjusted based on the values ​​of each target matching factor and a preset matching factor threshold further includes: If the maximum target matching factor value is greater than the preset matching factor threshold, the angle to be adjusted of the camera device is determined to be zero; if the maximum target matching factor value is less than the preset matching factor threshold, the current acquisition angle of the camera device is adjusted according to the preset adjustment step size, and the maximum target matching factor value under the corresponding current acquisition angle is determined, until the maximum target matching factor value is greater than the preset matching factor threshold, and then the angle to be adjusted of the camera device is determined.

2. The method according to claim 1, characterized in that, The acquisition device acquires at least two images to be used at the current acquisition angle, including: At least two visible light images are captured by a visible light camera at the current acquisition angle, and at least two of the visible light images are determined as the images to be used.

3. The method according to claim 1, characterized in that, The step of obtaining the target matching factor value corresponding to the two images to be used based on the feature point matching factor value and the rotation angle factor value of the two images to be used includes: Based on the feature point matching factor value and the first preset coefficient associated with the feature point matching factor value, the first value corresponding to the two images to be used is obtained. The second value is obtained based on the rotation angle factor value and the second preset coefficient associated with the rotation angle factor value; The target matching factor values ​​for the two images to be used are determined based on the sum of the first value and the second value. The sum of the first preset coefficient and the second preset coefficient is a preset value.

4. The method according to claim 1, characterized in that, The rotation angle range includes a maximum rotation angle and a minimum rotation angle. Determining the rotation angle factor value based on the current acquisition angle of the image to be used and the rotation angle range of the camera device includes: The maximum and minimum rotation angles of the camera device are obtained, and the average of the maximum and minimum rotation angles is determined as the preset rotation angle. A first angle value is determined based on the difference between the current acquisition angle and the preset rotation angle, and a second angle value is determined based on the difference between the maximum rotation angle and the minimum rotation angle. The rotation angle factor value is determined based on the square of the ratio of the first angle value to the second angle value.

5. An image acquisition angle adjustment device, characterized in that, include: The image acquisition module is used to acquire at least two images to be used, captured by the camera device at the current acquisition angle. The matching determination module is used to determine the target matching factor value between any two images to be used based on the number of matching feature points between the two images to be used and the current acquisition angle. An angle adjustment module is used to determine the angle to be adjusted based on the values ​​of each target matching factor and a preset matching factor threshold, and to adjust the current acquisition angle of the camera device based on the angle to be adjusted. The matching determination module includes: The feature point matching factor value determination module is used to determine the feature point matching factor value corresponding to the two images to be used based on the number of matching feature points between the two images to be used and a preset number of feature points. The rotation angle factor value determination module is used to determine the rotation angle factor value based on the current acquisition angle of the image to be used and the rotation angle range of the camera device; wherein, the rotation angle factor value is used to represent the degree of rotation of the camera device; The target matching factor value calculation module is used to obtain the target matching factor value corresponding to the two images to be used based on the feature point matching factor value and the rotation angle factor value corresponding to the two images to be used. The angle adjustment module is specifically used for: The maximum target matching factor value is obtained from a plurality of target matching factor values, and the angle to be adjusted is determined based on the maximum target matching factor value and the preset matching factor threshold. The angle adjustment module is also used for: If the maximum target matching factor value is greater than the preset matching factor threshold, the angle to be adjusted of the camera device is determined to be zero; if the maximum target matching factor value is less than the preset matching factor threshold, the current acquisition angle of the camera device is adjusted according to the preset adjustment step size, and the maximum target matching factor value under the corresponding current acquisition angle is determined, until the maximum target matching factor value is greater than the preset matching factor threshold, and then the angle to be adjusted of the camera device is determined.

6. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the image acquisition angle adjustment method according to any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the method for adjusting the image acquisition angle according to any one of claims 1-4.

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