Image display method and device based on pan-tilt camera control and storage medium

Abstract

The invention discloses an image display method and device based on pan-tilt camera control and a storage medium, and the method comprises the steps: obtaining a current display image in a display region when a pan-tilt camera is in a limiting posture in response to receiving that the pan-tilt camera is in the limiting posture; carrying out image matching on the current display image and an initial acquisition image of the pan-tilt camera to obtain an image matching result; in response to the image matching result, representing that the image is not matched, generating an image moving instruction; and moving the display image in the display area based on the image moving instruction. According to the scheme, the problem that the acquired picture is missed in the process of using the pan-tilt camera can be avoided.

Description

Technical Field

[0001] The present application relates to the technical field of pan-tilt camera control, and in particular to an image display method, device and storage medium based on pan-tilt camera control. Background Art

[0002] The PTZ camera is a supporting device for installing and fixing image acquisition devices such as mobile phones, cameras, and camcorders. It is usually divided into two types: fixed and electric PTZ cameras. The PTZ camera can be rotated at will, which is convenient for users to collect images.

[0003] At present, the most common designs include image acquisition devices and PTZ cameras (such as PTZ camera head, PTZ camera, etc.), and there are also designs of PTZ cameras as a single unit and then assembling image acquisition devices separately. Regardless of the design method, the PTZ camera usually has a limit setting during operation, so that the corresponding image acquisition device also has a certain field of view.

[0004] Normally, when the image acquisition device acquires images at the initial zoom (e.g. 1.0x), if the gimbal camera rotates to the limit boundary, the image acquisition device will acquire the boundary image. However, if the image acquisition device acquires images at a larger focal length (e.g. 5.0x), since the larger the focal length, the smaller the field of view, even if the gimbal camera rotates to the limit boundary, the image acquisition device cannot obtain the boundary image, which ultimately causes the problem of image omission. Summary of the invention

[0005] The present application at least provides an image display method, device, equipment and computer-readable storage medium based on gimbal camera control.

[0006] The first aspect of the present application provides an image display method based on gimbal camera control, comprising: in response to receiving that the gimbal camera is in a limited position, obtaining a current display image in a display area when the gimbal camera is in the limited position; performing image matching on the current display image and an initial captured image of the gimbal camera to obtain an image matching result; in response to the image matching result indicating that the images do not match, generating an image movement instruction; and performing movement processing on the display image in the display area based on the image movement instruction.

[0007] In one embodiment, the moving processing of the displayed image in the display area based on the image movement instruction includes: in response to the image movement instruction, determining a target control strategy from preset control strategies based on the zoom mode of the gimbal camera; and controlling the movement processing of the displayed image in the display area based on the target control strategy and the image movement instruction.

[0008] In one embodiment, the zoom mode includes digital zoom, and the control of the movement processing of the displayed image in the display area based on the target control strategy and the image movement instruction includes: determining the image movement step based on the image movement instruction; and moving the displayed image in the display area accordingly based on the image movement step until the actual movement step of the displayed image in the display area is the same as the image movement step, or the boundary of the displayed image in the display area matches the boundary of the initial acquired image.

[0009] In one embodiment, the zoom mode includes digital zoom and optical zoom, and the controlling the movement processing of the displayed image in the display area based on the target control strategy and the image movement instruction includes: generating a zoom instruction based on the image movement instruction; moving the displayed image in the display area based on the image movement instruction, and controlling the gimbal camera to perform the digital zoom and the optical zoom based on the zoom instruction until an actual movement step length of the displayed image in the display area is the same as an image movement step length corresponding to the image movement instruction, or a boundary of the displayed image in the display area matches a boundary of the initial acquired image.

[0010] In one embodiment, controlling the gimbal camera to perform the digital zoom and the optical zoom based on the zoom instruction includes: controlling the gimbal camera to increase the digital zoom and reduce the optical zoom according to a preset zoom mapping relationship during image movement based on the zoom instruction, so that the image ratio of the displayed image in the display area remains unchanged.

[0011] In one embodiment, after controlling the pan / tilt camera to increase the digital zoom and reduce the optical zoom according to a preset zoom mapping relationship during the image movement process based on the zoom instruction, the method further includes:

[0012] If a rotation instruction is received to control the gimbal camera to rotate in the opposite direction of the current limit position, a corresponding reverse movement instruction is generated based on the rotation instruction, and the displayed image in the display area is controlled to move based on the reverse movement instruction; a reverse zoom instruction is generated based on the reverse movement instruction; and based on the reverse zoom instruction, the gimbal camera is controlled to reduce the digital zoom and increase the optical zoom according to the zoom mapping relationship during the image movement process.

[0013] In one embodiment, before obtaining the current display image in the display area when the gimbal camera is in the limited posture in response to receiving the information that the gimbal camera is in the limited posture, the method further includes: controlling the gimbal camera to perform image acquisition processing in the limited posture based on initial zoom parameters to obtain an initial image; and superimposing and displaying the current image acquired by the gimbal camera based on the current zoom parameters and the initial image in the display area.

[0014] In one embodiment, controlling the gimbal camera to perform image acquisition processing within the limited position based on the initial zoom parameters to obtain the initial image includes: sending a received image acquisition instruction to the gimbal camera so that the gimbal camera performs image acquisition based on the received image acquisition instruction to obtain multiple acquired images; performing image fusion processing on the multiple acquired images to obtain the initial image.

[0015] According to a second aspect of the present application, there is provided an image display device controlled by a gimbal camera, comprising: an acquisition module for, in response to receiving that the gimbal camera is in a limited position, acquiring a current display image in a display area when the gimbal camera is in the limited position; a matching module for performing image matching between the current display image and an initial captured image of the gimbal camera to obtain an image matching result; an instruction generation module for generating an image movement instruction in response to the image matching result indicating that the images do not match; and an image movement module for performing movement processing on the display image in the display area based on the image movement instruction.

[0016] A third aspect of the present application provides an electronic device, including a memory and a processor, wherein the processor is used to execute program instructions stored in the memory to implement the above-mentioned image display method based on gimbal camera control.

[0017] A fourth aspect of the present application provides a computer-readable storage medium having program instructions stored thereon, which, when executed by a processor, implements the above-mentioned image display method based on gimbal camera control.

[0018] The above scheme obtains the current display image in the display area when the gimbal camera is in a limited position; performs image matching between the current display image and the initial acquisition image of the gimbal camera, so as to know whether the current display image can display the complete image that the gimbal camera should acquire when the gimbal camera is in the limited position, and obtain the image matching result; if the image matching result indicates that the images do not match, it means that there is a picture omission problem, so an image movement instruction is generated; the display image in the display area is moved based on the image movement instruction; thereby, the display image in the display area is moved to realize the display of the omitted image in the display area, thereby avoiding the picture omission problem caused by the gimbal camera being in the limited boundary for image enlargement and acquisition.

[0019] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and are used together with the specification to illustrate the technical solution of the present application.

[0021] Figure 1 It is a simple schematic diagram of an exemplary application scenario in the image display method based on pan-tilt camera control of the present application;

[0022] Figure 2 It is a flowchart of an exemplary embodiment of the image display method based on pan-tilt camera control of the present application;

[0023] Figure 3 It is a simplified schematic diagram of a pan-tilt camera in the image display method based on pan-tilt camera control of the present application;

[0024] Figure 4 is a schematic diagram of an exemplary display area in the image display method based on pan-tilt camera control of the present application;

[0025] Figure 5 It is an exemplary schematic diagram of image movement in the image display method based on pan-tilt camera control of the present application;

[0026] Figure 6 is a block diagram of an image display device based on PTZ camera control shown in an exemplary embodiment of the present application;

[0027] Figure 7 It is a structural schematic diagram of an embodiment of the electronic device of the present application;

[0028] Figure 8 It is a structural diagram of an embodiment of a computer-readable storage medium of the present application. DETAILED DESCRIPTION

[0029] The scheme of the embodiment of the present application is described in detail below in conjunction with the drawings of the specification.

[0030] In the following description, for the purpose of explanation rather than limitation, specific details such as specific system structures, interfaces, and technologies are provided to facilitate a thorough understanding of the present application.

[0031] The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the objects associated before and after are in an "or" relationship. In addition, "many" in this article means two or more than two. In addition, the term "at least one" in this article means any combination of at least two of any one or more of a plurality of, for example, including at least one of A, B, and C, can mean including any one or more elements selected from the set consisting of A, B, and C.

[0032] For ease of understanding, one of the applicable scenarios of this application is now exemplified. It can be understood that the gimbal limit is used to set the movement area of ​​the gimbal to ensure that the gimbal can only move within a predetermined area (usually the gimbal moves by rotating the motor). When the gimbal camera is performing image acquisition, due to the limit of the gimbal rotation, the image acquisition device placed on the gimbal also has a corresponding field of view. The field of view represents the maximum range that the image acquisition device can observe, which can usually be expressed in angles. The larger the field of view, the larger the observation range, that is, the larger the image acquisition range.

[0033] However, in actual application scenarios, the field of view of the image acquisition device is not only limited by the range of motion of the gimbal, but also by its image acquisition parameters (such as image acquisition focal length, lens type, etc.). Figure 1 , Figure 1This is a simple schematic diagram of an exemplary application scenario in the image display method based on gimbal camera control of the present application. In common application scenarios, when the image acquisition device acquires the image of the current scene at the gimbal limit position with the initial acquisition parameters (e.g., 1.0x, i.e., 1x zoom mode), the image displayed in the display area is the image acquired by the image acquisition device at the boundary of its field of view. However, if the image acquisition device acquires the image at the gimbal limit position with a multi-fold zoom mode (e.g., 5.0x, 9.0x, 10.0x, etc.), the image displayed in the display area is only a portion of the image acquired in the previous 1x zoom mode, that is, when the gimbal camera is in the multi-fold zoom mode and the gimbal reaches the limit position for image acquisition, the boundary of the image displayed in the display area is not the boundary of the image acquired in the initial field of view (the field of view corresponding to the initial acquisition parameters). This is equivalent to being understood as, in the multi-fold zoom mode, although the gimbal rotates to the limit boundary, the image displayed in the display area does not show the initial field of view boundary.

[0034] See also Figure 2 , Figure 2 This is a flowchart of an exemplary embodiment of the image display method based on PTZ camera control of the present application. Specifically, it may include the following steps:

[0035] Step S110, in response to receiving that the gimbal camera is in a limited position, obtaining a current display image in the display area when the gimbal camera is in the limited position.

[0036] It is necessary to explain that you can refer to Figure 3 As shown, Figure 3 It is a simplified schematic diagram of the gimbal camera in the image display method based on gimbal camera control of the present application. Among them, the gimbal camera of the present application can be a gimbal and a camera (or other image acquisition device) set in one body, such as a gimbal camera, a handheld sports camera, etc. Or the gimbal and the camera are set separately (detachable setting), which is not limited in the present application. It should be noted that in this application, for the sake of convenience of explanation, the image acquisition device set on the gimbal is referred to as a camera, but in fact the image acquisition device can be a camera, a video camera, a mobile phone or other device with image acquisition function, which is not limited here.

[0037] In addition, the method of the present application can be applied to a client (such as a mobile phone, a computer, a smart watch and other terminal devices), and there is a communication connection between the client and the integrated pan-tilt camera, or the client has a communication connection with the pan-tilt and the camera respectively, or the client is connected through the pan-tilt or the camera. The method of the present application can also be directly applied to a pan-tilt camera with a certain data processing capability. The pan-tilt camera can be provided with a display screen for displaying the images collected by the pan-tilt camera, which will not be elaborated here. In the embodiments of the present application, the implementation scenario applied to the client is mainly used as an example for explanation.

[0038] In today's common gimbal cameras, one or two motors (such as a horizontal rotation motor and / or a vertical rotation motor) can be set in the gimbal to achieve horizontal and / or vertical rotation of the gimbal. The limit position (including horizontal limit and / or vertical limit) is used to limit the horizontal rotation angle and / or vertical rotation angle of the gimbal. Among them, the limit position of the gimbal can be fixed or support adjustment and modification, which is not limited in this application. For example, the horizontal and vertical rotation angles of the gimbal can be adjusted by its limit switch. In addition, one or more gimbal limit positions can be set. Taking the common gimbal limit as an example, it can include left limit, right limit, upper limit and lower limit.

[0039] For example, when the gimbal rotates to a limit position, a limit information is usually sent to the client to inform the user that "the gimbal has reached the limit position". In response to receiving the limit information of the gimbal (indicating that the gimbal camera is in a limit position), the client obtains the current display image in the display area of ​​the client when the gimbal camera is in the current limit position. If the method of the present application is applied to a gimbal camera, the display area refers to the display area in the display screen of the gimbal camera, and the details are not repeated here.

[0040] Combined with the above example description, it can be understood that if the gimbal camera performs image acquisition with the initial zoom parameter when in the limited position, the image content of the currently displayed image in the display area is the image content that can be collected at the initial field of view boundary of the gimbal camera. If the gimbal camera performs image acquisition with multiple zoom parameters when in the limited position, the image content of the currently displayed image in the display area should be a part of the image content that can be collected at the field of view boundary of the gimbal camera. The focal length of the initial zoom parameter is smaller than the focal length of the multiple zoom parameter. And the initial zoom parameter of the present application may refer to the 1x zoom in the above example, or it may refer to the minimum zoom parameter supported by the gimbal camera (for example, some gimbal cameras support wide-angle mode, then there may be 0.8x zoom, 0.6x zoom, etc., which have a larger field of view than 1x zoom), which is not limited here.

[0041] It should also be noted that in the present application, the currently displayed image can be the first image directly captured by the gimbal camera; or the second image that the gimbal camera processes the captured initial image and then transmits to the client for display; or the third image that the gimbal camera transmits the captured first image to the client, and the client processes the first image before displaying it; or the fourth image that the gimbal camera transmits the second image to the client, and the client processes the second image before displaying it, and the present application does not limit it. Among them, the image processing process may include but is not limited to image quality optimization, image size modification, etc. In the present application, the first image and the second image are mainly used as examples.

[0042] Step S120, performing image matching between the current display image and the initial captured image of the PTZ camera to obtain an image matching result.

[0043] The initial captured image refers to an image captured by the gimbal camera based on its initial zoom parameters. For example, it may be one or more images captured by the gimbal camera based on its initial zoom parameters along the gimbal position limit posture, or multiple images may be fused to obtain one or more fused images.

[0044] In combination with the above steps, this step mainly needs to determine whether the image content of the current display image displayed in the display area is the image content of the initial field of view boundary when the gimbal is in a limited position. This is equivalent to determining whether the current display image is an image captured at the initial field of view boundary by image matching.

[0045] Exemplarily, the image matching method of the present application may be based on image boundaries for matching, or based on image content for matching. In addition, it may also be determined by obtaining the zoom parameters of the camera when the gimbal is in a limited position.

[0046] Among them, the method for matching based on the image boundary can be to obtain the initial field of view range of the gimbal camera (which can be preset in the gimbal camera, or the maximum image acquisition range determined by the gimbal camera when it rotates horizontally and / or vertically with the initial zoom parameters, which is equivalent to the gimbal camera rotating and acquiring images within the limited position with the initial zoom parameters, and then obtaining the image boundary). Then, the position of the currently displayed image in the initial field of view range and the proportion of the currently displayed image in the initial field of view range can be calculated according to the zoom parameters of the gimbal camera during the specific operation process. The existing calculation method can be referred to here and will not be described in detail here.

[0047] The matching based on the image content may be to match the feature similarity of the current display image and the initial acquisition image based on the image content. If the feature similarity between the two images is greater than or equal to a preset similarity threshold, it indicates that the current display image is similar to the initial acquisition image, that is, it can be explained to a certain extent that the boundary of the initial acquisition image is included in the current display image. On the contrary, if the feature similarity between the two images is less than the similarity threshold, it indicates that there is a significant gap between the current display image and the initial acquisition image, that is, it can be explained to a certain extent that the boundary of the initial acquisition image is not included in the current display image.

[0048] The method for determining the zoom parameter based on the camera can be that when the gimbal reaches the limit position, if the current zoom parameter of the camera can be obtained to be a multiple zoom parameter, it can be indicated that the current display image does not match the initial acquisition image. Conversely, if when the gimbal reaches the limit position, the current zoom parameter of the camera is obtained to be the initial zoom parameter, it can be indicated that the current display image matches the initial acquisition image.

[0049] Step S130 , in response to the image matching result indicating that the images do not match, an image movement instruction is generated.

[0050] In combination with the above steps, if the image matching result indicates that the images do not match, it proves that there is a problem of image omission in the current displayed image, and the display area cannot fully display the boundary when the gimbal is in a limited position.

[0051] It should be noted that different PTZ cameras are subject to different hardware specifications and can support digital zoom and / or optical zoom during image acquisition. Digital zoom can also be called electronic magnification. The usual practice is to directly crop and magnify the image captured by the optical lens to achieve a zoom effect. In fact, digital zoom does not change the focal length of the lens, nor does it change the original field of view of the camera. Therefore, in a scenario with only digital zoom, the camera can capture the image of the entire screen, but only selects a partial area of ​​the image from the captured image through image processing technology for magnified display, thereby obtaining the current display image in the display area, resulting in image display omissions rather than image acquisition omissions. Optical zoom relies on the optical lens structure to adjust the focal length to achieve zoom. This method changes the camera's field of view, and thus essentially changes the image captured by the camera, resulting in image acquisition omissions.

[0052] Therefore, when the gimbal camera supports digital zoom, although the current display image in the display area cannot show the initial field of view boundary when it is in the limited position with multiple zoom parameters, the gimbal camera is actually able to collect images of the initial field of view boundary. This is equivalent to the case of digital zoom (multiple zoom parameters), when the gimbal camera is in the limited position, it first collects the image including the initial field of view boundary based on the initial zoom multiple, and then selects a partial area image from the image including the initial field of view boundary through the electronic magnification method for magnified display, then the current display image in the display area may not have the initial field of view boundary.

[0053] At this point, even if the user continues to issue pan / tilt rotation commands, the pan / tilt cannot continue to rotate in response to the pan / tilt rotation commands because it has reached the limit. If the user wants to continue to view the image at the initial field of view boundary, the user usually needs to touch the display area to generate corresponding touch commands to move the image in the display area until the user manually moves the image displayed in the display area to the initial field of view boundary.

[0054] The present application provides a more convenient method that can significantly improve the user experience. Specifically, when the above-mentioned screen omission problem occurs, an image movement instruction is generated based on the gimbal rotation instruction that the user continues to issue, and the image in the display area is moved. The direction represented by the image movement instruction is the same as the direction represented by the corresponding gimbal rotation instruction. This can reduce the user's operation process and does not require the user to have professional knowledge of the working principle of the gimbal camera when using the gimbal camera.

[0055] It should also be noted that, usually, since the gimbal may have multiple limits, when the gimbal reaches one (or more) of the limits, it indicates that the gimbal cannot continue to rotate toward the limit, but the gimbal can move to other limits except the limit among the multiple limits. Therefore, in the present application, when the gimbal is at one (or more) target limits, in response to the received gimbal rotation instruction to rotate in the direction of the target limit, since the gimbal cannot rotate, the client generates an image movement instruction based on the gimbal rotation instruction to control the movement of the displayed image in the display area, instead of sending the gimbal rotation instruction to the gimbal to control it to rotate, or the gimbal rotation instruction can also be sent to the gimbal (but the gimbal cannot rotate to the target limit, and may continue to prompt the gimbal limit information related to "the gimbal has reached the limit").

[0056] On the contrary, if the gimbal is at a certain (or more) target limit, in response to a received gimbal rotation instruction to rotate in a direction other than the target limit direction (for example, in the completely opposite direction of the target limit direction (at an angle of 180°), or other directions that can deviate from one or more target limits), the gimbal can rotate at this time, so the client can control the gimbal to rotate accordingly based on the gimbal rotation instruction.

[0057] Step S140: moving the display image in the display area based on the image movement instruction.

[0058] The displayed image may be the same as or different from the current displayed image in the aforementioned embodiment, so there are some differences in the naming of the two, depending on whether the PTZ camera is in real-time image acquisition or video recording mode. If so, it indicates that the image content in the display area may change in real time. If not, the displayed image in the display area of ​​this step may be the same image as the current displayed image in the aforementioned step. This is only an example and is not limited to this.

[0059] In conjunction with the above steps, in the electronic zoom scenario based on digital zoom, the client can move the displayed image in the display area based on the generated image movement instruction, and the moving direction is the direction indicated by the image movement instruction. In this way, the magnified image of other areas can be displayed in the display area.

[0060] It can be seen that, in the present application, when the gimbal camera is in a limited position, the current display image in the display area is acquired; the current display image and the initial captured image of the gimbal camera are matched to determine whether the current display image can display the complete image that the gimbal camera should have captured when the gimbal camera is in the limited position, and the image matching result is obtained; if the image matching result indicates that the images do not match, it means that there is a picture omission problem, and therefore an image movement instruction is generated; based on the image movement instruction, the display image in the display area is moved; thereby, the display image in the display area is moved to display the omitted image in the display area, thereby avoiding the picture omission problem caused by the gimbal camera being in the limited boundary for image zooming and capturing.

[0061] Based on the above embodiments, the present embodiment of the present application describes the steps of moving the displayed image in the display area based on the image movement instruction. Specifically, the method of this embodiment includes the following steps:

[0062] In response to the image movement instruction, a target control strategy is determined from preset control strategies based on the zoom mode of the pan-tilt camera; and a display image in the display area is controlled to move based on the target control strategy and the image movement instruction.

[0063] In combination with the above-mentioned embodiments, the zoom mode of the gimbal camera may include digital zoom and / or optical zoom. The specific principle details can be referred to the above-mentioned description or the prior art description, which will not be elaborated here.

[0064] It should be noted that, because the zooming principles of different zoom modes are different, different target control strategies are required in this application to move the image to display other image areas for different zoom modes. Specifically, if the gimbal camera only supports digital zoom, there is a first target control strategy corresponding to digital zoom; if the gimbal camera supports digital zoom and optical zoom, there is a second target control strategy corresponding to the two zoom modes; if the gimbal camera only supports optical zoom (this situation is very rare), there is a third target control strategy corresponding to optical zoom.

[0065] For the specific implementation of the preset control strategy of this application, please refer to the explanation of other embodiments.

[0066] Based on the above embodiments, the embodiment of the present application describes the steps of controlling the movement of the displayed image in the display area based on the target control strategy and the image movement instruction. Among them, the zoom mode includes digital zoom. Specifically, the method of this embodiment includes the following steps:

[0067] Determine the image movement step length based on the image movement instruction; and move the display image in the display area accordingly based on the image movement step length until the actual movement step length of the display image in the display area is the same as the image movement step length, or the boundary of the display image in the display area matches the boundary of the initial acquired image.

[0068] Combined with the above-mentioned embodiment, in this embodiment, the gimbal camera in the digital zoom mode is mainly illustrated. Among them, it should be noted that in the present application, the zoom mode of the gimbal camera refers to the zoom multiple based on the zoom mode currently running, and does not mean that the gimbal camera does not have other zoom modes. Exemplarily, for example, the hardware specifications of the gimbal camera support digital zoom and optical zoom, but the gimbal camera only enlarges the collected image based on the digital zoom during operation, then the zoom mode of the gimbal camera includes digital zoom, but not only digital zoom. The same is true for other situations (for example, a gimbal camera that supports digital zoom and optical zoom only performs optical zoom), which will not be elaborated here.

[0069] Specifically, in the digital zoom scenario, the PTZ camera electronically magnifies the image captured with the initial zoom parameters and transmits it to the client, which is then displayed in the client's display area. Therefore, the image displayed in the display area is only a part of the image captured by the PTZ camera, but in fact the PTZ camera can capture the complete image of the field of view boundary. At this time, it is only the screen display omission rather than the screen capture omission.

[0070] Therefore, if the user continues to issue the pan-tilt rotation instruction, the client generates an image movement instruction based on the received pan-tilt rotation instruction, or converts the pan-tilt rotation instruction into an image movement instruction. The corresponding image movement step length is determined based on the image movement instruction. The unit of the image movement step length can be the pixel distance, length and width size, length and width ratio of the image, etc. (for example, each time an image movement instruction is received, it moves 100px pixel distance or 1cm or one-fifth of the image, etc.), which is not limited here. Then, based on the image movement step length, the displayed image in the display area is moved accordingly until the actual movement step length of the displayed image in the display area is the same as the image movement step length, or the boundary of the displayed image in the display area matches the boundary of the initial captured image.

[0071] Among them, it is necessary to further explain that in the specific implementation process, the pan-tilt camera can electronically enlarge the collected image through digital zoom, and then transmit the enlarged image to the client and display it through the display area. At this time, the display image in the display area can be moved based on the image movement instruction acting on the display area to display the image content of other areas in the display area. There is also an implementation method that after the pan-tilt camera electronically enlarges the collected image through digital zoom, it will intercept part of the image area in the enlarged image, and then transmit the intercepted image to the client and display it through the display area; or first intercept part of the image area of ​​the collected image, and then electronically enlarge the intercepted image and transmit it to the client for display. At this time, only the intercepted part of the image is received in the client, so it is necessary to send the image movement instruction to the pan-tilt camera so that the pan-tilt camera adjusts the intercepted image based on the received image movement instruction, and then returns it to the client, so that the image content of other areas can be displayed in the display area. In addition, the PTZ camera can transmit the collected image to the client, and the client can electronically amplify the received image based on the principle of digital zoom and display the amplified image in the display area. At this time, the displayed image in the display area can also be moved by an image movement instruction.

[0072] It should also be noted that if the boundary of the displayed image in the display area matches the boundary of the initial image, it is equivalent to that the image content in the current displayed image has reached the boundary of the initial field of view. Therefore, even if the user can still receive an instruction to rotate in the currently limited direction, or receive an image movement instruction, or the image movement step length of the previously issued image movement instruction is different from the actual movement step length, the displayed image in the display area cannot continue to move. At this time, the image limit information related to "the image display has reached the limit" can be displayed, and it can also be selectively decided whether to display the gimbal limit information related to "the gimbal has reached the limit" at the same time.

[0073] Based on the above embodiments, the embodiment of the present application describes the steps of controlling the movement of the displayed image in the display area based on the target control strategy and the image movement instruction. Among them, the zoom mode includes digital zoom and optical zoom. Specifically, the method of this embodiment includes the following steps:

[0074] Generate a zoom instruction based on the image movement instruction; move the display image in the display area based on the image movement instruction, and control the gimbal camera to perform digital zoom and optical zoom based on the zoom instruction until an actual movement step length of the display image in the display area is the same as an image movement step length corresponding to the image movement instruction, or a boundary of the display image in the display area matches a boundary of the initially acquired image.

[0075] In conjunction with the above-mentioned embodiments, this embodiment describes a scenario in which the gimbal camera is at least in optical zoom mode. It should be noted that the principle of optical zoom is different from that of digital zoom, and optical zoom will enlarge the captured image by changing the focal length of the lens. Although the image content in the image captured after optical zoom magnification may be part of the image content in the image captured before optical zoom magnification, the change in the focal length of the lens will cause the original field of view of the gimbal camera to change, resulting in the field of view of the image captured with the initial zoom parameters after optical zoom being different from the field of view of the image captured with the initial zoom parameters before optical zoom, which is equivalent to a change in the image boundary.

[0076] Therefore, in the present application, for the above situation, it is necessary to control the current zoom parameter (or optical focal length) of the optical zoom of the pan-tilt camera through a zoom instruction to reduce and adjust, so as to expand the field of view of the pan-tilt camera, which is equivalent to expanding the image acquisition range of the pan-tilt camera, until the optical zoom parameter of the pan-tilt camera is restored to the initial zoom parameter (for example, the 1x zoom parameter 1.0x in the above embodiment). Then, in the above digital zoom embodiment, the displayed image is moved through the image movement instruction, and the displayed image in this embodiment is moved in the same way.

[0077] Specifically, it can be understood in the same way in combination with the explanation of the aforementioned digital zoom embodiment. After the gimbal camera rotates to the target limit position, if the gimbal rotation command issued by the user continues to be received, the image movement command can be generated based on the gimbal rotation command. If the gimbal camera is currently in the acquisition mode of optical multi-zoom, the zoom command is generated based on the image movement command or the zoom command is generated based on the gimbal rotation command. The zoom command is used to change the current zoom parameter of the gimbal camera, specifically, it can be to change the optical zoom multiple of the gimbal camera, or to change the optical zoom multiple and the digital zoom multiple, which is not limited in this application. Among them, when changing the optical zoom multiple and the digital zoom multiple, it can be done simultaneously or in sequence, and this application does not limit the order of changing the two.

[0078] For example, in the process of moving the displayed image in the display area based on the image movement instruction, the pan-tilt camera is controlled to perform digital zoom and optical zoom at the same time based on the zoom instruction, until the actual movement step length of the displayed image in the display area is the same as the image movement step length corresponding to the image movement instruction, or the boundary of the displayed image in the display area matches the boundary of the initial captured image. Or, in the process of moving the displayed image in the display area based on the image movement instruction, the pan-tilt camera is controlled to perform optical zoom first based on the zoom instruction, and then perform digital zoom accordingly based on the zoom multiple of the optical zoom, etc.

[0079] Based on the above embodiments, the present embodiment of the present application describes the steps of controlling the gimbal camera to perform digital zoom and optical zoom based on the zoom command. Specifically, the method of this embodiment includes the following steps:

[0080] Based on the zoom instruction, the pan-tilt camera is controlled to increase the digital zoom and reduce the optical zoom according to the preset zoom mapping relationship during the image movement process, so that the image ratio of the displayed image in the display area remains unchanged.

[0081] In conjunction with the above-mentioned embodiment, if the gimbal camera is controlled to perform optical zoom and digital zoom at the same time, the digital zoom can be increased while reducing the optical zoom according to the preset zoom mapping relationship. Among them, the zoom mapping relationship is used to control the gimbal camera to keep the image ratio of the displayed image in the display area unchanged as much as possible during the process of performing optical zoom and digital zoom at the same time, so that the implementation process of this application is imperceptible to the user, thereby improving the user experience and optimizing the image display effect to a certain extent.

[0082] Exemplarily, the zoom mapping relationship can be specifically expressed as: the reduction factor of the optical zoom parameter * the magnification factor of the digital zoom parameter = 1. That is, when the optical zoom parameter is reduced by N times, the digital zoom parameter should be magnified N times accordingly. For example, when the gimbal camera reaches the limit position, its optical zoom parameter is 6.0x and the digital zoom parameter is 2.0x. If the optical zoom parameter is adjusted to 3.0x according to the zoom instruction, it means that the optical zoom parameter is reduced by 1 / 2, so the digital zoom parameter needs to be magnified by 2 times, that is, the digital zoom parameter can be adjusted to 4.0x. Among them, the zoom parameter adjustment process can be linear adjustment (to achieve a continuous stepless transformation effect) or segment adjustment (for example, the zoom parameter in the zoom process can be divided into one or more fixed gears for focusing), which is not limited here. The zoom mapping relationship can be debugged and calibrated when the gimbal device leaves the factory.

[0083] Based on the above embodiments, the embodiment of the present application describes the steps after increasing the digital zoom and reducing the optical zoom according to the preset zoom mapping relationship during the image movement process of the pan-tilt camera controlled by the zoom instruction. Specifically, the method of this embodiment includes the following steps:

[0084] If a rotation instruction is received to control the gimbal camera to rotate in the opposite direction of the current limit position, a corresponding reverse movement instruction is generated based on the rotation instruction, and the displayed image in the display area is controlled to move based on the reverse movement instruction; a reverse zoom instruction is generated based on the reverse movement instruction; and based on the reverse zoom instruction, the gimbal camera is controlled to reduce the digital zoom and increase the optical zoom according to the zoom mapping relationship during the image movement process.

[0085] This is explained in conjunction with the aforementioned embodiment. In the aforementioned embodiment, it has been explained that when the gimbal camera reaches the limit position, if there is still a gimbal rotation instruction to rotate to the limit position, a screen movement instruction and a zoom instruction are generated based on the gimbal rotation instruction so that the image of the initial field of view boundary can be displayed in the display area.

[0086] If a rotation instruction is received that controls the gimbal camera to rotate in the opposite direction to the current limit position (for example, if the gimbal camera reaches the lower limit position, the opposite direction should be to rotate upward; if the gimbal camera reaches the lower right limit position, the opposite direction should be to rotate to the upper left (it can also be to rotate to the left or to rotate upward), etc.), therefore, a corresponding reverse movement instruction can be generated based on the rotation instruction, and the displayed image in the display area can be controlled to move in the direction indicated by the reverse movement instruction based on the reverse movement instruction. At the same time, a reverse zoom instruction can be generated accordingly based on the reverse movement instruction or a reverse zoom instruction can be generated based on the rotation instruction, thereby realizing the reverse zoom process in the aforementioned embodiment through the reverse zoom instruction. The specific adjustment method can be to reduce the digital zoom and increase the optical zoom according to the zoom mapping relationship until the displayed image in the display area matches the displayed image in the display area when the gimbal reaches the limit position in step S110 of the aforementioned embodiment, then the generation of image movement instructions and zoom instructions based on the gimbal rotation instruction can be suspended, and the gimbal can be controlled to rotate according to the normal gimbal control logic when the gimbal rotation instruction continues to be received. Alternatively, there is no need to wait until the display image in the display area is restored. When a rotation instruction is received for the gimbal camera to rotate in the opposite direction of the current limit position (the gimbal can rotate normally at this time), the gimbal is directly controlled to rotate accordingly based on the rotation instruction.

[0087] Based on the above embodiment, the embodiment of the present application describes the steps before obtaining the current display image in the display area when the gimbal camera is in the limited posture in response to receiving the gimbal camera is in the limited posture. Specifically, the method of this embodiment includes the following steps:

[0088] The gimbal camera is controlled to perform image acquisition processing within the limited position based on the initial zoom parameter to obtain an initial image; the current image acquired by the gimbal camera based on the current zoom parameter and the initial image are superimposed and displayed in the display area.

[0089] Combined with the above embodiments, reference can be made to Figure 4 As shown, Figure 4 It is a schematic diagram of an exemplary display area in the image display method based on gimbal camera control of the present application.

[0090] Exemplarily, the gimbal camera is controlled to perform image acquisition processing within the limited position based on the initial zoom parameter, and one or more initial images can be obtained. If there are multiple initial images, they can also be fused into a larger image, thereby determining the maximum initial field of view range of the gimbal camera.

[0091] Subsequently, the current image (such as the current display image or the display image) captured by the gimbal camera based on the current zoom parameters and the initial image can be superimposed and displayed in the display area through the display interface of the preview area, so that the user can intuitively observe the size and position of the current image acquisition field of view (display image) in the initial image (fused image) through the display area.

[0092] Based on the above embodiments, the embodiment of the present application describes the steps of controlling the gimbal camera to perform image acquisition and processing within the limited position based on the initial zoom parameters to obtain the initial image. Specifically, the method of this embodiment includes the following steps:

[0093] The received image acquisition instruction is sent to the pan-tilt camera, so that the pan-tilt camera performs image acquisition based on the received image acquisition instruction to obtain a plurality of acquired images; and the plurality of acquired images are subjected to image fusion processing to obtain an initial image.

[0094] In conjunction with the above-mentioned embodiments, in the present application, the gimbal camera may automatically generate a gimbal rotation instruction and an image acquisition instruction when it is powered on, so that the gimbal camera performs image acquisition processing within the limited position based on the initial zoom parameters to obtain multiple acquired images; then the multiple acquired images are subjected to image fusion processing to obtain the initial image. Among them, the process of performing image fusion processing on the multiple acquired images may be executed by the client, or by the gimbal camera, and the initial image is transmitted to the client. This application does not make any limitation.

[0095] On the basis of the above-mentioned embodiments, this embodiment illustrates a specific application scenario of the image display method based on gimbal camera control of the present application.

[0096] Exemplarily, for ease of understanding, the concepts of the first limit and the second limit are proposed. The first limit refers to the limit that the gimbal motor can rotate to (equivalent to the gimbal limit in the aforementioned example), or the image limit obtained by performing image acquisition with the initial zoom parameters when the gimbal motor is in the limit. At this time, if the captured image is enlarged, the displayed image in its display area does not reach the image limit (edge ​​of the image) captured by the original zoom multiple. After the gimbal motor rotates to the first limit, the limit corresponding to the enlarged captured image is called the second limit. It can be clearly seen that when the gimbal camera does not enlarge the image for acquisition or is in an ultra-wide angle, the first limit is consistent with the second limit.

[0097] If the gimbal camera only supports electronic zoom, the client will be notified that the gimbal has reached the first limit (gimbal limit). In actual applications, it can also be prompted that the motor limit has been reached. If the user continues to issue gimbal control instructions on the client to control the gimbal to rotate toward the limit, the displayed image in the display area will be controlled to gradually move to the edge of the captured image. At this time, the display area can also provide feedback on the size and position of the current displayed image in the initial image (fused image) by previewing a thumbnail. For example, when electronically zooming in, the image in the display area is the image that the user can see, and other images that are not seen can be represented by a dotted frame. Figure 5 As shown, Figure 5 This is an exemplary schematic diagram showing image movement in the image display method based on gimbal camera control of the present application. Area A is the entire field of view determined based on the gimbal camera limit and its initial zoom parameters, area B is the image currently captured by the gimbal camera, and area C is the electronically enlarged picture on the client such as the APP of the mobile terminal, wherein the picture of area B is captured by the gimbal camera, and the user zooms in and observes only the range of area C on the client. When the user electronically enlarges area B, the picture of area C is obtained. If the gimbal camera is rotated to reach the lower limit, the user cannot observe the boundary picture of area A through the display area on the APP, that is, the D area cannot be observed. Therefore, the present application can control the picture of area C to continue to move to the lower limit by generating an image movement instruction until area C reaches the boundary of area B (area A), that is, the picture movement is stopped when the lower limit is reached.

[0098] In addition, if the pan-tilt camera also supports optical zoom, after the pan-tilt camera reaches the first limit, an information prompt can be given accordingly, and the specific prompt can be consistent with the limit information prompt in the aforementioned embodiment. Since optical zoom is a process of motor rotation, a zoom instruction can be generated to reduce the optical zoom, the purpose is to expand the image captured by the pan-tilt camera, as the pan-tilt continues to rotate until the optical zoom reaches the minimum. When the optical zoom is reduced, electronic zoom (digital zoom) is performed synchronously, so that the object ratio in the displayed image of the display area can be kept consistent, that is, the screen view ratio is consistent. When the user continues to control the pan-tilt to move the screen in the limit direction, it can be achieved that the optical zoom is reduced to make the captured screen larger, that is, the screen between the second limit and the first limit can be collected, and at the same time, electronic zoom is performed, and the displayed image in the display area is controlled to continue to move with the received image movement instruction, and finally when the pan-tilt is already in the limit position, even if the user issues a pan-tilt rotation instruction to rotate to the limit position from the client, although the pan-tilt cannot rotate, the screen in the display area also has the effect of moving.

[0099] It should also be noted that if the user actively issues a zoom command during the image movement process, then according to the zoom mapping relationship, after the displayed image moves back to the first limit, it can be set to the zoom multiple newly set by the user based on the zoom command. For example: Taking digital zoom as an example, when the gimbal is in the first limit, it is 8x zoom (8.0x), and the user adjusts it to 6x zoom (6.0x) during the image movement process; then when the displayed image is moved back to the first limit, the 6x zoom can be maintained.

[0100] It should be further explained that the execution subject of the image display method based on the control of the pan-tilt camera can be an image display device based on the control of the pan-tilt camera, for example, the image display method based on the control of the pan-tilt camera can be executed by a terminal device or a server or other processing device, wherein the terminal device can be a user equipment (User Equipment, UE), a computer, a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (Personal Digital Assistant, PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, etc. In some possible implementations, the image display method based on the control of the pan-tilt camera can be implemented by a processor calling a computer-readable instruction stored in a memory.

[0101] Figure 6 FIG. 1 is a block diagram of an image display device based on PTZ camera control, shown as an exemplary embodiment of the present application. Figure 6 As shown, the exemplary image display device 600 based on PTZ camera control includes: an acquisition module 610, a matching module 620, an instruction generation module 630 and an image movement module 640. Specifically:

[0102] The acquisition module 610 is used for, in response to receiving that the gimbal camera is in a limited position, acquiring a current display image in a display area when the gimbal camera is in the limited position.

[0103] The matching module 620 is used to perform image matching between the currently displayed image and the initial captured image of the PTZ camera to obtain an image matching result.

[0104] The instruction generation module 630 is configured to generate an image movement instruction in response to the image matching result indicating that the images do not match.

[0105] The image moving module 640 is used to move the display image in the display area based on the image moving instruction.

[0106] In this exemplary image display device based on gimbal camera control, when the gimbal camera is in a limited position, the current display image in the display area is obtained; the current display image and the initial captured image of the gimbal camera are matched to determine whether the current display image can display the complete image that the gimbal camera should have captured when the gimbal camera is in the limited position, and the image matching result is obtained; if the image matching result indicates that the image does not match, it means that there is a picture omission problem, so an image movement instruction is generated; based on the image movement instruction, the display image in the display area is moved; thereby, the display image in the display area is moved to display the omitted image in the display area, thereby avoiding the picture omission problem caused by the gimbal camera being in the limited boundary for image enlargement and capture.

[0107] It should be noted that the device provided in the above embodiment and the method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment, and will not be repeated here. In practical applications, the device provided in the above embodiment can distribute the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0108] Among them, the functions of each module can be found in the embodiment of the image display method based on gimbal camera control, and will not be repeated here.

[0109] See also Figure 7 , Figure 7 1 is a schematic diagram of the structure of an embodiment of an electronic device of the present application. The electronic device 100 includes a memory 101 and a processor 102, and the processor 102 is used to execute program instructions stored in the memory 101 to implement the steps in any of the above-mentioned embodiments of the image display method based on pan-tilt camera control. In a specific implementation scenario, the electronic device 100 may include but is not limited to: a microcomputer, a server, and in addition, the electronic device 100 may also include a mobile device such as a laptop computer and a tablet computer, which is not limited here.

[0110] Specifically, the processor 102 is used to control itself and the memory 101 to implement the steps in any of the above-mentioned embodiments of the image display method based on the pan-tilt camera control. The processor 102 can also be called a CPU (Central Processing Unit). The processor 102 may be an integrated circuit chip with signal processing capabilities. The processor 102 can also be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field-programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. In addition, the processor 102 can be implemented by an integrated circuit chip.

[0111] In this exemplary electronic device, when the gimbal camera is in a limited position, the current display image in the display area is obtained; the current display image and the initial captured image of the gimbal camera are matched to determine whether the current display image can display the complete image that the gimbal camera should have captured when the gimbal camera is in the limited position, and an image matching result is obtained; if the image matching result indicates that the images do not match, it means that there is a picture omission problem, so an image movement instruction is generated; based on the image movement instruction, the display image in the display area is moved; thereby, the display image in the display area is moved to display the omitted image in the display area, thereby avoiding the picture omission problem caused by the gimbal camera being at the limited boundary for image enlargement and capture.

[0112] See also Figure 8 , Figure 8 The computer-readable storage medium 110 stores program instructions 111 that can be executed by a processor, and the program instructions 111 are used to implement the steps in any of the above-mentioned embodiments of the image display method based on pan-tilt camera control.

[0113] In this exemplary storage medium, by running the program instructions in the storage medium, when the gimbal camera is in a limited position, the current display image in the display area is obtained; the current display image and the initial captured image of the gimbal camera are matched to determine whether the current display image can display the complete image that the gimbal camera should have captured when the gimbal camera is in the limited position, and an image matching result is obtained; if the image matching result indicates that the images do not match, it means that there is a picture omission problem, so an image movement instruction is generated; based on the image movement instruction, the display image in the display area is moved; thereby, the display image in the display area is moved to display the omitted image in the display area, thereby avoiding the picture omission problem caused by the gimbal camera being at the limited boundary for image enlargement and capture.

[0114] In some embodiments, the functions or modules included in the device provided by the embodiments of the present disclosure can be used to execute the method described in the above method embodiments. The specific implementation can refer to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0115] The above description of various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other, and for the sake of brevity, they will not be repeated herein.

[0116] In the several embodiments provided in the present application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device implementation described above is only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation, such as units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0117] 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 separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit. If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform all or part of the steps of each implementation method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

Claims

1. An image display method based on pan / tilt camera control, characterized in that: The method comprises: In response to receiving that the gimbal camera is in a limited position, acquiring a current display image in a display area when the gimbal camera is in the limited position; Performing image matching between the currently displayed image and the initial captured image of the PTZ camera to obtain an image matching result; In response to the image matching result indicating that the images do not match, generating an image movement instruction; The display image in the display area is moved based on the image movement instruction.

2. The method according to claim 1, characterized in that: The moving process of the display image in the display area based on the image movement instruction includes: In response to the image movement instruction, determining a target control strategy from preset control strategies based on a zoom mode of the pan / tilt camera; The display image in the display area is controlled to move based on the target control strategy and the image movement instruction.

3. The method according to claim 2, characterized in that The zoom mode includes digital zoom, and the controlling the display image in the display area to perform movement processing based on the target control strategy and the image movement instruction includes: Determining an image movement step length based on the image movement instruction; The displayed image in the display area is correspondingly moved based on the image movement step length until the actual movement step length of the displayed image in the display area is the same as the image movement step length, or the boundary of the displayed image in the display area matches the boundary of the initial acquired image.

4. The method according to claim 2, characterized in that: The zoom mode includes digital zoom and optical zoom, and the controlling the display image in the display area to perform movement processing based on the target control strategy and the image movement instruction includes: generating a zoom instruction based on the image movement instruction; The displayed image in the display area is moved based on the image movement instruction, and the gimbal camera is controlled to perform the digital zoom and the optical zoom based on the zoom instruction, until an actual moving step length of the displayed image in the display area is the same as an image moving step length corresponding to the image movement instruction, or a boundary of the displayed image in the display area matches a boundary of the initially acquired image.

5. The method according to claim 4, characterized in that The controlling the pan / tilt camera to perform the digital zoom and the optical zoom based on the zoom instruction includes: Based on the zoom instruction, the pan-tilt camera is controlled to increase the digital zoom and reduce the optical zoom according to a preset zoom mapping relationship during the image movement process, so that the image ratio of the displayed image in the display area remains unchanged.

6. The method according to claim 5, characterized in that After controlling the pan-tilt camera to increase the digital zoom and reduce the optical zoom according to a preset zoom mapping relationship during the image movement process based on the zoom instruction, the method further includes: If a rotation instruction for controlling the gimbal camera to rotate in a direction opposite to the current limit position is received, a corresponding reverse movement instruction is generated based on the rotation instruction, and a display image in the display area is controlled to move based on the reverse movement instruction; generating a reverse zoom instruction based on the reverse movement instruction; Based on the reverse zoom instruction, the pan-tilt camera is controlled to reduce the digital zoom and increase the optical zoom according to the zoom mapping relationship during the image movement.

7. The method according to claim 1, characterized in that Before obtaining the current display image in the display area when the gimbal camera is in the limited position in response to receiving that the gimbal camera is in the limited position, the method further includes: Controlling the gimbal camera to perform image acquisition processing within the limited position based on the initial zoom parameter to obtain an initial image; The current image captured by the gimbal camera based on the current zoom parameter and the initial image are superimposed and displayed in the display area.

8. The method according to claim 7, characterized in that The controlling the gimbal camera to perform image acquisition processing within the limited position based on the initial zoom parameter to obtain an initial image includes: Sending the received image acquisition instruction to the pan-tilt camera, so that the pan-tilt camera performs image acquisition based on the received image acquisition instruction to obtain a plurality of acquired images; The multiple collected images are subjected to image fusion processing to obtain the initial image.

9. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the processor is used to execute program instructions stored in the memory to implement the method according to any one of claims 1 to 8.

10. A computer-readable storage medium having program instructions stored thereon, characterized in that: When the program instructions are executed by a processor, the method according to any one of claims 1 to 8 is implemented.

Images