Shooting control method, camera device and computer program product

Abstract

The invention provides a shooting control method, camera equipment and a computer program product, and relates to the technical field of photography. The method comprises the following steps: planning to obtain a moving path according to a demand area and a view finding area of camera equipment; wherein the starting point of the moving path is the central point of the demand area; determining shooting data of each shooting point location in the moving path in the shooting area; and carrying out splicing processing on the multiple pieces of shooting data to obtain target data of the demand area. According to the method, path planning can be performed by taking the central point of the demand area as a starting point according to the difference between the demand area selected by a user and the view finding area of the camera equipment, so that the moving path which spreads outwards from the center and has a plurality of shooting points is obtained, and the camera equipment is controlled to shoot at each shooting point to obtain corresponding shooting data; and the multiple pieces of shooting data are spliced to obtain the complete target data corresponding to the demand area, so that the effect of shooting various types of shooting objects is effectively improved.

Description

Technical Field

[0001] The present application relates to the field of photographic technology, and more specifically, to a shooting control method, a camera device, and a computer program product. Background Art

[0002] At present, when using multiple camera devices for shooting, due to the limitation of the imaging area, it is impossible to shoot a larger subject in a single shot, or the subject occupies too large a proportion of the shooting screen, which easily causes the screen to be crowded and is not conducive to the user's composition. Therefore, the existing shooting solutions have poor shooting effects and cannot meet the various shooting needs of users. Summary of the invention

[0003] In view of this, an object of the embodiments of the present application is to provide a shooting control method, a camera device and a computer program product to improve the problem of poor shooting effect in the prior art.

[0004] In order to solve the above problems, in a first aspect, an embodiment of the present application provides a shooting control method, the method comprising:

[0005] A moving path is planned according to the required area and the framing area of ​​the camera device; wherein the starting point of the moving path is the center point of the required area;

[0006] Determine the shooting data of each shooting point in the moving path in the shooting area;

[0007] The plurality of shooting data are spliced ​​to obtain target data of the required area.

[0008] In the above implementation process, path planning can be first performed based on the demand area and the framing area, with the center point of the demand area as the starting point, to obtain a moving path that spreads outward from the center and has multiple shooting points, so as to control the camera device to move to multiple shooting points, perform shooting processing in the shooting area, and obtain shooting data shot at each shooting point. In addition, in order to improve the integrity of the data, multiple shooting data can be spliced ​​to obtain complete target data corresponding to the demand area. Effective shooting processing can be performed on the demand areas corresponding to various types of shooting objects, thereby improving the quality of the obtained target data and optimizing the shooting effect. It is suitable for shooting various types of shooting objects and meets various different shooting needs of users.

[0009] Optionally, determining the shooting data of each shooting point in the moving path in the shooting area includes:

[0010] Acquire a plurality of initial data obtained by shooting at the same shooting point in the shooting area;

[0011] Determine an initial center position of each of the initial data;

[0012] If the position deviation between the initial center position and the shooting point is less than or equal to a preset deviation threshold, the corresponding initial data is taken as valid data;

[0013] The multiple valid data are superimposed to obtain the shooting data of the shooting point.

[0014] In the above implementation process, when obtaining the shooting data of each shooting point, multiple initial data obtained by the camera device in the shooting area based on the same shooting point can be obtained first, the initial center position pointed to by the center of the picture in each initial data is determined, and the initial center position is compared with the position of the shooting point. When the position deviation is less than or equal to the preset deviation threshold, it indicates that the position deviation of the initial data is small, and it is used as the valid data of the shooting point, and multiple valid data are superimposed to obtain the shooting data corresponding to the shooting point. The initial data obtained by shooting at the same shooting point can be screened based on the position accuracy to reduce the adverse effects of irrelevant data with a large position deviation on the shooting data, thereby improving the correlation between the shooting data and the shooting point, thereby improving the validity of the shooting data.

[0015] Optionally, the superimposing a plurality of the valid data to obtain the shooting data of the shooting point includes:

[0016] Determine a first rotation transformation relationship between each non-starting valid data and the starting valid data in the valid data;

[0017] Convert the non-starting valid data according to the first rotation transformation relationship to obtain rotation valid data aligned with the shooting angle of the starting valid data;

[0018] The starting valid data and a plurality of the rotation valid data are superimposed to obtain the shooting data.

[0019] In the above implementation process, since the shooting time of multiple valid data is different, and the shooting object is moving in some shooting scenes, the shooting angles of the valid data at different time nodes may be different. In order to reduce the adverse effects of different angles on the shooting data, the starting valid data and the non-starting valid data can be determined in the multiple valid data, so as to determine the first rotation transformation relationship between each non-starting valid data and the valid starting data, and the shooting angle of the starting valid data is used as the angle reference, and the corresponding non-starting valid data is converted in combination with the first rotation transformation relationship to obtain the rotation valid data aligned with the shooting angle of the starting valid data, and the starting valid data and the rotation valid data aligned with the shooting angle are superimposed to obtain the corresponding shooting data. The valid data can be converted according to the angle difference, and the shooting angles of all valid data in the same shooting point are effectively unified to reduce the adverse effects of the angle change on the shooting data obtained by superposition, thereby improving the quality of the shooting data.

[0020] Optionally, determining the initial center position of each of the initial data includes:

[0021] Performing target analysis on the initial data based on a matching algorithm to obtain a target object and a spatial coordinate of the target object in the shooting area;

[0022] The initial center position of the initial data is determined according to the spatial coordinates and the pixel position of the target object in the initial data.

[0023] In the above implementation process, the initial data can be analyzed by a matching algorithm to determine the target object and the spatial coordinates of the target object in the shooting area, and the initial center position pointed to by the center of the picture in the initial data can be determined by position mapping based on the spatial coordinates and the pixel position of the target object in the initial data. The position in space can be matched with the position in the picture to determine the initial center position pointed to by the center of the picture in the initial data through real-time position analysis and mapping, which effectively improves the accuracy of the initial center position, improves the effectiveness of screening the initial data based on the position deviation, and thus improves the position effectiveness of the screened effective data relative to the shooting point.

[0024] Optionally, the plurality of shooting data include: starting point shooting data of the central point and process shooting data of a plurality of non-central points;

[0025] The step of performing stitching processing on the plurality of photographed data to obtain target data of the required area includes:

[0026] Determine a second rotation transformation relationship between each of the process shooting data and the starting point shooting data;

[0027] The process shooting data is converted according to the second rotation transformation relationship to obtain the rotation shooting data aligned with the shooting angle of the starting point shooting data;

[0028] The starting point shooting data and the plurality of the rotation shooting data are spliced ​​to obtain the target data.

[0029] In the above implementation process, due to the different positions of the multiple shooting points, the multiple shooting data may include the starting shooting data obtained by shooting at the shooting point of the center point, and the process shooting data obtained by shooting at other shooting points that are not the center point. Since the shooting time of the multiple shooting data is different, and the shooting object is moving in some shooting scenes, the shooting angles of the shooting data at different time nodes may be different. In order to reduce the adverse effects of different angles on the target data, the second rotation transformation relationship between each process shooting data and the starting shooting data can be determined, and the shooting angle of the starting shooting data is used as the angle reference. Combined with the second rotation transformation relationship, the corresponding process shooting data is converted to obtain the rotation shooting data aligned with the shooting angle of the starting shooting data, and the starting shooting data and the rotation shooting data aligned with the shooting angle are spliced ​​to obtain the corresponding target data. The shooting data can be converted according to the angle difference, and the shooting angles of all shooting data when splicing are effectively unified to reduce the adverse effects of angle changes on the target data obtained by splicing, thereby improving the quality of the target data.

[0030] Optionally, determining the second rotation transformation relationship between each of the process shooting data and the starting point shooting data includes:

[0031] Extracting a first valid target in the starting point shooting data and a second valid target in the process shooting data based on brightness conditions;

[0032] Performing pattern matching according to the first valid target to obtain a first pattern; performing pattern matching according to the second valid target to obtain a second pattern;

[0033] The second rotation transformation relationship between the process shooting data and the starting point shooting data is determined according to the angle change of the second figure generated based on the first figure.

[0034] In the above implementation process, in order to determine the second rotation transformation relationship for angle rotation, the first valid target can be extracted from the starting point shooting data and the second valid target can be extracted from the process shooting data based on the brightness condition. Graphic matching is performed on the two valid targets respectively to obtain the first graphic and the second image, and the angle change of the second graphic based on the first graphic is determined based on the first graphic in the starting point shooting data as a reference, and the second rotation transformation relationship between the process shooting data and the starting point shooting data is determined according to the angle change. The angle change between the two shooting data can be determined by target extraction and graphic matching, which effectively improves the accuracy of the second rotation transformation relationship, thereby improving the angle consistency of multiple shooting data after conversion based on the second rotation transformation relationship.

[0035] Optionally, the planning of the moving path according to the required area and the framing area of ​​the camera device includes:

[0036] Determine the required area selected by the user in the shooting area; wherein the required area meets the altitude angle condition;

[0037] Determine a center position according to the center point of the required area, and determine the framing area corresponding to the framing center when a position deviation between the center position and the framing center of the camera device is less than or equal to a preset deviation threshold; wherein there is a difference in area and / or angle between the required area and the framing area;

[0038] Determine a plurality of shooting points according to the required area and the framing area; wherein the shooting points include the center point;

[0039] The moving path is obtained according to the planning of the plurality of shooting points.

[0040] In the above implementation process, when performing path planning, the required area selected by the user in the shooting area corresponding to the current camera device can be first determined, and each position in the required area meets the altitude angle condition to determine the shootability of the required area. The center position pointed to by the center position is determined based on the center point of the required area, and the center position is compared with the framing center of the camera device. When the position deviation between the two is less than or equal to the preset deviation threshold, it indicates that the framing center of the camera device has been aligned with the center of the required area, and the initial framing area of ​​the camera device can be determined based on the current framing center. Due to the variability of shooting requirements, there are usually area differences and / or angle differences between the required area selected by the user and the framing area positioned by the camera device. According to the difference between the required area and the framing area, multiple different shooting points can be determined, and the shooting points include the center point as the starting point, so as to plan the movement path of the camera device according to multiple shooting points. It can determine the corresponding demand area according to the actual needs of the user, and locate the framing area of ​​the camera device according to the center of the demand area, so as to determine the shooting point and perform path planning according to the difference between the two areas, so as to obtain complete target data of the demand area through path planning, mobile shooting and data stitching. It is suitable for shooting a variety of different types of subjects and meet the user's various different shooting needs.

[0041] Optionally, determining the plurality of shooting points according to the required area and the framing area includes:

[0042] Determine the central coordinates of the central point in the shooting area;

[0043] Determining an area size ratio between the required area and the framing area, and a rotation adjustment angle between the required area and the framing area;

[0044] According to the center coordinates, the area size ratio and the rotation adjustment angle, combined with a preset overlap ratio, a plurality of shooting points are determined in the shooting area; wherein the overlap ratio is the ratio of the data overlap area of ​​adjacent shooting points to the framing area.

[0045] In the above implementation process, the center coordinates of the center point of the required area in the shooting area, as well as the area size ratio and rotation adjustment angle between the required area and the framing area can be determined first, and then based on the center coordinates, area size ratio and rotation adjustment angle, combined with the overlap ratio between the preset data overlap area between adjacent points and the framing area, multiple shooting points can be determined in the shooting area for the camera device to perform mobile shooting. Points can be located according to the center of the required area, as well as the size difference and angle difference between the required area and the framing area, and limited by the set overlap ratio to reduce the unfavorable situation that multiple shooting data cannot be spliced ​​normally, effectively improving the rationality of the distribution of shooting points.

[0046] Optionally, the planning of obtaining the moving path according to the plurality of shooting points includes:

[0047] Determine movement parameters according to the plurality of shooting points; wherein the movement parameters include: movement direction and movement distance between adjacent shooting points;

[0048] According to the center point and the moving parameters, the plurality of shooting points are sorted in combination with the path requirements to obtain the moving path; wherein the path requirements include time requirements and / or distance requirements; and the moving path includes a spiral path and / or a center divergent path.

[0049] In the above implementation process, the moving direction, moving distance and other moving parameters between multiple adjacent shooting points can be determined based on multiple shooting points, and the center point is used as the starting point. According to the moving parameters combined with path requirements such as time requirements and / or distance requirements, the multiple shooting points are sorted to obtain the corresponding spiral path and / or center divergent path that spreads outward from the center as the moving path. The center point can be used as the starting point, and the path planning can be carried out according to the actual movement of multiple shooting points and the actual requirements during shooting, which effectively improves the effectiveness of path planning, thereby improving the imaging uniformity and background uniformity when shooting based on the moving path, and reducing the difficulty of subsequent data angle alignment, superposition, splicing and other processing.

[0050] Optionally, the planning of obtaining the moving path according to the plurality of shooting points includes:

[0051] Determine an area size ratio between the required area and the framing area of ​​the camera device, and a rotation adjustment angle between the required area and the framing area;

[0052] The moving path is determined in a historical path table according to the area size ratio and the rotation adjustment angle; wherein the historical path table includes multiple historical paths planned based on different historical area size ratios and historical rotation adjustment angles, and the historical paths include spiral paths and / or center-divergent paths.

[0053] In the above implementation process, in order to reduce the time and computing cost required for path planning, a corresponding historical path table can be set. The historical path table stores multiple historical paths planned based on different historical area size ratios and historical rotation adjustment angles. The historical paths are spiral paths and / or center-divergent paths that spread outward from the center. When planning the path, the area size ratio and rotation adjustment angle between the required area and the framing area can be determined first, so as to match them in the historical path table according to the area size ratio and rotation adjustment angle, and select the corresponding moving path. The ability to directly match the corresponding moving path in the historical path table according to the current area size ratio and rotation adjustment angle effectively improves the imaging uniformity and background uniformity when shooting based on the moving path, and reduces the difficulty of subsequent data angle alignment, superposition, splicing and other processing.

[0054] Optionally, the method further comprises:

[0055] Determining an estimated shooting time for each of the shooting points according to the moving path;

[0056] Determine the altitude angle of the corresponding shooting point according to the estimated shooting time;

[0057] If it is determined that the altitude angle is less than a preset altitude angle threshold, the shooting order of the corresponding shooting points in the moving path is advanced;

[0058] If it is determined that the estimated shooting time is less than the available shooting time corresponding to the altitude angle, a prompt message is generated.

[0059] In the above implementation process, after the corresponding moving path is planned, the estimated shooting time of each shooting point in the moving path can be determined, and the altitude angle of each shooting point can be determined according to the estimated shooting time, and the altitude angle is compared with the preset altitude angle condition. When the altitude angle is less than the altitude angle condition, it indicates that the altitude angle of the current shooting point does not meet the shooting condition and normal shooting cannot be achieved. The shooting order of the shooting point can be processed in advance in the moving path. When the estimated shooting time is less than the shooting time corresponding to the altitude angle, it indicates that the shooting point cannot complete the shooting normally, and the corresponding prompt information can be generated to prompt this abnormal situation. The moving path can be adjusted according to the actual situation of the shooting time and altitude angle, and abnormal situations can be prompted in real time, which effectively improves the reliability of the shooting process.

[0060] Optionally, the framing area moves based on the moving path, and if the framing area moves to an end point of the moving path, the method further includes:

[0061] Controlling the framing area to return to the starting point to perform a path cycle;

[0062] And / or, performing quality inspection on the shooting data of each shooting point in the moving path according to a preset quality condition; if it is determined that the shooting data of the shooting point does not meet the quality condition, controlling the framing area to return to the corresponding shooting point for repeated shooting.

[0063] In the above implementation process, the camera's framing area can be moved sequentially with multiple shooting points in the moving path as the center. When the framing area moves to the shooting point as the end point in the moving path, the framing area can be controlled to return to the center point as the starting point in the moving path to perform a path cycle, so as to further improve the quality of the obtained target data through multiple cycles. The shooting data of each shooting point in the moving path can also be quality checked according to a preset quality condition. When the shooting data quality of the shooting point does not meet the quality condition, that is, the shooting data quality is poor, the framing area is controlled to return to the corresponding shooting point for repeated shooting, so as to improve the quality of the shooting data obtained at each shooting point, thereby improving the quality of the target data obtained based on the processing of multiple shooting data.

[0064] In a second aspect, an embodiment of the present application further provides a camera device, the camera device comprising a transmission mechanism, an imaging sensor and a controller; wherein the controller is communicatively connected to the imaging sensor and the transmission mechanism, and the transmission mechanism is connected to the imaging sensor;

[0065] The controller is used to plan a moving path according to the required area and the framing area of ​​the imaging sensor; wherein the starting point of the moving path is the center point of the required area;

[0066] The transmission mechanism is used to drive the imaging sensor to move based on the moving path;

[0067] The imaging sensor is used to collect data at each shooting point in the moving path to obtain shooting data;

[0068] The controller is used to perform splicing processing on the plurality of shooting data to obtain the target data of the required area.

[0069] In the above implementation process, the controller performs path planning based on the demand area and the framing area with the center point of the demand area as the starting point, and obtains a moving path that spreads outward from the center and has multiple shooting points. The transmission mechanism drives the imaging sensor to move based on the moving path, so that data is collected at each shooting point in the moving path by the imaging sensor to obtain shooting data, and the controller splices the multiple shooting data to obtain complete target data corresponding to the demand area.

[0070] In a third aspect, an embodiment of the present application further provides a computer program product, which includes a computer program / instructions, and when the computer program / instructions are executed by a processor, the steps of any one of the above-mentioned shooting control methods are implemented.

[0071] In summary, the embodiments of the present application provide a shooting control method, a camera device, and a computer program product, which can perform path planning with the center point of the required area as the starting point according to the difference between the required area selected by the user and the framing area of ​​the camera device, and obtain a moving path that spreads outward from the center and has multiple shooting points, thereby controlling the camera device to shoot at each shooting point to obtain corresponding shooting data, and splicing multiple shooting data to obtain complete target data corresponding to the required area, effectively improving the effect of shooting various types of shooting objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0073] Figure 1 A flowchart of a shooting control method provided in an embodiment of the present application;

[0074] Figure 2 A detailed flow chart of step S200 provided in an embodiment of the present application;

[0075] Figure 3 A detailed flow chart of step S240 provided in an embodiment of the present application;

[0076] Figure 4 A detailed flow chart of step S220 provided in an embodiment of the present application;

[0077] Figure 5 A detailed flowchart of step S300 provided in an embodiment of the present application;

[0078] Figure 6 A detailed flowchart of step S310 provided in an embodiment of the present application;

[0079] Figure 7 A detailed flowchart of step S100 provided in an embodiment of the present application;

[0080] Figure 8 A detailed flow chart of step S130 provided in an embodiment of the present application;

[0081] Fig. 9 A detailed flowchart of step S140 provided in an embodiment of the present application;

[0082] Fig.10 A detailed flowchart of another step S140 provided in an embodiment of the present application;

[0083] Fig.11 A flowchart of another shooting control method provided in an embodiment of the present application;

[0084] Fig.12 A flowchart of another shooting control method provided in an embodiment of the present application;

[0085] Fig.13 A schematic diagram of the structure of a camera device provided in an embodiment of the present application.

[0086] Icon: 610 - transmission mechanism; 620 - imaging sensor; 630 - controller. DETAILED DESCRIPTION

[0087] The technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments of the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the embodiments of the present application.

[0088] When using multiple camera devices for shooting, due to the limitations of the imaging area of ​​the camera devices, it is impossible to shoot a larger object in a single shot. For example, in astronomical photography scenes, it is impossible to shoot a nebula completely, or the object occupies too large a proportion of the shooting screen, for example, the planet takes up 90% of the entire shooting screen, etc., which easily causes the screen to be crowded and is not conducive to the user's composition. Therefore, the existing shooting solutions have poor shooting effects and cannot meet the various shooting needs of users.

[0089] In order to solve this problem, an embodiment of the present application provides a shooting control method, which is applied to an electronic device. The electronic device can be an integrated or split camera device, or a server, a personal computer (PC), a tablet computer, a smart phone, a personal digital assistant (PDA), or other electronic device with logical calculation functions connected to the camera device. It can plan a path based on the difference between the required area selected by the user and the framing area of ​​the camera device, with the center point of the required area as the starting point, to obtain a moving path that spreads outward from the center and has multiple shooting points, thereby controlling the camera device to shoot at each shooting point to obtain corresponding shooting data, and splicing multiple shooting data to obtain complete target data corresponding to the required area, effectively improving the effect of shooting various types of shooting objects.

[0090] See also Figure 1 , Figure 1 A flowchart of a shooting control method provided in an embodiment of the present application, the method may include steps S100-S300.

[0091] Step S100, planning a moving path according to the required area and the framing area of ​​the camera device.

[0092] Among them, when the camera device is working towards the corresponding shooting area, the demand area can be the area selected by the user in the shooting area, and the framing area can be a framing frame area defined based on the hardware conditions of the imaging sensor in the camera device. For example, the size of the corresponding framing area is determined based on the resolution of the imaging sensor. In order to facilitate the user to select and adjust, a red frame can be set to represent the demand area and a blue frame can be set to represent the framing area on the UI (User Interface) interface of the camera device. The user can determine the demand area based on his or her own shooting requirements for the shooting object through coordinate limitation, pulling, zooming in, and reducing operations. According to the demand area and the framing area, the path planning can be carried out with the center point of the demand area as the starting point to obtain a moving path that spreads outward from the center and has multiple shooting points.

[0093] For example, taking an astronomical shooting scene as an example, the corresponding shooting area can be a celestial area within a certain range around the viewing area in the camera device UI interface, or the entire celestial sphere area.

[0094] It should be noted that, considering the long-term shooting requirements, there are differences in the light environment and weather environment before and after shooting. In order to reduce the differences between the various areas of the final imaging, the starting point of the moving path is the center point of the required area, so as to plan the moving path that spreads outward from the center, thereby improving the uniformity of the imaging and the uniformity of the background during the entire shooting process. If there are large changes in the light environment and weather environment before and after, the moving path that spreads outward from the center can effectively ensure the imaging uniformity of the central area of ​​the obtained target data.

[0095] Step S200: determining the shooting data of each shooting point in the moving path in the shooting area.

[0096] Among them, the shooting area is the overall background area facing the camera device, and there are multiple corresponding shooting points in the moving path. The imaging sensor in the camera device can be controlled to move to multiple shooting points for shooting processing, and shooting data of the corresponding framing area at each shooting point can be obtained.

[0097] For example, the shooting data may include one or more image data obtained by shooting at the shooting point, and may also include video data obtained by shooting at the shooting point.

[0098] Optionally, the imaging sensor can be controlled to move by various types of transmission mechanisms provided in the camera device. The transmission mechanism may include various types of motors, transmission belts, screws, worm gears, worm gears and other components, such as linear motors, etc., and may also be in the form of hanging windows, motor peripheral drives, etc.

[0099] Step S300: stitching multiple shot data to obtain target data of the required area.

[0100] In order to improve the integrity of the data, after all shooting points in the moving path are traversed and shot, multiple shooting data can be spliced ​​to obtain complete target data corresponding to the required area.

[0101] It should be noted that since the moving path is a path that spreads outward from the center, when the data is stitched, aligned, superimposed, etc., the shooting data at the center point is used as the benchmark for processing, which effectively improves the distance between the shooting data and the benchmark shooting data at the center point during stitching, alignment, and superposition. It effectively reduces the unfavorable situations such as stitching / alignment / superposition deviation caused by the large coordinate difference between the two shooting data.

[0102] exist Figure 1In the illustrated embodiment, effective shooting processing can be performed on the required areas corresponding to various types of shooting objects, thereby improving the quality of the obtained target data and optimizing the shooting effect. It is suitable for shooting various different types of shooting objects and meeting various different shooting needs of users.

[0103] Optionally, see Figure 2 , Figure 2 A detailed flowchart of step S200 is provided for an embodiment of the present application. Step S200 may include steps S210-S240.

[0104] Step S210, obtaining a plurality of initial data obtained by shooting at the same shooting point in the shooting area.

[0105] When acquiring shooting data of each shooting point, multiple initial data obtained by the camera device in the shooting area based on the same shooting point can be first acquired. The initial data are multiple unprocessed initial images or videos obtained for each shooting point.

[0106] Step S220, determining the initial center position of each initial data.

[0107] Among them, considering that each shooting point requires a certain amount of shooting time, when multiple initial data are obtained by shooting, in order to determine the correlation between the position of each initial data and the shooting point, the initial center position pointed by the center of the picture in each initial data can be determined, and the initial center position can be compared with the position of the shooting point to determine whether there is an unfavorable situation of position offset during shooting.

[0108] It should be noted that the point positions of the shooting points are the sky coordinates of multiple points in the shooting area on the moving path, and the initial center position is the sky coordinates in the shooting area pointed to by the center of the picture of the initial data. The sky coordinates of the shooting points and the initial center position can be determined by picture analysis, position analysis, and position mapping.

[0109] Step S230: If the position deviation between the initial center position and the shooting point is less than or equal to a preset deviation threshold, the corresponding initial data is regarded as valid data.

[0110] Among them, the initial center position and the position of the shooting point can be converted into the picture position in the framing area, that is, the pixel position, and the corresponding position deviation is set. When the position deviation is less than or equal to the preset deviation threshold, it is characterized that the position deviation degree of the initial data is small, and it is used as the valid data of the shooting point, so as to screen the validity of multiple initial data obtained from the same shooting point, and reduce the adverse effect of data with large position deviation on the shooting data.

[0111] For example, the preset deviation threshold can be a pixel value based on image or video data. A suitable deviation threshold can be selected according to the actual size of the framing area to reduce the alignment difficulty caused by too large a deviation threshold and the difficulty in obtaining valid data due to too small a deviation threshold. Taking the framing area with a resolution of 1080*1920 as an example, the deviation threshold can be set to 50 pixels.

[0112] Step S240: performing superposition processing on a plurality of valid data to obtain shooting data of the shooting points.

[0113] After the screening is completed, multiple valid data can be superimposed to obtain the shooting data corresponding to the shooting point.

[0114] Optionally, multiple valid data may be superimposed using various types of superposition algorithms, such as a linear mixing algorithm, a multiplication superposition algorithm, an addition superposition algorithm, and the like.

[0115] Optionally, the number of valid data at each shooting point can be set to the same number. For example, the valid data is set to 3. When the number of valid data is less than 3, the initial data can continue to be shot at the shooting point and the position comparison screening process can be performed until the number of valid data reaches 3, so as to improve the quality of the shooting data by superimposing multiple valid data.

[0116] For example, taking the shooting point P1 as an example, the three valid data obtained can be recorded as P1-1, P1-2, and P1-3 respectively.

[0117] exist Figure 2 In the illustrated embodiment, the initial data obtained by shooting at the same shooting point can be screened based on the position accuracy to reduce the adverse effect of irrelevant data with a large degree of position deviation on the shooting data, thereby improving the correlation between the shooting data and the shooting point, and thus improving the validity of the shooting data.

[0118] Optionally, see Figure 3 , Figure 3 A detailed flowchart of step S240 is provided for an embodiment of the present application. Step S240 may include steps S241-S243.

[0119] Step S241, determining a first rotation transformation relationship between each non-starting valid data in the valid data and the starting valid data.

[0120] Among them, since the shooting time of multiple valid data is different, and the shooting objects are moving in some shooting scenes, for example, in astronomical shooting scenes, due to the rotation of the earth, the positions of the shooting objects such as nebulae and planets will change, and when the camera device is shooting, the imaging sensor will track the selected shooting objects for shooting. Therefore, the shooting angles of the valid data at different time nodes may be different, resulting in the rotation of the shooting field between multiple valid data. In order to reduce the adverse effects of different angles on the shooting data, the starting valid data and non-starting valid data can be determined among the multiple valid data, thereby determining the first rotation transformation relationship between each non-starting valid data and the valid starting data.

[0121] Optionally, the starting valid data and the non-starting valid data may be determined according to the shooting time of each valid data at the same shooting point, with the valid data with the earliest shooting time being the starting valid data and the other valid data being the non-starting valid data.

[0122] Step S242: transform the non-starting valid data according to the first rotation transformation relationship to obtain rotation valid data aligned with the shooting angle of the starting valid data.

[0123] The shooting angle of the starting valid data may be used as an angle reference, and the corresponding non-starting valid data may be transformed in combination with the first rotation transformation relationship to obtain rotation valid data aligned with the shooting angle of the starting valid data.

[0124] It should be noted that the method for determining the first rotation transformation relationship is similar to the method for determining the second rotation transformation relationship provided in the present application, and will not be described in detail.

[0125] Step S243, superimposing the initial valid data and the multiple rotation valid data to obtain the shooting data.

[0126] The starting valid data and the rotation valid data aligned with the shooting angle are superimposed to obtain the corresponding shooting data.

[0127] exist Figure 3 In the illustrated embodiment, the valid data can be converted according to the angle difference, thereby effectively unifying the shooting angles of all valid data in the same shooting point to reduce the adverse effects of angle changes on the superimposed shooting data, thereby improving the quality of the shooting data.

[0128] Optionally, see Figure 4 , Figure 4 A detailed flow chart of step S220 is provided for an embodiment of the present application. Step S220 may include steps S221-S222.

[0129] Step S221: Perform target analysis on the initial data based on a matching algorithm to obtain a target object and the spatial coordinates of the target object in the shooting area.

[0130] The initial data may be subjected to target analysis through a matching algorithm to determine the target object and the spatial coordinates of the target object in the shooting area.

[0131] Optionally, multiple targets in the initial data may be extracted and identified by a target matching algorithm. Taking an astronomical shooting scene as an example, the target objects obtained may include celestial targets such as stars contained in the initial data. After determining the target object, the identity information such as the name of the target object may be determined from the database. After determining the celestial body represented by the target object, the spatial coordinates of the target object in the shooting area, i.e., on the celestial sphere, may be determined in combination with the current time information.

[0132] Step S222, determining the initial center position of the initial data according to the spatial coordinates and the pixel position of the target object in the initial data.

[0133] Among them, the pixel position of the target object in the picture of the initial data can be determined. Since the pixel position and the spatial coordinates of the same target object are correlated, the corresponding position mapping relationship can be determined according to the spatial coordinates and the pixel position, and then according to the position mapping relationship, the sky coordinates corresponding to the central pixel point of the picture in the initial data can be determined as the initial center position.

[0134] exist Figure 4 In the embodiment shown, the position in the space can be corresponded to the position in the picture, so as to determine the initial center position pointed to by the center of the picture in the initial data through real-time position analysis and mapping, thereby effectively improving the accuracy of the initial center position, so as to improve the effectiveness of screening the initial data based on the position deviation, thereby improving the position effectiveness of the screened effective data relative to the shooting point.

[0135] It should be noted that, due to the different positions of the multiple shooting points, the multiple shooting data may include starting point shooting data shot at the shooting point of the center point and process shooting data shot at other shooting points other than the center point.

[0136] Optionally, see Figure 5 , Figure 5 A detailed flowchart of step S300 is provided for an embodiment of the present application. Step S300 may include steps S310-S330.

[0137] Step S310: determining a second rotation transformation relationship between each process shooting data and the starting point shooting data.

[0138] Among them, since the shooting time of multiple valid data is different, and the shooting objects are moving in some shooting scenes, for example, in astronomical shooting scenes, due to the rotation of the earth, the positions of the shooting objects such as nebulae and planets will change, and when the camera device shoots at different shooting points, the imaging sensor corresponds to different shooting points. Therefore, the shooting angles of the shooting data at different time nodes may be different, resulting in the rotation of the shooting field between multiple shooting data. In order to reduce the adverse effects of different angles on the target data, the second rotation transformation relationship between each process shooting data and the starting point shooting data can be determined.

[0139] It should be noted that the first rotation transformation relationship and the second rotation transformation relationship can be corresponding rotation matrices. Taking the second rotation transformation relationship as an example, the angle difference between the process shooting data and the starting point shooting data can be determined by performing image analysis on the two, thereby determining the corresponding second rotation change relationship.

[0140] Step S320: transform the process shooting data according to the second rotation transformation relationship to obtain the rotated shooting data aligned with the shooting angle of the starting point shooting data.

[0141] The shooting angle of the starting point shooting data may be used as an angle reference, and the corresponding process shooting data may be transformed in combination with the second rotation transformation relationship to obtain the rotation shooting data aligned with the shooting angle of the starting point shooting data.

[0142] It should be noted that when performing calculations, the center point of the required area can be used as the rotation center, and each pixel point (x, y, 1) in the process shooting data can be multiplied by the second rotation transformation relationship to obtain the rotated pixel point (x1, y1, 1) whose position has changed, so that multiple rotated pixel points constitute the rotated shooting data.

[0143] Step S330 , performing splicing processing on the starting point shooting data and the plurality of rotation shooting data to obtain target data.

[0144] The starting point shooting data and the rotation shooting data aligned with the shooting angle are spliced ​​to obtain the corresponding target data.

[0145] Optionally, the starting point shooting data can be used as the center, and the position of each rotating shooting data in the entire target data can be determined according to the shooting point position to achieve stitching processing. Two adjacent shooting data have a certain size of overlapping area, and according to the actual situation of the overlapping area and the position situation, a variety of different stitching algorithms can be used for stitching processing to achieve a smooth and seamless stitching effect, and obtain complete and high-quality target data.

[0146] exist Figure 5In the illustrated embodiment, the shooting data can be converted according to the angle difference, effectively unifying the shooting angles of all shooting data during stitching, so as to reduce the adverse effects of angle changes on the target data obtained by stitching, thereby improving the quality of the target data.

[0147] Optionally, see Figure 6 , Figure 6 A detailed flowchart of step S310 is provided for an embodiment of the present application. Step S310 may include steps S311-S313.

[0148] Step S311 , extracting the first valid target in the starting point shooting data and the second valid target in the process shooting data based on the brightness condition.

[0149] In order to determine the second rotation transformation relationship for angular rotation, the first valid target may be extracted from the starting point shooting data and the second valid target may be extracted from the process shooting data based on the brightness condition.

[0150] For example, taking astronomical shooting scenes as an example, the effective targets to be extracted can be star points, and the adaptive threshold method can be used to extract star points, with brightness as the standard for star point detection. The brightness condition is the threshold for discrimination, and the brightness condition can be set according to actual shooting needs. Taking the shooting data as RGB image data as an example, if you want to calculate the brightness of the RGB image, you need to convert the RGB image into HSL format, and L is the pixel value of the grayscale image. The process of extracting effective targets may include: (1) regional calculation: in the star point detection algorithm, the image can be decomposed into several small local areas, and the size of the local area can be 100*100; (2) local area background pixel value: the pixel median is calculated through the histogram of the local area, and the median is used as the background pixel value; (3) judging whether there is a possibility of a star point in the local area: if the maximum pixel value in the local area is greater than the minimum brightness value plus the background pixel value, there may be a star point, otherwise there is no star point; (4) searching for pixels in the local area that are greater than the minimum brightness value plus the background pixel value; (5) judging whether the current pixel point is within the range of the star point that has been detected. If the current pixel point belongs to the range of the previously detected star point, re-detect the new pixel point; (6) if the current pixel point does not belong to the previously detected star point, diverge outward from the current point, and the divergence direction is (up, down, left, right, upper left, lower left, upper right, lower right), and divergence direction is (up, down, left, right, upper left, lower left, upper right, lower right). The radius can be set according to the actual situation, for example, it can be set to 20 pixels; (7) The pixels within the divergence range are judged: if the pixel value of the diverging point is greater than 1.05 times the center point, then the divergence is exited and a new pixel is retrieved; if there are 3 pixels in the same direction that are greater than the center point, then a new pixel is retrieved; if the diverging point minus the background pixel value is less than 0.25 times the center point minus the background value, multiple opportunities can be set and the diverging radius is recorded; (8) The radii of the divergence in the eight directions are judged according to the level (0, 1, 2, 3), and the difference in the eight directions is less than 4 to improve effectiveness; (9) The average radius is calculated, first the average value of (upper, lower, left, and right) is calculated, and then the average value of (upper left, lower left, upper right, and lower right) is calculated. The latter needs to be multiplied by the square root of 2, and finally the average of the two is taken; (10) The center of mass of the star point is calculated by the centroid solution method, and the star point that meets the requirements is added to the set as a valid target.

[0151] Step S312, performing graphic matching according to the first valid target to obtain a first graphic; performing graphic matching according to the second valid target to obtain a second graphic.

[0152] In order to quantify the angle change between the two shooting data, graphic matching can be performed with two effective targets respectively to obtain a first graphic and a second image.

[0153] Optionally, the pattern matching may be performed in a triangle matching manner, and multiple valid targets in the shooting data may be combined into multiple triangles as the first pattern or the second pattern.

[0154] Step S313: determining a second rotation transformation relationship between the process shooting data and the starting point shooting data according to the angle change of the second figure generated based on the first figure.

[0155] The first figure in the starting point shooting data is used as a reference to determine the angle change of the second figure based on the first figure, and the second rotation transformation relationship between the process shooting data and the starting point shooting data is determined according to the angle change.

[0156] Optionally, in the starting point shooting data and the process shooting data, two congruent triangles can be recorded as the same points, and all congruent triangles can be found by analogy, and the first 100 star points with the most combined points are found as corresponding star points. The pixel positions of the corresponding star points in the two shooting data are calculated to determine the angle change, and the rotation matrix is ​​solved by the least squares method as the second rotation transformation relationship, which is recorded as:

[0157]

[0158] Among them, t x is the translation variable generated by the process shooting data relative to the starting point shooting data, t y is the vertical variable generated by the process shooting data relative to the starting point shooting data, and θ is the angular change generated by the process shooting data relative to the starting point shooting data.

[0159] Optionally, each pixel point (x, y, 1) in the process shooting data is multiplied by the second rotation transformation relationship to obtain the calculation process of the rotated pixel point (x1, y1, 1) with a position change:

[0160]

[0161] exist Figure 6 In the illustrated embodiment, the angle change between two captured data can be determined by target extraction and graphic matching, which effectively improves the accuracy of the second rotation transformation relationship, thereby improving the angle consistency of multiple captured data after conversion based on the second rotation transformation relationship.

[0162] Optionally, see Figure 7 , Figure 7 A detailed flowchart of step S100 is provided in an embodiment of the present application. Step S100 may include steps S110-S140.

[0163] Step S110, determining a required area selected by the user in the shooting area.

[0164] When performing path planning, the required area selected by the user in the shooting area corresponding to the current camera device can be first determined, and each position in the required area meets the altitude angle condition to determine the photographability of the required area.

[0165] Optionally, the user can drag, rotate, zoom in or out on a touch screen or other device to determine the corresponding required area, and the altitude angle condition is set to be greater than or equal to 0 to ensure that the entire required area is in the photographable area.

[0166] Step S120, determining the center position according to the center point of the required area, and determining the framing area corresponding to the framing center when the position deviation between the center position and the framing center of the camera device is less than or equal to a preset deviation threshold.

[0167] Among them, in order to align the center of the initial framing area with the required area, the center position pointed to by the center position can be determined based on the center of the required area, and the center position can be compared with the framing center of the camera device in terms of the picture position. When the position deviation between the two is less than or equal to a preset deviation threshold (for example, 50 pixels, etc.), it indicates that the framing center of the camera device has been aligned with the center of the required area, and the initial framing area of ​​the camera device can be determined based on the current framing center.

[0168] Optionally, in the case where there is a large position deviation between the two, the imaging sensor in the camera device can be controlled to move, and the moving path can be analyzed, and the position comparison can continue after moving to near the center position until the position deviation is less than or equal to the deviation threshold, so as to determine the initial framing area corresponding to the center point position of the required area.

[0169] It should be noted that there are area differences and / or angle differences between the required area and the framing area to meet the user's shooting needs of different sizes and angles. For example, the range of the area difference can be: the imaging range of the required area is a, the imaging range of the framing area is b, a=c*b, c=1.1 / 1.2 / 1.3...2, etc., and the range of the angle difference can be -90 degrees to -90 degrees.

[0170] Step S130, determining a plurality of shooting points according to the required area and the framing area.

[0171] Step S140, planning and obtaining a moving path according to the multiple shooting points.

[0172] Among them, multiple different shooting points can be determined according to the difference between the required area and the framing area, and the shooting points include a center point as a starting point, so as to plan the movement path of the camera device according to the multiple shooting points. The shooting point includes a center point, and the framing area corresponding to the center point is used as the initial framing area. When moving to the corresponding shooting point for shooting, the framing area also moves accordingly, and the center of the framing area corresponds to the shooting point.

[0173] exist Figure 7 In the illustrated embodiment, it is possible to determine a corresponding demand area according to the actual needs of the user, and to locate the framing area of ​​the camera device according to the center of the demand area, so as to determine the shooting point and perform path planning based on the difference between the two areas, thereby obtaining complete target data of the demand area through path planning, mobile shooting and data stitching, which is suitable for shooting a variety of different types of subjects and meets the user's various different shooting needs.

[0174] Optionally, see Figure 8 , Figure 8 A detailed flowchart of step S130 is provided for an embodiment of the present application. Step S130 may include steps S131-S133.

[0175] Step S131, determining the center coordinates of the center point in the shooting area.

[0176] Among them, since the shooting point includes the center point of the required area, the sky coordinates of the shooting area pointed by the center point can be first determined as the center coordinates corresponding to the center point.

[0177] Step S132, determining the area size ratio between the required area and the framing area, and the rotation adjustment angle between the required area and the framing area.

[0178] Among them, since there are usually area differences and / or angle differences between the required area selected by the user and the framing area positioned by the camera device, the shooting points can be arranged according to the differences during shooting. Therefore, the area size ratio of the required area and the framing area, as well as the rotation adjustment angle between the required area and the framing area can be determined.

[0179] For example, the area size ratio is c described in the above embodiment, and the rotation adjustment angle is the specific angle size of the angle difference.

[0180] Step S133, determining a plurality of shooting points in the shooting area according to the center coordinates, the area size ratio and the rotation adjustment angle in combination with a preset overlap ratio.

[0181] Among them, based on the center coordinates, area size ratio and rotation adjustment angle, combined with the overlap ratio between the data overlap area and the framing area between preset adjacent points, multiple shooting points can be determined in the shooting area for mobile shooting by the camera device.

[0182] It should be noted that in order to ensure the integrity of the data during stitching, a corresponding overlap ratio can be set. The overlap ratio is the ratio of the data overlap area of ​​adjacent shooting points to the framing area. The corresponding overlap ratio can be set according to the specific shooting situation and actual needs. In addition, considering that the relative positions of adjacent shooting points at different locations are different, multiple overlap ratios may also be different. Therefore, the overlap ratio can also include a corresponding overlap ratio range. For example, the overlap ratio is set to 80%-90%, etc.

[0183] exist Figure 8 In the embodiment shown, point positioning can be performed based on the center situation of the required area, as well as the size difference, angle difference, etc. between the required area and the framing area, and is limited by setting an overlapping ratio to reduce the unfavorable situation where multiple shooting data cannot be normally spliced, thereby effectively improving the rationality of the distribution of shooting points.

[0184] Optionally, see Fig. 9 , Fig. 9 A detailed flowchart of step S140 is provided for an embodiment of the present application. Step S140 may include steps S141-S142.

[0185] Step S141, determining movement parameters according to a plurality of shooting points.

[0186] Among them, movement parameters such as movement direction and movement distance between multiple adjacent shooting points can be determined according to the multiple shooting points.

[0187] Optionally, taking two adjacent shooting points P1 and P2 as an example, the moving direction can be the direction of P2 relative to P1, and the moving distance can be the moving unit of the displacement of P2 relative to P1. The moving unit is determined based on the transmission performance of the transmission mechanism. For example, P2 is obtained by moving P1 upward by 20 moving units.

[0188] Step S142, sorting the plurality of shooting points according to the center point and the moving parameters in combination with the path requirements to obtain a moving path.

[0189] Among them, the center point can be used as the starting point, and multiple shooting points can be sorted according to movement parameters combined with path requirements such as time requirements and / or distance requirements to obtain a corresponding spiral path spreading outward from the center and / or a center divergent path as the movement path.

[0190] For example, the spiral path may include a U-shaped path, and the central divergent path may include a cross-shaped path, a cross-shaped path, and other paths that spread outward from the center.

[0191] It should be noted that the path requirement may include a time requirement and / or a distance requirement. The time requirement is a condition that limits the time of the overall shooting process, and the distance requirement may be a moving distance condition based on the transmission performance limit of the transmission mechanism. For example, when the time requirement is short, fewer shooting points can be selected to form a moving path, so as to shorten the overall shooting time by reducing the number of shots. When the movable distance of the distance requirement is short, more shooting points can be selected to form a moving path, so as to provide sufficient moving space through multiple shooting points.

[0192] exist Fig. 9 In the embodiment shown, the center point can be used as the starting point, and path planning can be performed according to the actual movement of multiple shooting points and the actual needs during shooting, thereby effectively improving the effectiveness of path planning, thereby improving the imaging uniformity and background uniformity when shooting based on the moving path, and reducing the difficulty of subsequent data angle alignment, superposition, stitching and other processing.

[0193] Optionally, see Fig.10 , Fig.10 Another detailed flowchart of step S140 provided in an embodiment of the present application, step S140 may also include steps S143-S144.

[0194] Step S143, determining the area size ratio between the required area and the framing area of ​​the camera device, and the rotation adjustment angle between the required area and the framing area.

[0195] Among them, since the difference between the demand area and the framing area is a limited combination, for example, the demand area can be rotated 90 degrees clockwise or 90 degrees counterclockwise relative to the framing area, that is, the rotation adjustment range of the rotation adjustment angle is -90 degrees to 90 degrees, and when performing rotation adjustment, the minimum rotation adjustment unit is 1 degree, such as 65 degrees clockwise rotation, etc. The range of the area ratio between the demand area and the framing area is 2.0-1.0, and the minimum ratio unit of the area ratio is 0.1, for example, the area ratio between the demand area and the framing area is 1.5, etc. There are 1991 possible differences between the demand area and the framing area. Therefore, when planning the path, the area ratio and the rotation adjustment angle between the demand area and the framing area can be first determined as the combination conditions for path planning.

[0196] Step S144, determining a moving path in the historical path table according to the area size ratio and the rotation adjustment angle.

[0197] In order to reduce the time and computational cost required for path planning, a corresponding historical path table can be set. The historical path table stores multiple historical paths planned based on different historical area size ratios and historical rotation adjustment angles. The historical paths are spiral paths and / or center-divergent paths that spread outward from the center. The planning method of the historical paths is the same as that of the Fig. 9 The area size ratio and the rotation adjustment angle can be used as index conditions, matched in the historical path table, and the historical path of the historical area size ratio and the historical rotation adjustment angle corresponding to the area size ratio and the rotation adjustment angle can be found as the moving path.

[0198] Optionally, when performing path matching, corresponding conditional deviation values ​​can be set. For example, when the rotation adjustment angle is 5 degrees, the corresponding historical rotation adjustment angle is 3-7 degrees, and when the area size ratio is 1.2, the corresponding historical area size ratio is 1.1-1.3, etc., to improve the path matching success rate.

[0199] Optionally, if no corresponding moving path is matched in the historical path table, the Fig. 9 The moving path is planned in the embodiment.

[0200] exist Fig.10 In the embodiment shown, the corresponding moving path can be directly matched in the historical path table according to the current area size ratio and rotation adjustment angle, which effectively improves the imaging uniformity and background uniformity when shooting based on the moving path, and reduces the difficulty of subsequent data angle alignment, superposition, stitching and other processing.

[0201] Optionally, see Fig.11 , Fig.11 This is a flow chart of another shooting control method provided in an embodiment of the present application. The method may further include steps S410-S440.

[0202] Step S410: determining an estimated shooting time for each shooting point according to the moving path.

[0203] After the corresponding moving path is planned, the estimated shooting time of each shooting point in the moving path can be determined. The estimated shooting time can be set according to the actual shooting scene and user needs. For example, in the shooting scene at night, in order to improve the data quality, a longer shooting time can be set. The estimated shooting time of multiple shooting points can be set uniformly or individually according to the actual situation.

[0204] Optionally, the time for the imaging sensor of the camera device to move may also be set in the estimated shooting time.

[0205] Step S420, determining the altitude angle of the corresponding shooting point according to the estimated shooting time.

[0206] Among them, time can be calculated according to the current time node and the expected shooting time to determine the shooting time period of each shooting point, so as to determine the altitude angle of each shooting point according to the shooting time period.

[0207] Step S430: If it is determined that the altitude angle is less than a preset altitude angle threshold, the shooting order of the corresponding shooting points in the moving path is advanced.

[0208] Among them, the altitude angle can be compared with a preset altitude angle threshold. When the altitude angle is less than the altitude angle threshold, it indicates that the altitude angle of the current shooting point does not meet the shooting conditions and normal shooting cannot be achieved. The shooting order of the shooting point can be processed in advance in the moving path.

[0209] For example, the preset altitude angle threshold may be an altitude angle of 0, so that the camera device can achieve normal shooting.

[0210] Step S440: If it is determined that the estimated shooting time is less than the available shooting time corresponding to the altitude angle, a prompt message is generated.

[0211] Among them, the corresponding available shooting time can be determined according to the altitude angle of the shooting point. When the estimated shooting time of a certain shooting point is less than the available shooting time corresponding to the altitude angle, it indicates that the shooting point cannot complete the shooting normally. Corresponding prompt information can be generated to prompt this abnormal situation so as to handle the abnormal situation, such as advancing the shooting order of the shooting point or shortening the shooting time of the shooting point.

[0212] exist Fig.11 In the illustrated embodiment, the moving path can be adjusted according to the actual conditions of the shooting time and the altitude angle, and abnormal situations can be prompted in real time, thereby effectively improving the reliability of the shooting process.

[0213] Optionally, see Fig.12 , Fig.12 A flow chart of another shooting control method provided in an embodiment of the present application is provided. It should be noted that the framing area moves based on multiple shooting points in the moving path. If the framing area moves to the end point of the moving path, the method may further include steps S510-S520.

[0214] Step S510, controlling the framing area to return to the starting point to perform a path loop.

[0215] Among them, the camera's framing area can move sequentially with multiple shooting points in the moving path as the center. When the framing area moves to the shooting point as the end point in the moving path, the framing area can also be controlled to return to the center point as the starting point in the moving path to perform a path cycle, so as to further improve the quality of the obtained target data through multiple cycles.

[0216] Optionally, multiple target data may be obtained by performing multiple cycle shootings, and the multiple target data may be superimposed to obtain final output data.

[0217] And / or, step S520, performing quality inspection on the shooting data of each shooting point in the moving path according to a preset quality condition, if it is determined that the shooting data of the shooting point does not meet the quality condition, controlling the framing area to return to the corresponding shooting point for repeated shooting.

[0218] Among them, the shooting data of each shooting point in the moving path can also be quality checked according to preset quality conditions. When the shooting data quality of the shooting point does not meet the quality conditions, that is, the shooting data quality is poor, the framing area is controlled to return to the corresponding shooting point for repeated shooting to improve the quality of the shooting data obtained at each shooting point, thereby improving the quality of the target data obtained based on the processing of multiple shooting data.

[0219] For example, quality detection may include clarity detection. For example, various types of evaluation functions may be used to calculate the sharpness values ​​of multiple pixel points in the captured data. The evaluation functions may include Tenengrad function, Laplacian gradient function, SMD (sum of absolute grayscale differences) function, energy gradient function (EOG), Roberts function, and other types of evaluation functions. Taking the Tenengrad function as an example, the Tenengrad function can evaluate the clarity of the data based on the edge information of the data by calculating the gradient change of the edge in the data. The edge detection operator such as Sobel can be used to detect the edge, calculate the gradient amplitude of the detected edge, and perform statistics on these amplitudes to obtain a measure representing the clarity of the data, that is, the sharpness value, and set the corresponding clarity threshold. When the sharpness value is greater than or equal to the clarity threshold, it indicates that the captured data meets the clarity condition. Quality detection can also include target detection, which can identify and analyze the photographed objects in the captured data to determine whether there are any off-line conditions, such as whether a single star is a point, an ellipse, or a line, and whether there are any abnormal interferences, such as light bands, clouds, satellite tracks, etc. If so, it indicates that the captured data does not meet the quality requirements.

[0220] Optionally, taking an astronomical photography scene as an example, when a relatively well-known celestial body is included in the framing area, the well-known celestial body can be highlighted to meet the user's various photography needs.

[0221] exist Fig.12 In the illustrated embodiment, the quality of the target data can be further improved by cyclic shooting or repeated shooting.

[0222] See also Fig.13 , Fig.13 A structural schematic diagram of a camera device provided in an embodiment of the present application, the camera device may include a transmission mechanism 610, an imaging sensor 620 and a controller 630; wherein the controller 630 is communicatively connected to the imaging sensor 620 and the transmission mechanism 610, and the transmission mechanism 610 is connected to the imaging sensor 620.

[0223] The controller 630 is used to plan a moving path according to the required area and the viewing area of ​​the imaging sensor 620; wherein the starting point of the moving path is the center point of the required area;

[0224] The transmission mechanism 610 is used to drive the imaging sensor 620 to move based on the moving path;

[0225] The imaging sensor 620 is used to collect data at each shooting point in the moving path to obtain shooting data;

[0226] The controller 630 is used to perform splicing processing on the multiple shooting data to obtain the target data of the required area.

[0227] Optionally, the controller 630 can be configured as a variety of integrated circuit chips with signal processing capabilities. For example, the controller 630 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The controller 630 can be set inside the camera device and connected to the transmission mechanism 610 and the imaging sensor 620 through the internal circuit. The controller 630 can also be set outside the camera device. For example, the controller 630 can be set in an electronic device with logic computing functions such as a server, a personal computer (PC), a tablet computer, a smart phone, a personal digital assistant (PDA), etc., and connected to the transmission mechanism 610 and the imaging sensor 620 in the camera device through a network, Bluetooth, etc. The imaging sensor 620 may include one or more image sensors, and the image sensor may be configured as various types of CMOS (Complementary Metal-Oxide-Semiconductor) sensors, CCD (Charge-Coupled Device), and other devices that can convert optical signals into electrical signals to achieve corresponding imaging functions.

[0228] In an optional embodiment, the controller 630 is specifically used to: obtain multiple initial data obtained based on the same shooting point in the shooting area; determine the initial center position of each initial data; if the position deviation between the initial center position and the shooting point is less than or equal to a preset deviation threshold, then the corresponding initial data is valid data; and superimpose multiple valid data to obtain the shooting data of the shooting point.

[0229] In an optional embodiment, the controller 630 is specifically used to: determine a first rotation transformation relationship between each non-starting valid data in the valid data and the starting valid data; convert the non-starting valid data according to the first rotation transformation relationship to obtain rotated valid data aligned with the shooting angle of the starting valid data; and superimpose the starting valid data and multiple rotated valid data to obtain shooting data.

[0230] In an optional embodiment, the controller 630 is specifically used to: perform target analysis on the initial data based on a matching algorithm to obtain the target object and the spatial coordinates of the target object in the shooting area; determine the initial center position of the initial data based on the spatial coordinates and the pixel position of the target object in the initial data.

[0231] In an optional embodiment, the multiple shooting data include: starting point shooting data of the center point and process shooting data of multiple non-center points; the controller 630 is specifically used to: determine the second rotation transformation relationship between each process shooting data and the starting point shooting data; convert the process shooting data according to the second rotation transformation relationship to obtain rotated shooting data aligned with the shooting angle of the starting point shooting data; and splice the starting point shooting data and the multiple rotated shooting data to obtain the target data.

[0232] In an optional embodiment, the controller 630 is specifically used to: extract the first valid target in the starting point shooting data and the second valid target in the process shooting data based on the brightness condition; perform graphic matching according to the first valid target to obtain a first graphic; perform graphic matching according to the second valid target to obtain a second graphic; and determine the second rotation transformation relationship between the process shooting data and the starting point shooting data according to the angle change generated by the second graphic based on the first graphic.

[0233] In an optional embodiment, the controller 630 is specifically used to: determine a required area selected by a user in a shooting area; wherein the required area satisfies an altitude angle condition; determine a center position according to a center point of the required area, and determine a framing area corresponding to the framing center when a position deviation between the center position and a framing center of the imaging sensor 620 is less than or equal to a preset deviation threshold; wherein there is an area difference and / or angle difference between the required area and the framing area; determine a plurality of shooting points according to the required area and the framing area; wherein the shooting points include a center point; and obtain a moving path according to planning of the plurality of shooting points.

[0234] In an optional embodiment, the controller 630 is specifically used to: determine the center coordinates of the center point in the shooting area; determine the area size ratio of the required area and the framing area, and the rotation adjustment angle between the required area and the framing area; determine multiple shooting points in the shooting area based on the center coordinates, area size ratio and rotation adjustment angle, combined with a preset overlap ratio; wherein the overlap ratio is the ratio of the data overlap area of ​​adjacent shooting points to the framing area.

[0235] In an optional embodiment, the controller 630 is specifically used to: determine movement parameters based on multiple shooting points; wherein the movement parameters include: the moving direction and moving distance between adjacent shooting points; according to the center point and the movement parameters, the multiple shooting points are sorted in combination with the path requirements to obtain a moving path; wherein the path requirements include time requirements and / or distance requirements; the moving path includes a spiral path and / or a center-diverging path.

[0236] In an optional embodiment, the controller 630 is specifically used to: determine the area size ratio between the required area and the framing area of ​​the camera device, and the rotation adjustment angle between the required area and the framing area; determine the moving path in the historical path table according to the area size ratio and the rotation adjustment angle; wherein the historical path table includes multiple historical paths planned based on different historical area size ratios and historical rotation adjustment angles, and the historical paths include spiral paths and / or center-divergent paths.

[0237] In an optional embodiment, the controller 630 is also used to: determine the expected shooting time of each shooting point according to the moving path; determine the altitude angle of the corresponding shooting point according to the expected shooting time; if it is determined that the altitude angle is less than a preset altitude angle threshold, then advance the shooting order of the corresponding shooting points in the moving path; if it is determined that the expected shooting time is less than the available shooting time corresponding to the altitude angle, then generate a prompt message.

[0238] In an optional embodiment, the controller 630 is also used to: control the framing area to return to the starting point to perform a path loop; and / or, perform quality detection on the shooting data of each shooting point in the moving path according to a preset quality condition. If it is determined that the shooting data of the shooting point does not meet the quality condition, the framing area is controlled to return to the corresponding shooting point for repeated shooting.

[0239] Since the principle of solving the problem by the camera device in the embodiment of the present application is similar to that in the embodiment of the aforementioned shooting control method, the implementation of the camera device in this embodiment can refer to the description in the embodiment of the aforementioned shooting control method, and the repeated parts will not be repeated.

[0240] The embodiment of the present application also provides a computer program product, which includes a computer program / instructions. When the computer program / instructions are executed by a processor, the steps of any one of the shooting control methods provided in the embodiment of the present application are implemented.

[0241] In several embodiments provided in the present application, it should be understood that the disclosed device can also be implemented in other ways. The device embodiments described above are merely schematic, for example, the block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices according to the multiple embodiments of the present application. In this regard, each box in the block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram, and the combination of the block diagrams, can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0242] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0243] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. 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.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0244] The above description is only an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0245] The above description is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

[0246] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

Claims

1. A shooting control method, characterized in that: The method comprises: A moving path is planned according to the required area and the framing area of ​​the camera device; wherein the starting point of the moving path is the center point of the required area; Determine the shooting data of each shooting point in the moving path in the shooting area; The plurality of shooting data are spliced ​​to obtain target data of the required area.

2. The method according to claim 1, characterized in that: The determining, in the shooting area, the shooting data of each shooting point in the moving path comprises: Acquire a plurality of initial data obtained by shooting at the same shooting point in the shooting area; Determine an initial center position of each of the initial data; If the position deviation between the initial center position and the shooting point is less than or equal to a preset deviation threshold, the corresponding initial data is taken as valid data; The multiple valid data are superimposed to obtain the shooting data of the shooting point.

3. The method according to claim 2, characterized in that The step of performing superposition processing on the plurality of valid data to obtain the shooting data of the shooting point comprises: Determine a first rotation transformation relationship between each non-starting valid data and the starting valid data in the valid data; Convert the non-starting valid data according to the first rotation transformation relationship to obtain rotation valid data aligned with the shooting angle of the starting valid data; The starting valid data and a plurality of the rotation valid data are superimposed to obtain the shooting data.

4. The method according to claim 2, characterized in that: The determining of the initial center position of each of the initial data comprises: Performing target analysis on the initial data based on a matching algorithm to obtain a target object and a spatial coordinate of the target object in the shooting area; The initial center position of the initial data is determined according to the spatial coordinates and the pixel position of the target object in the initial data.

5. The method according to claim 1, characterized in that in, The plurality of shooting data include: starting point shooting data of the central point and process shooting data of a plurality of non-central points; The step of performing stitching processing on the plurality of photographed data to obtain target data of the required area includes: Determine a second rotation transformation relationship between each of the process shooting data and the starting point shooting data; The process shooting data is converted according to the second rotation transformation relationship to obtain the rotation shooting data aligned with the shooting angle of the starting point shooting data; The starting point shooting data and the plurality of the rotation shooting data are spliced ​​to obtain the target data.

6. The method according to claim 5, characterized in that The determining of the second rotation transformation relationship between each of the process shooting data and the starting point shooting data comprises: Extracting a first valid target in the starting point shooting data and a second valid target in the process shooting data based on brightness conditions; Performing pattern matching according to the first valid target to obtain a first pattern; performing pattern matching according to the second valid target to obtain a second pattern; The second rotation transformation relationship between the process shooting data and the starting point shooting data is determined according to the angle change of the second figure generated based on the first figure.

7. The method according to any one of claims 1 to 6, characterized in that The step of planning a moving path according to the required area and the framing area of ​​the camera device includes: Determine the required area selected by the user in the shooting area; wherein the required area meets the altitude angle condition; Determine a center position according to the center point of the required area, and determine the framing area corresponding to the framing center when a position deviation between the center position and the framing center of the camera device is less than or equal to a preset deviation threshold; wherein there is a difference in area and / or angle between the required area and the framing area; Determine a plurality of shooting points according to the required area and the framing area; wherein the shooting points include the center point; The moving path is obtained according to the planning of the plurality of shooting points.

8. The method according to claim 7, characterized in that The step of determining the plurality of shooting points according to the required area and the framing area includes: Determine the central coordinates of the central point in the shooting area; Determining the area size ratio between the required area and the framing area, and the rotation adjustment angle between the required area and the framing area; According to the center coordinates, the area size ratio and the rotation adjustment angle, combined with a preset overlap ratio, a plurality of shooting points are determined in the shooting area; wherein the overlap ratio is the ratio of the data overlap area of ​​adjacent shooting points to the framing area.

9. The method according to claim 7, characterized in that: The step of obtaining the moving path according to the plurality of shooting points planning includes: Determine movement parameters according to the plurality of shooting points; wherein the movement parameters include: movement direction and movement distance between adjacent shooting points; According to the center point and the moving parameters, the plurality of shooting points are sorted in combination with the path requirements to obtain the moving path; wherein the path requirements include time requirements and / or distance requirements; and the moving path includes a spiral path and / or a center divergent path.

10. The method according to claim 7, characterized in that The step of obtaining the moving path according to the plurality of shooting points planning includes: Determine an area size ratio between the required area and the framing area of ​​the camera device, and a rotation adjustment angle between the required area and the framing area; The moving path is determined in a historical path table according to the area size ratio and the rotation adjustment angle; wherein the historical path table includes multiple historical paths planned based on different historical area size ratios and historical rotation adjustment angles, and the historical paths include spiral paths and / or center-divergent paths.

11. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: Determining an estimated shooting time for each of the shooting points according to the moving path; Determine the altitude angle of the corresponding shooting point according to the estimated shooting time; If it is determined that the altitude angle is less than a preset altitude angle threshold, the shooting order of the corresponding shooting points in the moving path is advanced; If it is determined that the estimated shooting time is less than the available shooting time corresponding to the altitude angle, a prompt message is generated.

12. The method according to any one of claims 1 to 6, characterized in that in, The framing area moves based on the moving path. If the framing area moves to an end point of the moving path, the method further includes: Controlling the framing area to return to the starting point to perform a path cycle; And / or, performing quality inspection on the shooting data of each shooting point in the moving path according to a preset quality condition; if it is determined that the shooting data of the shooting point does not meet the quality condition, controlling the framing area to return to the corresponding shooting point for repeated shooting.

13. A camera device, characterized in that: The camera device comprises a transmission mechanism, an imaging sensor and a controller; wherein the controller is communicatively connected to the imaging sensor and the transmission mechanism, and the transmission mechanism is connected to the imaging sensor; The controller is used to plan a moving path according to the required area and the framing area of ​​the imaging sensor; wherein the starting point of the moving path is the center point of the required area; The transmission mechanism is used to drive the imaging sensor to move based on the moving path; The imaging sensor is used to collect data at each shooting point in the moving path to obtain shooting data; The controller is used to perform splicing processing on the plurality of shooting data to obtain the target data of the required area.

14. A computer program product, characterized in that The computer program product comprises a computer program / instruction, and when the computer program / instruction is executed by a processor, the steps in the method according to any one of claims 1 to 12 are implemented.

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