Panoramic camera shooting visual angle control method and device, and panoramic camera

Abstract

The invention relates to a shooting visual angle control method and device of a panorama camera and the panorama camera. The method comprises the following steps: determining a pan-tilt shooting mode of the panorama camera, and obtaining a panorama image shot by the panorama camera in the process of being in the pan-tilt shooting mode; determining a three-axis attitude angle of the panoramic camera according to the panoramic image; determining a locking axis and a movable axis in three axes in the pan-tilt shooting mode, adjusting the attitude angles of the three axes according to the locking axis and the movable axis, and adjusting the angle of the panoramic image shot by the panoramic camera according to the adjusted attitude angles of the three axes. By adopting the method, the independent control of the multi-axis view angle can be realized by utilizing the panoramic view angle, and the same anti-shake effect as that of a handheld holder is brought.

Description

Technical Field

[0001] The present disclosure relates to the technical field of camera shooting control, and in particular to a method and device for controlling the shooting angle of a panoramic camera, and a panoramic camera. Background Art

[0002] With the rapid development of streaming media technology, the demand for video quality is becoming increasingly higher. Panoramic cameras, with their 360° viewing angle and IMU (Inertial Measurement Unit), offer significant advantages over traditional cameras and mobile phones. In some scenarios, the panoramic view is needed to achieve independent control of multiple axes, achieving the same anti-shake effect as a handheld gimbal.

[0003] Therefore, how to use panoramic cameras to achieve independent control of multi-axis viewing angles is an urgent problem that needs to be solved. Summary of the Invention

[0004] Based on this, it is necessary to provide a method and device for controlling the shooting angle of a panoramic camera, a panoramic camera, and a storage medium to address the above technical problems.

[0005] In a first aspect, the present disclosure provides a method for controlling the shooting angle of a panoramic camera. The method comprises:

[0006] Determining a pan-tilt shooting mode of the panoramic camera, and obtaining a panoramic image captured by the panoramic camera in the pan-tilt shooting mode;

[0007] Determining the three-axis attitude angle of the panoramic camera according to the panoramic image;

[0008] Determine a locked axis and a movable axis among the three axes in the pan / tilt camera shooting mode, adjust the three-axis attitude angle according to the locked axis and the movable axis, and adjust the angle of the panoramic image obtained by the panoramic camera according to the adjusted three-axis attitude angle.

[0009] In one embodiment, the gimbal shooting mode includes: a first follow mode, a pitch lock mode, a second follow mode, and a full lock mode; the three axes include: a pitch axis, a yaw axis, and a roll axis; and determining the locked axis and the active axis of the three axes in the gimbal shooting mode includes:

[0010] In response to the gimbal shooting mode being a first follow mode, determining that the locked axis in the first follow mode is a roll axis, and determining that the movable axes are a pitch axis and a yaw axis;

[0011] In response to the gimbal shooting mode being a pitch lock mode, determining that the locked axis in the pitch lock mode is the pitch axis, and determining that the movable axes are the yaw axis and the roll axis;

[0012] In response to the pan / tilt camera shooting mode being the second follow mode, determining that the movable axes are a pitch axis, a yaw axis, and a roll axis;

[0013] In response to the gimbal shooting mode being the fully locked mode, the locked axes are determined to be the pitch axis, the yaw axis, and the roll axis.

[0014] In one embodiment, adjusting the three-axis attitude angle according to the locking axis and the movable axis, and adjusting the angle of the panoramic image captured by the panoramic camera according to the adjusted three-axis attitude angle, includes:

[0015] In response to the gimbal shooting mode being the first follow mode, locking the roll angle of the panoramic camera based on the locked axis, and adjusting the panoramic image captured by the panoramic camera based on the pitch angle, yaw angle, and the locked roll angle;

[0016] In response to the pan / tilt shooting mode being the pitch lock mode, the pitch angle of the panoramic camera is locked based on the lock axis, and the panoramic image captured by the panoramic camera is adjusted based on the yaw angle, roll angle and the locked pitch angle.

[0017] In one embodiment, adjusting the three-axis attitude angle according to the locking axis and the movable axis, and adjusting the angle of the panoramic image captured by the panoramic camera according to the adjusted three-axis attitude angle, includes:

[0018] In response to the gimbal shooting mode being the second follow mode, performing anti-shake processing on the pitch axis, the yaw axis, and the roll axis according to the movable axis;

[0019] Perform weighted summation of the pitch axis, yaw axis, and roll axis after stabilization and the original pitch axis, yaw axis, and roll axis;

[0020] Based on the weighted sum of the pitch axis, the yaw axis, and the roll axis, the panoramic image captured by the panoramic camera is adjusted.

[0021] In one embodiment, adjusting the three-axis attitude angle according to the locking axis and the movable axis, and adjusting the angle of the panoramic image captured by the panoramic camera according to the adjusted three-axis attitude angle, includes:

[0022] In response to the gimbal shooting mode being the second follow mode, locking the pitch angle, roll angle, and yaw angle according to the locking axis;

[0023] In a chronological order, the inertial sensor data matching the panoramic image are integrated and converted into a camera attitude;

[0024] The panoramic image captured by the panoramic camera is adjusted based on the camera posture.

[0025] In one embodiment, determining the three-axis attitude angle of the panoramic camera based on the panoramic image includes:

[0026] Determining inertial sensor data matching the panoramic image, and determining, based on the inertial sensor data, a posture quaternion of the panoramic camera when the panoramic camera is in the pan-tilt shooting mode;

[0027] The attitude quaternion is decoupled to obtain a three-axis attitude angle.

[0028] In one embodiment, determining the attitude quaternion of the panoramic camera when the panoramic camera is in the gimbal shooting mode according to the inertial sensor data includes:

[0029] Determining an initial panoramic image from the panoramic images, and calculating an initial camera pose of the panoramic camera based on a rotation quaternion included in inertial sensor data matching the initial panoramic image, wherein the initial panoramic image is determined based on a capture time of the panoramic image;

[0030] Calculating a rate of change of the rotation quaternion at each moment of matching with the panoramic image based on a rotation quaternion included in the inertial sensor data matched with the panoramic image and an angular velocity matrix pre-determined based on an angular velocity vector;

[0031] Based on the change rate and the initial camera posture, the rotation quaternion is updated, and based on the updated rotation quaternion, the posture quaternion of the panoramic camera in the process of being in the gimbal shooting mode is determined.

[0032] In a second aspect, the present disclosure further provides a device for controlling the shooting angle of a panoramic camera. The device includes:

[0033] A panoramic image acquisition module, configured to determine a pan-tilt shooting mode of the panoramic camera and acquire a panoramic image captured by the panoramic camera in the pan-tilt shooting mode;

[0034] An attitude angle determination module, configured to determine the three-axis attitude angle of the panoramic camera based on the panoramic image;

[0035] An angle adjustment module is used to determine the locking axis and the movable axis of the three axes in the pan-tilt shooting mode, adjust the three-axis attitude angle according to the locking axis and the movable axis, and adjust the angle of the panoramic image obtained by the panoramic camera according to the adjusted three-axis attitude angle.

[0036] In a third aspect, the present disclosure further provides a panoramic camera comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any of the above method embodiments when executing the computer program.

[0037] In a fourth aspect, the present disclosure further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in any of the above method embodiments.

[0038] In a fifth aspect, the present disclosure further provides a computer program product, which includes a computer program that implements the steps of any of the above method embodiments when executed by a processor.

[0039] In the above-mentioned embodiments, by determining the pan-tilt shooting mode of the panoramic camera, it is possible to select an appropriate mode according to different shooting requirements, obtain panoramic images under specific conditions, ensure that the collected images meet the requirements of subsequent processing and application, and lay the foundation for accurate analysis and processing of images. By determining the three-axis attitude angle of the panoramic camera based on the panoramic image, it is possible to accurately obtain the attitude information of the camera during shooting, thereby intelligently adjusting the shooting angle of view, ensuring that the shooting picture is stable and smooth, avoiding blur or shaking of the picture, and significantly improving the shooting stability. The combination of multiple pan-tilt shooting modes and three-axis attitude angles provides users with a wealth of perspective control options. The calculated three-axis attitude angle can enable the camera to always maintain the optimal shooting angle during the shooting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the specific embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0041] Figure 1 1 is a flow chart of a method for controlling the shooting angle of view of a panoramic camera in one embodiment;

[0042] Figure 2 Schematic diagram of the process of step S104 in one embodiment;

[0043] Figure 3 Schematic diagram of the process of step S202 in one embodiment;

[0044] Figure 4 Schematic diagram of the process of step S306 in one embodiment;

[0045] Figure 5A schematic diagram of a process for determining a movable axis and a locked axis in one embodiment;

[0046] Figure 6 A schematic diagram of a flow chart of step S106 in one embodiment;

[0047] Figure 7 1 is another flow chart of step S106 in one embodiment;

[0048] Figure 8 1 is another flow chart of step S106 in one embodiment;

[0049] Figure 9 is a schematic block diagram of the structure of a shooting angle control device for a panoramic camera in one embodiment;

[0050] Figure 10 Schematic diagram of the internal structure of a panoramic camera in one embodiment. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present disclosure and are not intended to limit the present disclosure.

[0052] It should be noted that the terms "first," "second," and the like in the specification and claims herein and in the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, apparatus, product, or device comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to these processes, methods, products, or devices.

[0053] In this document, the term "and / or" simply describes a relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" could mean: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates an "or" relationship between the related objects.

[0054] In one embodiment, Figure 1 As shown, a method for controlling the shooting angle of a panoramic camera is provided. This embodiment uses the method applied to a terminal as an example. In some embodiments of the present disclosure, the terminal may be a panoramic camera, including the following steps:

[0055] S102: Determine a pan-tilt shooting mode of the panoramic camera, and obtain a panoramic image captured by the panoramic camera in the pan-tilt shooting mode.

[0056] Among them, the gimbal shooting mode usually refers to the various shooting modes realized by the panoramic camera based on the virtual gimbal, including default follow, pitch lock, global follow, full lock, and flashlight mode. Each mode controls the camera's pitch angle, roll angle, and yaw angle differently, thereby meeting different shooting needs and producing diverse shooting effects.

[0057] Specifically, the user interface of a panoramic camera typically provides a mode selection menu. Users can select the appropriate gimbal shooting mode, such as Follow mode, Pitch Lock mode, or Full Lock mode, based on their shooting needs and creativity. After receiving the user's mode selection command, the camera system records and stores the corresponding mode information. Simultaneously, the system initializes the camera's parameters and control logic based on the characteristics of the selected mode. For example, if the user selects the default Follow mode, the system locks the roll angle while allowing the pitch and yaw angles to freely follow the camera's movements. After selecting the gimbal shooting mode, the camera undergoes a series of preparations. This includes initializing the camera's hardware, such as the lens and image sensor, to ensure proper function. Shooting parameters, such as exposure time and sensitivity, can also be adjusted manually or automatically to achieve optimal results.

[0058] When the camera is ready, it starts shooting continuously according to the preset shooting interval or trigger conditions. During the shooting process, the camera uses its panoramic shooting technology to capture 360-degree image information around it through multiple lenses or fisheye lenses, and combines it into a complete panoramic image. The shooting time interval can be adjusted according to actual needs, such as shooting one per second, one every two seconds, etc. After each panoramic image is taken, the camera will store it in the built-in memory card or other storage device. At the same time, in order to facilitate subsequent processing and management, each image will be assigned a unique identifier, such as a file name or number. The shooting process of the inertial sensor (such as IMU) and the camera needs to be strictly synchronized.

[0059] S104: Determine the three-axis attitude angle of the panoramic camera according to the panoramic image.

[0060] Specifically, it is first necessary to extract representative feature points or regions from the panoramic image. These features can be corners, edges, specific patterns, or known landmarks. For example, algorithms such as SIFT (Scale-Invariant Feature Transform), SURF (Speeded Up Robust Features), or ORB (Oriented Fast and Rotated BRIEF) can be used to extract feature points. The panoramic camera must be calibrated beforehand to obtain its intrinsic parameter matrix, including information such as focal length and principal point coordinates. These intrinsic parameters are crucial for converting image coordinates into camera coordinates. Classic camera calibration methods such as the Zhang Zhengyou calibration method can be used to calculate camera intrinsic parameters and distortion parameters by capturing multiple sets of calibration plate images at different poses. If external reference information is available, such as landmarks with known positions and poses in the scene, corresponding points to these landmarks must be found in the panoramic image. Feature matching algorithms can be used to match feature points in the image with the features of the known landmarks, thereby establishing a correspondence between image points and points in the world coordinate system. Based on this correspondence and the camera intrinsic parameters, the perspective n-point (PnP) algorithm or similar methods can be used to calculate the camera pose. The PnP algorithm can solve the camera's rotation and translation parameters based on at least three known world points and their corresponding points in the image. The obtained rotation parameters can be further converted into three-axis attitude angles. The pitch, yaw, and roll angles can usually be calculated using the conversion formula from the rotation matrix to Euler angles.

[0061] Optical flow can also be used to calculate the three-axis attitude angles. Optical flow is the projection of the velocity of surface points in an object onto the image plane. By calculating the optical flow field between adjacent frames in a panoramic image, motion information for each pixel in the image can be obtained. When the camera moves, objects in the image appear to move accordingly, and the optical flow field can reflect the direction and speed of this motion. Based on the distribution and changes in the optical flow field, algorithms such as structure from motion (SfM) can be used to estimate the camera's motion attitude, including the three-axis attitude angles. For example, by analyzing the motion trajectory and velocity changes of objects in the optical flow field, the camera's rotation and translation can be inferred, and the attitude angles can be calculated.

[0062] The three-axis attitude angle can also be calculated based on the IMU information.

[0063] S106, determining a locked axis and a movable axis among the three axes in the gimbal shooting mode, adjusting the three-axis attitude angle according to the locked axis and the movable axis, and adjusting the angle of the panoramic image captured by the panoramic camera according to the adjusted three-axis attitude angle.

[0064] Specifically, the active axis and the locked axis are then determined according to the gimbal shooting mode. The active axis and the locked axis may or may not exist. When they do not exist, the active axis or the locked axis is empty. The three axes refer to the pitch axis, the yaw axis and the roll axis, which correspond to the pitch angle, the yaw angle and the roll angle, respectively. The three-axis attitude angle is adjusted according to the active axis and the locked axis. According to the adjusted three-axis attitude angle, the panoramic image obtained by the panoramic camera is controlled so that the panoramic image is rotated according to the specified attitude, thereby adjusting the shooting angle. In addition, in the gimbal shooting mode, the attitude quaternion of the camera can also be decoupled into attitude angles. For the locked axis, the attitude of the axis adopts the Euler angle of the corresponding axis under the real-time camera attitude; for the active axis, the axis adopts the Euler angle of the initial attitude of the camera. Finally, the locked axis and the active axis Euler angle are fused together to solve the new quaternion, that is, the new quaternion is:

[0065]

[0066] The new quaternion is then used to adjust the panoramic image.

[0067] In the above-mentioned panoramic camera shooting angle control method, by determining the pan / tilt shooting mode of the panoramic camera, it is possible to select the appropriate mode according to different shooting requirements, obtain panoramic images under specific conditions, ensure that the collected images meet the requirements of subsequent processing and application, and lay the foundation for accurate image analysis and processing. By determining the three-axis attitude angle of the panoramic camera based on the panoramic image, it is possible to accurately obtain the attitude information of the camera during shooting, thereby intelligently adjusting the shooting angle to ensure stable and smooth shooting images, avoid image blur or shaking, and significantly improve shooting stability. The combination of multiple pan / tilt shooting modes and three-axis attitude angles provides users with a wealth of angle control options. The calculated three-axis attitude angle can enable the camera to always maintain the optimal shooting angle during the shooting process.

[0068] In one embodiment, Figure 2 As shown, determining the three-axis attitude angle of the panoramic camera according to the panoramic image includes:

[0069] S202: Determine inertial sensor data that matches the panoramic image, and determine, based on the inertial sensor data, a posture quaternion of the panoramic camera when the panoramic camera is in the pan-tilt shooting mode.

[0070] Among them, the inertial sensor data is collected by the IMU inertial measurement unit in the panoramic camera, including angular velocity and acceleration, which is used to determine the camera posture and motion state.

[0071] Specifically, as the camera captures each panoramic image, the inertial sensor records the camera's motion status at that moment, including angular velocity, acceleration, and other information. The timestamp of this data is precisely matched to the capture time of the corresponding panoramic image to ensure data consistency and relevance. The inertial sensor monitors and collects the camera's motion status in real time at a specific sampling frequency. This sampling frequency is typically set based on sensor performance and capture requirements, typically ranging from tens to hundreds of hertz. The collected data is stored in the camera's memory or other storage device, associated with the panoramic image data. The camera pose, which describes the camera's position and orientation in space and is typically represented by quaternions or Euler angles (pitch, roll, and yaw), is used to determine the camera's viewing angle in space. First, the inertial sensor data matched to the panoramic image is read to ensure accurate correspondence between the data and the image timestamp. This data includes acceleration and angular velocity information. Based on the panoramic image and corresponding IMU data during camera initialization, combined with IMU extrinsic parameters, the initial camera pose is determined and expressed as a quaternion. The camera attitude quaternion is updated using the first-order or second-order Picard method by using the quaternion derivative relationship and the angular velocity data of the inertial sensor.

[0072] S204: Decouple the attitude quaternion to obtain a three-axis attitude angle.

[0073] Specifically, the attitude quaternion can be decoupled as follows to obtain the three-axis attitude angle:

[0074] θ=sin -1 (2(q w q y -q x q z ))

[0075]

[0076] In one embodiment, Figure 3 As shown, determining the attitude quaternion of the panoramic camera when the panoramic camera is in the pan-tilt shooting mode according to the inertial sensor data includes:

[0077] S302: Determine an initial panoramic image among the panoramic images, and calculate an initial camera pose of the panoramic camera based on a rotation quaternion contained in inertial sensor data matching the initial panoramic image. The initial panoramic image is determined based on the capture time of the panoramic image. The initial panoramic image may be the panoramic image with the most recent capture time. The initial camera pose is typically the starting pose of the camera at the beginning of capture or at a specific calculation stage, expressed as quaternions or Euler angles, and serves as the basis for subsequent camera pose updates and adjustments.

[0078] Specifically, among the panoramic images captured by the panoramic camera, the first image captured is selected as the initial panoramic image, based on the chronological order of capture. Inertial sensor data is then found that precisely matches the timestamp of the selected initial panoramic image. Because the inertial sensor continuously collects data, a time synchronization mechanism is required to filter out data that coincides with the capture time of the initial panoramic image from the large amount of data to ensure data accuracy and relevance. A rotation quaternion describing the camera's rotational attitude is extracted from the matching inertial sensor data. The initial camera attitude can be calculated based on the rotation quaternion.

[0079] In some exemplary embodiments, it is assumed that the extracted rotation quaternion is q imu , if the external parameter rotation quaternion from IMU to camera is known According to the formula ( The initial camera pose of the panoramic camera is calculated using the rotation quaternion and extrinsic parameters. This method accurately determines the camera pose when capturing the initial panoramic image, providing a starting point for subsequent camera pose calculations and viewing angle adjustments.

[0080] S304 : Calculate the rate of change of the rotation quaternion at each moment matching the panoramic image based on the rotation quaternion included in the inertial sensor data matching the panoramic image and the angular velocity matrix pre-determined based on the angular velocity vector.

[0081] Among them, the angular velocity vector is usually a vector that describes the rotation speed of an object around each coordinate axis, w=[ω x ,ω y ,ω z ] T , where ω x ,ω y ,ω z are the angular velocities of rotation about the X, Y, and Z axes, respectively. The angular velocity matrix can be a matrix determined based on the angular velocity vector, and is used in the quaternion derivative calculation to combine with the rotation quaternion to obtain the rate of change of the rotation quaternion. In some embodiments of the present disclosure, the angular velocity matrix can be: The rate of change of the rotation quaternion: reflects how fast the rotation quaternion changes over time. It describes how the camera's rotation posture changes over time.

[0082] Specifically, the inertial sensor data is preprocessed to ensure accuracy and consistency. For example, the data is filtered to remove noise. The rotation quaternion for each moment that matches the panoramic image is extracted from the inertial sensor data. An angular velocity matrix is ​​pre-calculated based on the angular velocity vector. The derivative of the quaternion in its current state is calculated based on the angular velocity matrix to determine the rate of change of the rotation quaternion.

[0083] In some exemplary embodiments, according to the derivative relationship of the quaternion in the current state: in, It is the rate of change of the rotation quaternion. For each moment that matches the panoramic image, the rotation quaternion q and the pre-calculated angular velocity matrix Ω(ω) at that moment are substituted into the above formula for calculation.

[0084] In the specific calculation, let q=[q w ,q x ,q y ,q z ] T , Ω(ω) is defined as above, then:

[0085]

[0086] Through matrix multiplication, the rate of change of the rotation quaternion is obtained.

[0087] S306 : Based on the change rate and the initial camera posture, update the rotation quaternion, and determine the posture quaternion of the panoramic camera in the pan-tilt shooting mode based on the updated rotation quaternion.

[0088] Specifically, obtain the rate of change of the previously calculated rotation quaternion and the quaternion corresponding to the initial camera pose. Ensure the accuracy and completeness of this data. The rate of change should correspond to the time series that matches the panoramic image, and the initial camera pose should correspond to the start time of the capture. Use an appropriate method to update the rotation quaternion based on the rate of change and the initial camera pose. For example, the first-order Picard method, the second-order Picard method, the Runge-Kutta method, and the Extended Kalman Filter (EKF) can be used to update the rotation quaternion.

[0089] In this embodiment, the initial camera pose is calculated based on the initial panoramic image and the matching inertial sensor data, providing an accurate starting point for subsequent pose calculations. The rate of change is calculated using the rotation quaternion and angular velocity matrix in the inertial sensor data. The rotation quaternion is then updated accordingly to determine the camera pose quaternion. This series of operations enables real-time and accurate tracking of camera pose changes during capture. When shooting with a handheld panoramic camera, even with slight hand shake, the system can quickly adjust based on the real-time updated pose quaternion, ensuring image stability and preventing shaky or blurry images, significantly improving capture quality and accuracy. Utilizing the inertial sensor data matching the panoramic image for calculations increases data richness and redundancy. Even if some data contains noise or errors, the system can still accurately determine the camera pose by comprehensively analyzing data from multiple time points. In complex shooting environments, such as those with frequent lighting changes or electromagnetic interference, the inertial sensor data may be affected. However, by calculating the rate of change and updating the rotation quaternion based on a large amount of data, the system maintains stable operation and accurately determines the camera pose, improving the reliability and robustness of the entire capture system.

[0090] In one embodiment, Figure 4 As shown, updating the rotation quaternion based on the change rate and the initial camera pose includes:

[0091] S402 : In response to the change rate being less than a preset change rate threshold, updating the rotation quaternion using a first-order Picard method based on the change rate and the initial camera pose.

[0092] S404 : In response to the change rate being greater than a preset change rate threshold, updating the rotation quaternion using a second-order Picard method based on the change rate and the initial camera pose.

[0093] The preset rate of change threshold is usually a numerical standard set manually to determine which method to use to update the rotation quaternion. This threshold is usually set based on an understanding of the camera's motion characteristics and a balance between computational accuracy and efficiency.

[0094] Specifically, the calculated rate of change is compared with the preset rate of change threshold. It is determined whether the rate of change is less than or greater than the preset rate of change threshold. If the rate of change is less than the preset rate of change threshold, it means that the camera rotation attitude changes relatively slowly. At this time, based on the calculated rate of change and the initial camera attitude, the first-order Picard method is used to update the rotation quaternion. The specific operation is to use the quaternion corresponding to the initial camera attitude as q(t), and the rate of change as Combined with the set time increment Δt, substitute the first-order Bicard method formula The updated rotation quaternion q(t+Δt) is calculated.

[0095] If the rate of change is greater than the preset rate of change threshold, it indicates that the camera rotation attitude changes drastically. In order to update the rotation quaternion more accurately, the second-order Picard method is used to update the rotation quaternion based on the rate of change and the initial camera attitude. The quaternion corresponding to the initial camera attitude q(t) = [q w q x q y q z ] T , the angular velocity information involved in the rate of change (used to calculate the parameters related to Δθ and ΔT) is substituted into the second-order Picard method formula to calculate the updated rotation quaternion. The quaternion after the rotation transformation is solved using the second-order Picard method:

[0096]

[0097] In this embodiment, different update methods are selected based on the comparison of the rate of change with a preset threshold. When the rate of change is small, the relatively simple first-order Picard method is used. This method can quickly update the rotation quaternion while maintaining a certain level of accuracy, reducing the amount of computation and time required, and improving system efficiency. This method is particularly suitable for scenarios with high real-time requirements, such as rapid camera shooting or real-time video streaming. When the rate of change is large, that is, when the camera pose changes more drastically, the more accurate second-order Picard method is used to update the rotation quaternion. The second-order Picard method can more accurately capture rapid changes in camera pose. Through a more complex calculation method, it reduces the computational errors caused by rapid pose changes, thereby improving the accuracy of camera pose estimation.

[0098] In one embodiment, the gimbal shooting modes include: a first follow mode, a pitch lock mode, a second follow mode and a full lock mode, and the three axes include: a pitch axis, a yaw axis and a roll axis. Figure 5 As shown, the step of determining the locked axis and the movable axis among the three axes in the gimbal shooting mode includes:

[0099] S502 : In response to the gimbal shooting mode being a first following mode, determining that a locked axis in the first following mode is a roll axis, and determining that movable axes are a pitch axis and a yaw axis.

[0100] S504 : In response to the gimbal shooting mode being the pitch lock mode, determining that the locked axis in the pitch lock mode is the pitch axis, and determining that the movable axes are the yaw axis and the roll axis.

[0101] S506 : In response to the gimbal shooting mode being the second follow mode, determining that the movable axes are a pitch axis, a yaw axis, and a roll axis.

[0102] S508 : In response to the gimbal shooting mode being the fully locked mode, determining that the locked axes are the pitch axis, the yaw axis, and the roll axis.

[0103] Specifically, depending on the different gimbal shooting modes, the locked axis and movable axis are also different. When the gimbal shooting mode is the first follow mode, the locked axis can be the roll axis, and the movable axis can be the pitch axis and the yaw axis. When the gimbal shooting mode is the pitch lock mode, the locked axis can be the pitch axis, and the movable axis can be the yaw axis and the roll axis. When the gimbal shooting mode is the second follow mode, the locked axis can be empty, and the movable axis can be the pitch axis, yaw axis, and roll axis. When the gimbal shooting mode is the full lock mode, the locked axis can be the pitch axis, yaw axis, and roll axis. The movable axis can be empty.

[0104] In one embodiment, Figure 6 As shown, adjusting the three-axis attitude angle according to the locking axis and the movable axis, and adjusting the angle of the panoramic image captured by the panoramic camera according to the adjusted three-axis attitude angle, includes:

[0105] S602: In response to the gimbal shooting mode being the first follow mode, locking the roll angle of the panoramic camera based on the locked axis, and adjusting the panoramic image captured by the panoramic camera based on the pitch angle, yaw angle, and the locked roll angle.

[0106] The roll angle (Roll) describes the camera's rotation angle around its optical axis (usually defined as the Y-axis), which determines the horizontal tilt of the camera's image. The pitch angle (Pitch) describes the camera's rotation angle around the horizontal axis (usually defined as the X-axis), which controls the camera's vertical viewing angle. The yaw angle (Yaw) describes the camera's rotation angle around the vertical axis (usually defined as the Z-axis), which controls the camera's horizontal viewing angle.

[0107] Specifically, when the gimbal shooting mode is determined to be the first follow mode, the system can lock the roll angle of the panoramic camera according to the locked axis, that is, keep the angle value of the roll angle unchanged. Based on the previously calculated pitch and yaw angles, as well as the locked roll angle, the panoramic image captured by the panoramic camera is adjusted. Specifically, based on the values ​​of these three angles, the rotation matrix or transformation parameters of the image in space are calculated. For example, the panoramic image is rotated in three-dimensional space using the rotation matrix so that the image's viewing angle matches the current camera's posture. In this way, it is ensured that in the first follow mode, the panoramic image can follow the camera's pitch and yaw movements as expected while keeping the roll angle stable.

[0108] S604: In response to the gimbal shooting mode being the pitch lock mode, the pitch angle of the panoramic camera is locked based on the lock axis, and the panoramic image captured by the panoramic camera is adjusted based on the yaw angle, the roll angle, and the locked pitch angle.

[0109] Among them, the pitch lock mode is a gimbal shooting mode. In this mode, the pitch angle of the panoramic camera is locked, and the roll angle and yaw angle can be changed freely. It is suitable for some scenes that require a fixed up and down direction of the shooting angle.

[0110] Specifically, when the gimbal shooting mode is pitch lock mode, the system can lock the pitch angle of the panoramic camera according to the locked axis so that its angle value no longer changes. The panoramic image is adjusted based on the current yaw angle, roll angle, and the locked pitch angle. Similarly, the corresponding rotation matrix or transformation parameters are calculated to rotate the panoramic image in space to adapt to the current posture of the camera. This ensures that in pitch lock mode, the vertical viewing angle of the panoramic image remains fixed, while the left and right and horizontal tilt viewing angles can change according to the movement of the camera to meet specific shooting needs.

[0111] In one embodiment, the pan-tilt shooting mode includes: a second follow mode, such as Figure 7 As shown, adjusting the panoramic camera shooting angle based on the three-axis attitude angle and the gimbal shooting mode includes:

[0112] S702 : In response to the gimbal shooting mode being the second follow mode, performing anti-shake processing on the pitch axis, the yaw axis, and the roll axis according to the movable axis.

[0113] S704 , performing weighted summation of the pitch axis, yaw axis, and roll axis after the anti-shake processing and the original pitch axis, yaw axis, and roll axis.

[0114] S706 , adjusting the panoramic image captured by the panoramic camera based on the weighted sum of the pitch axis, the yaw axis, and the roll axis.

[0115] In some embodiments of the present disclosure, weighted summation can be performed by multiplying the anti-shake three-axis attitude angle and the original three-axis attitude angle by corresponding weight coefficients, and then adding the products to obtain a comprehensive attitude angle data, namely the weighted three-axis attitude angle. The setting of the weight coefficient determines the relative importance of the anti-shake effect and the original attitude.

[0116] Specifically, when the second following mode is determined, the three-axis attitude angle (pitch angle, roll angle, yaw angle) is anti-shake processed. The specific anti-shake algorithm can adopt a filtering algorithm, such as Kalman filtering, complementary filtering, etc. Taking Kalman filtering as an example, it can predict and update the three-axis attitude angle based on the camera's motion model and sensor measurement data (such as data from the inertial measurement unit IMU), thereby filtering out high-frequency jitter and obtaining the anti-shake three-axis attitude angle. The obtained anti-shake three-axis attitude angle and the original three-axis attitude angle are weighted and summed. For example, assuming the anti-shake three-axis attitude angle is θ p1 ,θ r1 ,θ y1 (corresponding to pitch angle, roll angle, and yaw angle respectively), the original three-axis attitude angle is θ p2 ,θ r2 ,θ y2 , the weight coefficients are set as w1 and w2 respectively, then the weighted three-axis attitude angle is calculated as follows:

[0117] θ p =w1×θ p1 +w2×θ p2

[0118] θ r =w1×θ r1 +w2×θ r2

[0119] θ y =w1×θ y1 +w2×θ y2

[0120] The panoramic image captured by the panoramic camera is then adjusted based on the calculated weighted three-axis attitude angles. The corresponding rotation matrix or transformation parameters are constructed based on the weighted three-axis attitude angles. The panoramic image is rotated and transformed in three-dimensional space to match the image's perspective with the camera's attitude, resulting in a stable panoramic image that meets the shooting requirements.

[0121] In one embodiment, the gimbal shooting mode includes: a fully locked mode, the three-axis attitude angle includes: a pitch angle, a roll angle and a yaw angle, such as Figure 8 As shown, adjusting the panoramic camera shooting angle based on the three-axis attitude angle and the gimbal shooting mode includes:

[0122] S802, in response to the gimbal shooting mode being the second follow mode, locking the pitch angle, roll angle, and yaw angle according to the locked axis;

[0123] S804, integrating the inertial sensor data matching the panoramic image in chronological order and converting the integrated data into a camera attitude;

[0124] S806: Adjust the panoramic image captured by the panoramic camera based on the camera posture.

[0125] Specifically, after determining that the gimbal shooting mode is fully locked, the system can lock the panoramic camera's pitch, roll, and yaw angles according to the locked axes, fixing the values ​​of these three angles so that they do not change during the shooting process. The inertial sensor data matching the panoramic image is processed in chronological order. The integration operation here typically refers to integrating the angular velocity data to obtain the angular change. Since the inertial sensor data is collected in the IMU coordinate system, the integrated result must be converted to the camera coordinate system to obtain the camera pose data. The specific conversion process may involve known extrinsic parameters between the IMU and the camera (such as a rotation quaternion representing the rotation relationship between the IMU and the camera). Based on the camera pose data obtained through the above steps, the panoramic image captured by the panoramic camera is adjusted. A corresponding transformation matrix (such as a rotation matrix) is constructed based on the camera pose, and the panoramic image is rotated and transformed in three-dimensional space to match the image's perspective with the fixed camera pose. This results in a panoramic image that meets the requirements of fully locked mode and ensures the stability and consistency of the captured image.

[0126] In this embodiment, in the panoramic camera's fully locked mode, the camera quaternion is set to the IMU-integrated, converted pose in the camera coordinate system. This is primarily intended to meet specific shooting requirements, achieve a stable, fixed-angle shooting effect, and facilitate the use of IMU data to accurately determine the camera pose. The core of fully locked mode is to keep the camera's pitch, roll, and yaw angles locked. By setting the camera quaternion to the IMU-integrated, converted pose, this ensures that the camera's shooting angle remains fixed during shooting, regardless of any external movement or vibration. When photographing large, stationary buildings, a stable, fixed angle is required to fully capture specific angles and details. This setting prevents changes in perspective caused by camera shake, ensuring stable and consistent images. The IMU measures acceleration and angular velocity in real time. By integrating this data, changes in the camera's pose can be accurately calculated. Converting the IMU-integrated pose to the camera coordinate system accurately reflects the camera's actual pose in space. This process eliminates errors introduced by different coordinate systems, making camera pose determination more accurate and reliable. In complex shooting environments, even in the presence of various interference factors, the IMU integration-based calculation method can provide the camera with a stable and accurate attitude reference, ensuring the stability of the shooting perspective.

[0127] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0128] Based on the same inventive concept, embodiments of the present disclosure also provide a panoramic camera shooting angle control device for implementing the aforementioned panoramic camera shooting angle control method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more panoramic camera shooting angle control device embodiments provided below can be found in the limitations of the panoramic camera shooting angle control method described above and will not be further elaborated here.

[0129] In one embodiment, Figure 9 As shown, a panoramic camera shooting angle control device 900 is provided, comprising: a panoramic image acquisition module 902, a posture angle determination module 904 and an angle adjustment module 906, wherein:

[0130] A panoramic image acquisition module 902 is configured to determine a pan-tilt shooting mode of the panoramic camera, and acquire a panoramic image captured by the panoramic camera in the pan-tilt shooting mode, as well as inertial sensor data matching the panoramic image;

[0131] An attitude angle determination module 904 is configured to determine the three-axis attitude angles of the panoramic camera based on the panoramic image;

[0132] Angle adjustment module 906 is used to determine the locked axis and the movable axis of the three axes in the gimbal shooting mode, adjust the three-axis attitude angle according to the locked axis and the movable axis, and adjust the angle of the panoramic image obtained by the panoramic camera according to the adjusted three-axis attitude angle.

[0133] In one embodiment of the device, the gimbal shooting mode includes: a first follow mode, a pitch lock mode, a second follow mode, and a full lock mode, and the three axes include: a pitch axis, a yaw axis, and a roll axis. The angle adjustment module 906 includes: a locked axis active axis determination module, for determining, in response to the gimbal shooting mode being the first follow mode, that the locked axis in the first follow mode is the roll axis, and that the active axes are the pitch axis and the yaw axis; in response to the gimbal shooting mode being the pitch lock mode, determining that the locked axis in the pitch lock mode is the pitch axis, and that the active axes are the yaw axis and the roll axis; in response to the gimbal shooting mode being the second follow mode, determining that the active axes are the pitch axis, the yaw axis, and the roll axis; in response to the gimbal shooting mode being the full lock mode, determining that the locked axes are the pitch axis, the yaw axis, and the roll axis.

[0134] In one embodiment of the device, the angle adjustment module 906 includes: an image adjustment module for, in response to the pan / tilt camera shooting mode being the first follow mode, locking the roll angle of the panoramic camera based on the locked axis, and adjusting the panoramic image captured by the panoramic camera based on the pitch angle, yaw angle, and the locked roll angle;

[0135] In response to the pan / tilt shooting mode being the pitch lock mode, the pitch angle of the panoramic camera is locked based on the lock axis, and the panoramic image captured by the panoramic camera is adjusted based on the yaw angle, roll angle and the locked pitch angle.

[0136] In one embodiment of the device, the image adjustment module is further used to, in response to the gimbal shooting mode being the second follow mode, perform anti-shake processing on the pitch axis, yaw axis and roll axis according to the movable axis; perform weighted summation on the anti-shake processed pitch axis, yaw axis and roll axis and the original pitch axis, yaw axis and roll axis; and adjust the panoramic image captured by the panoramic camera based on the weighted summation of the pitch axis, yaw axis and roll axis.

[0137] In one embodiment of the device, the image adjustment module is further configured to adjust the three-axis attitude angle according to the locking axis and the movable axis, and adjust the angle of the panoramic image captured by the panoramic camera according to the adjusted three-axis attitude angle, including:

[0138] In response to the gimbal shooting mode being the second follow mode, the pitch angle, roll angle, and yaw angle are locked according to the locked axis; inertial sensor data matching the panoramic image is integrated in chronological order and converted into a camera posture; and the panoramic image captured by the panoramic camera is adjusted based on the camera posture.

[0139] In one embodiment of the device, the attitude angle determination module 904 is further used to determine inertial sensor data matching the panoramic image, and determine the attitude quaternion of the panoramic camera when the panoramic camera is in the gimbal shooting mode based on the inertial sensor data; and decouple the attitude quaternion to obtain a three-axis attitude angle.

[0140] In one embodiment of the device, the attitude angle determination module 904 is further used to determine an initial panoramic image in the panoramic image, and calculate the initial camera attitude of the panoramic camera based on the rotation quaternion contained in the inertial sensor data matching the initial panoramic image, wherein the initial panoramic image is determined based on the shooting time of the panoramic image; based on the rotation quaternion contained in the inertial sensor data matching the panoramic image and the angular velocity matrix pre-determined based on the angular velocity vector, calculate the change rate of the rotation quaternion at each moment matching the panoramic image; based on the change rate and the initial camera attitude, update the rotation quaternion, and based on the updated rotation quaternion, determine the attitude quaternion of the panoramic camera during the process of being in the gimbal shooting mode.

[0141] Each module in the panoramic camera's shooting angle control device can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of the panoramic camera's processor in hardware form, or stored in the panoramic camera's memory in software form, allowing the processor to call and execute the corresponding operations of each module.

[0142] In one embodiment, a computer device is provided. The computer device may be a terminal (eg, a panoramic camera), and its internal structure may be as shown in FIG. Figure 10 As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for controlling the shooting angle of a panoramic camera is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad provided on the computer device housing, or an external keyboard, touchpad or mouse.

[0143] Those skilled in the art will understand that Figure 10 The structure shown in the figure is merely a block diagram of a portion of the structure related to the solution of the present disclosure, and does not constitute a limitation on the computer device to which the solution of the present disclosure is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0144] In one embodiment, a panoramic camera is provided, comprising a memory and a processor. The memory stores a computer program, and the processor implements the steps in the above method embodiments when executing the computer program.

[0145] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0146] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0147] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in the present disclosure may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this disclosure may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in each embodiment provided in this disclosure may be, but are not limited to, a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, etc.

[0148] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0149] The above-described embodiments merely represent several implementation methods of the present disclosure. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present disclosure. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present disclosure, all of which fall within the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure shall be determined by the appended claims.

Claims

1. A method for controlling the shooting angle of a panoramic camera, characterized in that: The method comprises: Determining a pan-tilt shooting mode of the panoramic camera, and obtaining a panoramic image captured by the panoramic camera in the pan-tilt shooting mode; Determining the three-axis attitude angle of the panoramic camera according to the panoramic image; Determine a locked axis and a movable axis among the three axes in the pan / tilt camera shooting mode, adjust the three-axis attitude angle according to the locked axis and the movable axis, and adjust the angle of the panoramic image obtained by the panoramic camera according to the adjusted three-axis attitude angle.

2. The method according to claim 1, characterized in that The gimbal shooting modes include: a first follow mode, a pitch lock mode, a second follow mode, and a full lock mode. The three axes include: a pitch axis, a yaw axis, and a roll axis. Determining the locked axis and the movable axis of the three axes in the gimbal shooting mode includes: In response to the gimbal shooting mode being a first follow mode, determining that the locked axis in the first follow mode is a roll axis, and determining that the movable axes are a pitch axis and a yaw axis; In response to the gimbal shooting mode being a pitch lock mode, determining that the locked axis in the pitch lock mode is the pitch axis, and determining that the movable axes are the yaw axis and the roll axis; In response to the pan / tilt camera shooting mode being the second follow mode, determining that the movable axes are a pitch axis, a yaw axis, and a roll axis; In response to the gimbal shooting mode being the fully locked mode, the locked axes are determined to be the pitch axis, the yaw axis, and the roll axis.

3. The method according to claim 2, characterized in that The adjusting the three-axis attitude angle according to the locking axis and the movable axis, and adjusting the angle of the panoramic image captured by the panoramic camera according to the adjusted three-axis attitude angle, includes: In response to the gimbal shooting mode being the first follow mode, locking the roll angle of the panoramic camera based on the locked axis, and adjusting the panoramic image captured by the panoramic camera based on the pitch angle, yaw angle, and the locked roll angle; In response to the pan / tilt shooting mode being the pitch lock mode, the pitch angle of the panoramic camera is locked based on the lock axis, and the panoramic image captured by the panoramic camera is adjusted based on the yaw angle, roll angle and the locked pitch angle.

4. The method according to claim 2, characterized in that The adjusting the three-axis attitude angle according to the locking axis and the movable axis, and adjusting the angle of the panoramic image captured by the panoramic camera according to the adjusted three-axis attitude angle, includes: In response to the gimbal shooting mode being the second follow mode, performing anti-shake processing on the pitch axis, the yaw axis, and the roll axis according to the movable axis; Perform weighted summation of the pitch axis, yaw axis, and roll axis after stabilization and the original pitch axis, yaw axis, and roll axis; Based on the weighted sum of the pitch axis, the yaw axis, and the roll axis, the panoramic image captured by the panoramic camera is adjusted.

5. The method according to claim 2, characterized in that The adjusting the three-axis attitude angle according to the locking axis and the movable axis, and adjusting the angle of the panoramic image captured by the panoramic camera according to the adjusted three-axis attitude angle, includes: In response to the gimbal shooting mode being the second follow mode, locking the pitch angle, roll angle, and yaw angle according to the locking axis; In a chronological order, integrating the inertial sensor data matching the plurality of panoramic images and converting the integrated data into a camera attitude; The panoramic image captured by the panoramic camera is adjusted based on the camera posture.

6. The method according to claim 1, characterized in that Determining the three-axis attitude angle of the panoramic camera according to the panoramic image includes: Determining inertial sensor data that matches the panoramic image, and determining, based on the inertial sensor data, a posture quaternion of the panoramic camera when the panoramic camera is in the pan-tilt shooting mode; The attitude quaternion is decoupled to obtain a three-axis attitude angle.

7. The method according to claim 1, characterized in that Determining, based on the inertial sensor data, the attitude quaternion of the panoramic camera when the panoramic camera is in the pan / tilt shooting mode includes: Determining an initial panoramic image from the panoramic images, and calculating an initial camera pose of the panoramic camera based on a rotation quaternion included in inertial sensor data matching the initial panoramic image, wherein the initial panoramic image is determined based on a capture time of the panoramic image; Calculating a rate of change of the rotation quaternion at each moment of matching with the panoramic image based on a rotation quaternion included in the inertial sensor data matched with the panoramic image and an angular velocity matrix pre-determined based on an angular velocity vector; Based on the change rate and the initial camera posture, the rotation quaternion is updated, and based on the updated rotation quaternion, the posture quaternion of the panoramic camera in the process of being in the gimbal shooting mode is determined.

8. A panoramic camera shooting angle control device, characterized in that: The device comprises: A panoramic image acquisition module, configured to determine a pan-tilt shooting mode of the panoramic camera and acquire a panoramic image captured by the panoramic camera in the pan-tilt shooting mode; An attitude angle determination module, configured to determine the three-axis attitude angle of the panoramic camera based on the panoramic image; An angle adjustment module is used to determine the locking axis and the movable axis of the three axes in the pan-tilt shooting mode, adjust the three-axis attitude angle according to the locking axis and the movable axis, and adjust the angle of the panoramic image obtained by the panoramic camera according to the adjusted three-axis attitude angle.

9. A panoramic camera comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

Images