Method and computer device for generating gyroscope rotation orientation - Patents.com

Abstract

This application relates to the field of image processing and provides a method for generating a gyroscope rotation direction, a method for realizing a bullet-time imaging effect, a computer-readable storage medium, a computer device, and a camera. The method includes: acquiring acceleration values ​​and angular velocity values ​​of an IMU in real time, using the acceleration values ​​as first acceleration values ​​to estimate the IMU's attitude relative to a world coordinate system; transforming the first acceleration value from the IMU coordinate system to the world coordinate system to obtain a second acceleration value; filtering the second acceleration and filtering out gravitational acceleration in the world coordinate system to obtain a third acceleration value; transforming the third acceleration into the IMU coordinate system to obtain acceleration components of the X-axis, Y-axis, and Z-axis of a fourth acceleration; and determining the gyroscope rotation direction according to the acceleration components. The method according to this application is simple, fast, and robust.

Description

[Technical field]

[0001] The present application relates to the field of image processing, and in particular to a method for generating a gyroscope rotation direction, a method, an apparatus, a computer-readable storage medium, a computer device and a camera for realizing a bullet-time imaging effect. [Background technology]

[0002] Bullet time is used in movies, television commercials, and computer games to simulate variable speed effects, such as enhanced slow motion, time freeze, etc., using computer-aided photography techniques. Bullet time is characterized by extreme changes in time as well as space, such as the slow motion and the camera angle (viewer's viewing angle) rotating around the scene. However, while visual effects such as bullet time look spectacular, they often require careful manual editing of the final effect. If the viewing angle is not manually adjusted and edited, the generated image may be unstable, with people or scenery fluctuating up and down on the generated image screen due to the cameraman's irregular rotation, making people feel dizzy. Summary of the Invention [Problem to be solved by the invention]

[0003] To solve at least one of the above problems, embodiments of the present application provide a method for generating a gyroscope rotation direction, a method, an apparatus, a computer-readable storage medium, a computer device, and a camera for realizing a bullet-time imaging effect. [Means for solving the problem]

[0004] In a first aspect, the present application provides a method for generating a gyroscope rotation direction.

[0005] The method comprises: Acquire an acceleration value and an angular velocity value of an inertial measurement unit (IMU) in real time, and set the acceleration value as a first acceleration value; From IMU coordinate system to the world coordinate system figure To estimate the momentum, Transforming the first acceleration value from the IMU coordinate system to a world coordinate system to obtain a second acceleration value; filtering the second acceleration and filtering out the gravitational acceleration in a world coordinate system to obtain a third acceleration; Transforming the third acceleration into the IMU coordinate system to obtain X-axis, Y-axis, and Z-axis acceleration components of the fourth acceleration; and determining a gyroscope rotation direction according to the X-axis, Y-axis, and Z-axis acceleration components of the fourth acceleration.

[0006] In a second aspect, the present application provides an apparatus for generating a gyroscope rotation direction, the apparatus comprising: Acquire an acceleration value and an angular velocity value of an inertial measurement unit (IMU) in real time, and set the acceleration value as a first acceleration value; From IMU coordinate system to the world coordinate system figure an estimation module for estimating a trend; a transformation module for transforming the first acceleration value from the IMU coordinate system to a world coordinate system to obtain a second acceleration value; a filtering module for filtering the second acceleration and filtering out the gravitational acceleration in a world coordinate system to obtain a third acceleration; an acceleration component determination module for transforming the third acceleration into the IMU coordinate system to obtain X-axis, Y-axis, and Z-axis acceleration components of the fourth acceleration; and a direction determining module for determining a gyroscope rotation direction according to the X-axis, Y-axis, and Z-axis acceleration components of the fourth acceleration.

[0007] In a third aspect, the present application provides a method for achieving a bullet time imaging effect, the method comprising: Obtaining a panoramic image captured as the camera rotates around the imaging target; performing the steps of the method for generating a gyroscope rotation direction described above; and generating a screen corresponding to the gyroscope rotation direction in the panoramic image according to the gyroscope rotation direction of the bullet time.

[0008] In a fourth aspect, the present application provides an apparatus for realizing a bullet-time imaging effect, the apparatus comprising: an acquisition module for acquiring a panoramic image captured by the camera as it rotates around the imaging target; Acquire an acceleration value and an angular velocity value of an inertial measurement unit (IMU) in real time, and set the acceleration value as a first acceleration value; From IMU coordinate system to the world coordinate system figure an estimation module for estimating a trend; a transformation module for transforming the first acceleration value from the IMU coordinate system to a world coordinate system to obtain a second acceleration value; a filtering module for filtering the second acceleration and filtering out the gravitational acceleration in a world coordinate system to obtain a third acceleration; an acceleration component determination module for transforming the third acceleration into the IMU coordinate system to obtain X-axis, Y-axis, and Z-axis acceleration components of the fourth acceleration; a direction determining module for determining a gyroscope rotation direction according to the X-axis, Y-axis, and Z-axis acceleration components of the fourth acceleration; and a generation module for generating a screen corresponding to the gyroscope rotation direction in the panoramic image according to the bullet time gyroscope rotation direction.

[0009] In a fifth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement steps in the method for generating a gyroscope rotation orientation described above or the method for realizing a bullet-time imaging effect described above.

[0010] In a sixth aspect, the present application provides: one or more processors; Memory, The present invention provides a computing device including a processor and one or more computer programs, the processor and the memory being connected by a bus, the one or more computer programs being stored in the memory and configured to be executed by the one or more processors, wherein, when the computer programs are executed by the processor, the computing device realizes steps in the method for generating a gyroscope rotation direction described above or the method for realizing a bullet time imaging effect described above.

[0011] In a seventh aspect, the present application provides: one or more processors; Memory, The present invention provides a camera including one or more computer programs, the processor and the memory being connected by a bus, the one or more computer programs being stored in the memory and configured to be executed by the one or more processors, wherein when the computer programs are executed by the processor, steps in the method for generating a gyroscope rotation direction described above or the method for realizing a bullet time imaging effect described above are realized. Effect of the Invention

[0012] Depending on the camera parts, the user may wear the camera in various ways, for example, parallel to the axis of rotation when the camera rotates, or perpendicular to the axis of rotation when the camera rotates, so that it is necessary to accommodate various orientations. In an embodiment of the present application, the acceleration value and the angular velocity value of the inertial measurement unit IMU are obtained, the acceleration value is a first acceleration value, the first acceleration value is processed to obtain a fourth acceleration, and then the gyroscope rotation direction is determined according to the acceleration components of the X-axis, Y-axis, and Z-axis of the fourth acceleration. Therefore, the present application can determine the gyroscope rotation direction in real time, and generate bullet time video with stable visual effects without human-machine interaction or elaborate editing at a later stage, and the method of the present application is simple, fast, and robust. [Brief description of the drawings]

[0013] [Figure 1] FIG. 1 is a schematic diagram of an application scene of the method for generating a gyroscope rotation direction or the method for realizing a bullet-time imaging effect according to an embodiment of the present application. [Diagram 2] FIG. 2 is a flow chart of a method for generating a gyroscope rotation direction according to one embodiment of the present application. [Diagram 3-8] FIG. 3-8 is a schematic diagram of the analysis of the gyroscope rotation direction. [Figure 9] FIG. 9 is a schematic diagram of an apparatus for generating gyroscope rotation direction according to one embodiment of the present application. [Figure 10] FIG. 10 is a schematic diagram of an apparatus for achieving bullet time imaging effect according to one embodiment of the present application. [Figure 11] FIG. 11 is a block diagram of a specific structure of a computer device according to an embodiment of the present application. [Figure 12] FIG. 12 is a block diagram of a specific structure of a camera according to an embodiment of the present application. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] In order to make the objectives, technical solutions and beneficial effects of the present application clearer and more obvious, the present application will be described in more detail below in conjunction with the drawings and examples. It should be understood that the specific examples described herein are only for the purpose of interpreting the present application, and are not intended to limit the present application.

[0015] In order to illustrate the technical solutions described in the present application, specific examples are given below.

[0016] The application scenario of the method for generating a gyroscope rotation direction or the method for realizing a bullet time imaging effect according to an embodiment of the present application may be a computer device or a camera, and the computer device or the camera executes the method for generating a gyroscope rotation direction according to an embodiment of the present application to determine a gyroscope rotation direction, or when the computer device or the camera executes the method for realizing a bullet time imaging effect according to an embodiment of the present application, the computer device or the camera executes the method for generating a gyroscope rotation direction according to an embodiment of the present application to obtain a gyroscope rotation direction, and then generates a screen corresponding to the gyroscope direction in a panoramic image according to the gyroscope rotation direction. The application scenario of the method for generating a gyroscope rotation direction or the method for realizing a bullet time imaging effect according to an embodiment of the present application may include a computer device 100 and a camera 200 (shown in FIG. 1) connected to each other. At least one application program can be operated on the computer device 100 and the camera 200. The computer device 100 may be a server, a desktop computer, a mobile terminal, etc., and the mobile terminal includes a mobile phone, a tablet computer, a notebook computer, a personal digital assistant, etc. The camera 200 may be a normal camera or a panoramic camera, etc. A general camera is an imaging device for capturing planar images and images. The computer device 100 or the camera 200 executes the method for generating a gyroscope rotation direction according to an embodiment of the present application to determine the gyroscope rotation direction, or the computer device or the camera executes the method for generating a gyroscope rotation direction according to an embodiment of the present application to obtain the gyroscope rotation direction when executing the method for realizing the bullet time imaging effect according to an embodiment of the present application, and then generates a scene corresponding to the gyroscope direction in the panoramic image according to the gyroscope rotation direction.

[0017] Referring to FIG. 2, this figure is a flowchart of a method for generating a gyroscope rotation direction according to an embodiment of the present application. In this embodiment, the method for generating a gyroscope rotation direction is mainly described by taking an example in which the method is applied to a computer device or a camera. The method for generating a gyroscope rotation direction according to an embodiment of the present application includes the following steps S101 to S105. S101 acquires an acceleration value and an angular velocity value of an IMU (Inertial Measurement Unit) in real time, and sets the acceleration value as a first acceleration value; From IMU coordinate system to the world coordinate system figure Estimate the momentum.

[0018] An IMU is a device that measures the three-axis attitude angles (or angular velocity values) and acceleration values ​​of an object. In general, one IMU includes a three-axis accelerometer and a three-axis gyroscope, and the accelerometer detects independent three-axis acceleration signals of the object in the carrier coordinate system, while the gyroscope detects the angular velocity signal of the carrier with respect to the navigation coordinate system, measures the angular velocity values ​​and acceleration values ​​of the object in three-dimensional space, and calculates the attitude of the object based on this.

[0019] In one embodiment of the present application, obtaining the acceleration values ​​and angular velocity values ​​of the IMU in real time may specifically involve using a gravity sensor to read the acceleration values ​​of a three-axis accelerometer, and using an angular velocity sensor to read the angular velocity values ​​of a three-axis gyroscope.

[0020] As mentioned above From IMU coordinate system to the world coordinate system figure Specifically, the momentum is estimated using a Kalman filter. From IMU coordinate system to the world coordinate system figure In particular, the acceleration value and the angular velocity value may be subjected to extended Kalman filtering to estimate the momentum of the vehicle. JPEG0007603151000001.jpg17170JPEG0007603151000002.jpg39170JPEG0007603151 000003.jpg13170JPEG0007603151000004.jpg18170JPEG0007603151000005.jpg63170 JPEG0007603151000006.jpg39170JPEG0007603151000007.jpg36170JPEG0007603151 000008.jpg24170JPEG0007603151000009.jpg24170JPEG0007603151000010.jpg47170

[0021] In one embodiment of the present application, after S101, a noise reduction process is performed on the first acceleration value using low-pass filtering, and the first acceleration value after low-pass filtering and noise reduction is JPEG0007603151000011.jpg9170

[0022] JPEG0007603151000012.jpg29170JPEG0007603151000013.jpg27170JPEG0007603151000014.jpg31170

[0023] Extended Kalman Filtering: Extended Kalman Filtering is the linearization of a nonlinear system followed by Kalman filtering, which is a highly efficient recursive filter that can estimate the state of a dynamic system from a set of measurements that are not completely noise-filled.

[0024] S102 transforms the first acceleration value from the IMU coordinate system to a world coordinate system to obtain a second acceleration value.

[0025] In one embodiment of the present application, S102 specifically includes: This is the first acceleration value after JPEG0007603151000015.jpg31170.

[0026] S103 filters the second acceleration and filters out the gravitational acceleration in the world coordinate system to obtain a third acceleration.

[0027] In one embodiment of the present application, S103 may specifically be:

[0028] JPEG0007603151000016.jpg26170

[0029] Filtering out the gravitational acceleration mentioned above can be done using a high pass filter. JPEG0007603151000017.jpg25170n is the order of the filter and may be obtained from a preset value, for example n=4. JPEG0007603151000018.jpg24170, i.e. the cutoff frequency divided by the sampling frequency, expressed in angular frequencies).

[0030] A high-pass filter, also known as a low-cut filter, is a filter that allows frequencies above a certain cutoff frequency to pass while significantly attenuating low frequencies, thereby removing unwanted low-frequency components in a signal, in other words, removing low-frequency interference.

[0031] In one embodiment of the present application, before filtering the second acceleration as described above, the method may further include the following steps:

[0032] JPEG0007603151000019.jpg15170JPEG0007603151000020.jpg36170JPEG0007603151000021.jpg14170 (this is the normalized cutoff frequency, i.e. the cutoff frequency divided by the sampling frequency, expressed in angular frequencies). This eliminates the effects of noise and gives a more stable result.

[0033] A Butterworth filter is a type of electronic filter, also known as a maximally flat filter. It is characterized by a frequency response curve that is maximally flat and ripple-free in the passband, while dropping gradually to zero in the stopband.

[0034] S104 transforms the third acceleration into the IMU coordinate system to obtain X-axis, Y-axis, and Z-axis acceleration components of the fourth acceleration.

[0035] JPEG0007603151000022.jpg30170

[0036] S105 determines the gyroscope rotation direction according to the X-axis, Y-axis, and Z-axis acceleration components of the fourth acceleration.

[0037] In one embodiment of the present application, determining the gyroscope rotation direction according to the X-axis, Y-axis, and Z-axis acceleration components of the above-mentioned fourth acceleration is specifically as follows: The magnitudes of the acceleration components of the fourth acceleration on the X-axis, Y-axis, and Z-axis may be compared to obtain an axis corresponding to a maximum acceleration component, and the direction in which the axis corresponding to the maximum acceleration component and having the same direction as the maximum acceleration component faces the rotation axis when the camera is rotated may be determined as the gyroscope rotation direction.

[0038] In one embodiment of the present application, after determining the gyroscope rotation direction according to the X-axis, Y-axis, and Z-axis acceleration components of the fourth acceleration as described above, the method includes: The method may further include setting the gyroscope rotation direction as a rotation direction of a camera, and determining a positional relationship between the camera and the rotation axis according to the gyroscope rotation direction.

[0039] As shown in Fig. 3, if the Y-axis acceleration component of the fourth acceleration is greater than the X-axis and Z-axis acceleration components of the fourth acceleration, and the direction of the acceleration component is the same as the positive half axis of the Y-axis, the gyroscope rotation direction at this time is the direction in which the positive half axis of the Y-axis faces the rotation axis of the camera when rotating, that is, the camera rotation direction is the direction in which the positive half axis of the Y-axis faces the rotation axis of the camera when rotating. The gyroscope rotation direction determines that the camera is perpendicular to the rotation axis of the camera when rotating, and the top of the camera faces the rotation axis of the camera when rotating.

[0040] 4, if the Z-axis acceleration component of the fourth acceleration is greater than the X-axis and Y-axis acceleration components of the fourth acceleration, and the direction of the acceleration component is the same as the negative half axis of the Z axis, the gyroscope rotation direction at this time is the direction in which the negative half axis of the Z axis faces the rotation axis of the camera when rotating, that is, the camera rotation direction is the direction in which the negative half axis of the Z axis faces the rotation axis of the camera when rotating. If it is determined that the camera is parallel to the rotation axis of the camera when rotating according to the gyroscope rotation direction, the camera and the rotation axis are in a positional relationship in which the first side of the camera faces the rotation axis of the camera when rotating.

[0041] 5, if the Y-axis acceleration component of the fourth acceleration is greater than the X-axis and Z-axis acceleration components of the fourth acceleration, and the direction of the acceleration component is the same as the negative half axis of the Y-axis, the gyroscope rotation direction at this time is the direction in which the negative half axis of the Y-axis faces the rotation axis of the camera when rotating, that is, the camera rotation direction is the direction in which the negative half axis of the Y-axis faces the rotation axis of the camera when rotating. If it is determined that the camera is perpendicular to the rotation axis of the camera when rotating according to the gyroscope rotation direction, the camera and the rotation axis are in a positional relationship in which the bottom of the camera faces the rotation axis of the camera when rotating.

[0042] 6, if the Z-axis acceleration component of the fourth acceleration is greater than the X-axis and Y-axis acceleration components of the fourth acceleration, and the direction of the acceleration component is the same as the positive half axis of the Z axis, the gyroscope rotation direction at this time is the direction in which the positive half axis of the Z axis faces the rotation axis of the camera when rotating, that is, the camera rotation direction is the direction in which the positive half axis of the Z axis faces the rotation axis of the camera when rotating. If it is determined that the camera is parallel to the rotation axis of the camera when rotating according to the gyroscope rotation direction, the camera and the rotation axis are in a positional relationship in which the second side of the camera faces the rotation axis of the camera when rotating.

[0043] 7, if the X-axis acceleration component of the fourth acceleration is greater than the Y-axis and Z-axis acceleration components of the fourth acceleration, and the direction of the acceleration component is the same as the positive half axis of the X-axis, the gyroscope rotation direction at this time is the direction in which the positive half axis of the X-axis faces the rotation axis of the camera when rotating, that is, the camera rotation direction is the direction in which the positive half axis of the X-axis faces the rotation axis of the camera when rotating. If it is determined that the camera is parallel to the rotation axis of the camera when rotating according to the gyroscope rotation direction, the camera and the rotation axis are in a positional relationship in which the third side of the camera faces the rotation axis of the camera when rotating.

[0044] 8, if the X-axis acceleration component of the fourth acceleration is greater than the Y-axis and Z-axis acceleration components of the fourth acceleration, and the direction of the acceleration component is the same as the negative half axis of the X-axis, the gyroscope rotation direction at this time is the direction in which the negative half axis of the X-axis faces the rotation axis of the camera when rotating, that is, the camera rotation direction is the direction in which the negative half axis of the X-axis faces the rotation axis of the camera when rotating. If it is determined that the camera is perpendicular to the rotation axis of the camera when rotating according to the gyroscope rotation direction, the camera and the rotation axis are in a positional relationship in which the fourth side of the camera faces the rotation axis of the camera when rotating.

[0045] The above is only a preferred embodiment of the present invention, and if the camera rotates toward the axis of rotation of the camera at other angles, the analysis of the gyroscope rotation direction will be as shown in the examples of Figures 3 to 8 and will not be repeated here.

[0046] 9, the device for generating a gyroscope rotation direction according to an embodiment of the present application may be a computer program or program code operated on a computer device or a camera, for example, the device for generating a gyroscope rotation direction is application software, and the device for generating a gyroscope rotation direction can be used to perform corresponding steps in the method for generating a gyroscope rotation direction according to an embodiment of the present application. The device for generating a gyroscope rotation direction according to an embodiment of the present application includes: Acquire an acceleration value and an angular velocity value of an inertial measurement unit (IMU) in real time, and set the acceleration value as a first acceleration value; From IMU coordinate system to the world coordinate system figure an estimation module 11 for estimating a trend; a transformation module 12 for transforming the first acceleration value from the IMU coordinate system to a world coordinate system to obtain a second acceleration value; a filtering module 13 for filtering the second acceleration and filtering out the gravitational acceleration in the world coordinate system to obtain a third acceleration; an acceleration component determination module 14 for transforming the third acceleration into the IMU coordinate system to obtain X-axis, Y-axis, and Z-axis acceleration components of the fourth acceleration; and a direction determining module 15 for determining a rotation direction of the camera according to the X-axis, Y-axis, and Z-axis acceleration components of the fourth acceleration, and making the rotation direction of the camera the gyroscope rotation direction.

[0047] The device for generating a gyroscope rotation direction according to an embodiment of the present application belongs to the same concept as the method for generating a gyroscope rotation direction according to an embodiment of the present application, and the specific implementation details thereof are not repeated here, and the reader is referred to the full text of the specification.

[0048] An embodiment of the present application further provides a method for realizing a bullet time imaging effect. In this embodiment, the method for realizing the bullet time imaging effect is mainly described by taking an example of application of the method for realizing the bullet time imaging effect to a computer device or a camera. The method for realizing the bullet time imaging effect according to an embodiment of the present application is different from the method for generating a gyroscope rotation direction according to an embodiment of the present application in that: Before S101, the method further includes acquiring a panoramic image captured when the camera rotates around the imaging target; After S105, the method further includes a step of generating a screen corresponding to the gyroscope rotation direction in the panoramic image according to the gyroscope rotation direction of the bullet time.

[0049] 10, the device for realizing the bullet time imaging effect according to an embodiment of the present application may be a computer program or program code running on a computer device or a camera, for example, the device for realizing the bullet time imaging effect is application software, and the device for realizing the bullet time imaging effect can be used to perform corresponding steps in the method for realizing the bullet time imaging effect according to an embodiment of the present application. The device for realizing the bullet time imaging effect according to an embodiment of the present application includes: an acquisition module 21 for acquiring a panoramic image captured when the camera rotates around the imaging target; Acquire an acceleration value and an angular velocity value of an inertial measurement unit (IMU) in real time, and set the acceleration value as a first acceleration value; From IMU coordinate system to the world coordinate system figure an estimation module 22 for estimating a momentum; a transformation module 23 for transforming the first acceleration value from the IMU coordinate system to a world coordinate system to obtain a second acceleration value; a filtering module 24 for filtering the second acceleration and filtering out the gravitational acceleration in the world coordinate system to obtain a third acceleration; an acceleration component determination module 25 for transforming the third acceleration into the IMU coordinate system to obtain X-axis, Y-axis, and Z-axis acceleration components of the fourth acceleration; a direction determining module 26 for determining a rotation direction of the camera according to the acceleration components of the X-axis, Y-axis, and Z-axis of the fourth acceleration, and making the rotation direction of the camera a gyroscope rotation direction; and a generation module 27 for generating a screen corresponding to the gyroscope rotation direction in the panoramic image according to the gyroscope rotation direction of the bullet time.

[0050] The apparatus for realizing the bullet-time imaging effect according to one embodiment of the present application belongs to the same concept as the method for realizing the bullet-time imaging effect according to one embodiment of the present application, and the specific realization process thereof is not repeated here and is referred to in the full specification.

[0051] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, the computer program being adapted to implement steps in a method for generating a gyroscope rotation orientation or a method for realizing a bullet-time imaging effect according to an embodiment of the present application when executed by a processor.

[0052] FIG. 11 shows a block diagram of a specific structure of a computer device according to an embodiment of the present application, which may be the computer device shown in FIG. 1. The computer device 100 includes one or more processors 101, a memory 102, and one or more computer programs, the processor 101 and the memory 102 are connected by a bus, and the one or more computer programs are stored in the memory 102 and configured to be executed by the one or more processors 101. When the computer program is executed by the processor 101, steps in a method for generating a gyroscope rotation direction or a method for realizing a bullet time imaging effect according to an embodiment of the present application are realized.

[0053] The computing device may be a server, a desktop computer, a mobile terminal, etc., including a mobile phone, a tablet computer, a notebook computer, a personal digital assistant, etc.

[0054] FIG. 12 shows a block diagram of a specific structure of a camera according to one embodiment of the present application, which may be the camera shown in FIG. 1. The camera 200 includes one or more processors 201, a memory 202, and one or more computer programs, the processor 201 and the memory 202 are connected by a bus, the one or more computer programs are stored in the memory 202 and configured to be executed by the one or more processors 201, and when the computer programs are executed by the processor 201, steps in a method for generating a gyroscope rotation direction or a method for realizing a bullet time imaging effect according to one embodiment of the present application are realized.

[0055] Depending on the camera parts, the user may wear the camera in various ways, for example, parallel to the axis of rotation when the camera rotates, or perpendicular to the axis of rotation when the camera rotates, so that it is necessary to accommodate various orientations. In an embodiment of the present application, the acceleration value and the angular velocity value of the inertial measurement unit IMU are obtained, the acceleration value is a first acceleration value, the first acceleration value is processed to obtain a fourth acceleration, and then the gyroscope rotation direction is determined according to the acceleration components of the X-axis, Y-axis, and Z-axis of the fourth acceleration. Therefore, the present application can determine the gyroscope rotation direction in real time, and generate bullet time video with stable visual effects without human-machine interaction or elaborate editing at a later stage, and the method of the present application is simple, fast, and robust.

[0056] It should be understood that the steps in each embodiment of the present application are not necessarily performed sequentially in the order indicated by the step numbers. Unless otherwise specified herein, the execution of these steps is not limited to a strict order, and these steps may be performed in other orders. Furthermore, at least some of the steps in each embodiment may include multiple sub-steps or multiple stages. These sub-steps or stages do not necessarily have to be performed at the same time, but may be performed at different times. The order of execution of these sub-steps or stages also does not necessarily have to be performed sequentially, and may be performed in order or alternating with other steps, or at least some of the sub-steps or stages of other steps.

[0057] As can be understood by those skilled in the art, all or part of the flow of the method of the above embodiments may be realized by instructing related hardware by a computer program. The program may be stored in a non-volatile computer-readable storage medium. When the program is executed, the flow of each of the above method embodiments is included. Herein, any reference to memory, storage, database, or other medium used in each embodiment of the present application may include non-volatile memory and / or volatile memory. The non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. The volatile memory may include random access memory (RAM) or external high-speed cache memory. By way of illustration and not limitation, RAM is available in many forms, such as, for example, Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), Memory Bus (Rambus) Direct RAM (RDRAM), Direct Memory Bus Dynamic RAM (DRDRAM), Memory Bus Dynamic RAM (RDRAM), etc.

[0058] The technical features of the above-mentioned embodiments may be combined in any combination. For the sake of brevity, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, the combinations of these technical features should be considered within the scope described in this specification unless there is a contradiction.

[0059] The above examples merely show some embodiments of the present application, and the description is specific and detailed, but this should not be understood as a limitation on the scope of the claims of the present application. It should be noted that those skilled in the art can make some modifications and improvements without departing from the concept of the present application. All of these modifications and improvements belong to the scope of protection of the present application. Therefore, the scope of patent protection of the present application should be in accordance with the scope of the attached claims.

Claims

1. 1. A method for generating a gyroscope rotation direction, comprising: Acquiring an acceleration value and an angular velocity value of an inertial measurement unit (IMU) in real time, setting the acceleration value as a first acceleration value, and estimating an attitude from the IMU coordinate system to a world coordinate system; Transforming the first acceleration value from the IMU coordinate system to a world coordinate system to obtain a second acceleration value; filtering the second acceleration and filtering out the gravitational acceleration in a world coordinate system to obtain a third acceleration; Transforming the third acceleration into the IMU coordinate system to obtain X-axis, Y-axis, and Z-axis acceleration components of the fourth acceleration; determining a gyroscope rotation direction according to the X-axis, Y-axis, and Z-axis acceleration components of the fourth acceleration; Determining the gyroscope rotation direction according to the X-axis, Y-axis, and Z-axis acceleration components of the fourth acceleration described above includes the following steps: a method for generating a gyroscope rotation direction, comprising: comparing magnitudes of acceleration components of the X-axis, Y-axis, and Z-axis of the fourth acceleration to obtain an axis corresponding to a maximum acceleration component; and determining, as the gyroscope rotation direction, a direction in which the axis corresponding to the maximum acceleration component and having the same direction as the maximum acceleration component faces a rotation axis when the camera is rotated.

2. 2. The method for generating a gyroscope rotation orientation as claimed in claim 1, wherein the estimating the attitude from the IMU coordinate system to the world coordinate system specifically comprises estimating the attitude from the IMU coordinate system to the world coordinate system using a Kalman filter.

3. The method for generating a gyroscope rotation direction according to claim 2, characterized in that estimating the attitude from the IMU coordinate system to the world coordinate system using the above-mentioned Kalman filter specifically involves estimating the amount of rotation of the IMU to the world coordinate system using extended Kalman filtering in conjunction with the acceleration value and angular velocity value.

4. After the acceleration value is taken as a first acceleration value, the method further comprises: performing a noise reduction process on the first acceleration value using low-pass filtering; 2. A method for generating a gyroscope rotation direction as set forth in claim 1.

5. performing a noise reduction process on the first acceleration value using the low-pass filtering described above; 5. The method of claim 4, wherein the gyroscope rotation direction is indicative of a sampling time interval of loop data.

6. Specifically, the above-mentioned first acceleration value is converted from the IMU coordinate system to the world coordinate system to obtain the second acceleration value.

6. The method of claim 5, wherein the rotation direction is an acceleration value.

7. In the world coordinate system, filtering the second acceleration and filtering out the gravitational acceleration to obtain the third acceleration can be specifically 7. The method for generating a gyroscope rotation direction according to claim 6.

8. Prior to filtering the second acceleration as described above, the method further comprises:

8. The method of claim 7, further comprising:

9. Specifically, the third acceleration is converted into the IMU coordinate system to obtain the X-axis, Y-axis, and Z-axis acceleration components of the fourth acceleration as follows: The method for generating a gyroscope rotation direction according to any one of claims 1 to 8, characterized in that: is a third acceleration.

10. After determining the gyroscope rotation direction according to the X-axis, Y-axis, and Z-axis acceleration components of the fourth acceleration as mentioned above, the method includes:

2. The method for generating a gyroscope rotation direction according to claim 1, further comprising: setting the gyroscope rotation direction as a rotation direction of a camera; and determining a positional relationship between the camera and the rotation axis according to the gyroscope rotation direction.

11. An apparatus for generating a gyroscope rotation direction using the method for generating a gyroscope rotation direction according to any one of claims 1 to 10, comprising: an estimation module for acquiring an acceleration value and an angular velocity value of an inertial measurement unit (IMU) in real time, setting the acceleration value as a first acceleration value, and estimating an attitude from the IMU coordinate system to a world coordinate system; a transformation module for transforming the first acceleration value from the IMU coordinate system to a world coordinate system to obtain a second acceleration value; a filtering module for filtering the second acceleration and filtering out the gravitational acceleration in a world coordinate system to obtain a third acceleration; an acceleration component determination module for transforming the third acceleration into an IMU coordinate system to obtain X-axis, Y-axis, and Z-axis acceleration components of the fourth acceleration; and a direction determining module for determining a gyroscope rotation direction according to X-axis, Y-axis, and Z-axis acceleration components of the fourth acceleration.

12. 1. A method for achieving a bullet time imaging effect, comprising: Obtaining a panoramic image captured as the camera rotates around the imaging target; Carrying out the steps of the method for generating a gyroscope rotation direction according to any one of claims 1 to 10; and generating a scene corresponding to the gyroscope rotation direction in the panoramic image according to the gyroscope rotation direction.

13. An apparatus for realizing a bullet-time imaging effect using the method for realizing the bullet-time imaging effect of claim 12, comprising: an acquisition module for acquiring a panoramic image captured by the camera as it rotates around the imaging target; an estimation module for acquiring an acceleration value and an angular velocity value of an inertial measurement unit (IMU) in real time, setting the acceleration value as a first acceleration value, and estimating an attitude from the IMU coordinate system to a world coordinate system; a transformation module for transforming the first acceleration value from the IMU coordinate system to a world coordinate system to obtain a second acceleration value; a filtering module for filtering the second acceleration and filtering out the gravitational acceleration in a world coordinate system to obtain a third acceleration; an acceleration component determination module for transforming the third acceleration into an IMU coordinate system to obtain X-axis, Y-axis, and Z-axis acceleration components of the fourth acceleration; a direction determining module for determining a gyroscope rotation direction according to the X-axis, Y-axis, and Z-axis acceleration components of the fourth acceleration; and a generating module for generating a screen corresponding to the gyroscope rotation direction in a panoramic image according to the gyroscope rotation direction.

14. A computer-readable storage medium having a computer program stored thereon, the computer program being characterized in that, when executed by a processor, the computer-readable storage medium realizes steps in the method for generating a gyroscope rotation orientation according to any one of claims 1 to 10, or the method for realizing a bullet-time imaging effect according to claim 12.

15. one or more processors; Memory, A computer device including one or more computer programs, the processor and the memory being connected by a bus, the one or more computer programs being stored in the memory and configured to be executed by the one or more processors, wherein when the computer programs are executed by the processor, steps of the method for generating a gyroscope rotation direction according to any one of claims 1 to 10 or the method for realizing a bullet time imaging effect according to claim 12 are realized.

16. one or more processors; Memory, A camera comprising: one or more computer programs; the processor and the memory being connected by a bus; and the one or more computer programs being stored in the memory and configured to be executed by the one or more processors, wherein, when the computer programs are executed by the processor, steps in the method for generating a gyroscope rotation direction according to any one of claims 1 to 10 or the method for realizing a bullet time imaging effect according to claim 12 are realized.

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