Image processing method, prompting method, imaging apparatus, movable platform, system, and storage medium

Abstract

An image processing method, a prompting method, an imaging apparatus, a movable platform, a system, and a storage medium. The image processing method comprises: on the basis of information of the height at which an imaging apparatus is located, determining a photographing scenario the imaging apparatus is in; in response to the photographing scenario being a specific photographing scenario, acquiring an image signal processing policy corresponding to the specific photographing scenario, the specific photographing scenario comprising at least two types of specific photographing scenarios, and height information corresponding to the at least two types of specific photographing scenarios being different; and, on the basis of the image signal processing policy, processing at least one raw image frame acquired by the imaging apparatus in the specific photographing scenario. Thus, the image quality in a specific photographing scenario is improved.

Description

Image processing method, prompting method, imaging device, movable platform, system and storage medium TECHNICAL FIELD

[0001] The present application relates to the technical field of image processing, in particular to an image processing method, a prompting method, an imaging device, a movable platform, a system and a computer readable storage medium. BACKGROUND

[0002] An imaging device is a device capable of capturing and recording images, which is widely used in photography, aerial photography, medicine, industrial detection, astronomical observation and other fields, and can bring convenience and efficiency to different fields and daily life. With the continuous progress of technology, people have higher requirements for the shooting quality of imaging devices in different scenes, so the functions of imaging devices need to be further expanded and improved.

[0003] SUMMARY

[0004] Therefore, one of the purposes of the present application is to provide an image processing method, a prompting method, an imaging device, a movable platform, a system and a computer readable storage medium.

[0005] In a first aspect, an image processing method is provided, comprising:

[0006] determining a shooting scene in which the imaging device is located according to height information of the imaging device;

[0007] in response to the shooting scene being a specific shooting scene, obtaining an image signal processing strategy corresponding to the specific shooting scene, the specific shooting scene including at least two specific shooting scenes, the height information of the at least two specific shooting scenes being different;

[0008] processing at least one frame of original image collected by the imaging device in the specific shooting scene according to the image signal processing strategy.

[0009] Beneficial effects: According to the height information (such as altitude or underwater depth) of the imaging device, the shooting scene can be accurately determined. When the imaging device is determined to be in a specific shooting scene, at least two different special shooting scenes can be accurately distinguished according to the height information of the imaging device, and the image signal processing strategy most suitable for the at least two different special shooting scenes included in the specific shooting scene can be selected to process at least one frame of original image collected by the imaging device in the at least two different special shooting scenes included in the specific shooting scene. This targeted processing can effectively improve the image quality of the processed image.

[0010] In a second aspect, the embodiments of the present application provide an image processing method, comprising:

[0011] determining height information of the imaging device according to a pressure signal collected by a pressure sensor connected to the imaging device;

[0012] determining a shooting scene in which the imaging device is located according to the height information of the imaging device, wherein the shooting scene comprises a specific shooting scene and a non-specific shooting scene;

[0013] in response to the shooting scene being the specific shooting scene, processing at least one frame of original image collected by the imaging device in the specific shooting scene according to an image signal processing strategy corresponding to the specific shooting scene; and / or

[0014] in response to the shooting scene being the non-specific shooting scene, adaptively processing at least one frame of original image collected in the non-specific shooting scene according to related information of the non-specific shooting scene, wherein the related information of the non-specific shooting scene comprises at least one of an image content recognition result of at least one frame of original image collected by the imaging device in the non-specific shooting scene and an optical parameter of the non-specific shooting scene.

[0015] Beneficial effects: the pressure sensor can provide accurate pressure readings, so that the accurate height of the imaging device can be calculated. This high-precision height sensing is the basis for shooting scene recognition, which ensures that the imaging device can correctly distinguish different shooting environments, such as specific shooting scenes and non-specific shooting scenes, and can avoid confusing some scenes in the specific shooting scene with some scenes in the non-specific shooting scene by the relevant optical recognition scheme. Then, when it is determined that the imaging device is in the specific shooting scene, the image signal processing strategy most suitable for the specific shooting scene can be selected to process at least one frame of original image collected by the imaging device in the specific shooting scene. This targeted processing can effectively improve the image quality of the specific shooting scene. When it is determined that the imaging device is in the non-specific shooting scene, the imaging device can perform adaptive processing through the related information (such as optical parameters and image content recognition results) of the non-specific shooting scene, so as to ensure that better image quality can be obtained in the non-specific shooting scene.

[0016] In a third aspect, the embodiments of the present application provide an image processing method, comprising:

[0017] determining a shooting scene in which the imaging device is located, wherein the shooting scene comprises a specific shooting scene and a non-specific shooting scene;

[0018] in response to the shooting scene being a specific shooting scene, processing at least one frame of raw image collected by the imaging device in the specific shooting scene according to an image signal processing strategy corresponding to the specific shooting scene;

[0019] in response to the shooting scene being a non-specific shooting scene, adaptively processing at least one frame of raw image collected in the non-specific shooting scene according to related information of the non-specific shooting scene, wherein the related information of the non-specific shooting scene includes at least one of the following: an image content recognition result of at least one frame of raw image collected by the imaging device in the non-specific shooting scene, and an optical parameter of the non-specific shooting scene.

[0020] Beneficial effects: when it is determined that the imaging device is in a specific shooting scene, an image signal processing strategy most suitable for the specific shooting scene can be selected to process at least one frame of raw image collected by the imaging device in the specific shooting scene, which can effectively improve the image quality in the specific shooting scene. When it is determined that the imaging device is in a non-specific shooting scene, the imaging device can perform adaptive processing through related information (such as an optical parameter and an image content recognition result) of the non-specific shooting scene, so as to ensure that good image quality can also be obtained in the non-specific shooting scene.

[0021] In a fourth aspect, an embodiment of the present application provides an image processing method, comprising:

[0022] obtaining position information of the imaging device, wherein the position information includes height information, and the height information is determined based on a pressure sensor;

[0023] in a process of processing at least one frame of raw image collected by the imaging device in a shooting scene by using an image signal processing strategy corresponding to the shooting scene, adjusting a convergence speed of at least one type of quality parameter in the image signal processing strategy according to a change of the position information.

[0024] Beneficial effects: the position information (especially the height information) is used in the imaging device to adjust the convergence speed of the quality parameter in the image signal processing strategy, so as to reduce the quality fluctuation caused by the change of the position, especially to avoid the situation that the convergence speed of the quality parameter is too slow to adapt to the scene change due to the too large change of the height information, or the situation that the convergence speed of the quality parameter is too fast due to the too small change of the height information, so that the external change has an adverse effect on the quality, and each frame of image can maintain high quality.

[0025] In a fifth aspect, an embodiment of the present application provides an image processing method, comprising:

[0026] acquire three-dimensional position information of the imaging device in a three-dimensional space; wherein the three-dimensional position information comprises three-dimensional position information and three-dimensional attitude information, and the three-dimensional position information comprises height information and longitude and latitude information;

[0027] In a process of processing at least one original image collected by the imaging device in a shooting scene by using an image signal processing strategy corresponding to the shooting scene, a convergence speed of at least one type of image quality parameter in the image signal processing strategy is adjusted according to a change of the three-dimensional position information.

[0028] In a process of processing at least one original image collected by the imaging device in a shooting scene by using an image signal processing strategy corresponding to the shooting scene, a convergence speed of at least one type of image quality parameter in the image signal processing strategy is adjusted according to a change of the three-dimensional position information.

[0029] Beneficial effects: In the imaging device, the position information is used to adjust the convergence speed of the image quality parameter in the image signal processing strategy, the quality fluctuation caused by the position change is reduced, and especially, the quality loss caused by the slow convergence speed of the image quality parameter due to the large position change and the adverse effect of the external change on the image quality caused by the fast convergence speed of the image quality parameter due to the small position change are avoided, so that each image can maintain high quality.

[0030] In a sixth aspect, an embodiment of the present application provides a prompting method applied to an imaging device, comprising:

[0031] acquiring current height information of the imaging device; and

[0032] in response to the current height information of the imaging device satisfying a preset condition, outputting height warning information for prompting.

[0033] Beneficial effects: The imaging device automatically outputs the height warning information when the current height information satisfies the preset condition, so that the user does not need to continuously pay attention to the height, the operation burden is reduced, and the use convenience and safety are improved.

[0034] In a seventh aspect, an embodiment of the present application provides a prompting method applied to an imaging device, wherein the imaging device is connected with a pressure sensor, the pressure sensor is integrated in the imaging device, or the imaging device is connected with the pressure sensor, comprising:

[0035] The pressure signal collected by the pressure sensor and a mapping relationship between a pre-stored pressure signal and height information are used to determine current height information of the imaging device; the height information includes underwater depth.

[0036] If the current height information of the imaging device exceeds a preset height information range, height alert information is generated and outputted to prompt.

[0037] Beneficial effects: the pressure sensor can provide accurate pressure readings, so that the accurate height of the imaging device, especially the underwater depth, can be calculated, so that the imaging device can accurately determine whether the current height information, especially the underwater depth, meets the preset condition, and automatically output the height alert information, i.e. underwater depth information, when it meets the preset condition, without the user needing to continuously pay attention to the height, reducing the operation burden, improving the use convenience and safety, and at the same time, since the relationship between the underwater depth and the preset condition is used to determine whether the user needs to be prompted, rather than using the pressure value to directly determine whether the user needs to be prompted, the accuracy of the prompt information is higher, different water areas (density may be different) can be accurately distinguished, and false alarms can be effectively avoided.

[0038] In an eighth aspect, an embodiment of the present application provides an imaging device, comprising:

[0039] at least one processor; and

[0040] at least one memory including computer program code;

[0041] The at least one memory and the computer program code are configured to, with the at least one processor, enable the imaging device to at least perform the method of any one of the first aspect to the seventh aspect.

[0042] In a ninth aspect, an embodiment of the present application provides a movable platform, comprising:

[0043] a body;

[0044] a power system arranged in the body and configured to provide power for the movable platform; and

[0045] The imaging device of the eighth aspect.

[0046] In a tenth aspect, an embodiment of the present application provides a system, comprising a control terminal and the imaging device of the eighth aspect; the control terminal and the imaging device are communicatively connected.

[0047] In an eleventh aspect, an embodiment of the present application provides a non-computer readable storage medium having computer instructions stored thereon, the instructions being executed by a processor to implement the steps of the method of any one of the first aspect to the seventh aspect. BRIEF DESCRIPTION OF DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced. Obviously, the drawings in the following description only constitute some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0049] FIG. 1 is a schematic diagram of an application scenario according to an embodiment of the present application;

[0050] FIG. 2 is a schematic diagram of another application scenario according to an embodiment of the present application;

[0051] FIG. 3 is a schematic diagram of still another application scenario according to an embodiment of the present application;

[0052] FIG. 4 is a flowchart of a first image processing method according to an embodiment of the present application;

[0053] FIG. 5A is a schematic diagram of a connection relationship between an imaging device and a pressure sensor according to an embodiment of the present application;

[0054] FIG. 5B is a schematic diagram of another connection relationship between an imaging device and a pressure sensor according to an embodiment of the present application;

[0055] FIG. 6 is a schematic diagram of dividing a shooting scene according to height according to an embodiment of the present application;

[0056] FIG. 7A is a schematic diagram of displaying height information in the form of a watermark according to an embodiment of the present application;

[0057] FIG. 7B is a schematic diagram of displaying height information in the form of an instrument panel according to an embodiment of the present application;

[0058] FIG. 8 is a schematic diagram of a shooting scene in which height warning information needs to be displayed according to an embodiment of the present application;

[0059] FIG. 9 is a schematic diagram of an image processing process according to an embodiment of the present application;

[0060] FIG. 10 is a flowchart of a second image processing method according to an embodiment of the present application;

[0061] FIG. 11 is a flowchart of a third image processing method according to an embodiment of the present application;

[0062] FIG. 12 is a flowchart of a fourth image processing method according to an embodiment of the present application;

[0063] FIG. 13 is a flowchart of a fifth image processing method according to an embodiment of the present application;

[0064] FIG. 14 is a flowchart of a first prompting method according to an embodiment of the present application;

[0065] FIG. 15 is a flowchart of a second prompting method according to an embodiment of the present application;

[0066] FIG. 16 is a structural diagram of an imaging device according to an embodiment of the present application. DETAILED DESCRIPTION

[0067] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0068] An imaging device is a device capable of capturing and recording images. Exemplarily, an imaging device can include the following components: (1) a photosensitive element (or image sensor), the core component of the imaging device, responsible for capturing light and converting it into an electrical signal. Common photosensitive elements include charge-coupled devices (CCD) and complementary metal-oxide-semiconductor (CMOS).(2) a lens, used to focus light onto the photosensitive element. The quality of the lens directly affects the sharpness and color representation of the image.(3) an aperture, which controls the amount of light entering the lens; the size of the aperture affects the depth of field and exposure time.(4) a shutter, which controls the time for which light is allowed to strike the photosensitive element; shutter speed determines the exposure of the image.(5) an image signal processor, which converts the electrical signal captured by the photosensitive element into digital image data.(6) a storage device, used to store image data, such as an SD card, a hard disk, etc.

[0069] During the process of image acquisition by the imaging device, light is focused by the lens onto the photosensitive element, which converts the focused light into an electrical signal. The image signal processor processes the electrical signal, including noise reduction, color correction, sharpening, etc. The processed image data is stored in the storage device. Through the display or output interface, the user can view and share the image.

[0070] The types of imaging devices include, but are not limited to, digital cameras (such as single-lens reflex cameras, mirrorless cameras, card cameras, etc.), mobile phone cameras (imaging devices integrated in smartphones), medical imaging devices, industrial inspection cameras, astronomical telescopes, infrared thermal imagers, etc.

[0071] In one possible application scenario, referring to FIG. 1 (which illustrates an imaging apparatus mounted on an unmanned aerial vehicle), the imaging apparatus 200 can be arranged in a movable platform 100, which includes but is not limited to an aerial vehicle (for example, an unmanned aerial vehicle, a manned aerial vehicle, etc.), a vehicle (an unmanned vehicle, a manned vehicle), a movable robot (an underwater robot, an amphibious robot, an industrial robot, an agricultural robot, a household robot, etc.), a space probe, and the like, so that the imaging apparatus can perform image acquisition in various shooting scenarios such as underwater, near the ground, high altitude, or super high altitude.

[0072] The aerial vehicle-mounted imaging apparatus 200 can be used in aerial photography, environmental monitoring, search and rescue, air traffic monitoring, aerial reconnaissance, and the like.

[0073] The vehicle-mounted imaging apparatus 200 can be used to realize the automatic driving function of the vehicle, identify the road and avoid obstacles, record the driving process (for accident analysis and evidence recording), and the like.

[0074] The movable robot-mounted imaging apparatus 200 can be used for seabed exploration, pipeline inspection, environmental cleaning, topographic mapping, industrial detection, or agricultural detection, and the like.

[0075] In another possible application scenario, the imaging apparatus can be used alone, as shown in FIG. 2. The imaging apparatus 200 can be a digital camera, an action camera, a mobile phone camera, or the like, which is held by a user or mounted on the user. For example, a diver can hold (or mount on the body) an action camera to take pictures underwater, record different scenes underwater, or a skydiver can hold (or mount on the body) an action camera to take pictures at high altitude, or a sports enthusiast can use an action camera mounted on the body to take pictures during sports, and the like.

[0076] In yet another possible application scenario, referring to FIG. 3, the imaging apparatus 200 can also be in communication connection with a control terminal 300. The user can control the related functions of the imaging apparatus 200 through the control terminal 300, and the control terminal 300 provides the user with the ability to remotely operate and monitor the imaging apparatus 200; or the images acquired by the imaging apparatus 200 can also be displayed in the control terminal 300. The control terminal 300 includes but is not limited to a smart phone, a desktop computer, a notebook, a palm computer, a tablet, a remote controller, a wearable device, and the like.

[0077] For example, in an automated production line, an operator can monitor and control the imaging apparatus 200 (for example, a camera for quality detection) installed on a machine through the control terminal 300. The operator can remotely adjust the camera angle and focal length, and view the product status in real time.

[0078] For example, in a smart home, a user can remotely control a security camera in the home through a tablet or smartphone, view the home in real time, and even have a video call with a visitor.

[0079] For another example, in an underwater exploration task, researchers can operate an imaging device 200 carried by an underwater robot through a control terminal 300 to observe the seabed terrain and organisms in real time, and conduct scientific investigations.

[0080] As can be seen, imaging devices can bring convenience and efficiency to different fields and daily life. However, with the continuous progress of technology, people have higher requirements for the shooting quality of imaging devices in different scenarios, and the functions of imaging devices need to be further expanded and improved.

[0081] For example, in the related art, the first image processing method for the collected raw image is that the imaging device processes the collected raw image based on the same image signal processing strategy. Alternatively, the second image processing method for the collected raw image in the related art is that the imaging device performs scene recognition based on optical information of a shooting scene or related information such as shooting content, and then processes the collected raw image based on the result of the scene recognition.

[0082] The raw image refers to a RAW image that has not been processed, and is an image data format captured from an image sensor (such as a CCD or CMOS sensor in a digital camera) of the imaging device. The RAW image contains raw light information captured from the sensor, and has not been subjected to image signal processing inside the imaging device, such as white balance, color correction, sharpening, etc.

[0083] The two image processing methods described above have the problem of low image quality of the processed image for some specific shooting scenes. The scene information of the specific shooting scene (scene information leading to color display not conforming to the conventional rules, brightness being too dark or too bright, scene information changing too fast, etc.) leads to the scene being unable to be processed in the traditional way of the related method. In some embodiments, the specific shooting scene is some extreme shooting scene or unconventional shooting scene, for example, high-altitude scene, underwater scene, skydiving scene, or high-mountain scene, etc. The uniform image signal processing strategy adopted by the first image processing method may not be applicable to the original image collected in the specific shooting scene, thereby leading to low image quality of the processed image, which cannot accurately reflect the real scene performance. For example, the related method cannot distinguish between 1000m high or 2000m high, so it adopts the same quality tuning strategy for different height sky scenes. However, because of the height difference, the content of the field of view captured will be very different, and the main content of the image requires different quality. The related method cannot meet the image rendering requirements at different heights; or the related method cannot determine whether it is underwater 5m or 10m, but the color performance of 5m water depth is different from that of 10m water depth because of the difference in the component of infrared light, so the related method cannot obtain more realistic colors; for example, the second image processing method has the problem of low image quality of the processed image caused by scene recognition error.

[0084] Therefore, the embodiments of the present application provide an image processing method, which can accurately identify a specific shooting scene and adopt an image signal processing strategy adapted to the specific shooting scene to process at least one original image collected by an imaging device in the specific shooting scene, thereby facilitating improving the image quality of the processed image.

[0085] Please refer to FIG. 4, which provides a flowchart of an image processing method. The image processing method is applied to an imaging device, and the method comprises:

[0086] In S401, according to the height information of the imaging device, the shooting scene in which the imaging device is located is determined.

[0087] The height information can be represented by an altitude or a water depth. The altitude refers to a distance of the imaging device from a sea level in the air or an altitude from the ground when exposed to the air. The water depth refers to a distance of the imaging device from a horizontal plane in water or an altitude from a water surface when underwater. It should be noted that the height information in the present application is not always a relative value with respect to the sea level in some special cases. For example, when the imaging device is located in a pool or a lake in a high-altitude area or underwater, the height information of the imaging device measured is the water depth, rather than the distance from the sea level at the geographical location. In some preferred embodiments, the calibrated pressure sensor can more accurately distinguish the current scene, avoiding the identification confusion of the scene (for example, identifying the underwater in a high mountain as a high mountain scene or a high-altitude scene) when the height information is distinguished only with the sea level as a reference in related methods.

[0088] In some embodiments, the shooting scene includes a specific shooting scene.

[0089] For example, when the height information is represented by the altitude, the specific shooting scene refers to a shooting scene in which the altitude of the imaging device in the air is higher than a preset altitude, such as a high-altitude scene, an ultra-high-altitude scene, etc. The preset altitude can be set according to the actual application scene, such as 1000 meters or 1500 meters, but is not limited thereto. It can be understood that the altitude in the present application is always positive.

[0090] For example, when the height information is represented by the water depth, the specific shooting scene refers to a scene in which the imaging device is underwater, i.e., the water depth is greater than 0. For example, the imaging device is located in a shallow water scene with a small water depth or a deep water scene with a large water depth. It can be understood that the water depth in the present application is an absolute value or a negative value.

[0091] In some embodiments, the shooting scene also includes a non-specific shooting scene. The non-specific shooting scene refers to other shooting scenes in addition to the specific shooting scene described above, such as a land scene, a near-ground scene, etc.

[0092] In S402, in response to the shooting scene being a specific shooting scene, an image signal processing strategy corresponding to the specific shooting scene is obtained. The specific shooting scene includes at least two specific shooting scenes, and the height information corresponding to the at least two specific shooting scenes is different.

[0093] Exemplarily, the imaging device can pre-store image signal processing strategies corresponding to different specific shooting scenes, and in a case where it is determined that the imaging device is in a specific shooting scene, the image signal processing strategy corresponding to the specific shooting scene in which the imaging device is currently located can be directly obtained from the pre-stored data, and in particular, the image signal processing strategy corresponding to at least two specific shooting scenes with different heights can be obtained for further processing. The specific shooting scene is a sub-concept of the specific shooting scene. For example, the specific shooting scene is an underwater scene, and the specific shooting scene is a shallow water scene or a deep water scene. The specific shooting scene is a high-altitude scene, and the specific shooting scene can be a super-high-altitude scene, a high-altitude scene lower than the super-high-altitude scene, or a skydiving scene. The present application does not limit this. The image signal processing strategy is an image processing algorithm for optimizing and enhancing image quality.

[0094] In S403, at least one frame of original image collected by the imaging device in the specific shooting scene is processed according to the image signal processing strategy.

[0095] In this embodiment, the shooting scene is determined according to the height information (such as altitude or underwater depth) of the imaging device. When it is determined that the imaging device is in a specific shooting scene, the image signal processing strategy most suitable for the specific shooting scene can be selected to process at least one frame of original image collected by the imaging device in the specific shooting scene. This targeted processing can effectively improve the image quality of the processed image, so that the image quality effect can be completely real-time distinguished and adapted to various specific shooting scenes, such as underwater and high-altitude scenes.

[0096] In some embodiments, the process of obtaining the height information of the imaging device is exemplarily described herein.

[0097] The imaging device 200 is connected with the pressure sensor 201. For example, as shown in FIG. 5A, the imaging device 200 is internally provided with the pressure sensor 201. Alternatively, as shown in FIG. 5B, the imaging device 200 is externally connected with the pressure sensor 201. Preferably, in some embodiments, the pressure sensor is internally provided in the imaging device. Since the pressure sensor has low power consumption, its data can be read frame by frame and stored in the video material composed of at least one frame of original image obtained by the imaging device. Therefore, compared with the scheme in which the imaging device is externally connected with the pressure sensor, the altitude information of each frame of original image is more accurate and more convenient.

[0098] The pressure sensor can determine the water depth and the altitude by sensing the change of the pressure (water pressure or air pressure). Therefore, the height information of the imaging device can be obtained according to the pressure signal collected by the pressure sensor. The pressure sensor can accurately determine the height of the imaging device by accurate pressure measurement, and then perform scene recognition based on the height of the imaging device, so as to accurately determine the shooting scene of the imaging device, thereby avoiding misidentification between specific shooting scenes and non-specific shooting scenes.

[0099] For example, the pressure sensor can pre-store the mapping relationship between the pressure signal and the height information, and then determine the height information of the imaging device based on the collected pressure signal and the mapping relationship.

[0100] However, due to manufacturing process and other problems, different pressure sensors may have different readings for the same pressure source, so it is necessary to calibrate the mapping relationship between the pressure signal and the height information pre-stored by each pressure sensor. For example, the calibration process of the mapping relationship between the pressure signal and the height includes: obtaining a fitting curve of each pressure sensor in the plurality of pressure sensors, the fitting curve of each pressure sensor representing the mapping relationship between the pressure signal collected by the pressure sensor and the height; determining an average fitting curve based on the fitting curves corresponding to the plurality of pressure sensors, to filter out a target fitting curve closest to the average fitting curve from the fitting curves corresponding to the plurality of pressure sensors; obtaining pressure compensation information for other pressure sensors according to the difference between the pressure signals collected by the pressure sensor corresponding to the target fitting curve and other pressure sensors at the same height; and determining the mapping relationship between the pressure signal corresponding to the other pressure sensors and the height based on the target fitting curve and the pressure compensation information.

[0101] Through the above calibration process, the measurement consistency of the plurality of pressure sensors can be significantly improved, so that they can provide more accurate pressure and height data in actual application, thereby effectively eliminating the influence of manufacturing differences between sensors on the measurement results. That is, the mapping relationship between the pressure signal and the height information pre-stored by each pressure sensor is a standard mapping relationship after calibration, thereby realizing accurate mapping between the pressure signal and the height information, and obtaining accurate height information.

[0102] The pressure sensor can determine the water depth and the altitude by sensing the change of the pressure (water pressure or air pressure). The deeper the water depth, the greater the water pressure; the higher the altitude, the smaller the air pressure.

[0103] For example, assume that the working range of the pressure sensor is [-x, +y] with the unit of meter, and the pressure of the environment where the sensor is located can be controlled by the sealing device, so as to obtain the reading of the pressure sensor under different air pressures. Then, the relationship between the air pressure (or water pressure) and the altitude (or water depth) can be converted by the physical relationship.

[0104] In some embodiments, the relationship between the water pressure and the underwater depth is related to the density of the liquid, the acceleration of gravity, and the water depth. For example, in the range of -20 to 0 meters, the relationship between the water pressure and the underwater depth can be expressed as follows: P = (P0 + pg h); where P represents the total pressure of the measurement point, P0 represents the surface pressure (usually the atmospheric pressure, if calibrated under the sealing device, the value of P0 is 0), p represents the density of water (about 1000 kg / m 3 ), g represents the acceleration of gravity (about 9.81 m / s 2 ), and h represents the underwater depth. In some embodiments, the relationship between the water pressure and the underwater depth can be expressed as: F = (P0 + pg h) * S, where S represents the force receiving area.

[0105] For example, the relationship between the air pressure and the altitude can be expressed as follows: where P represents the pressure at the altitude h, P0 represents the sea level pressure, L represents the temperature decrement rate (about 0.0065 K / m), T0 represents the sea level temperature (the standard atmospheric temperature is about 288.15 K), g represents the acceleration of gravity (about 9.81 m / s 2 ), M represents the molar mass of air (about 0.029 kg / mol), R represents the gas constant (about 8.314 J / (mol·K)), and h represents the altitude. Specifically, in some embodiments, in the altitude range of 0-3000 meters, the atmospheric pressure decreases by 1 mmHg (about 133 Pa) per 12 meters of altitude increase. In some embodiments, the relationship between the air pressure and the underwater depth can be expressed as: where S represents the force receiving area.

[0106] From the above formula, it can be determined that the altitude at which the imaging device is located is negatively related to the air pressure indicated by the pressure signal collected by the pressure sensor; the underwater depth at which the imaging device is located is positively related to the water pressure indicated by the pressure signal collected by the pressure sensor. The dependence relationship between the underwater depth and the altitude and the pressure signal presents different change trends, and therefore at least one of the first mapping relationship between the range of the pressure signal and different altitudes and the second mapping relationship between the range of the pressure signal and different underwater depths can be determined in advance according to actual needs. The first mapping relationship is different from the second mapping relationship. And from the above formula, it can be known that the second mapping relationship is related to the density of water and / or the acceleration of gravity.

[0107] When using a pressure sensor to measure water depth and altitude, the resistance in water and the resistance in air have different effects on the pressure signal. This is mainly reflected in the rate of change and the change amplitude of the pressure. Since the resistance of water is greater than that of air, when traveling underwater, the density of water is greater (about 1000 kg / m 3 ), as the depth increases, the pressure increases rapidly, the pressure signal of the pressure sensor changes rapidly and the amplitude is large, reflecting the high density characteristics of water, in some embodiments, the water depth changes by 1 cm, the pressure sensor can sense the change of the water depth, that is, the recognition accuracy of the pressure sensor under water is 1 cm; while rising in the air, the density of air is smaller (about 1.225 kg / m 3 ), as the height increases, the pressure decreases slowly, the pressure signal of the pressure sensor changes slowly and the amplitude is small, reflecting the low density characteristics of air, in some embodiments, the altitude changes by 1 m, the pressure sensor can sense the change of the altitude information, that is, the recognition accuracy of the pressure sensor on water is 1 m. That is, the change rate of the first mapping relationship is different from the change rate of the second mapping relationship, or the sensitivity of the first mapping relationship and the second mapping relationship to the amplitude of the height information is different.

[0108] For example, based on the characteristics of water pressure and air pressure, the water pressure is usually much greater than the air pressure, when the imaging device enters from the water to the underwater, the pressure signal detected by the pressure sensor will suddenly increase, when the imaging device enters from the underwater to the water, the pressure signal detected by the pressure sensor will suddenly decrease. Therefore, the imaging device can determine that the imaging device enters from the underwater scene to the non-specific shooting scene or enters from the non-specific shooting scene to the underwater scene in response to the existence of the mutation of the pressure signal collected by the pressure sensor within the preset time period, so as to realize accurate identification of the switching between the specific shooting scene and the non-specific shooting scene. The present embodiment is aimed at the sudden scene, for example, the area switching between the water and the underwater, the area switching between the high-altitude scene and the land scene, or the scene of skydiving, etc. Since the accuracy of the barometer is higher, the switching between the water scene and the underwater scene, the switching between the high-altitude scene and the land scene, and the scene of skydiving, etc. can be better distinguished. At the same time, compared with the scheme of using radar or TOF to measure the relative height in the related scheme, the barometer of the present application has higher accuracy and wider range of action, and has higher accuracy in shooting scene recognition.

[0109] For the determination of the mutation, for example, if the difference between the pressure signals collected by the pressure sensor within the preset time period is greater than the preset difference, it can be determined that the pressure signal collected by the pressure sensor within the preset time period has a pressure mutation. The preset time period and the preset difference can be set according to the actual application scene, and the present embodiment does not make any limitation thereto.

[0110] Specifically, if the pressure signal collected by the pressure sensor within the preset time period has a mutation and presents a downward trend, it can be determined that the imaging device enters a non-specific shooting scene (e.g., a general scene) from an underwater scene. If the pressure signal collected by the pressure sensor within the preset time period has a mutation and presents an upward trend, it can be determined that the imaging device enters an underwater scene from a non-specific shooting scene (e.g., a terrestrial scene).

[0111] In some embodiments, the determination process of the shooting scene in which the imaging device is located is exemplarily described as follows for S101:

[0112] In a possible implementation, different height information intervals corresponding to different shooting scenes in which the imaging device is located can be pre-set, so as to realize automatic recognition of the shooting scene.

[0113] In a first case, in response to the imaging device being located in a first height information interval, it can be determined that the imaging device is located in a first specific shooting scene; wherein when the first height information interval is represented by altitude, the first specific shooting scene includes a high-altitude scene. For example, the first height information interval: altitude > 2000 meters. On the top of a mountain with an altitude of 3000 meters, the imaging device detects that the altitude displayed by the pressure sensor exceeds 2000 meters, and thus automatically recognizes it as a high-altitude scene.

[0114] In a second case, in response to the imaging device being located in a second height information interval, it can be determined that the imaging device is located in a second specific shooting scene; wherein when the second height information interval is represented by underwater depth, the second specific shooting scene includes an underwater scene. For example, the second height information interval: underwater depth > 0 meters (i.e., below the water surface). At a depth of 10 meters underwater, the imaging device detects that the depth corresponding to the water pressure displayed by the pressure sensor is 10 meters, and thus automatically recognizes it as an underwater scene.

[0115] In a third case, in response to the imaging device being located in a third height information interval, it can be determined that the imaging device is located in a non-specific shooting scene; wherein when the third height information interval is represented by altitude, the non-specific shooting scene includes a terrestrial scene (such as a city, a rural area, etc.). For example, the third height information interval: altitude between 0 and 2000 meters. In a park with an altitude of 500 meters, the imaging device detects that the altitude displayed by the pressure sensor is between 0 and 2000 meters, and thus automatically recognizes it as a terrestrial scene.

[0116] In this embodiment, the shooting scene is automatically recognized through different height information intervals, and the imaging device can realize automatic scene recognition and corresponding setting adjustment, greatly improving user experience and image quality. This intelligent recognition and automatic adjustment function not only makes the imaging device more user-friendly and intelligent, but also improves the adaptability and reliability of the imaging device in different environments.

[0117] For example, in order to further improve the image quality, it is considered that the high-altitude scene at different altitudes and the underwater scene at different underwater depths also have differences. Therefore, referring to FIG. 6, the high-altitude scene and the underwater scene can be further subdivided.

[0118] In some embodiments, the first height information interval includes a first altitude interval and a second altitude interval. In response to the imaging device being located in the first altitude interval, the first specific shooting scene is determined to be a super high-altitude scene. Alternatively, in response to the imaging device being located in the second altitude interval, the first specific shooting scene is determined to be a normal high-altitude scene. The super high-altitude scene and the normal high-altitude scene correspond to different image signal processing strategies. For example, the first altitude interval can be set as altitude > 4000 meters, and the second altitude interval can be set as altitude 2000-4000 meters. When the imaging device is on the peak at an altitude of 5000 meters, the imaging device detects that the altitude displayed by the pressure sensor is higher than 4000 meters, and thus automatically identifies the super high-altitude scene. When the imaging device is on the plateau at an altitude of 2500 meters, the imaging device detects that the altitude displayed by the pressure sensor is between 2000 and 4000 meters, and thus automatically identifies the normal high-altitude scene.

[0119] In some embodiments, the first height information interval includes a first water depth interval and a second water depth interval. In response to the imaging device being located in the first water depth interval, the second specific shooting scene is a shallow water scene. Alternatively, in response to the imaging device being located in the second water depth interval, the second specific shooting scene is a deep water scene. The super high-altitude scene and the normal high-altitude scene correspond to different image signal processing strategies. For example, the first water depth interval can be set as underwater 0-20 meters (absolute value), and the second water depth interval can be set as underwater > 20 meters (absolute value). When the imaging device is in the shallow sea area at a water depth of 5 (absolute value) meters, the imaging device detects that the water depth displayed by the pressure sensor is between 0 and 20 meters (absolute value), and thus automatically identifies the shallow water scene. When the imaging device is in the deep diving process at a water depth of 30 meters (absolute value), the imaging device detects that the water depth displayed by the pressure sensor is more than 20 meters (absolute value), and thus automatically identifies the deep water scene.

[0120] In this embodiment, by subdividing the high-altitude scene and the underwater scene, the imaging device can apply more detailed image signal processing strategies to adapt to the shooting requirements in different environments. This subdivision not only improves the image quality, but also enhances the intelligence of the imaging device and the user experience, ensuring that the best shooting effect can be obtained in various special shooting environments.

[0121] In a possible implementation, the height information interval corresponding to a specific shooting scene can be preset, and different specific shooting scenes correspond to different height information intervals, so that accurate identification of the specific shooting scene can be realized. The height information of the imaging device includes the altitude of the imaging device or the underwater depth of the imaging device.

[0122] For example, the specific shooting scene includes at least one of the following: (1) at least two underwater scenes; (2) at least two high-altitude scenes; (3) at least one underwater scene and at least one high-altitude scene.

[0123] The underwater depth intervals corresponding to the at least two underwater scenes are different, such as a shallow water scene (water depth 0-20 meters (absolute value)), a deep water scene (water depth 20-30 meters (absolute value)), and an ultra-deep water scene (water depth > 30 meters (absolute value)). The altitude intervals corresponding to the at least two high-altitude scenes are different, such as a normal high-altitude scene (altitude 2000-3000 meters), a sub-high-altitude scene (altitude 3000-5000 meters), and an ultra-high-altitude scene (altitude > 5000 meters). Different specific shooting scenes correspond to different image signal processing strategies. In this embodiment, by subdividing the high-altitude scene and the underwater scene, the imaging device can apply more detailed image signal processing strategies to adapt to the shooting requirements in different environments.

[0124] It can be understood that the number of underwater scene divisions and the number of high-altitude scene divisions can be set according to actual application scenarios, and can be 2, 3, 4, or even more, which are not limited in this embodiment.

[0125] During the scene recognition process, if the height information of the imaging device is the underwater depth of the imaging device, it is determined whether the shooting scene of the imaging device is one of the at least two underwater scenes according to the underwater depth of the imaging device. If the height information of the imaging device is the altitude of the imaging device, it is determined whether the shooting scene of the imaging device is one of the at least two high-altitude scenes according to the altitude of the imaging device. In this embodiment, by presetting different specific shooting scenes corresponding to different height information intervals, the imaging device can accurately identify the specific shooting scene, and the imaging device can perform well in various complex environments.

[0126] In a possible implementation, when the shooting scene recognition is performed based on the image content or optical information (such as color temperature, spectrum, light intensity, etc.) of the shooting scene, misrecognition may easily occur, especially between underwater scenes and non-specific shooting scenes with similar color tones. For example, non-specific shooting scenes such as indoor blue-green pure color scenes, outdoor night scenes, and indoor sports scenes, which have similar color tones with underwater scenes, may be misrecognized as underwater scenes, or pure blue scenes may be recognized as high-altitude scenes or underwater scenes, pure yellow scenes may be recognized as sunset scenes, and the like. Therefore, when the shooting scene recognition is performed based on the image content or optical information (such as color temperature, spectrum, light intensity, etc.) of the shooting scene, it is difficult to avoid confusion of scenes with similar color tones, and accurate differentiation is not achieved, which is not conducive to accurate recognition of different scenes and subsequent targeted image optimization.

[0127] In the embodiments of the present application, the pressure signal collected by the pressure sensor can accurately reflect the height information of the imaging device, which is different from the image content and optical information that are easily affected by environmental light, color temperature changes, and the like. The pressure signal is not disturbed by these factors, and thus can provide more stable and reliable basis for scene recognition. In response to the height information of the imaging device being the underwater depth of the imaging device, it can be directly determined that the shooting scene in which the imaging device is located is the underwater scene in the specific shooting scene, which avoids misrecognition of non-specific shooting scenes with similar color tones as underwater scenes due to similar optical information, and improves the accuracy of shooting scene recognition. In addition, the resolution of the height information of the imaging device is high, and different underwater scenes at different depths can be accurately distinguished.

[0128] For example, compared with underwater scenes, the color tone of indoor blue-green pure color scenes (for example, shooting of a studio green screen) may be similar to that of underwater scenes, and misrecognition may occur based on optical information. The embodiments of the present application determine the height information of the imaging device based on the pressure signal of the pressure sensor, and accurately recognize the underwater scene when the imaging device is located at the underwater depth. If not underwater, it can be further identified whether it is an indoor blue-green pure color scene.

[0129] For example, compared with an outdoor night scene, an underwater scene can be confused with the outdoor night scene due to a low-light environment. In this case, the height information of the imaging device can be determined based on the pressure signal of the pressure sensor. When the imaging device is located at a water depth, the underwater scene can be accurately identified. If there is no pressure change at the water depth or the pressure range is different (the order of magnitude of the pressure value at the water depth is different from that of the outdoor night scene), the imaging device can further identify whether it is an outdoor night scene. For example, the current location information and time information of the imaging device can be obtained to determine whether it is an outdoor night scene. Alternatively, the imaging device can further identify the shooting scene by combining the image content or the optical information (such as color temperature, spectrum, light intensity, etc.) of the shooting scene. In summary, the height information of the imaging device can be determined based on the pressure signal collected by the pressure sensor, so as to avoid misidentification due to similar optical information and accurately determine the shooting scene.

[0130] For another example, compared with an indoor sports scene (for example, a badminton court), the color tone of the underwater scene can be similar to that of the indoor sports scene, and the underwater scene can be misidentified based on the optical information. In this case, the height information of the imaging device can be determined based on the pressure signal of the pressure sensor. When the imaging device is located at a water depth, the underwater scene can be accurately identified. If the imaging device is not located at the water depth, the imaging device can further identify whether it is an indoor sports scene.

[0131] In a possible implementation, in addition to the height information of the imaging device, the optical information of the shooting scene where the imaging device is located can be further referred to for comprehensive identification of the shooting scene. That is, in this application, the height information is used to preferentially distinguish and identify the shooting scene, and then the optical information is fused for further distinction, so that different shooting scenes can be more accurately and finely distinguished, which is beneficial to subsequent more accurate matching or customization of different image processing strategies. The optical information of the shooting scene where the imaging device is located can be obtained by an optical sensor (such as a color temperature sensor, a spectrum sensor, a photodiode, etc.) configured on the imaging device. For example, the color temperature sensor is used to obtain the color temperature value of the current shooting scene, the spectrum sensor is used to analyze the spectrum distribution of the current light source, and the photodiode is used to obtain the light intensity value of the current scene.

[0132] In this embodiment, the optical information can provide important characteristics of the shooting environment, such as color temperature, spectrum distribution, and light intensity. By analyzing these information and combining the height information of the imaging device, the imaging device can more accurately identify the current shooting scene.

[0133] The color temperature of the shooting scene is used for shooting scene identification as follows:

[0134] For example, generally, the underwater color temperature is biased to blue, and thus a typical underwater color temperature can be between 2000K and 5000K. If the height information of the imaging device indicates the underwater depth of the imaging device, and the color temperature is the typical underwater color temperature, it can be determined that the imaging device is currently in an underwater scene.

[0135] For another example, in a high-altitude environment, light is generally clear and scattered by the atmosphere, and thus has a high color temperature. A typical high-altitude color temperature is generally between 5500K and 7500K, and light in this range appears a relatively bright white, biased to the color tone of the sky. If the height information of the imaging device indicates the altitude of the imaging device, and the altitude exceeds 1000 meters indicated by the high-altitude scene, and the color temperature is the typical high-altitude color temperature, it can be determined that the imaging device is currently in a high-altitude scene.

[0136] The following describes scene recognition based on spectral distribution information in a shooting scene:

[0137] For example, when the shooting scene in which the imaging device is located is underwater, the spectral sensor can detect spectral features specific to an underwater environment. In an underwater environment, due to the absorption and scattering of water, the wavelength distribution of light changes, and red and orange wavelengths in the light are absorbed more quickly by water, and thus these colors quickly weaken or disappear in deep water, while blue wavelengths can penetrate water more deeply. Thus, if the height information of the imaging device indicates the underwater depth of the imaging device, and the spectral distribution information indicates a significant weakening of red and orange wavelengths and a relative enhancement of blue wavelengths, it can be determined that the imaging device is currently in an underwater scene.

[0138] For another example, when the shooting scene in which the imaging device is located is high-altitude, the spectral sensor can detect spectral features typical of the atmosphere. In the atmosphere, due to the scattering of gases, different wavelengths of light are scattered to different degrees, resulting in different distributions of light colors. Thus, if the height information of the imaging device indicates the altitude of the imaging device, and the altitude exceeds 1000 meters indicated by the high-altitude scene, and the spectral distribution information indicates that the colors of light exhibit different distributions, it can be determined that the imaging device is currently in a high-altitude scene.

[0139] It can be understood that the imaging device can identify the shooting scene based on the height information of the imaging device, in combination with at least one of the color temperature, spectrum, and light intensity in the shooting scene, according to actual conditions, and the embodiments do not limit this.

[0140] In some embodiments, different image signal processing strategies corresponding to different specific shooting scenes are exemplarily described as follows:

[0141] In order to improve the image quality of images collected in different specific shooting scenes, different image signal processing strategies can be set for different specific shooting scenes.

[0142] The image signal processing strategy corresponding to each specific shooting scene is used to indicate the adjustment of at least one type of image quality parameter. The at least one type of image quality parameter includes: color adjustment parameter, contrast parameter, defogging parameter, denoising parameter, sharpness parameter, brightness parameter, exposure parameter, white balance parameter and dynamic range parameter; but not limited to this.

[0143] Specifically, (1) the color adjustment parameter is used to adjust the color of the image to ensure the authenticity and naturalness of the color; this includes the adjustment of hue, saturation and color balance. (2) The contrast parameter is used to adjust the difference between the bright and dark parts of the image, so that the image has more levels and stereoscopic effect. (3) The defogging parameter is used to eliminate the image blur caused by fog or water vapor, so that the image is clearer. (4) The denoising parameter is used to reduce the noise points in the image, especially the image taken in low light conditions, to ensure the clarity of the image. (5) The sharpness parameter is used to enhance the details of the image, so that the edges are clearer and the overall clarity of the image is improved. (6) The brightness parameter is used to adjust the overall brightness of the image, so that the image can be clearly visible under various lighting conditions. (7) The exposure parameter is used to control the photosensitivity of the camera and adjust the exposure amount of the image to prevent overexposure or underexposure of the image. (8) The white balance parameter is used to adjust the color temperature of the image so that the white color in the image appears natural under various light sources and avoids color deviation. (9) The dynamic range parameter can capture more brightness levels so that the image can exhibit rich details and levels in bright and dark parts, improving the overall quality of the image.

[0144] In this embodiment, according to the characteristics of different specific shooting scenes, these parameters can be reasonably set to ensure that high-quality images can be taken in various complex environments. This intelligent image signal processing strategy not only improves the visual effect of the image, but also enhances the adaptability of the imaging device and the user experience.

[0145] Exemplarily, the different specific shooting scenes include at least one of the following: (1) at least two underwater scenes; (2) at least two high-altitude scenes; (3) at least one underwater scene and at least one high-altitude scene. Among them, considering that the scene characteristics of underwater scenes and high-altitude scenes are different, the types of image quality parameters corresponding to the image signal processing strategy of underwater scenes are different from the types of image quality parameters corresponding to the image signal processing strategy of high-altitude scenes.

[0146] For example, underwater scenes have unique optical characteristics, such as light refraction, scattering, and absorption, etc. In order to ensure the image quality of underwater shooting, the image signal processing strategy corresponding to the underwater scene is used to indicate the adjustment of at least one of the exposure parameter, the brightness parameter, the contrast parameter, and the color adjustment parameter; to ensure that the images taken in the underwater environment are of high quality.

[0147] For example, high-altitude scenes have different requirements for image quality due to the characteristics of thin atmosphere and strong light. The image signal processing strategy corresponding to the high-altitude scene is used to indicate the adjustment of at least one of the defogging parameter, the sharpening parameter, the brightness parameter, the contrast parameter, and the denoising parameter; to ensure that the images taken in the high-altitude environment are of high quality.

[0148] For example, in underwater scenes, due to the unique characteristics of light absorption, scattering, and refraction, the color, contrast, and brightness of the image will be significantly affected; therefore, in the image signal processing strategy corresponding to the underwater scene, the adjustment priority of at least one of the color adjustment parameter, the contrast parameter, and the brightness parameter is higher than the adjustment priority of other types of quality parameters. By adjusting these parameters in priority, the natural color of the image can be significantly restored, the detail clarity can be enhanced, and the light changes can be adapted, thereby ensuring that the images taken at different water depths are of high quality and realistic.

[0149] Specifically, underwater light absorption causes significant color distortion, especially the lack of red and yellow light, which makes the image appear blue-green tone and lose natural color. Therefore, the color adjustment parameter can be set to a higher adjustment priority, which can significantly improve the visual effect of the image. For example, red and yellow light can be compensated by the color adjustment parameter to correct color cast, make the image color more natural, and avoid the single color of blue-green tone affecting the visual effect.

[0150] Water scattering causes image contrast to decrease, details to be blurred, and image layer to be lost. Therefore, the contrast parameter can be set to a higher adjustment priority, and increasing the contrast can enhance the bright-dark contrast of the image, highlight the details, and make the image clearer, such as enhancing the difference between the bright and dark parts of the image by the contrast parameter, improving the detail performance and layer, and high contrast making the image more lively and improving the overall visual effect.

[0151] Increasing water depth causes light intensity to decrease, and images in deep and super-deep water areas are prone to be too dark. Therefore, the brightness parameter can be set to a higher adjustment priority, and adjusting the brightness can ensure that the image is clear and visible at different water depths. For example, the image brightness can be appropriately increased according to the water depth to ensure that the image is bright but not overexposed.

[0152] Similarly, in high-altitude scenes, due to the thin atmosphere, strong light, haze and water vapor, it will affect the clarity and comparison of the image. Therefore, in the image signal processing strategy corresponding to the high-altitude scene, the adjustment priority of at least one of the dehazing parameters, contrast parameters and sharpening parameters is higher than the adjustment priority of other types of image quality parameters. By adjusting these parameters in priority, the clarity, level and detail performance of the image can be significantly improved, thereby ensuring that the image taken in the high-altitude environment has high quality and visual effect.

[0153] Specifically, haze and water vapor in high altitude can cause image blurring, reducing image clarity and contrast. Therefore, the dehazing parameter can be set to a higher adjustment priority, which can effectively reduce the impact of suspended particles in the atmosphere on the image, making the image clearer. For example, by removing the haze effect in the image through a dehazing algorithm, the image becomes brighter and the details are clearer, improving the overall visual effect.

[0154] The light intensity in high altitude changes greatly, and the sunlight scatters less in the thin air, the light is more direct and intense. Therefore, the contrast parameter can be set to a higher adjustment priority. Contrast adjustment can make the bright and dark parts of the image more distinct, enhancing the visual effect. Increasing the contrast can make the image more layered and three-dimensional, especially when shooting wide scenery.

[0155] When shooting in high altitude, the edges of distant scenery may become blurred due to atmospheric disturbances or other factors, and the details and edge clarity of the scenery are important indicators for evaluating the quality of high-altitude images. Therefore, the sharpening parameter can be set to a higher adjustment priority, and sharpening processing can enhance the edge clarity of the image, making the details in the image more prominent.

[0156] For example, considering that different underwater scenes have different scene characteristics, the adjustment degree of the same type of image quality parameter in the image signal processing strategy corresponding to different underwater scenes is also different, thereby ensuring that the images obtained in different underwater scenes have high quality.

[0157] In some embodiments, such as underwater scenes, according to the different water depths and light conditions, the underwater scenes are subdivided into shallow water scenes, deep water scenes and super deep water scenes. Each scene has specific requirements for image signal processing strategies.

[0158] For example, in a shallow water scene, color adjustment parameters can be used to compensate for color deviation caused by light refraction in shallow water, ensuring natural colors; exposure parameters can be used to adjust exposure to adapt to water reflection, preventing image overexposure; contrast parameters can be used to appropriately enhance contrast to ensure image clarity; and brightness parameters can be used to adjust brightness appropriately to make the image not appear too dark.

[0159] For example, in a deep water scene, the color adjustment parameter can be used to compensate for the loss of red light and enhance warm colors; the brightness parameter can be used to increase brightness to ensure that the image is bright in a deep water environment; the contrast parameter can be used to further enhance contrast to highlight details; and the denoising parameter can be used to reduce noise in a deep water environment to maintain image clarity.

[0160] For example, in an ultra-deep water scene, the color adjustment parameter can be used to highly compensate for the loss of red light and yellow light to ensure color accuracy; the brightness parameter can be used to greatly increase brightness to cope with extremely weak lighting conditions; the contrast parameter can be used to enhance contrast to ensure clear details in low light environments; and the denoising parameter can be used to enhance noise reduction processing to reduce noise in low light environments.

[0161] As can be seen, the shallow water scene, the deep water scene and the ultra-deep water scene differ in the degree of adjustment of the color adjustment parameter, the brightness parameter and the contrast parameter and other quality parameters.

[0162] Similarly, considering that different high-altitude scenes have different scene characteristics, the degree of adjustment of the same type of quality parameter in the image signal processing strategy corresponding to different high-altitude scenes also differs, thereby ensuring excellent image quality in different high-altitude environments.

[0163] In some embodiments, according to the environmental characteristics of different altitudes, the high-altitude scene can be subdivided into an ordinary high-altitude scene, a sub-high-altitude scene and an ultra-high-altitude scene. Each scene has specific requirements for the image signal processing strategy.

[0164] For example, in an ordinary high-altitude scene, the brightness parameter can be used to adjust brightness appropriately to ensure that the image does not appear too bright under high-altitude lighting; the contrast parameter can be used to moderately enhance contrast to highlight the sense of hierarchy of high-altitude scenery; and the color adjustment parameter can be used to adjust color to compensate for the color temperature change in a high-altitude environment.

[0165] For example, in a sub-high-altitude scene, the defogging parameter can be used to enhance image clarity due to the presence of a large amount of water vapor in the high-altitude; the sharpness parameter can be used to enhance sharpness to highlight details; the brightness parameter can be used to adjust brightness moderately to cope with strong lighting in a high-altitude environment; and the denoising parameter can be used to reduce noise caused by high-altitude lighting changes to maintain image clarity.

[0166] For example, in an ultra-high-altitude scene, the defogging parameter can be used to help eliminate image blur caused by thin air; the sharpness parameter can be used to greatly enhance sharpness to ensure clarity of high-altitude photography; the brightness parameter can be used to moderately reduce brightness under strong lighting conditions to prevent image overexposure; the contrast parameter can be used to enhance contrast to ensure that the image has rich details; and the denoising parameter can be used to enhance noise reduction processing to maintain image quality in a high-altitude environment.

[0167] For example, in the process of adjusting the quality of the original image in the underwater scene by using the image signal processing strategy corresponding to the underwater scene, the image signal processing strategy can also be reinforced by referring to the optical parameters (such as at least one of color temperature, spectrum and light intensity) of the imaging device in the underwater scene. Based on the optimization of the image signal processing strategy of the underwater scene, the image quality can be effectively improved, and by referring to the optical parameters such as color temperature, spectrum and light intensity, the image processing is ensured to have high quality and natural color in different underwater environments. This optimization strategy can adapt to the characteristics of different underwater scenes, and realize fine adjustment and optimization of the image.

[0168] In one example, in the underwater scene, due to the absorption characteristics of water to light of different wavelengths, the image usually presents blue-green tone, and the color temperature is cold. Therefore, the color temperature of the underwater scene can be monitored by the color temperature sensor built in the imaging device, and then the color adjustment parameter is adjusted according to the monitoring result, and the color balance is dynamically adjusted. For example, if it is detected that the color temperature is low (the image is blue), the red and yellow components are increased and the blue component is reduced by adjusting the color balance, so that the image tone is more natural. After color temperature correction, the color of the image is closer to the real scene, and the visual effect is better.

[0169] In another example, the spectral characteristics in the underwater scene will affect the color restoration. Underwater usually lacks red light and yellow light, while blue light and green light have strong penetration, resulting in image color deviation. The spectral distribution of the current underwater scene can be measured by using the spectral sensor built in the imaging device, and the color adjustment parameter is adjusted based on the spectral distribution of the current underwater scene, so as to enhance the spectral components lacking in the image, such as enhancing the red light component in the image, and compensating for the spectral loss. After spectral correction, the color restoration of the image is more accurate, and the color is more saturated.

[0170] In yet another example, assuming an underwater shooting scene, the imaging device detects the following optical parameters: color temperature is 4500K (blue), spectrum is low in red light component, and light intensity is low light environment; based on the above optical parameters, the image signal processing strategy is reinforced, and the optimization process of the reinforced image signal processing strategy is as follows: (1) color temperature correction, adjusting the color temperature from 4500K to 5500K, increasing the red and yellow components and reducing the blue component, so that the image tone is more natural. (2) Spectrum correction, enhance the red light component in the image, compensate for the lack of red light, and ensure accurate color restoration. (3) Light intensity adjustment, improve image brightness and contrast, so that the image is clear and visible in low light environment.

[0171] Exemplarily, in different underwater scene corresponding image signal processing strategies, the adjustment degree of white balance parameter is different, and after the white balance parameter adjustment, the imaging device can also perform human eye color optimization (i.e. the color parameter adjustment process described above) based on the image after the white balance parameter adjustment.

[0172] White balance is to correct the color cast in the image caused by different light sources, so that the white object in the image still looks white. White balance adjustment can restore the true color of the object in the scene and exclude the influence of light source. For example, in a blue-biased underwater environment, the red and yellow components are increased, and the blue component is reduced to achieve white balance effect.

[0173] In different underwater scenes (such as shallow water scene, deep water scene and super deep water scene), due to the change of light and the difference of spectral absorption, the white balance adjustment in the image signal processing strategy needs to be adjusted to different degrees according to the specific situation. As shown in Table 1, the white balance adjustment degree of different underwater scenes is shown. In different underwater scenes, the degree of white balance adjustment should be adjusted appropriately according to the lighting conditions and color cast degree. Through targeted white balance adjustment strategy, the color distortion problem of different underwater environments can be effectively solved, the image quality can be improved, and the user's demand for real feeling and aesthetic degree of image color can be met.

[0174] Table 1

[0175] Color optimization is to adjust the color of the image captured by the camera to the color habituated by the human eye. This not only restores the true color (if only white balance adjustment is performed in the related scheme, only the influence of the light source in this scene can be restored, the effect of this light source is excluded, and the true color is obtained, but the true color may not be the color that the user really wants or conforms to the user's habit (color accuracy)), but also makes the image color more consistent with the user's visual habits and aesthetic standards. On the basis of white balance adjustment, by adjusting the color adjustment parameter, the color of the image captured by the camera is converted into the color habituated by the human eye. That is, the color gamut of the camera domain captured by the camera is converted into the color gamut of the human eye domain. For example, by adjusting the hue, saturation and brightness, the image color is made more vivid and natural, and more consistent with the user's aesthetic needs.

[0176] White balance and color optimization, although both involve adjustment of image colors, have significant differences in purpose and method. White balance focuses on restoring true colors and eliminating light source color cast; color optimization focuses on improving the aesthetics of the image, adjusting the image colors to colors that conform to the habits of the human eye, making it more in line with the user's visual habits and aesthetic needs, for example, beautifying the current scene to colors that conform to human memory, such as making the skin color in the sea conform to the skin color in human memory. By combining the two adjustment methods, the present embodiment can obtain high-quality images in different underwater scenes and provide users with a more realistic and vivid visual experience.

[0177] In some embodiments, after obtaining the image processing strategy corresponding to the specific shooting scene in which the imaging device is currently located, the image signal processor (ISP) in the imaging device can process at least one frame of original image collected by the imaging device in the specific shooting scene according to the image signal processing strategy, thereby obtaining a high-quality image.

[0178] For example, the image signal processor includes, but is not limited to, at least one of a color adjustment module, a white balance module, an exposure module, a brightness adjustment module, a contrast adjustment module, a sharpness adjustment module, a de-fogging module, and a de-noising module. Each module can adjust the original image according to the adjustment method of the quality parameter corresponding to the module specified in the image signal processing strategy, thereby obtaining a high-quality image. It can be understood that the at least one frame of original image processed by the image signal processor can also be used for photographing, previewing, or video encoding. In some embodiments, the height information is added with a dangerous altitude / water depth prompt information through video watermarking preview, and then displayed through a photo or a preview video.

[0179] Exemplarily, in some scenarios with real-time requirements, the imaging device collects image data in real time in the current shooting scene, and the image data is continuously input to the image signal processor in the form of frames. After obtaining the image signal processing strategy corresponding to the specific shooting scene in which the imaging device is currently located, the image processor can process at least one frame of raw image collected by the imaging device in real time in the specific shooting scene according to the image signal processing strategy corresponding to the specific shooting scene in which the imaging device is currently located, to display the processed image in real time on the display configured by the imaging device; the processed image data is transmitted to the display of the imaging device or the display of the control terminal connected with the imaging device in real time, for the user to view in real time. Real-time display ensures that the user can immediately see the high-quality image after optimization, meeting the real-time requirement. The display can be built-in, external or connected with the imaging device, and the present embodiment does not make any limitation thereto. Through the above process, the imaging device adjusts and optimizes the image in different specific shooting scenes, ensuring that the user can obtain high-quality image display in real time in any environment.

[0180] In some embodiments, assuming that an imaging device is working in a deep water scene, the imaging device identifies that it is currently located in a deep water scene through a pressure sensor; according to the deep water scene, a corresponding image signal processing strategy is selected, mainly including moderate exposure adjustment, significant brightness improvement, enhanced contrast and color adjustment. The imaging device collects 30 frames of raw images per second (30 FPS), and then processes each frame of raw image based on the image signal processing strategy, such as optimizing the exposure of each frame according to the image signal processing strategy; increasing the overall brightness of the image to make the details clearer; improving the contrast of the image to make the image more layered; performing white balance adjustment and color adjustment to correct the color cast caused by underwater light and make the image color more consistent with the habit of human eyes. After processing each frame of image, it is immediately transmitted to the display to ensure that the user sees the latest processed image.

[0181] In some embodiments, if the imaging device is currently in a non-specific shooting scene, the image signal processor can perform adaptive processing on at least one frame of raw image collected in the non-specific shooting scene according to the relevant information of the non-specific shooting scene in response to the imaging device being in the non-specific shooting scene, wherein the relevant information of the non-specific shooting scene includes at least one of the following: an image content recognition result of at least one frame of raw image collected by the imaging device in the non-specific shooting scene, and an optical parameter of the non-specific shooting scene. Through the adaptive processing mode, the imaging device can adjust the image quality in real time in various non-specific shooting scenes, ensuring that the image displayed on the display always has good visual effects. At the same time, by adjusting the image collected in the non-specific shooting scene based on the judgment of the image content or combining the data of the spectral sensor, the color of the non-specific shooting scene (ordinary scene) is adjusted. Since different processing strategies are adopted for specific shooting scenes and non-specific shooting scenes, more targeted image processing can be achieved to improve image quality and visual experience.

[0182] The adaptive processing can be based on pre-defined rules or algorithms, using the relevant information (such as image content recognition result and optical parameter) obtained from the non-specific shooting scene to perform corresponding image processing. For example, the imaging device can obtain various data in real time during shooting, including image content and optical parameters (such as color temperature, spectral distribution, light intensity, etc.), which reflect the characteristics and conditions of the current non-specific shooting scene. The processing rules and strategies under different conditions are pre-defined in the imaging device, which are based on the relevant information of the non-specific shooting scene to determine the optimal image processing method. For example, for low-light scenes, the light sensitivity can be increased or noise reduction processing can be applied; for high-contrast scenes, HDR technology can be used to balance the brightness. The imaging device dynamically adjusts the image processing parameters according to the relevant information of the current non-specific shooting scene and the pre-defined processing rules. For example, automatically adjusting the white balance parameter according to the color temperature of the current light source, adjusting the exposure parameter according to the light intensity, adjusting the contrast and color saturation according to the image content recognition result, etc.

[0183] For example, in terms of optical parameters, the imaging device can obtain optical parameters of a non-specific shooting scene based on an optical sensor (such as a color temperature sensor, a spectrum sensor, a photodiode, etc.), the optical parameters including at least one of the following: color temperature, spectrum, light intensity. Color temperature represents the color tendency of a light source, usually represented by Kelvin (K); a light source with high color temperature (such as sunlight) is blue, and a light source with low color temperature (such as candlelight) is yellow. Spectrum represents the spectral distribution of a light source, and the spectral characteristics of different light sources are different, which can help determine the type and characteristics of the light source; light intensity represents the intensity of the ambient light, i.e. the brightness level. Then, at least one raw image collected in the non-specific shooting scene is adaptively processed according to the optical parameters of the non-specific shooting scene.

[0184] For example, color temperature adaptive adjustment: a color temperature sensor is used to obtain the color temperature value of the current shooting scene; and the white balance parameter of the raw image is adjusted according to the detected color temperature value. For example, when the color temperature is high, the red component is increased and the blue component is reduced; when the color temperature is low, the blue component is increased and the red component is reduced.

[0185] For example, spectrum adaptive adjustment: a spectrum sensor is used to analyze the spectral distribution of the current shooting scene, and then color correction is performed based on the spectral distribution of the current shooting scene. For example, under a light source with strong green component, the image color is balanced by reducing the green component.

[0186] For example, light intensity adaptive adjustment: a photodiode is used to obtain the light intensity value of the current scene, and then the exposure time and brightness of the image are automatically adjusted according to the light intensity value. For example, in a low light intensity environment, the exposure time and brightness are increased; in a high light intensity environment, the exposure time and brightness are reduced to avoid overexposure.

[0187] For example, in terms of image content recognition results, the imaging device can also perform adaptive processing based on the image content recognition results. Image content recognition can identify scenes, objects and subjects in the image through a pre-set image analysis algorithm; for example, it can identify whether the image is an indoor, outdoor, daytime, nighttime scene, or identify the main objects or characters in the image.

[0188] For example, scene adaptive adjustment: for indoor scenes, color temperature, brightness and contrast adjustment can be performed. Indoor light sources are usually warm, so the color temperature is adjusted to restore the true color and enhance the brightness and contrast to make the image clearer. For daytime scenes, exposure control and color adjustment can be performed. For nighttime scenes, noise reduction processing and brightness improvement can be performed.

[0189] For example, object or character adaptive adjustment: for characters, skin color correction can be performed to adjust the white balance and color to make the character's skin color natural. For main objects, background blurring and local enhancement processing can be performed to highlight the main objects.

[0190] Exemplarily, the optical parameter and the image content recognition result can be combined to comprehensively adaptively process the original image, and ensure that the image achieves the best effect in various non-specific shooting scenes.

[0191] It can be understood that the embodiment does not limit the adaptive processing process, and the adaptive processing process can be specifically set according to actual application scenarios. It can be understood that the adaptive processing process of the non-specific shooting scene is different from the image processing strategy corresponding to the specific shooting scene. The image processing strategy in the specific shooting scene is a targeted quality parameter adjustment strategy formulated for different limit scenes that cannot be accurately identified in the related method. In some embodiments, the user can customize the type, degree and priority of the different quality parameters in each limit scene through the imaging device or the control terminal in communication connection with the imaging device, so as to improve the user's control freedom degree of the limit scene, that is, the specific shooting scene. The non-specific shooting scene is adaptively adjusted based on the optical characteristics in the non-specific shooting scene, and cannot be edited or controlled by the user.

[0192] In some embodiments, the imaging device can have a pose change during shooting. In order to reduce or avoid the influence of the pose change of the imaging device on the image quality, three-dimensional pose information of the imaging device in a three-dimensional space can be synchronously acquired when the shooting scene in which the imaging device is located is determined. The three-dimensional pose information includes three-dimensional position information and three-dimensional attitude information. The three-dimensional position information includes height information and latitude and longitude information. The three-dimensional attitude information can be determined based on data collected by a pose sensor connected to the imaging device. The height information is mapped from a pressure signal collected by a pressure sensor connected to the imaging device. The latitude and longitude information is determined based on data collected by a satellite positioning module connected to the imaging device. Then, during the process of processing at least one original image by using the image signal processing strategy, the convergence speed of the optimization of at least one type of quality parameter targeted by the image signal processing strategy can be adjusted according to the change of the three-dimensional pose information.

[0193] By combining the three-dimensional pose information, the embodiment can perform more accurate image signal processing for different shooting scenes (such as high altitude, underwater, indoor, and outdoor). In each scene, the convergence speed of the optimization of the quality parameter can be adjusted according to actual needs, so as to ensure that the imaging device can shoot high-quality images in various environments.

[0194] In a possible implementation, for the case of height change, when the change speed of the height information exceeds a first threshold or the change range of the height information is within a critical threshold range, the imaging device can increase the preset convergence speed of at least one type of image processing quality parameter to which the image signal processing strategy is directed. This rapid adjustment can ensure that the imaging device can always quickly adapt to environmental changes in different height change scenarios, and maintain the stability (for example, the stability of accurately controlling the camera video and real-time preview) and consistency of image quality.

[0195] The case that the change speed of the height information exceeds the first threshold or the change range of the height information is within the critical threshold range includes a case that the imaging device changes from a specific shooting scene to a non-specific shooting scene or a case that the imaging device changes from a non-specific shooting scene to a specific shooting scene, and the specific shooting scene includes a high-altitude scene or an underwater scene, and the non-specific shooting scene includes a land scene.

[0196] The height information is mapped from pressure signals collected by a pressure sensor connected to the imaging device. When a difference between pressure signals collected by the pressure sensor within a preset time period is greater than a preset difference, it is determined that the pressure signals collected by the pressure sensor within the preset time period have a pressure mutation. Then, when the pressure signals collected by the pressure sensor within the preset time period have a mutation, it is determined that the change speed of the height information exceeds the first threshold.

[0197] The critical threshold range refers to a height range in which any two shooting scenes are switched, for example, the critical threshold range in which a shallow water scene and a deep water scene are switched can be set to a water depth of 9-11 meters, the critical threshold range in which the shallow water scene and the land scene are switched can be set to a water depth of 0 meters (sea level) to a shallow water depth (for example, 1-2 meters), and the critical threshold range in which the land scene and the high-altitude scene are switched can be set to an altitude of 900-1000 meters.

[0198] In this embodiment, when the height changes or the scene is switched, the imaging device can quickly optimize the image quality by accelerating the adjustment speed of the quality parameter, and reduce the image quality decline caused by environmental changes. For example, when entering deep water from shallow water, the system can quickly adjust the white balance and brightness parameters to ensure the definition and color accuracy of the image in the deep water environment.

[0199] In some embodiments, the convergence speed of the white balance is greater than 10° / s, and the convergence speed of the brightness parameter is greater than 20 nit / s. Therefore, when the user uses the imaging device to shoot, the user does not need to worry about the image quality fluctuation caused by the environmental height change. Whether shooting underwater, on land or in the air, the imaging device can automatically adapt to environmental changes and provide stable and high-quality images, thereby improving the user experience.

[0200] For example, the imaging device quickly dives from a shallow water scene (depth 5 meters) to a deep water scene (depth 15 meters), and the pressure sensor detects a sudden change in pressure in a short time. The imaging device determines that the speed of change of height information exceeds the first threshold value, and therefore quickly adjusts the convergence speed of white balance, brightness and contrast parameters to adapt to the optical properties of the deep water environment, ensuring image quality.

[0201] For another example, the imaging device takes off from the ground to a high-altitude scene (altitude 1000 meters), and the change in height information is within the critical threshold range of the transition from land to high-altitude scene. After detecting this change, the imaging device immediately increases the convergence speed of the dehazing and sharpening parameters to deal with haze and light scattering in the high-altitude environment, ensuring the clarity and contrast of images taken in the high-altitude environment.

[0202] In another possible implementation, for the case where the height is basically unchanged (completely unchanged or the change is small and can be ignored): in the case where the speed of change of height information does not exceed the first threshold value or the range of change of height information is not within the critical threshold range, the convergence speed of at least one type of image quality parameter in the image signal processing strategy can be determined according to the latitude and longitude information of the imaging device and the change of the attitude sensor, so as to realize more fine and intelligent image quality optimization. The user does not need to manually adjust various parameters during shooting, and the imaging device can automatically optimize image quality according to real-time latitude and longitude and attitude information, improve the convenience and intelligent level of shooting, and improve user experience.

[0203] Specifically, in the first case, in response to the attitude information being unchanged and the latitude and longitude information being unchanged, it can be determined that the imaging device is in a stationary state, at which time the external environment and light conditions remain basically stable, and the imaging device can reduce the convergence speed of at least one type of image quality parameter in the image signal processing strategy, which means that the update frequency and amplitude of parameter optimization are reduced, for example, the number of adjustments and the amount of change of brightness, contrast, color, etc. In this embodiment, in a stable environment, the convergence speed is reduced to reduce frequent parameter optimization calculations, saving processor computing resources and also helping to avoid sudden changes in optimization effect.

[0204] In the second case, in response to the situation that the attitude information is unchanged and the longitude and latitude information changes, it can be determined that the imaging device is in a mapping or translation state, that is, although the position of the imaging device is changing, the attitude is unchanged, the shooting direction and light conditions are basically consistent, therefore, the demand for parameter optimization is still low, the optimization frequency can be reduced, and the imaging device can reduce the convergence speed of at least one type of quality parameter in the image signal processing strategy, that is, reduce the frequency and amount of parameter adjustment, thereby facilitating the reduction of frequent parameter optimization calculation, saving the computing resources of the processor, and avoiding sudden changes in optimization effect, truly reflecting the actual changes in the scene being shot, and facilitating the mapping operation.

[0205] In the third case, in response to the situation that the attitude information changes and the longitude and latitude information changes, the imaging device can be in a mobile shooting state, the environment and light conditions change frequently, and a relatively fast parameter optimization response is required, and the imaging device can maintain the preset convergence speed of at least one type of quality parameter in the image signal processing strategy to ensure a fast response to environmental changes.

[0206] The following describes the adjustment of the convergence speed of the image signal processing strategy through examples of unmanned aerial vehicles in different shooting scenes:

[0207] For example, the unmanned aerial vehicle is stationary and hovering, the unmanned aerial vehicle hovers at a fixed point for point monitoring shooting. The height, position (longitude and latitude), and attitude of the unmanned aerial vehicle remain unchanged. In this case, the imaging device can reduce the convergence speed of the brightness parameter in the image signal processing strategy, such as detecting light changes and adjusting brightness every 30 seconds instead of every second, reducing the frequency of brightness detection and adjustment, saving computing resources, or trying to use the same brightness parameter to shoot the current shooting scene, objectively record the real changes of the environment, and reduce the influence of external changes on the quality of the performance, and can form a static time-lapse effect.

[0208] For example, the unmanned aerial vehicle is in a translation shooting state, the unmanned aerial vehicle flies along a straight path for mapping, and the camera angle remains fixed. In this case, the imaging device can reduce the convergence speed of the color adjustment parameter in the image signal processing strategy, such as adjusting the color parameter every 60 seconds instead of every 10 seconds, reducing the frequency of color adjustment, saving computing resources, or trying to use the same brightness parameter to shoot the current shooting scene, objectively record the real changes of the environment, and maintain the consistency of the mapping image, and improve the quality of the spliced image.

[0209] For example, when the UAV is shooting a complex dynamic scene, the UAV is performing a complex aerial shooting task at a high altitude, and the height and angle are constantly adjusted during the flight to shoot different scenes. In this case, the imaging device can maintain the preset convergence speed of the image signal processing strategy for the contrast parameter, such as detecting and adjusting the contrast parameter every second to adapt to the changing light and scene.

[0210] Through the examples of the UAV in different shooting scenes, it can be clearly seen how the convergence speed of adjusting the image signal processing strategy balances the calculation load and the image quality. In a static environment, calculation resources and power consumption are saved by reducing frequent parameter optimization, and the consistency of the image is ensured; while in a dynamic environment, the preset optimization speed is maintained to ensure that the image quality quickly adapts to different shooting scenes. This method can significantly improve the overall performance and user experience of the UAV shooting.

[0211] In some embodiments, the height information of the imaging device when shooting each frame of raw image can be reflected in the processed image, so that the user can intuitively understand the shooting height of the image. The imaging device can obtain at least one frame of processed image obtained by processing at least one frame of raw image, and then generate a target image carrying height information according to the height information of the imaging device when collecting each frame of raw image and the processed image corresponding to the raw image. In this embodiment, the height information is reflected in the image, which not only improves the added value of the image, but also significantly enhances the user experience and the application breadth of the image. Whether it is an ordinary user or a professional, more useful information and more intuitive operation experience can be obtained.

[0212] For example, referring to FIG. 7A, the height information is presented as a watermark in the target image, such as embedding the height information as a watermark in a corner of the image. The watermark can be set to a semi-transparent state, which does not affect the main body of the image and can clearly display the shooting height. Alternatively, referring to FIG. 7B, the height information is displayed in the form of a dashboard superimposed on the target image. The color tone of the dashboard is unified with the color tone of the target image, thereby improving the viewability of the target image carrying the height information. However, it is not limited thereto. In this embodiment, the height information is displayed in the image as a watermark or in the form of a dashboard, which increases the authenticity of the image and prevents tampering. Especially in the monitoring and forensic scene, this way can effectively improve the credibility of the image; It is also helpful for subsequent analysis and application, such as the use of height data in geographic information systems (GIS).

[0213] In a possible implementation, the height information carried by the target image carrying height information can be used for clipping processing. In processing multiple frames of target images carrying height information, screening and clipping can be performed according to the height information carried in each frame of image. For example, in the clipping processing, the target images that meet the condition can be retained and the target images that do not meet the condition can be deleted according to the difference between the height information carried in each frame of target image in the multiple frames of target images carrying height information, and then the retained target images are spliced in time sequence to generate a final video file. The above condition includes that the difference between the height information carried in adjacent target images carrying height information to be retained in time sequence exceeds a preset difference. In this embodiment, the image that needs to be retained is quickly determined according to the height change condition, the workload of manual screening is reduced, and by retaining the image frames with obvious height changes, the height changes in the shooting process can be highlighted, the video content is more dynamic and varied, the user can more intuitively see the scene transformation caused by the height change in the shooting process, and the video is improved in watchability and information amount.

[0214] In some embodiments, it is assumed that a UAV or a motion camera shoots a moving video, in which each frame of image carries height information. In the clipping process, the frame image with a height change exceeding 10 meters is set as a retention condition. The initial data includes: the first frame height is 50 meters, the second frame height is 52 meters, the third frame height is 60 meters, the fourth frame height is 65 meters, the fifth frame height is 75 meters, the sixth frame height is 85 meters, and the seventh frame height is 82 meters.

[0215] In the clipping processing, the difference between the height information carried in each frame of target image is calculated and retained and discarded according to the above condition:

[0216] Starting from the first frame, the height difference between the first frame (50 meters) and the second frame (52 meters) is 2 meters (<10 meters, discard the second frame), and the height difference between the first frame (50 meters) and the third frame (60 meters) is 10 meters (=10 meters, retain the third frame).

[0217] Starting from the third frame, the height difference between the third frame (60 meters) and the fourth frame (65 meters) is 5 meters (<10 meters, discard the fourth frame), and the height difference between the third frame (60 meters) and the fifth frame (75 meters) is 15 meters (>10 meters, retain the fifth frame).

[0218] Starting from the fifth frame, the height difference between the fifth frame (75 meters) and the sixth frame (85 meters) is 10 meters (=10 meters, retain the sixth frame).

[0219] Starting from the sixth frame: the height difference between the sixth frame (85 meters) and the seventh frame (82 meters) is 3 meters (<10 meters, skip the seventh frame).

[0220] Finally, the retained first frame, third frame, fifth frame and sixth frame images are spliced in chronological order to generate the final video file. In this way, the edited video can both have dynamic changes and optimize storage and processing efficiency, ultimately providing users with more valuable and easily understood visual information. For example, the above-mentioned embodiments can be used to achieve the editing effect of the highlight segment of a skydiving scene; in other embodiments, frame images with height changes from positive to negative or from negative to positive can also be set as the retention condition, such as the moment of water outflow or inflow as a highlight segment, etc.

[0221] For example, the above-mentioned editing process can be performed by the imaging device, and the target images that meet the conditions can be displayed synchronously in the display, or the final video file can be displayed in the display after editing is completed, so that the user can more intuitively see the scene changes caused by height changes during the shooting process.

[0222] Alternatively, the above-mentioned editing process can be performed by a control terminal in communication connection with the imaging device, and the imaging device can send multiple frames of target images carrying height information to the control terminal, so that the control terminal performs the above-mentioned editing process and returns the target images that meet the conditions to the imaging device. The imaging device can receive the target images that meet the conditions obtained after the control terminal completes the editing process, and can display or store in the memory.

[0223] In some embodiments, after obtaining the height information of the imaging device, the height information can be reflected to the user in at least one of visual and auditory ways.

[0224] For example, the imaging device is configured with a display, and the height information of the imaging device can be displayed in real time on the display. For another example, the imaging device is configured with a sound output device, and the height information of the imaging device can be played in real time through the sound output device. The user can know the height of the imaging device at any time, so as to take necessary measures in time.

[0225] Further, in order to reduce the power consumption of the imaging device, the height information of the imaging device can be displayed on the display in the screen-off mode (for example, entering a professional diving mode), which can save energy while still providing necessary information.

[0226] In some embodiments, after obtaining the height information of the imaging device, the height information can be used to provide a safety prompt. If the height information of the imaging device exceeds the preset height information range, the imaging device can output height warning information for prompting. This embodiment realizes real-time monitoring of the height of the imaging device, and immediately issues a warning when the set range is exceeded, reminding the operator to pay attention, thereby preventing possible dangers.

[0227] Referring to FIG. 8, the height information range includes an altitude range corresponding to a high-altitude scene (such as a range greater than an altitude of 4000 meters), and a water depth range corresponding to an underwater scene (such as a range greater than a water depth of 20 meters). If the imaging device is located in a high-altitude scene and the altitude of the imaging device exceeds the altitude range, high-altitude warning information is output for prompting. If the imaging device is located in an underwater scene and the water depth of the imaging device exceeds the water depth range, water depth warning information is output for prompting. This embodiment provides immediate high-altitude warning information or water depth warning information to help the operator better manage and control the flight and diving operation of the imaging device, so that the embodiments of the present application can be applied to imaging tasks in various complex environments, such as mountainous areas, high altitudes, underwater exploration, etc., and provide more comprehensive safety measures.

[0228] wherein, according to the pressure formula described above, the altitude of the imaging device is at least related to the gravitational acceleration at the location of the imaging device; and the water depth of the imaging device is at least related to the liquid density at the location of the imaging device.

[0229] wherein, the height warning information includes at least one of visual warning information, auditory warning information, and somatosensory warning information.

[0230] For example, the imaging device is configured with a display, and the visual warning information can be displayed on the display. The imaging device displays the height information thereof during the shooting process, and can display the height information in different styles according to whether the height is within the preset height information range, so that the user can intuitively understand the state and potential risks of the device.

[0231] For example, after the imaging device acquires the height information of the current shooting scene, the imaging device compares the height information with the preset height information range to determine whether it is out of the safe range. In the case that the height information of the imaging device is within the preset height information range, the height information of the imaging device can be displayed in a first style on the display; or in the case that the height information of the imaging device is out of the preset height information range, the height information of the imaging device is displayed in a second style on the display; wherein the first style and the second style are different. In this embodiment, the height information is displayed in different styles (for example, green represents safety, and red represents high risk), so that the user can immediately understand whether the imaging device is in the safe range, help the user to judge and make timely adjustments, reduce the risk (such as high altitude risk or water depth risk), and through the change of different styles (such as display color, texture, font size), the readability and visual impact of the information are enhanced, and the clear visual prompt can effectively reduce the misoperation caused by the user ignoring the numerical change, and increase the safety and reliability of the operation.

[0232] The first style and the second style are different in one of the following aspects: display color (such as the first style is green and the second style is red), texture, font size (such as the font size of the second style is larger than that of the first style), icon (such as the first style displays a check mark and the second style displays a warning sign), border style (such as the border in the first style is a solid line and the border in the second style is a dashed line), animation effect (such as the text or icon in the first style does not flicker and the text or icon in the second style has a flicker effect), text style (such as the text in the first style is normally displayed, and the text in the second style is bold, italic or underlined), transparency or text display position (such as the height information in the first style is displayed at the edge of the display, and the height information in the second style is displayed at the center of the display). The above-mentioned multiple styles can be combined for multi-level prompting.

[0233] For example, the imaging device is configured with a sound output device, and the auditory warning information can be output through the sound output device. The additional warning information can be provided through sound without relying on the user's vision, which enhances the user's perception and understanding of the height information.

[0234] In one case, the auditory alerting information includes a sound signal, and the sound signal includes height information of the height information of the imaging device. When the height information of the imaging device approaches or exceeds the preset height information range, the sound output device can play a voice prompt to report the current height information. For example: "the current height is 4000 meters", "warning, the height exceeds the safe range", etc. This way directly presents the height information in the form of voice, and the user can obtain real-time information about the height through the auditory sense. This is particularly useful when the user cannot directly see the display screen visually.

[0235] In another case, the degree to which the height information of the imaging device approaches or exceeds the preset height information range is prompted by different prompt frequencies. For example, the frequency of the prompt sound can be adjusted according to the degree to which the height information of the imaging device approaches or exceeds the preset height information range. When the height approaches the preset height information range, the frequency of the prompt sound gradually increases to enhance the warning effect; when the height exceeds the preset height information range, the frequency of the prompt sound can be higher or continuously on. This way expresses the trend of the change of the height information through the change of the sound, and the user can perceive the change of the height state through the change of the sound and respond in time.

[0236] For example, the imaging device is configured with a vibration motor, and the somatosensory alerting information can include a vibration signal. When the height information of the imaging device exceeds the preset height information range, the vibration motor can be controlled to vibrate based on the vibration signal to remind the height. The vibration signal as a kind of somatosensory alerting information can effectively provide height warning in a noisy environment, and provide an additional sensing means when the user cannot directly perceive visual or auditory information.

[0237] When the height information of the imaging device approaches or exceeds the preset height information range, the vibration motor can produce vibrations of different modes and frequencies. For example, different vibration modes can be used to represent different warning levels, such as continuous vibration to represent that the height exceeds the preset height information range, and intermittent vibration to represent that the height approaches the preset height information range. This way directly conveys the height information through vibration, without the user focusing on visual or auditory information, which is more suitable for providing height warning when the user is focusing on other tasks.

[0238] In some embodiments, the image processing strategies corresponding to the different specific shooting scenes described above are first configuration files pre-stored in the imaging device, the height information ranges are second configuration files pre-stored in the imaging device, and the styles of the height alert information are third configuration files pre-stored in the imaging device. Through the pre-stored first, second, and third configuration files, the imaging device can quickly respond to the needs of different shooting scenes, different height information ranges, and different height alert information. The pre-stored configuration files can be automatically loaded when the imaging device starts, ensuring normal operation in various situations. Moreover, using pre-stored configuration files can reduce the computational burden of the imaging device and improve processing efficiency. For example, during shooting, real-time calculation and judgment are not required, and pre-stored strategies are directly applied for image processing or alert information output.

[0239] For example, the imaging device can be a motion camera, and the control terminal can be a mobile phone, a watch, or a computer, etc.

[0240] In a possible implementation, the configuration files are pre-configured, the imaging device is in communication connection with the control terminal, and the imaging device can receive the configuration files sent by the control terminal. The configuration files include at least one of the first configuration file, the second configuration file, and the third configuration file. After receiving the configuration files, the imaging device can automatically parse and apply new configurations, ensuring timely response to new requirements or environmental changes.

[0241] In another possible implementation, the configuration files can be generated by the imaging device. The imaging device can receive the configuration instructions sent by the control terminal, generate the configuration files according to the configuration instructions, and the configuration files include at least one of the first configuration file, the second configuration file, and the third configuration file. The generated configuration files can be saved to the memory of the imaging device and loaded and applied when needed.

[0242] For example, the user can also edit the configuration files of the imaging device according to actual needs to meet the individual needs of the user. The imaging device can receive the editing operation of the user on the configuration files of the imaging device, and the configuration files include at least one of the first configuration file, the second configuration file, and the third configuration file. Then, the configuration files are modified or customized based on the editing operation.

[0243] The editing operation can be an editing operation on the configuration files generated based on the touch operation of the user on the imaging device. In this case, the imaging device can modify or customize the configuration files based on the editing operation.

[0244] Alternatively, the editing operation can be an editing operation on the configuration file generated by a touch operation of the user on the control terminal. In this case, the configuration file can be modified or customized by the control terminal based on the editing operation, and then the edited configuration file is transmitted to the imaging device; or the editing operation can be sent to the imaging device to modify or customize the configuration file based on the editing operation.

[0245] The embodiment allows the user to perform editing operations on the imaging device or through the control terminal, and the user can personalize the imaging device at different times and places, increasing flexibility and customizability. Allowing the user to participate in the editing of the configuration file of the imaging device can enhance the user's sense of participation and control of the device, improving user satisfaction.

[0246] In some embodiments, assuming a sports camera, the user can edit the configuration file stored in the sports camera according to different shooting needs to meet their individual needs.

[0247] In the first case, the user wants the image to be more full and lively when shooting natural scenery, so he can edit the first configuration file through the sports camera or the control terminal to increase the adjustment of color saturation, improve contrast and sharpness. When the user needs to shoot buildings or construction sites, he may want to reduce the halo effect and reflection in the image, so he can adjust the denoising parameters and dehazing parameters in the first configuration file through the sports camera or the control terminal to improve image clarity and quality.

[0248] In the second case, when the user is taking aerial photography, he wants to remind himself when the height exceeds 200 meters, so he can edit the second configuration file through the sports camera or the control terminal to set the height warning information to be output when the height exceeds 200 meters.

[0249] In the third case, when the user is taking aerial photography, if the height of the sports camera exceeds the preset warning height, he wants to be reminded by visual warning information. The third configuration file can be edited through the sports camera or the control terminal to select a prominent red warning box style and display the warning information on the display. Alternatively, for underwater photography, the user may prefer to perceive the warning information through the vibration of the sports camera, so he can select vibration as the warning information and set the vibration frequency and duration in the third configuration file through the sports camera or the control terminal.

[0250] Through these personalized edits, the user can customize the sports camera according to their needs and preferences, improving the adaptability of the device and the user experience.

[0251] Various technical features in the above embodiments can be combined in any manner, as long as the combination of features does not conflict or contradict, and thus any combination of various technical features in the above embodiments also falls within the scope disclosed in the specification.

[0252] In some embodiments, referring to FIG. 9, the present application provides a more specific schematic diagram of implementing an image processing process.

[0253] Specifically, the imaging device includes a pressure sensor, a GPS sensor, and an IMU sensor, a central processing unit (not shown in the figure), an image signal processor, and a display (not shown in the figure).

[0254] The process of using the present embodiment to implement image shooting or video shooting is roughly as follows:

[0255] First, the pressure sensor is calibrated (this step is not shown in the figure and is an action performed beforehand outside the imaging device) to obtain a mapping relationship between the pressure sensor readings and the altitudes and water depths within the working range of the pressure sensor. Then, the pressure sensor readings of the pressure sensor in the current shooting scene are obtained in real time, and the pressure information is converted into height information based on the pressure sensor readings and the mapping relationship, wherein the identification accuracy of the pressure sensor is 1 m above water and 1 cm underwater.

[0256] Second, the height information can be used for scene classification and identification, shooting, preview, or video encoding, or for watermarking preview in a video to add information prompts of dangerous altitudes or dangerous water depths for photo display or video preview.

[0257] In the use of height information for scene classification and identification, after the current shooting scene is identified by using the height information, the information of the identified current shooting scene and at least one frame of original image is input into the image signal processor, which pre-stores the quality parameter processing strategy under the shooting scene (e.g., a specific shooting scene). The detailed correspondence can be referred to the foregoing description of the present application, which is not described here. The image signal processor can include, for example, an automatic exposure or brightness adjustment submodule, a sharpness noise adjustment submodule, a post-processing or defogging submodule, or a white balance or color submodule, etc., of course, not limited thereto. It can be understood that whether these submodules are called or not is related to whether the current shooting scene is a specific shooting scene and the specific type of the current shooting scene. For example, the height information mapped by the pressure sensor identifies that the current shooting scene is a super-high-altitude scene, then the sharpness noise adjustment submodule and the two-ground adjustment submodule are called to process at least one frame of original image.

[0258] Meanwhile, when performing scene classification and recognition, the current scene recognition can be further assisted by the data of the external spectral sensor, so as to more accurately and finely distinguish different specific shooting scenes, and facilitate subsequent more accurate matching of different image processing strategies. For details, please refer to the foregoing embodiments, which will not be repeated here.

[0259] In addition, the height information can also be used together with external GPS information obtained by a GPS sensor and external IMU information obtained by an IMU sensor to identify the pose of the imaging device, and based on these information, the imaging device is input into an image information processor, and at least one frame of original image is processed by using a corresponding image processing strategy.

[0260] Finally, at least one frame of original image processed by the image information processor is used for shooting, preview or video encoding, and is displayed on the display of the imaging device to realize photo or video preview, etc.

[0261] By using the scheme of this embodiment, since the pressure sensor is used to map the height information, and the height information is used to distinguish scenes, the height information can be accurately transmitted, and the scene recognition for underwater and high-altitude scenes is more accurate than the traditional method. At the same time, the use of height information, GPS information and IMU information can lock the three-dimensional position information of the object, so the stability judgment based on the position is more stable than the content-based recognition in the related method. In addition, since the pressure sensor has low power consumption, the data can be output frame by frame, and the mapped height information can be stored in the video material for watermark display or based on the height information to generate a dangerous altitude prompt or a water depth prompt, so that the display of altitude information, water depth information or warning information of each frame will be more accurate and convenient.

[0262] In some embodiments, referring to FIG. 10, the present application provides a flowchart of a second image processing method applied to an imaging device, which includes the following steps:

[0263] In S901, the height information of the imaging device is determined according to the pressure signal collected by the pressure sensor connected to the imaging device.

[0264] For example, the pressure sensor can provide accurate pressure or pressure readings, so that the accurate height of the imaging device can be calculated. This high-precision height sensing is the basis for scene recognition, which ensures that the imaging device can correctly distinguish different shooting environments (such as high altitude, ground, underwater, etc.).

[0265] In S902, the shooting scene of the imaging device is determined according to the height information of the imaging device, wherein the shooting scene includes a specific shooting scene and a non-specific shooting scene.

[0266] Exemplarily, by the height information, the imaging device can accurately identify the shooting scene in which the imaging device is currently located.

[0267] In S903, in response to the shooting scene being the specific shooting scene, at least one frame of original image collected by the imaging device in the specific shooting scene is processed according to the image signal processing strategy corresponding to the specific shooting scene.

[0268] Exemplarily, when it is determined that the imaging device is in the specific shooting scene, the image signal processing strategy most suitable for the specific shooting scene can be selected to process at least one frame of original image collected by the imaging device in the specific shooting scene, which can effectively improve the image quality of the specific shooting scene.

[0269] In S904, in response to the shooting scene being the non-specific shooting scene, at least one frame of original image collected in the non-specific shooting scene is adaptively processed according to the related information of the non-specific shooting scene, wherein the related information of the non-specific shooting scene includes at least one of the following: image content recognition result of at least one frame of original image collected by the imaging device in the non-specific shooting scene, optical parameter of the non-specific shooting scene.

[0270] Exemplarily, when it is determined that the imaging device is in the non-specific shooting scene, the imaging device can perform adaptive processing through the related information (such as optical parameter, image content recognition result, etc.) of the non-specific shooting scene, to ensure that good image quality can also be obtained in the non-specific shooting scene.

[0271] Exemplarily, by accurate height perception for shooting scene recognition, the imaging device can provide high-quality image output in various height environments. This not only meets the user's requirement for high-quality images, but also ensures the consistency of images in different scenes, facilitating subsequent image processing and analysis.

[0272] The specific implementation of the image processing method can be referred to the above description, which will not be repeated here.

[0273] In some embodiments, referring to FIG. 11, the present application provides a flowchart of a third image processing method, which is applied to an imaging device, and the method comprises:

[0274] In S1001, a shooting scene in which the imaging device is located is determined, and the shooting scene includes a specific shooting scene and a non-specific shooting scene.

[0275] In S1002, in response to the shooting scene being the specific shooting scene, at least one frame of original image collected by the imaging device in the specific shooting scene is processed according to the image signal processing strategy corresponding to the specific shooting scene.

[0276] In S1003, in response to the shooting scene being a non-specific shooting scene, at least one frame of raw image collected in the non-specific shooting scene is adaptively processed according to the related information of the non-specific shooting scene, wherein the related information of the non-specific shooting scene includes at least one of the following: an image content recognition result of at least one frame of raw image collected by the imaging device in the non-specific shooting scene, and an optical parameter of the non-specific shooting scene.

[0277] In this embodiment, when it is determined that the imaging device is in a specific shooting scene, an image signal processing strategy most suitable for the specific shooting scene can be selected to process at least one frame of raw image collected by the imaging device in the specific shooting scene. This targeted processing can effectively improve the image quality of the specific shooting scene. When it is determined that the imaging device is in a non-specific shooting scene, the imaging device can perform adaptive processing through the related information (such as the optical parameter, the image content recognition result, etc.) of the non-specific shooting scene, to ensure that better image quality can be obtained in the non-specific shooting scene.

[0278] For the specific implementation of the image processing method, refer to the above description, which will not be repeated here.

[0279] In some embodiments, referring to FIG. 12, the present application provides a flowchart of a fourth image processing method, which is applied to an imaging device and includes the following steps:

[0280] In S1101, position information of the imaging device is obtained; wherein the position information includes height information, and the height information is determined based on a pressure sensor.

[0281] For example, the height information of the imaging device is obtained in real time through the pressure sensor, and the current position information of the imaging device can be accurately determined by combining other sensor data such as a satellite positioning module and an accelerometer.

[0282] In S1102, in the process of processing at least one frame of raw image collected by the imaging device in a shooting scene by using an image signal processing strategy corresponding to the shooting scene, the convergence speed of at least one type of quality parameter in the image signal processing strategy is adjusted according to the change of the position information.

[0283] In this embodiment, the convergence speed of the quality parameter in the image signal processing strategy is adjusted by referring to the position information (especially the height information) in the imaging device, so as to reduce the quality fluctuation caused by the change of the position, and make each frame of image maintain a high quality.

[0284] In an implementation, the position information further comprises longitude and latitude information; the height information is mapped from pressure signals collected by a pressure sensor connected to the imaging device; and the longitude and latitude information is determined based on data collected by a satellite positioning module connected to the imaging device.

[0285] In an implementation, the convergence speed of the at least one type of image quality parameter targeted by the image signal processing strategy is adjusted according to changes in the position information, comprising:

[0286] The convergence speed of the at least one type of image quality parameter targeted by the image signal processing strategy is adjusted according to changes in the position information and changes in the attitude information, the attitude information being determined based on data collected by an attitude sensor connected to the imaging device.

[0287] In an implementation, the convergence speed of the at least one type of image quality parameter targeted by the image signal processing strategy is determined according to the longitude and latitude information of the imaging device and changes in the attitude sensor, in a case where the change speed of the height information does not exceed a first threshold or the change range of the height information is not within a critical threshold range.

[0288] In an implementation, the convergence speed of the at least one type of image quality parameter targeted by the image signal processing strategy is determined according to the longitude and latitude information of the imaging device and changes in the attitude sensor, comprising:

[0289] In response to a case where the attitude information is unchanged and the longitude and latitude information is unchanged, the imaging device is in a stationary state, and the convergence speed of the at least one type of image quality parameter targeted by the image signal processing strategy is reduced; or,

[0290] In response to a case where the attitude information is unchanged and the longitude and latitude information is changed, the imaging device is in a mapping or translation state, and the convergence speed of the at least one type of image quality parameter targeted by the image signal processing strategy is reduced; or,

[0291] In response to a case where the attitude information is changed and the longitude and latitude information is changed, the preset convergence speed of the at least one type of image quality parameter targeted by the image signal processing strategy is maintained.

[0292] In an implementation, in a case where the change speed of the height information exceeds a first threshold or the change range of the height information is within a critical threshold range, the preset convergence speed of the at least one type of image processing quality parameter targeted by the image signal processing strategy is increased.

[0293] In an implementation, if the pressure signals collected by the pressure sensor within a preset time period have a mutation, it is determined that the change speed of the height information exceeds the first threshold.

[0294] In an implementation, if a difference between the pressure signals collected by the pressure sensor within the preset time period is greater than a preset difference, it is determined that the pressure signals collected by the pressure sensor within the preset time period have a pressure mutation.

[0295] In an implementation, the change speed of the height information exceeding the first threshold or the change range of the height information being within the critical threshold range includes a case where the imaging device changes from a specific shooting scene to a non-specific shooting scene or a case where the imaging device changes from a non-specific shooting scene to a specific shooting scene, and the specific shooting scene includes a high-altitude scene or an underwater scene, and the non-specific shooting scene includes a land scene.

[0296] In an implementation, if the shooting scene where the imaging device is located is a specific shooting scene, an image signal processing strategy corresponding to the specific shooting scene is acquired, and at least one original image collected by the imaging device in the specific shooting scene is processed according to the image signal processing strategy.

[0297] In an implementation, the image signal processing strategies corresponding to different specific shooting scenes are different.

[0298] In an implementation, the image signal processing strategy corresponding to each specific shooting scene is used to indicate adjustment of at least one type of quality parameter.

[0299] The at least one type of quality parameter includes a color adjustment parameter, a contrast parameter, a defogging parameter, a sharpness parameter, a brightness parameter, a denoising parameter, and an exposure parameter.

[0300] In an implementation, the specific shooting scene includes at least two underwater scenes, and / or at least two high-altitude scenes, and / or at least one underwater scene and at least one high-altitude scene.

[0301] The types of quality parameters to which the image signal processing strategies corresponding to the underwater scenes are directed and the types of quality parameters to which the image signal processing strategies corresponding to the high-altitude scenes are directed are at least partially different.

[0302] In an implementation, the at least one type of quality parameter includes a white balance parameter.

[0303] The specific shooting scene includes at least two underwater scenes.

[0304] In the image signal processing strategies corresponding to different underwater scenes, the adjustment degrees of the white balance parameters are different.

[0305] In an implementation, the method further includes:

[0306] In response to the imaging device being in a non-specific shooting scene, at least one frame of raw image collected in the non-specific shooting scene is processed according to the related information of the non-specific shooting scene, wherein the related information of the non-specific shooting scene includes at least one of the following: an image content recognition result of at least one frame of raw image collected by the imaging device in the non-specific shooting scene, and an optical parameter of the non-specific shooting scene.

[0307] In an implementation manner, the method further includes:

[0308] In response to the imaging device being in a non-specific shooting scene, at least one frame of raw image collected in the non-specific shooting scene is adaptively processed according to the related information of the non-specific shooting scene, wherein the related information of the non-specific shooting scene includes at least one of the following: an image content recognition result of at least one frame of raw image collected by the imaging device in the non-specific shooting scene, and an optical parameter of the non-specific shooting scene.

[0309] In an implementation manner, the adaptive processing of at least one frame of raw image collected in the non-specific shooting scene according to the related parameter of the non-specific shooting scene includes:

[0310] The optical parameter of the non-specific shooting scene is obtained based on an optical sensor, and the optical parameter includes at least one of the following: color temperature, spectrum, and light intensity; and

[0311] The adaptive processing of at least one frame of raw image collected in the non-specific shooting scene according to the optical parameter of the non-specific shooting scene.

[0312] In an implementation manner, the height information is obtained according to a pressure signal collected by a pressure sensor connected to the imaging device, so as to avoid misrecognition between the specific shooting scene and the non-specific shooting scene.

[0313] In an implementation manner, the pressure sensor pre-stores a mapping relationship between the pressure signal and the height information, and the height information of the imaging device is determined based on the pressure signal collected by the pressure sensor and the mapping relationship.

[0314] In an implementation manner, the mapping relationship pre-stored by the pressure sensor between the pressure signal and the height information is a standard mapping relationship after calibration.

[0315] In an implementation manner, the mapping relationship between the pressure signal and the height information includes: a first mapping relationship between a range of the pressure signal and different altitudes, and / or a second mapping relationship between the range of the pressure signal and different underwater depths.

[0316] In an implementation manner, the first mapping relationship is different from the second mapping relationship; and / or a change rate of the first mapping relationship is different from a change rate of the second mapping relationship.

[0317] In an implementation manner, the second mapping relationship is related to the density of water and / or the gravity acceleration.

[0318] The specific implementation of the image processing method can refer to the above description, and will not be repeated here.

[0319] In some embodiments, referring to FIG. 13, the present application provides a flowchart of a fifth image processing method, which is applied to an imaging device, and the method comprises the following steps:

[0320] In S1201, three-dimensional position information of the imaging device in a three-dimensional space is acquired; wherein the three-dimensional position information comprises three-dimensional position information and three-dimensional attitude information, and the three-dimensional position information comprises height information and latitude and longitude information.

[0321] In S1202, in a process of processing at least one original image collected by the imaging device in a shooting scene by using an image signal processing strategy corresponding to the shooting scene, a convergence speed of at least one type of image quality parameter in the image signal processing strategy is adjusted according to a change of the three-dimensional position information; wherein when a change of the height information meets a preset condition, a preset convergence speed of at least one type of image processing quality parameter in the image signal processing strategy is increased; and when the change of the height information does not meet the preset condition, the preset convergence speed of at least one type of image processing quality parameter in the image signal processing strategy is adjusted according to a change of the three-dimensional attitude information.

[0322] The specific implementation of the image processing method can refer to the above description, and will not be repeated here.

[0323] In some embodiments, referring to FIG. 14, a flowchart of a prompting method is provided, which is applied to an imaging device, and the method comprises the following steps:

[0324] In S1301, current height information of the imaging device is acquired.

[0325] In S1302, in response to the current height information of the imaging device meeting a preset condition, height warning information is outputted for prompting.

[0326] In the embodiment, the imaging device automatically outputs the height warning information when the current height information meets the preset condition, so that the user does not need to continuously pay attention to the height, the operation burden is reduced, and the use convenience and safety are improved.

[0327] In an implementation manner, the current height information of the imaging device is determined by using a pressure signal collected by a pressure sensor and a mapping relationship between a preset pressure signal and height information.

[0328] In an implementation, the pressure sensor is integrated inside the imaging device, or the imaging device is externally connected to the pressure sensor.

[0329] In an implementation, the preset condition includes that the current height information of the imaging device exceeds a preset height information range, and the height warning information includes at least one of visual warning information, audible warning information and somatosensory warning information.

[0330] In an implementation, the audible warning mode includes a sound signal, the sound signal includes a voice broadcast of the height information of the imaging device, and / or a different prompt tone is used to prompt the degree to which the height information of the imaging device exceeds the preset height information range.

[0331] In an implementation, the height information range includes a water depth range corresponding to an underwater scene.

[0332] If the height information of the imaging device exceeds the preset height information range, outputting the height warning information to prompt, including: if the underwater depth of the imaging device exceeds the water depth range, outputting the water depth warning information to prompt.

[0333] In an implementation, the underwater depth of the imaging device is related to the liquid density of the location where the imaging device is located.

[0334] In an implementation, the imaging device is configured with a display. The method further includes: in a case where the height information of the imaging device is within the preset height information range, displaying the height information of the height information of the imaging device in a first style in the display; or in a case where the height information of the imaging device exceeds the preset height information range, displaying the height information of the height information of the imaging device in a second style in the display; wherein the first style and the second style are different.

[0335] In an implementation, the first style and the second style are different in at least one of the following: display color, texture or font size.

[0336] In an implementation, the imaging device is configured with a display.

[0337] The display is used to display the height information of the height information of the imaging device in the screen-off mode.

[0338] In an implementation manner, the method further comprises: determining a shooting scene where the imaging device is located according to the height information where the imaging device is located; processing the at least one original image according to an image signal processing strategy or an adaptive processing strategy corresponding to the shooting scene where the imaging device is located to obtain at least one processed image; and generating a target image carrying the height information according to the height information where the imaging device is located when collecting each original image and the processed image corresponding to the original image.

[0339] In an implementation manner, the height information is presented in the target image as a watermark; or the height information is displayed in the target image in a form of a dashboard.

[0340] In an implementation manner, the target image carrying the height information carries the height information for editing processing.

[0341] In an implementation manner, the method further comprises: during the editing processing, retaining a target image meeting a condition according to a difference between the height information carried in each target image in the plurality of target images carrying the height information; and the condition comprises: the difference between the height information carried in adjacent target images carrying the height information exceeds a preset difference.

[0342] In an implementation manner, the method further comprises: performing the editing processing on the imaging device and displaying the target image meeting the condition, or sending the plurality of target images carrying the height information to a control terminal and receiving the target image meeting the condition obtained after the editing processing performed by the control terminal.

[0343] In some embodiments, referring to FIG. 15, another flowchart of a prompting method applied to an imaging device connected with a pressure sensor is provided, wherein the pressure sensor is integrated in the imaging device or the imaging device is connected with the pressure sensor externally, and the method comprises:

[0344] In S1401, the current height information where the imaging device is located is determined by using a pressure signal collected by the pressure sensor and a mapping relationship between a pre-stored pressure signal and height information; and the height information comprises a depth under water.

[0345] In S1402, if the current height information where the imaging device is located exceeds a preset height information range, height warning information is generated and outputted to prompt.

[0346] The specific implementation of the image processing method can be referred to the description above, and will not be repeated here.

[0347] In some embodiments, referring to FIG. 16, the embodiments of the present application further provide an imaging device 200, which comprises:

[0348] at least one processor 151; and

[0349] at least one memory 152 including computer program code;

[0350] The at least one memory 152 and the computer program code are configured, with the at least one processor 151, to enable the imaging apparatus 200 at least to perform any of the above-mentioned methods.

[0351] The processor 151 executes the executable instructions included in the memory 152. The processor 151 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gates or transistor logic, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0352] The memory 152 stores executable instructions of at least one of the image processing method and the prompting method. The memory 152 can include at least one type of storage medium, including a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), a random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, etc. Furthermore, the imaging apparatus 200 can cooperate with a network storage device that performs a storage function of the memory through a network connection. The memory 152 can be an internal storage unit of the imaging apparatus 200, such as a hard disk or a memory of the imaging apparatus 200. The memory 152 can also be an external storage device of the imaging apparatus 200, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the imaging apparatus 200. Further, the memory 152 can include both the internal storage unit of the imaging apparatus 200 and the external storage device. The memory 152 is used to store computer programs and other programs and data required by the device. The memory 152 can also be used to temporarily store data that has been output or will be output.

[0353] The implementation process of the functions and roles of each unit in the imaging device is specifically described in the implementation process of the corresponding steps in the above method, which will not be repeated here.

[0354] In some embodiments, the embodiment of the present application also provides a movable platform, comprising: a body; a power system arranged in the body, used to provide power for the movable platform; and the imaging device described above.

[0355] In some embodiments, the embodiment of the present application also provides a system, comprising a control terminal and the imaging device described above; the control terminal and the imaging device are in communication connection.

[0356] In some embodiments, the embodiment of the present application also provides a computer readable storage medium, which stores computer instructions, and the instructions are executed by a processor to realize the steps of any of the above methods. For example, the computer readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0357] It should be noted that, in this paper, relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between the entities or operations. The term "include", "contain" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or equipment. Without more limitations, the element defined by the statement "including a…" does not exclude the presence of other identical elements in the process, method, article or equipment including the element.

[0358] The above describes the method, device, movable platform, system and storage medium provided by the embodiment of the present application in detail, and the principle and implementation mode of the present application are described by applying specific examples in this paper. The above description of the embodiments is only used to help understand the method of the present application and its core idea; at the same time, for those skilled in the art, according to the idea of the present application, the specific implementation mode and application range will be changed; in view of the above, the content of the specification should not be understood as the limitation of the present application.

Claims

1. An image processing method, characterized by, The method comprises the following steps: According to the height information of the imaging device, determine the shooting scene where the imaging device is located; In response to the shooting scene being a specific shooting scene, obtain an image signal processing strategy corresponding to the specific shooting scene, the specific shooting scene including at least two special shooting scenes, and the height information of the at least two special shooting scenes being different; According to the image signal processing strategy, process at least one frame of original image collected by the imaging device in the specific shooting scene.

2. The method of claim 1, wherein, The processing of the at least one frame of original image collected by the imaging device in the specific shooting scene according to the image signal processing strategy comprises: According to the image signal processing strategy, real-time process at least one frame of original image collected by the imaging device in the specific shooting scene in real time, and display the processed image in the display configured by the imaging device in real time.

3. The method of claim 1, wherein, Further comprising: In response to the shooting scene where the imaging device is located being a non-specific shooting scene, adaptively process at least one frame of original image collected in the non-specific shooting scene according to the related information of the non-specific shooting scene, wherein the related information of the non-specific shooting scene includes at least one of the following: image content recognition result of at least one frame of original image collected by the imaging device in the non-specific shooting scene, and optical parameter of the non-specific shooting scene.

4. The method of claim 3, wherein, The adaptive processing of at least one frame of original image collected in the non-specific shooting scene according to the related information of the non-specific shooting scene comprises: Obtain the optical parameter of the non-specific shooting scene based on the optical sensor, the optical parameter including at least one of the following: color temperature, spectrum, and light intensity; and Adaptively process at least one frame of original image collected in the non-specific shooting scene according to the optical parameter of the non-specific shooting scene.

5. The method according to any one of claims 1 to 4, characterized in that, Different shooting scenes of the imaging device correspond to different height information intervals.

6. The method of claim 5, wherein: in response to the imaging device being located in a first height information interval, the imaging device is located in a first specific shooting scene; or in response to the imaging device being located in a second height information interval, the imaging device is located in a second specific shooting scene; or in response to the imaging device being located in a third height information interval, the imaging device is located in a non-specific shooting scene.

7. The method of claim 6, wherein: when the first height information interval is represented by altitude, the first specific shooting scene includes a high-altitude scene, or when the third height information interval is represented by altitude, the non-specific shooting scene includes a land scene; or when the second height information interval is represented by underwater depth, the second specific shooting scene includes an underwater scene.

8. The method of claim 7, wherein: The first height information interval includes a first altitude interval and a second altitude interval, and the first specific shooting scene is an ultra-high-altitude scene in response to the imaging device being located in the first altitude interval, or the first specific shooting scene is a normal high-altitude scene in response to the imaging device being located in the second altitude interval. The first height information interval includes a first water depth interval and a second water depth interval, and the second specific shooting scene is a shallow water scene in response to the imaging device being located in the first water depth interval, or the second specific shooting scene is a deep water scene in response to the imaging device being located in the second water depth interval.

9. The method according to any one of claims 1 to 5, characterized in that, The different specific shooting scenes of the imaging device correspond to different height information intervals.

10. The method of claim 9, wherein, The height information of the imaging device includes an altitude at which the imaging device is located or a depth under water at which the imaging device is located.

11. The method of claim 10, wherein, The specific shooting scene includes at least two underwater scenes, and / or at least two high-altitude scenes, and / or at least one underwater scene and at least one high-altitude scene. The at least two underwater scenes correspond to different underwater depth intervals, and the at least two high-altitude scenes correspond to different altitude intervals.

12. The method of claim 11, wherein, The determination of the shooting scene of the imaging device according to the height information of the imaging device includes: If the height information of the imaging device is the depth under water at which the imaging device is located, it is determined whether the shooting scene of the imaging device is one of the at least two underwater scenes according to the depth under water at which the imaging device is located. Or, If the height information of the imaging device is the altitude at which the imaging device is located, it is determined whether the shooting scene of the imaging device is one of the at least two high-altitude scenes according to the altitude at which the imaging device is located.

13. The method of claim 10, wherein, The determination of the shooting scene of the imaging device according to the height information of the imaging device includes: In response to the height information of the imaging device being the depth under water at which the imaging device is located, it is determined that the shooting scene of the imaging device is an underwater scene in the specific shooting scene, so as to avoid misidentifying a non-specific shooting scene having a similar color tone as the underwater scene as the underwater scene.

14. The method of claim 13, wherein, The non-specific shooting scene having a similar color tone as the underwater scene includes at least one of an indoor blue-green pure color scene, an outdoor night scene, and an indoor sports scene.

15. The method according to any one of claims 1 to 14, characterized in that, The height information of the imaging device is obtained by mapping a pressure signal collected by a pressure sensor connected to the imaging device, so as to avoid misidentification between the specific shooting scene and the non-specific shooting scene.

16. The method of claim 15, wherein, The pressure sensor pre-stores a mapping relationship between the pressure signal and the height information, and the height information of the imaging device is determined based on the pressure signal collected by the pressure sensor and the mapping relationship.

17. The method of claim 16, wherein, The mapping relationship between the pressure signal and the height information pre-stored by the pressure sensor is a standard mapping relationship after calibration.

18. The method of claim 16, wherein, The mapping relationship between the pressure signal and the height information includes a first mapping relationship between a range of the pressure signal and different altitudes, and / or a second mapping relationship between the range of the pressure signal and different depths under water.

19. The method of claim 18, wherein, The first mapping relationship is different from the second mapping relationship; and / or The change rate of the first mapping relationship is different from the change rate of the second mapping relationship.

20. The method of claim 18, wherein, The altitude at which the imaging device is located is in a negative correlation with the air pressure indicated by the pressure signal collected by the pressure sensor; and / or The underwater depth at which the imaging device is located is in a positive correlation with the water pressure indicated by the pressure signal collected by the pressure sensor.

21. The method of claim 18, wherein, In response to the existence of a mutation in the pressure signal collected by the pressure sensor within a preset time period, it is determined that the imaging device enters a non-specific shooting scene from an underwater scene or enters an underwater scene from a non-specific shooting scene. The second mapping relationship is related to the density of water and / or the acceleration of gravity.

22. The method of claim 18, wherein, The image signal processing strategies corresponding to different specific shooting scenes are different.

23. The method according to any one of claims 1 to 22, characterized in that, The image signal processing strategies corresponding to each specific shooting scene are used to instruct the adjustment of at least one type of quality parameter.

24. The method according to any one of claims 1 to 23, characterized in that, The at least one type of quality parameter includes a color adjustment parameter, a contrast parameter, a defogging parameter, a denoising parameter, a sharpness parameter, a brightness parameter, and an exposure parameter.

25. The method of claim 24, wherein, The specific shooting scenes include at least two underwater scenes, and / or at least two high-altitude scenes, and / or at least one underwater scene and at least one high-altitude scene.

26. The method of claim 24, wherein, The types of quality parameters to which the image signal processing strategies corresponding to the underwater scenes are directed are at least partially different from the types of quality parameters to which the image signal processing strategies corresponding to the high-altitude scenes are directed. The image signal processing strategies corresponding to the underwater scenes are used to instruct the adjustment of at least one of an exposure parameter, a brightness parameter, a contrast parameter, and a color adjustment parameter.

27. The method of claim 26, wherein, And / or, The image signal processing strategies corresponding to the high-altitude scenes are used to instruct the adjustment of at least one of a defogging parameter, a sharpness parameter, a brightness parameter, a contrast parameter, and a denoising parameter. In the image signal processing strategies corresponding to the high-altitude scenes, the adjustment priority for at least one of the defogging parameter, the contrast parameter, and the sharpness parameter is higher than the adjustment priority for other types of quality parameters.

28. The method of claim 27, wherein, And / or, In the image signal processing strategies corresponding to the underwater scenes, the adjustment priority for at least one of the color adjustment parameter, the contrast parameter, and the brightness parameter is higher than the adjustment priority for other types of quality parameters. In the process of adjusting the quality of the original image in the underwater scene using the image signal processing strategy corresponding to the underwater scene, the image signal processing strategy is reinforced with reference to the optical parameters of the imaging device in the underwater scene.

29. The method of claim 27, wherein, The adjustment degrees of the same type of quality parameter in the image signal processing strategies corresponding to different underwater scenes are different.

30. The method of claim 26, wherein, And / or, The adjustment degrees of the same type of quality parameter in the image signal processing strategies corresponding to different high-altitude scenes are different. The at least one type of quality parameter further includes a white balance parameter.

31. The method of claim 24, wherein, The specific shooting scenes include at least two underwater scenes. ​ In different underwater scene corresponding image signal processing strategies, the adjustment degree of the white balance parameter is different, and based on the image after the white balance parameter adjustment, human eye color optimization is further performed.

32. The method of any one of claims 1 to 31, wherein, Further comprising: Obtaining three-dimensional pose information of the imaging device in three-dimensional space; In the process of processing the at least one original image by using the image signal processing strategy, according to the change of the three-dimensional pose information, the convergence speed of at least one type of image quality parameter optimization corresponding to the image signal processing strategy is adjusted. The three-dimensional pose information includes three-dimensional position information and three-dimensional attitude information; 33. The method of claim 32, wherein, The three-dimensional position information includes height information and latitude and longitude information; The three-dimensional attitude information is determined based on data collected by a pose sensor connected to the imaging device; The height information is obtained by mapping pressure signals collected by a pressure sensor connected to the imaging device; The latitude and longitude information is determined based on data collected by a satellite positioning module connected to the imaging device. According to the change of the three-dimensional pose information, the convergence speed of at least one type of image quality parameter optimization corresponding to the image signal processing strategy is adjusted, including:

34. The method of claim 33, wherein, In the case that the change speed of the height information exceeds a first threshold or the change range of the height information is within a critical threshold range, the preset convergence speed of at least one type of image processing quality parameter corresponding to the image signal processing strategy is increased; or In the case that the change speed of the height information does not exceed the first threshold or the change range of the height information is not within the critical threshold range, In response to the case that the attitude information is unchanged and the latitude and longitude information is unchanged, the imaging device is in a static state, and the convergence speed of at least one type of image quality parameter corresponding to the image signal processing strategy is reduced; or, In response to the case that the attitude information is unchanged and the latitude and longitude information changes, the imaging device is in a mapping or translation state, and the convergence speed of at least one type of image quality parameter corresponding to the image signal processing strategy is reduced; or, In response to the case that the attitude information changes and the latitude and longitude information changes, the preset convergence speed of at least one type of image quality parameter corresponding to the image signal processing strategy is maintained. Further comprising:

35. The method of any one of claims 1 to 34, wherein, Obtaining at least one processed image obtained after processing the at least one original image; According to the height information of the imaging device when collecting each frame of original image and the processed image corresponding to the original image, a target image carrying height information is generated. The height information is presented in the target image as a watermark; or, 36. The method of claim 35, wherein, The height information is superimposed and displayed in the target image in the form of an instrument panel. The target image carrying height information carries height information for editing processing.

37. The method of claim 35, wherein, Further comprising:

38. The method of claim 37, wherein, ​ In the clipping process, according to the difference between the height information carried by each frame of target image in the plurality of frames of target images carrying height information, a target image meeting a condition is reserved; wherein the condition includes: the difference between the height information carried by adjacent target images to be reserved in time sequence exceeds a preset difference.

39. The method of claim 38, wherein, Also includes: Performing the clipping process on the imaging device, and displaying the target image meeting the condition; Or Sending the plurality of frames of target images carrying height information to a control terminal, and receiving the target image meeting the condition obtained after the clipping process completed by the control terminal.

40. The method of any one of claims 1 to 39, wherein, Also includes: If the height information of the imaging device exceeds a preset height information range, outputting height warning information for prompting.

41. The method of claim 40, wherein, The height warning information includes visual warning information and / or auditory warning information.

42. The method of claim 41, wherein, The auditory warning information includes a sound signal, the sound signal includes a voice broadcasting the height information of the height information of the imaging device, and / or a different prompt frequency prompting the degree to which the height information of the imaging device approaches or exceeds the preset height information range.

43. The method of claim 40, wherein, The height information range includes: an altitude range corresponding to an aerial scene, and a water depth range corresponding to an underwater scene; The if the height information of the imaging device exceeds a preset height information range, outputting height warning information for prompting includes: If the imaging device is in an aerial scene and the altitude of the imaging device exceeds the altitude range, outputting aerial warning information for prompting; Or, If the imaging device is in an underwater scene and the water depth of the imaging device exceeds the water depth range, outputting water depth warning information for prompting.

44. The method of claim 43, wherein, The altitude of the imaging device is related to the gravitational acceleration of the location of the imaging device; or The water depth of the imaging device is related to the liquid density of the location of the imaging device.

45. The method of claim 40, wherein, The imaging device is configured with a display; The method further includes: In the case that the height information of the imaging device is within the preset height information range, displaying the height information of the height information of the imaging device in the display in a first style; or In the case that the height information of the imaging device exceeds the preset height information range, displaying the height information of the height information of the imaging device in the display in a second style; Wherein the first style and the second style are different.

46. The method of claim 45, wherein, The first style and the second style are different in one of the following: display color, texture, or font size.

47. The method of claim 1, wherein, The imaging device is configured with a display; The display is used to display the height information of the height information of the imaging device in the off-screen mode.

48. The method of any one of claims 1-31, wherein, The image processing strategy corresponding to the specific shooting scene is a first configuration file pre-stored in the imaging device.

49. The method of any one of claims 40-46, wherein, The preset height information range is a second configuration file pre-stored in the imaging device; and the style of the height warning information is a third configuration file pre-stored in the imaging device.

50. The method of claim 48 or 49, wherein, The method further includes: Receiving a configuration file sent by the control terminal, the configuration file including at least one of the first configuration file, the second configuration file, and the third configuration file.

51. The method of claim 48 or 49, wherein, The method further includes: Receiving a configuration instruction sent by the control terminal, and generating a configuration file according to the configuration instruction, the configuration file including at least one of the first configuration file, the second configuration file, and the third configuration file.

52. The method of claim 48 or 49, wherein, The method further includes: Receiving an editing operation of a user on the configuration file of the imaging device, the configuration file including at least one of the first configuration file, the second configuration file, and the third configuration file; Modifying or customizing the configuration file based on the editing operation.

53. The method of claim 51, wherein, The receiving of the editing operation of the user on the configuration file of the imaging device includes: Receiving a touch operation of the user on the imaging device to generate the editing operation on the configuration file, and / or Receiving a touch operation of the user on the control terminal to generate the editing operation on the configuration file based on the touch operation, and transmitting the edited configuration file to the imaging device.

54. An image processing method, comprising: Including: Determining height information of the imaging device according to a pressure signal collected by a pressure sensor connected to the imaging device; Determining a shooting scene in which the imaging device is located according to the height information of the imaging device, wherein the shooting scene includes a specific shooting scene and a non-specific shooting scene; In response to the shooting scene being the specific shooting scene, processing at least one frame of original image collected by the imaging device in the specific shooting scene according to an image signal processing strategy corresponding to the specific shooting scene; and / or In response to the shooting scene being the non-specific shooting scene, adaptively processing at least one frame of original image collected in the non-specific shooting scene according to related information of the non-specific shooting scene, wherein the related information of the non-specific shooting scene includes at least one of an image content recognition result of at least one frame of original image collected by the imaging device in the non-specific shooting scene and an optical parameter of the non-specific shooting scene.

55. An image processing method, comprising: Including: Determining a shooting scene in which the imaging device is located, the shooting scene including a specific shooting scene and a non-specific shooting scene; In response to the shooting scene being the specific shooting scene, processing at least one frame of original image collected by the imaging device in the specific shooting scene according to an image signal processing strategy corresponding to the specific shooting scene; In response to the shooting scene being the non-specific shooting scene, adaptively processing at least one frame of original image collected in the non-specific shooting scene according to related information of the non-specific shooting scene, wherein the related information of the non-specific shooting scene includes at least one of an image content recognition result of at least one frame of original image collected by the imaging device in the non-specific shooting scene and an optical parameter of the non-specific shooting scene.

56. An image processing method, comprising: Including: Obtaining position information of an imaging device; wherein the position information includes height information, and the height information is determined based on a pressure sensor. In a process of processing at least one frame of original image collected by the imaging device in a shooting scene by using an image signal processing strategy corresponding to the shooting scene, a convergence speed of at least one type of image quality parameter in the image signal processing strategy is adjusted according to a change of the position information.

57. The image processing method of claim 56, wherein, The position information further includes longitude and latitude information; the height information is obtained by mapping pressure signals collected by a pressure sensor connected to the imaging device; and the longitude and latitude information is determined based on data collected by a satellite positioning module connected to the imaging device.

58. The image processing method of claim 56, wherein, The adjusting of the convergence speed of the at least one type of image quality parameter in the image signal processing strategy according to the change of the position information includes: The adjusting of the convergence speed of the at least one type of image quality parameter in the image signal processing strategy according to the change of the position information and a change of attitude information includes that the attitude information is determined based on data collected by an attitude sensor connected to the imaging device.

59. The image processing method of claim 58, wherein, In a case where a change speed of the height information does not exceed a first threshold or a change range of the height information is not within a critical threshold range, a convergence speed of at least one type of image quality parameter in the image signal processing strategy is determined according to longitude and latitude information of the imaging device and a change of the attitude sensor.

60. The method of claim 59, wherein, The determining of the convergence speed of the at least one type of image quality parameter in the image signal processing strategy according to the longitude and latitude information of the imaging device and the change of the attitude sensor includes: In response to a case where the attitude information is unchanged and the longitude and latitude information is unchanged, the imaging device is in a static state, and a convergence speed of at least one type of image quality parameter in the image signal processing strategy is reduced; or In response to a case where the attitude information is unchanged and the longitude and latitude information is changed, the imaging device is in a surveying or translating state, and the convergence speed of at least one type of image quality parameter in the image signal processing strategy is reduced; or In response to a case where the attitude information is changed and the longitude and latitude information is changed, a preset convergence speed of at least one type of image quality parameter in the image signal processing strategy is maintained.

61. The image processing method of any one of claims 56-60, wherein In a case where the change speed of the height information exceeds the first threshold or the change range of the height information is within the critical threshold range, a preset convergence speed of at least one type of image processing quality parameter in the image signal processing strategy is increased. If the pressure signals collected by the pressure sensor within a preset time period have a mutation, it is determined that the change speed of the height information exceeds the first threshold.

62. The image processing method of claim 61, wherein, If a difference between the pressure signals collected by the pressure sensor within a preset time period is greater than a preset difference, it is determined that the pressure signals collected by the pressure sensor within the preset time period have a pressure mutation.

63. The image processing method of claim 62, wherein, 64. The image processing method of any one of claims 61-63, wherein ​ The change speed of the height information exceeds a first threshold value, or the change range of the height information is within a critical threshold range, including a case that the imaging device changes from a specific shooting scene to a non-specific shooting scene, or a case that the imaging device changes from a non-specific shooting scene to a specific shooting scene, the specific shooting scene including a high-altitude scene or an underwater scene, and the non-specific shooting scene including a land scene.

65. The method of claim 64, wherein, If the shooting scene where the imaging device is located is a specific shooting scene, an image signal processing strategy corresponding to the specific shooting scene is acquired, and at least one frame of original image collected by the imaging device in the specific shooting scene is processed according to the image signal processing strategy.

66. The method of claim 64, wherein, The image signal processing strategies corresponding to different specific shooting scenes are different.

67. The method of claim 66, wherein, The image signal processing strategy corresponding to each specific shooting scene is used to indicate adjustment of at least one type of quality parameter. The at least one type of quality parameter includes a color adjustment parameter, a contrast parameter, a defogging parameter, a sharpness parameter, a brightness parameter, a denoising parameter, and an exposure parameter.

68. The method of claim 64, wherein, The specific shooting scene includes at least two underwater scenes, and / or at least two high-altitude scenes, and / or at least one underwater scene and at least one high-altitude scene. The types of quality parameters to which the image signal processing strategies corresponding to the underwater scenes and the high-altitude scenes are directed are at least partially different.

69. The method of claim 64, wherein, The at least one type of quality parameter includes a white balance parameter. The specific shooting scene includes at least two underwater scenes. In the image signal processing strategies corresponding to different underwater scenes, the adjustment degrees of the white balance parameters are different.

70. The method of claim 64, wherein, Further comprising: In response to the shooting scene where the imaging device is located being a non-specific shooting scene, at least one frame of original image collected in the non-specific shooting scene is processed according to related information of the non-specific shooting scene, wherein the related information of the non-specific shooting scene includes at least one of the following: an image content recognition result of at least one frame of original image collected by the imaging device in the non-specific shooting scene, and an optical parameter of the non-specific shooting scene. Further comprising:

71. The method of claim 70, wherein, In response to the shooting scene where the imaging device is located being a non-specific shooting scene, at least one frame of original image collected in the non-specific shooting scene is adaptively processed according to related information of the non-specific shooting scene, wherein the related information of the non-specific shooting scene includes at least one of the following: an image content recognition result of at least one frame of original image collected by the imaging device in the non-specific shooting scene, and an optical parameter of the non-specific shooting scene. The adaptive processing of at least one frame of original image collected in the non-specific shooting scene according to the related parameters of the non-specific shooting scene includes:

72. The method of claim 71, wherein, An optical parameter of the non-specific shooting scene is acquired based on an optical sensor, the optical parameter including at least one of the following: color temperature, spectrum, and light intensity; and ​ Adaptively process the at least one original image captured in the non-specific shooting scene according to the optical parameter of the non-specific shooting scene.

73. The method of any one of claims 56 to 72, wherein, The height information is obtained by mapping a pressure signal collected by a pressure sensor connected to the imaging device, so as to avoid misidentification between the specific shooting scene and the non-specific shooting scene.

74. The method of claim 73, wherein, The pressure sensor pre-stores a mapping relationship between pressure signals and height information, and the height information of the imaging device is determined based on a pressure signal collected by the pressure sensor and the mapping relationship.

75. The method of claim 74, wherein, The mapping relationship between the pressure signals and the height information pre-stored by the pressure sensor is a standard mapping relationship after calibration.

76. The method of claim 74, wherein, The mapping relationship between the pressure signals and the height information includes a first mapping relationship between the range of pressure signals and different altitudes, and / or a second mapping relationship between the range of pressure signals and different underwater depths.

77. The method of claim 76, wherein, The first mapping relationship is different from the second mapping relationship; and / or The change rate of the first mapping relationship is different from the change rate of the second mapping relationship.

78. The method of claim 76, wherein, The second mapping relationship is related to the density of water and / or the acceleration of gravity.

79. An image processing method, comprising: Comprise: Obtain three-dimensional pose information of an imaging device in a three-dimensional space; wherein the three-dimensional pose information includes three-dimensional position information and three-dimensional attitude information, and the three-dimensional position information includes height information and latitude and longitude information; In the process of processing at least one original image captured by the imaging device in a shooting scene by using an image signal processing strategy corresponding to the shooting scene, the convergence speed of at least one type of image quality parameter in the image signal processing strategy is adjusted according to the change of the three-dimensional pose information; Wherein, when the change of the height information meets a preset condition, the preset convergence speed of at least one type of image processing quality parameter in the image signal processing strategy is increased; when the change of the height information does not meet the preset condition, the preset convergence speed of at least one type of image processing quality parameter in the image signal processing strategy is adjusted according to the change of the three-dimensional attitude information.

80. A prompting method, comprising: Applied to an imaging device, comprising: Obtain the current height information of the imaging device; and In response to the current height information of the imaging device meeting a preset condition, output height warning information for prompting.

81. The method of claim 80, wherein, Also include: Determine the current height information of the imaging device by using a pressure signal collected by a pressure sensor and a pre-stored mapping relationship between pressure signals and height information.

82. The method of claim 81, wherein, The pressure sensor is integrated inside the imaging device, or the imaging device is externally connected to the pressure sensor.

83. The method of any one of claims 80-82, wherein, The preset condition includes that the current height information of the imaging device exceeds a preset height information range, and the height warning information includes at least one of visual warning information, auditory warning information or somatosensory warning information.

84. The method of claim 83, wherein, The auditory warning information includes a sound signal, and the sound signal includes a voice broadcasting the height information of the height information of the imaging device, and / or prompting the degree to which the height information of the imaging device is close to or exceeds the preset height information range by different prompt frequencies.

85. The method of claim 83, wherein, The height information range includes a water depth range corresponding to an underwater scene; If the height information of the imaging device exceeds the preset height information range, output height alert information for prompting, including: If the water depth of the imaging device exceeds the water depth range, output water depth alert information for prompting.

86. The method of any one of claims 80-85, wherein The water depth of the imaging device is related to the liquid density of the location where the imaging device is located.

87. The method of claim 80, wherein, The imaging device is configured with a display; The method further includes: In the case where the height information of the imaging device is within the preset height information range, displaying the height information of the height information of the imaging device in the display in a first style; or In the case where the height information of the imaging device exceeds the preset height information range, displaying the height information of the height information of the imaging device in the display in a second style; Wherein the first style and the second style are different.

88. The method of claim 87, wherein, The first style and the second style are different in one of the following: display color, texture, or font size.

89. The method of claim 80, wherein, The imaging device is configured with a display; The display is used to display the height information of the height information of the imaging device in the off-screen mode.

90. The method of claim 80, wherein, Further comprising: According to the height information of the imaging device, determine the shooting scene where the imaging device is located; According to the image signal processing strategy or adaptive processing corresponding to the shooting scene where the imaging device is located, process at least one frame of original image to obtain at least one frame of processed image; And According to the height information of the imaging device when collecting each frame of original image and the processed image corresponding to the original image, generate a target image carrying height information.

91. The method of claim 90, wherein, The height information is presented as a watermark in the target image; or The height information is displayed in the form of a dashboard superimposed on the target image.

92. The method of claim 90, wherein The height information carried by the target image carrying height information is used for editing processing.

93. The method of claim 92, wherein, Further comprising: During the editing process, according to the difference between the height information carried by each frame of target image in multiple frames of target image carrying height information, retain target images that meet the conditions; wherein the conditions include: the difference between the height information carried by adjacent target images carrying height information exceeds a preset difference.

94. The method of claim 93, wherein, Further comprising: Execute the editing process on the imaging device, and display the target images that meet the conditions, or Send multiple frames of target images carrying height information to a control terminal, and receive target images that meet the conditions obtained after the control terminal completes the editing processing.

95. A prompting method, comprising: Applied to an imaging device connected with a pressure sensor, wherein the pressure sensor is integrated inside the imaging device, or the imaging device is externally connected to the pressure sensor, including: Determine the current height information of the imaging device using the pressure signal collected by the pressure sensor and the mapping relationship between the pre-stored pressure signal and the height information; the height information includes water depth; If the current height information of the imaging device exceeds the preset height information range, height alert information is generated and outputted for prompting.

96. An imaging device, comprising: Comprising: at least one processor; and at least one memory including computer program codes; wherein the at least one memory and the computer program codes are configured to, with the at least one processor, cause the imaging device to at least perform the method of any one of claims 1 to 95.

97. A movable platform, characterized by Comprising: a body; a power system, provided in the body, for providing power to the movable platform; and, the imaging device of claim 96 mounted on the body.

98. A system, comprising: Comprising a control terminal and the imaging device of claim 96; the control terminal and the imaging device are communicatively connected.

99. A non-computer readable storage medium having stored thereon computer instructions, wherein, The instructions, when executed by a processor, implement the steps of the method of any one of claims 1 to 95.

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