CN104836954B - Zoom tracking and its device - Google Patents
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- CN104836954B CN104836954B CN201510196943.0A CN201510196943A CN104836954B CN 104836954 B CN104836954 B CN 104836954B CN 201510196943 A CN201510196943 A CN 201510196943A CN 104836954 B CN104836954 B CN 104836954B
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Abstract
The invention discloses a kind of zoom tracking and its device, this method to comprise the following steps：S01, the simulation zoom curve of zoom motor is divided into by continuous first zoom subregion, the second zoom subregion and the 3rd zoom subregion according to zoom position, S02, the last time zoom position for obtaining zoom motor respectively and motor of focusing last time focusing position, and it is recorded as original zoom position and focusing position；S03, the size for judging current zoom position and the first separation and the second separation, zoom area according to where current zoom and with reference to default remote object distance zoom tracking curve or adaptive adjustment route or nearly object distance zoom tracking curve synchronously driving zoom motor and focusing motor.The present invention can avoid the phenomenon of image significantly defocus, also fast with processing speed, have better images effect particularly in zooming procedure.
Description
Technical field
The present invention relates to video camera zoom technology, more particularly to a kind of zoom tracking and its device.
Background technology
With the rapid popularization of integrated camera, zoom tracking technique has become an important technical indicator.Become
Burnt tracking technique refers to that when carrying out zoom operation zoom lens movement, focal length changes, so as to cause focusing plane with hair
Changing, because imaging surface is fixed, so focusing plane must be moved by mobile focusing lens so that focusing plane leans on as far as possible
Nearly imaging surface.
Lens system is equivalent to a LPF system, the image of defocus may be considered the radio-frequency component of image by
Certain loss, therefore image becomes fuzzy.The loss of bigger image its radio-frequency component of defocus is also more serious, image
Whether marginal portion loss is also more, and image is fuzzyyer, therefore, can be by the use of the high fdrequency component of image as evaluation image in poly-
Coke-like state, that is, the definition evaluation criterion of image.Image clarity values reference model is：
Y=F (Z, F, D),
Wherein, Y representative images high fdrequency component and definition evaluation of estimate, Z represent ZOOM motor positions, and F represents FOCUS motors
Position, D represent object distance.
Under the constant circumstances of outside environmental elements condition, image definition evaluation value Y and ZOOM motor position, FOCUS
Motor position F is relevant with object distance.For zoom lens, under D fixing situations, ZOOM becomes defocused, needs to adjust FOCUS motors
Focused on to realize, wherein Y value is exactly to weigh the standard whether image focuses on.During mobile FOCUS motors, corresponding to acquisition
Y value, when Y value reaches maximum, corresponding FOCUS positions are exactly the focal position under current ZOOM.
At present, zoom tracking develops into auto-adapted fitting aircraft pursuit course method from initial look-up table.Look-up table,
Need in advance to carry out the zoom tracking curve under a variety of object distances, be put into the FLASH of video camera, this method not only workload
Greatly, more device resource is taken, and if machine error is larger, the zoom tracking data in different cameras can be caused to exist
Deviation, so as to cause camera zoom tracing deviation larger.Adaptive tracking method is developed so far, and is mainly tracked using remote object distance
The zoom aircraft pursuit course that curve and nearly thing come under the current object distance of linear fit according to aircraft pursuit course, such a method is in the little change of focal length
Application effect is preferable in zoom lens, but under the trend that current lens focal length constantly becomes big, and during zoom, object distance
May be also can not be completely fully up to expectations with change, zoom tracking effect.
In view of this, it is necessary to which above-mentioned zoom tracking is further improved.
The content of the invention
The technical problems to be solved by the invention are：It is fast to provide a kind of processing speed, particularly has in zooming procedure
The zoom tracking and its device of better images effect.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is：A kind of zoom tracking is provided, including
Following steps：
S01, according to zoom position by the simulation zoom curve of zoom motor be divided into continuous first zoom subregion, second become
Burnt subregion and the 3rd zoom subregion, wherein, the separation of the first zoom subregion and the second zoom subregion is the first separation, the
The separation of two zoom subregions and the 3rd zoom subregion is the second separation；
S02, the last time zoom position for obtaining zoom motor respectively and motor of focusing last time focusing position, and be recorded as
Original zoom position and focusing position；
S03, current zoom position and the size of the first separation and the second separation are judged, if current zoom position is less than
Or equal to the first separation, then judge that zoom motor is located at the first zoom subregion, and song is tracked according to default remote object distance zoom
Line locking drives zoom motor and focusing motor；If current zoom position is more than the first separation and less than or equal to the second boundary
Point, then judge that zoom motor is located at the second zoom subregion, and according to default adaptive adjustment route synchronous adjustment zoom motor
With motor of focusing；If current zoom position is more than the second separation, judge that current zoom position is located at the 3rd zoom subregion, and
Zoom motor and focusing motor are synchronously driven according to default nearly object distance zoom tracking curve.
In order to solve the above-mentioned technical problem, another technical scheme for using of the present invention for：A kind of zoom tracks of device is provided,
Including pretreatment module, position acquisition and logging modle and position adjusting type modules；
The pretreatment module, for the simulation zoom curve of zoom motor to be divided into continuous first according to zoom position
Zoom subregion, the second zoom subregion and the 3rd zoom subregion, wherein, the separation of the first zoom subregion and the second zoom subregion
For the first separation, the separation of the second zoom subregion and the 3rd zoom subregion is the second separation；
The position acquisition and logging modle, for obtaining the last time zoom position and focusing motor of zoom motor respectively
Last time focusing position, and be recorded as original zoom position and focusing position；
The position adjusting type modules, for judging current zoom position and the size of the first separation and the second separation,
If current zoom position is less than or equal to the first separation, judge that zoom motor is located at the first zoom subregion, and according to default
Remote object distance zoom tracking curve synchronously driving zoom motor with focusing motor；If current zoom position be more than the first separation and
Less than or equal to the second separation, then judge that zoom motor is located at the second zoom subregion, and according to default adaptive adjustment road
Line locking adjusts zoom motor and focusing motor；If current zoom position is more than the second separation, current zoom position is judged
Zoom motor and focusing motor are synchronously driven positioned at the 3rd zoom subregion, and according to default nearly object distance zoom tracking curve.
The beneficial effects of the present invention are：Easily cause image significantly defocus when being different from zoom tracking in the prior art
The problem of, the invention provides a kind of zoom tracking, this method is when Jiao starts, first according to zoom position by zoom motor
Simulation zoom curve be divided into continuous first zoom subregion, the second zoom subregion and the 3rd zoom subregion, then according to change
The initial position of burnt motor and focus motor, judge the pass between the zoom position and zoom subregion that are needed under current state
System, and drive zoom motor ZOOM and focusing motor FOCUS to be moved along track according to the zoom curve of current zoom subregion, keep away
Exempt from the phenomenon of image significantly defocus, have processing speed fast, there is better images effect particularly in zooming procedure.
Brief description of the drawings
Fig. 1 is the flow chart of zoom tracking of the present invention；
Fig. 2 is the nearly object distance of the present invention and remote object distance zoom tracking curve；
Fig. 3 is ZOOM motors subregion curve map of the present invention；
Fig. 4 is zoom tracking test curve figure of the present invention；
Fig. 5 is the module map of zoom tracks of device of the present invention.
Label declaration：
11st, pretreatment module；12nd, position acquisition and logging modle；13rd, position adjusting type modules.
Embodiment
To describe the technology contents of the present invention, the objects and the effects in detail, below in conjunction with embodiment and coordinate attached
Figure is explained.
The design of most critical of the present invention is:This programme first divides the simulation zoom curve of zoom motor according to zoom position
Into continuous first zoom subregion, the second zoom subregion and the 3rd zoom subregion, then according to zoom motor and focus motor
Initial position, judge the relation between the zoom position and zoom subregion that are needed under current state, and according to current zoom
Subregion zoom curve driving zoom motor ZOOM and focusing motor FOCUS moved along track, can avoid image significantly from
Burnt phenomenon.
Fig. 1 to Fig. 4 is refer to, a kind of zoom tracking of the present invention, is comprised the following steps：
S01, according to zoom position by the simulation zoom curve of zoom motor be divided into continuous first zoom subregion, second become
Burnt subregion and the 3rd zoom subregion, wherein, the separation of the first zoom subregion and the second zoom subregion is the first separation, the
The separation of two zoom subregions and the 3rd zoom subregion is the second separation；
S02, the last time zoom position for obtaining zoom motor respectively and motor of focusing last time focusing position, and be recorded as
Original zoom position and focusing position；
S03, current zoom position and the size of the first separation and the second separation are judged, if current zoom position is less than
Or equal to the first separation, then judge that zoom motor is located at the first zoom subregion, and song is tracked according to default remote object distance zoom
Line locking drives zoom motor and focusing motor；If current zoom position is more than the first separation and less than or equal to the second boundary
Point, then judge that zoom motor is located at the second zoom subregion, and according to default adaptive adjustment route synchronous adjustment zoom motor
With motor of focusing；If current zoom position is more than the second separation, judge that current zoom position is located at the 3rd zoom subregion, and
Zoom motor and focusing motor are synchronously driven according to default nearly object distance zoom tracking curve.Wherein, the distance of remote object distance is
More than 100m, the distance of nearly object distance is within 1.5m.
It was found from foregoing description, the beneficial effects of the present invention are：Easily draw when being different from zoom tracking in the prior art
Rise image significantly defocus the problem of, the invention provides a kind of zoom tracking, this method is when Jiao starts, first according to change
The simulation zoom curve of zoom motor is divided into continuous first zoom subregion, the second zoom subregion and the 3rd zoom by burnt position
Subregion, then according to zoom motor and the initial position of focus motor, judge zoom position and the change needed under current state
Relation between burnt subregion, and zoom motor ZOOM and focusing motor FOCUS are driven according to the zoom curve of current zoom subregion
Moved along track, avoid the phenomenon of image significantly defocus, have processing speed fast, had particularly in zooming procedure preferable
Image effect.
As an embodiment, the obtaining step of " remote object distance zoom tracking curve " includes in the step S03：
The zoom whole process of zoom motor is divided into N deciles, every section of step-length is recorded as T, once remembers from Wide ends to Tele ends
The position for recording zoom motor is ZiThe step of, wherein, 0<=i<N；
Zoom motor is driven to move to Z every time from Wide ends to Tele end motionsiDuring position, zoom motor stop motion,
Start simultaneously at mobile focusing motor and reach maximum until focusing on evaluation of estimate Y, and it is F to record focusing motor positionnear(Zi) with
Ffar(Zi) the step of；
According to principle of least square method by data (Zi,Ffar(Zi)) be fitted, specific fitting formula is：
F(Zi)=(Fnear(Zi)-Ffar(Zi))/2, wherein, i=1,2 ..., K1；
According to F (Zi) obtain the step of remote object distance is fitted zoom curve.
As an embodiment, the obtaining step of " remote object distance zoom tracking curve " includes in the step S03：The step
The obtaining step of " nearly object distance zoom tracking curve " includes in S03：
The zoom whole process of zoom motor is divided into N deciles, every section of step-length is recorded as T, once remembers from Wide ends to Tele ends
The position for recording zoom motor is ZiThe step of, wherein, 0<=i<N；
Zoom motor is driven to move to Z every time from Wide ends to Tele end motionsiDuring position, zoom motor stop motion,
Start simultaneously at mobile focusing motor and reach maximum until focusing on evaluation of estimate Y, and record focusing motor position Fnear(Zi) and Ffar
(Zi) the step of；
According to principle of least square method by data (Zi,Fnear(Zi)) fitting, it is specially：
F(Zi)=R (Zi)*(Fnear(Zi)-Ffar(Zi)),
R(Zi)=((Finit–Ffar(Zinit))/(Fnear(Zinit)-Ffar(Zinit),
Wherein, ZinitRepresent original zoom position, FinitRepresent initial focusing position, i=K2,K2+1..., N, R (Zi) table
Show with regard to regulation coefficient,
According to F (Zi) obtain the step of nearly object distance is fitted zoom curve.
As an embodiment, the obtaining step for " adaptively adjusting route " in the step S03 includes：
The zoom whole process of zoom motor is divided into N deciles, every section of step-length is recorded as T, once remembers from Wide ends to Tele ends
The position for recording zoom motor is ZiThe step of, wherein, 0<=i<N；
Zoom motor is driven to move to Z every time from Wide ends to Tele end motionsiDuring position, zoom motor stop motion,
Start simultaneously at using step-length as (Fnear(K1)-Ffar(K1))/2 movement focusing motor, initially proximally direction movement once, remember respectively
The definition evaluation of estimate of two field pictures is Y before and after record synchronizing movingcur, YlastIf meet Ycur-Ylast>0.95*Ylas, (0.95
It is an approximate number, can be slightly adjusted according to actual conditions) focus motor is represented away from focus, it is adaptive in next time is synchronized with the movement
The direction of motion of last time focusing motor should be adjusted, wherein, K1Represent the first separation.
As an embodiment, the obtaining step of " the first separation " includes in the step S01：
Zoom motor is progressively moved from Wide ends to Tele ends, moves to Z every timeiStop behind position, while move respectively
Motor focus to position Ffar(i),(Ffar(i)+Fnear(i))/2 and record,
Obtain correspondence image definition evaluation of estimate Y1(i), Y2(i), if meeting Y1(i)/Y2(i) it is more than or equal to 0.85 (figure
As being in Relative Fuzzy state) when, it is determined that the now position Z of zoom motoriAs the first separation, K is designated as1。
As an embodiment, the obtaining step of " the second separation " includes in the step S01：
Zoom motor is progressively moved from Wide ends to Tele ends, moves to Z every timeiStop behind position, at the same it is corresponding mobile
Motor focus to position Ffar(i)、Ffar(i+1)、FnearAnd F (i)near(i+1) and record；
If meet Ffar(i)-Ffar(i+1)>T and Fnear(i+1)-Fnear(i)<When 0, choose corresponding with focusing position
Minimum zoom position is as the second separation.
Refering to Fig. 2, there are two curves in Fig. 2, curve above represents remote object distance zoom tracking curve, curve table below
Show nearly object distance zoom tracking curve；It is ZOOM motor subregion curve maps in Fig. 3, with the curve on the first separation left side refering to Fig. 3
It is middle for the second zoom subregion using the curve on the right of the second separation as the 3rd zoom subregion for the first zoom subregion.Refer to
There are four curves in Fig. 4, Fig. 4, target zoom curve almost overlaps with test zoom curve, and is located at nearly object distance zoom respectively
In aircraft pursuit course and remote object distance zoom tracking curve.
In summary, a kind of zoom tracking of the present invention, it is first according to zoom position that the simulation zoom of zoom motor is bent
Line is divided into continuous first zoom subregion, the second zoom subregion and the 3rd zoom subregion, then according to zoom motor and focusing
The initial position of motor, judge the relation between the zoom position and zoom subregion that are needed under current state, and according to current
The zoom curve driving zoom motor ZOOM and focusing motor FOCUS of zoom subregion are moved along track, and image can be avoided big
The phenomenon of width defocus, it is also fast with processing speed, there is better images effect particularly in zooming procedure；In addition, by right
The setting of first separation, the second separation, nearly object distance zoom tracking curve and remote object distance zoom tracking curve, can enter one
Step improves the precision of zoom.
Refering to Fig. 5, a kind of zoom tracks of device of the present invention, including pretreatment module 11, position acquisition and logging modle 12
And position adjusting type modules 13；
The pretreatment module 11, for the simulation zoom curve of zoom motor to be divided into continuous according to zoom position
One zoom subregion, the second zoom subregion and the 3rd zoom subregion, wherein, the boundary of the first zoom subregion and the second zoom subregion
Point is the first separation, and the separation of the second zoom subregion and the 3rd zoom subregion is the second separation；
The position acquisition and logging modle 12, for obtaining the last time zoom position and focusing electricity of zoom motor respectively
The last time focusing position of machine, and it is recorded as original zoom position and focusing position；
The position adjusting type modules 13, for judging the big of current zoom position and the first separation and the second separation
It is small, if current zoom position is less than or equal to the first separation, judge that zoom motor is located at the first zoom subregion, and according to pre-
If remote object distance zoom tracking curve synchronously driving zoom motor with focusing motor；If current zoom position is more than the first separation
And be less than or equal to the second separation, then judge that zoom motor is located at the second zoom subregion, and according to default adaptive adjustment
Route synchronous adjustment zoom motor and focusing motor；If current zoom position is more than the second separation, current zoom position is judged
Zoom motor and focusing motor are synchronously driven setting in the 3rd zoom subregion, and according to default nearly object distance zoom tracking curve.
In summary, a kind of zoom tracks of device of the present invention is device claim corresponding to above-mentioned zoom tracking,
It is fast with processing speed, become defocused image effect it is good the advantages of.
Embodiments of the invention are the foregoing is only, are not intended to limit the scope of the invention, it is every to utilize this hair
The equivalents that bright specification and accompanying drawing content are made, or the technical field of correlation is directly or indirectly used in, similarly include
In the scope of patent protection of the present invention.
Claims (7)
1. a kind of zoom tracking, it is characterised in that comprise the following steps：
S01, the simulation zoom curve of zoom motor is divided into by continuous first zoom subregion, the second zoom point according to zoom position
Area and the 3rd zoom subregion, wherein, the separation of the first zoom subregion and the second zoom subregion is the first separation, and second becomes
The separation of burnt subregion and the 3rd zoom subregion is the second separation；
S02, the last time zoom position for obtaining zoom motor respectively and motor of focusing last time focusing position, and be recorded as initial
Zoom position and focusing position；
S03, current zoom position and the size of the first separation and the second separation are judged, if current zoom position is less than or waited
In the first separation, then judge that zoom motor is located at the first zoom subregion, and it is same according to default remote object distance zoom tracking curve
Step driving zoom motor and focusing motor；If current zoom position is more than the first separation and is less than or equal to the second separation,
Then judge that zoom motor be located at the second zoom subregion, and according to it is default adaptively adjust route synchronous adjustment zoom motor with it is right
Burnt motor；If current zoom position is more than the second separation, judge that current zoom position is located at the 3rd zoom subregion, and according to
Default nearly object distance zoom tracking curve synchronously drives zoom motor and focusing motor.
2. zoom tracking according to claim 1, it is characterised in that " remote object distance zoom tracking in the step S03
The obtaining step of curve " includes：
The zoom whole process of zoom motor is divided into N deciles, every section of step-length is recorded as T, and change is once recorded from Wide ends to Tele ends
The position of burnt motor is ZiThe step of, wherein, 0<=i<N；
Zoom motor is driven to move to Z every time from Wide ends to Tele end motionsiDuring position, zoom motor stop motion, simultaneously
Start mobile focusing motor and reach maximum until focusing on evaluation of estimate Y, and it is F to record focusing motor positionnear(Zi) and Ffar
(Zi) the step of；
According to principle of least square method by data (Zi,Ffar(Zi)) it is fitted the step of obtaining remote object distance zoom tracking curve.
3. zoom tracking according to claim 1, it is characterised in that " nearly object distance zoom tracking in the step S03
The obtaining step of curve " includes：
The zoom whole process of zoom motor is divided into N deciles, every section of step-length is recorded as T, and change is once recorded from Wide ends to Tele ends
The position of burnt motor is ZiThe step of, wherein, 0<=i<N；
Zoom motor is driven to move to Z every time from Wide ends to Tele end motionsiDuring position, zoom motor stop motion, simultaneously
Start mobile focusing motor and reach maximum until focusing on evaluation of estimate Y, and it is F to record focusing motor positionnear(Zi) and Ffar
(Zi) the step of；
According to principle of least square method by data (Zi,Fnear(Zi)) it is fitted the step of obtaining nearly object distance zoom tracking curve.
4. the zoom tracking according to Claims 2 or 3, it is characterised in that " adaptive adjustment in the step S03
The obtaining step of route " includes：
The zoom whole process of zoom motor is divided into N deciles, every section of step-length is recorded as T, and change is once recorded from Wide ends to Tele ends
The position of burnt motor is ZiThe step of, wherein, 0<=i<N；
Zoom motor is driven to move to Z every time from Wide ends to Tele end motionsiDuring position, zoom motor stop motion, simultaneously
Start using step-length as (Fnear(K1)-Ffar(K1))/2 movement focusing motor, initially proximally once, record is same respectively for direction movement
The definition evaluation of estimate of two field pictures is Y before and after moved furthercur, YlastIf meet Ycur-Ylast>0.95*Ylas, represent to focus on
Motor is away from focus, in next time is synchronized with the movement, the adaptive direction of motion for adjusting last time focusing motor, wherein, K1Represent the
One separation.
5. zoom tracking according to claim 1, it is characterised in that in the step S01 " the first separation "
Obtaining step includes：
Zoom motor is progressively moved from Wide ends to Tele ends, moves to Z every timeiStop behind position, while mobile focusing electricity respectively
Machine is to position Ffar(i) with (Ffar(i)+Fnear(i))/2 and record；
Obtain correspondence image definition evaluation of estimate Y1(i), Y2(i), if meeting Y1(i)/Y2(i) when being more than or equal to 0.85, it is determined that
The now position Z of zoom motoriAs the first separation.
6. zoom tracking according to claim 1, it is characterised in that in the step S01 " the second separation "
Obtaining step includes：
Zoom motor is progressively moved from Wide ends to Tele ends, moves to Z every timeiStop behind position, while corresponding mobile focusing electricity
Machine is to position Ffar(i)、Ffar(i+1)、FnearAnd F (i)near(i+1) and record；
If meet Ffar(i)-Ffar(i+1)>T and Fnear(i+1)-Fnear(i)<When 0, choose corresponding with focusing position minimum
Zoom position is as the second separation.
7. a kind of zoom tracks of device, it is characterised in that adjusted including pretreatment module, position acquisition and logging modle and position
Mould preparation block；
The pretreatment module, for the simulation zoom curve of zoom motor to be divided into continuous first zoom according to zoom position
Subregion, the second zoom subregion and the 3rd zoom subregion, wherein, the separation of the first zoom subregion and the second zoom subregion is the
The separation of one separation, the second zoom subregion and the 3rd zoom subregion is the second separation；
The position acquisition and logging modle, for obtaining the last time zoom position and focusing motor of zoom motor respectively
Secondary focusing position, and it is recorded as original zoom position and focusing position；
The position adjusting type modules, for judging current zoom position and the size of the first separation and the second separation, if working as
Preceding zoom position is less than or equal to the first separation, then judges that zoom motor is located at the first zoom subregion, and according to default remote
Object distance zoom tracking curve synchronously drives zoom motor and focusing motor；If current zoom position is more than the first separation and is less than
Or equal to the second separation, then judge that zoom motor be located at the second zoom subregion, and adaptively to adjust route same according to default
Successive step zoom motor and focusing motor；If current zoom position is more than the second separation, judge that current zoom position is located at
3rd zoom subregion, and zoom motor and focusing motor are synchronously driven according to default nearly object distance zoom tracking curve.
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| CN106813635B (en) * | 2015-12-02 | 2019-12-03 | 南宁富桂精密工业有限公司 | A kind of bearing calibration of lens motor focusing curve and device |
| CN105704381B (en) * | 2016-03-16 | 2019-02-05 | 深圳英飞拓科技股份有限公司 | The zoom tracking and device of video camera |
| CN106341598A (en) * | 2016-09-14 | 2017-01-18 | 北京环境特性研究所 | Optical-lens automatic focusing system and method thereof |
| CN106842488A (en) * | 2017-02-24 | 2017-06-13 | 瑞声科技(新加坡)有限公司 | The focusing method of camera module |
| CN107529011B (en) * | 2017-08-23 | 2018-07-10 | 珠海安联锐视科技股份有限公司 | A kind of motorized zoom lens control method |
| CN107918278B (en) * | 2017-11-16 | 2021-01-19 | 江苏省生产力促进中心 | Automatic focus following method for film and television lens |
| CN109995982B (en) * | 2017-12-29 | 2021-06-22 | 浙江宇视科技有限公司 | Method and device for automatically focusing electric lens and camera |
| CN110012218B (en) * | 2018-12-19 | 2021-04-06 | 杭州晨安科技股份有限公司 | Automatic focusing method in large-amplitude out-of-focus state |
| CN109873948B (en) * | 2019-01-30 | 2020-06-26 | 中国地质大学（武汉） | Intelligent automatic focusing method and device for optical microscope and storage device |
| CN109769090A (en) * | 2019-02-18 | 2019-05-17 | 桂林长海发展有限责任公司 | A kind of focal length zoom quick focusing method and system based on image procossing |
| CN110121068B (en) * | 2019-04-02 | 2020-06-23 | 浙江大华技术股份有限公司 | Point selection method and device of zoom following curve and storage medium |
| CN113170055A (en) * | 2020-06-23 | 2021-07-23 | 深圳市大疆创新科技有限公司 | Zoom control method and device, handheld cloud deck and computer readable storage medium |
| CN112135055B (en) * | 2020-09-27 | 2022-03-15 | 苏州科达科技股份有限公司 | Zoom tracking method, device, equipment and storage medium |
| CN112601006B (en) * | 2020-11-10 | 2022-06-10 | 山东信通电子股份有限公司 | Tracking focusing method and device based on pan-tilt camera |
| CN114900606B (en) * | 2022-03-31 | 2024-01-05 | 浙江华创视讯科技有限公司 | Calibration method and device for zoom tracking curve, electronic device and storage medium |
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| CN104836954A (en) | 2015-08-12 |
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