CN110771138A

CN110771138A - Control method and control device for panoramic shooting, imaging system and storage medium

Info

Publication number: CN110771138A
Application number: CN201880038446.XA
Authority: CN
Inventors: 朱超; 白高平; 王根源
Original assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Current assignee: Shenzhen Dajiang Innovations Technology Co Ltd
Priority date: 2018-07-27
Filing date: 2018-07-27
Publication date: 2020-02-07
Anticipated expiration: 2038-07-27
Also published as: CN110771138B; WO2020019299A1

Abstract

A control method of panorama shooting, a control apparatus (30) of panorama shooting, an imaging system (100), and a computer-readable storage medium (400). The control method comprises the following steps: acquiring a panoramic shooting starting point and a panoramic shooting end point (012); determining a panorama shooting point (014) of an imaging apparatus (10) according to a panorama shooting start point and a panorama shooting end point; planning a motion path (016) of the carrier (20) according to the panoramic shooting point; and controlling the imaging device (10) to shoot (018) at the panoramic shooting point in the process that the carrier (20) moves the imaging device (10) according to the motion path.

Description

Control method and control device for panoramic shooting, imaging system and storage medium

Technical Field

The present invention relates to imaging technologies, and in particular, to a control method for panoramic photography, a control apparatus for panoramic photography, an imaging system, and a computer-readable storage medium.

Background

At present, when panoramic photography is performed, several groups of shooting angles and shooting numbers are preset, and then a user selects a certain preset shooting angle and shooting number in the actual shooting process to perform shooting and composition. However, the flexibility of the panoramic photographing method is poor, which is not favorable for achieving a better panoramic photographing effect.

Disclosure of Invention

Embodiments of the present invention provide a control method of panorama shooting, a control apparatus of panorama shooting, an imaging system, and a computer-readable storage medium.

The control method of the panoramic shooting of the embodiment of the invention comprises the following steps:

acquiring a panoramic shooting starting point and a panoramic shooting end point;

determining a panoramic shooting point of an imaging device according to the panoramic shooting starting point and the panoramic shooting end point;

planning a motion path of a carrier according to the panoramic shooting point;

and controlling the imaging device to shoot at the panoramic shooting point in the process that the carrier moves the imaging device according to the motion path.

The control device for panoramic shooting comprises a processor, wherein the processor is used for acquiring a panoramic shooting starting point and a panoramic shooting end point, determining a panoramic shooting point of an imaging device according to the panoramic shooting starting point and the panoramic shooting end point, planning a motion path of a carrier according to the panoramic shooting point, and controlling the imaging device to shoot at the panoramic shooting point in the process that the carrier moves the imaging device according to the motion path.

The photographing system of an embodiment of the present invention includes an imaging device, a carrier, and the control device described above.

A computer-readable storage medium of an embodiment of the present invention has stored thereon a computer program executable by a processor to perform the above-described control method.

The embodiment of the invention provides a control method of panoramic shooting, a control device of panoramic shooting, an imaging system and a computer readable storage medium. In the control method, the panoramic shooting point of the imaging device can be automatically determined according to the panoramic shooting starting point and the panoramic shooting end point, and the motion path of the carrier is planned according to the panoramic shooting point, so that the imaging device can shoot images at the panoramic shooting point. The motion path of the carrier can be freely planned according to the panoramic shooting starting point and the panoramic shooting end point, so that parameters of the imaging device, such as shooting duration, shooting number, shooting angle and the like, can be automatically and correspondingly adjusted according to needs, the flexibility of panoramic shooting is improved, the selection operation of a user is reduced, meanwhile, the automatic planning of the motion path is beneficial to reducing the repeated shooting and image splicing times of the imaging device, and the waste of resources is reduced.

Additional aspects and advantages of embodiments of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a flowchart illustrating a control method of panorama photographing according to some embodiments of the present invention;

FIG. 2 is a schematic view of an imaging system of certain embodiments of the present invention;

FIG. 3 is a schematic view of an imaging system of certain embodiments of the present invention;

fig. 4 to 7 are flow charts illustrating a control method of panorama photographing according to some embodiments of the present invention;

FIG. 8 is a schematic view of an imaging system and terminal of some embodiments of the inventions;

fig. 9 to 12 are flow charts illustrating a control method of panorama photographing according to some embodiments of the present invention;

FIG. 13 is a schematic view of an imaging system of certain embodiments of the present invention;

fig. 14 is a flowchart illustrating a control method of panorama photographing according to some embodiments of the present invention;

FIG. 15 is a schematic view of the field of view of the imaging device of the imaging system of certain embodiments of the present invention;

FIG. 16 is a schematic illustration of a panoramic capture scene in accordance with certain embodiments of the present invention;

fig. 17 to 19 are flowcharts illustrating a control method of panorama photographing according to some embodiments of the present invention;

FIG. 20 is a schematic illustration of the angle of rotation of the carrier 20 according to certain embodiments of the present invention;

fig. 21 is a flowchart illustrating a control method of panorama photographing according to some embodiments of the present invention;

FIG. 22 is a schematic illustration of a panoramic capture scene in accordance with certain embodiments of the present invention;

fig. 23 is a flowchart illustrating a control method of panorama photographing according to some embodiments of the present invention;

FIGS. 24 and 25 are schematic illustrations of a panoramic capture scene in accordance with certain embodiments of the present invention;

fig. 26 is a flowchart illustrating a control method of panorama photographing according to some embodiments of the present invention;

FIGS. 27-29 are schematic illustrations of panoramic photography scenes in accordance with certain embodiments of the present invention;

fig. 30 to 35 are flowcharts illustrating a control method of panorama photographing according to some embodiments of the present invention;

fig. 36 is a schematic diagram of the connection of an imaging system and a computer readable storage medium of some embodiments of the invention.

Description of the drawings with the main elements symbols:

imaging system 100, imaging apparatus 10, carrier 20, control apparatus 30, processor 32, portable unit 40, display 50, terminal 200, computer-readable storage medium 400.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The following disclosure provides many different embodiments or examples for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or uses of other materials.

Referring to fig. 1, a method for controlling panorama shooting according to an embodiment of the present invention includes:

012: acquiring a panoramic shooting starting point and a panoramic shooting end point;

014: determining a panoramic shooting point of the imaging device 10 according to the panoramic shooting starting point and the panoramic shooting end point;

016: planning a motion path of the carrier 20 according to the panoramic shooting point;

018: and controlling the imaging device 10 to shoot at the panoramic shooting point in the process that the carrier 20 moves the imaging device 10 according to the motion path.

Taking the application scenario of fig. 2 as an example for explanation, referring to fig. 2 again, the control device 30 for panoramic shooting according to the embodiment of the present invention includes a processor 32, where the processor 32 is configured to obtain a panoramic shooting start point and a panoramic shooting end point, determine a panoramic shooting point of the imaging device 10 according to the panoramic shooting start point and the panoramic shooting end point, plan a motion path of the carrier 20 according to the panoramic shooting point, and control the imaging device 10 to shoot at the panoramic shooting point in a process that the carrier 20 moves the imaging device 10 according to the motion path. The panorama shooting point, that is, each point when the imaging apparatus 10 performs shooting during panorama shooting, may include a panorama shooting start point and a panorama shooting end point. The carrier 20 may carry the imaging device 10, during the movement of the carrier 20, the shooting angle of the imaging device 10 may change along with the change of the posture of the carrier 20, and the panoramic shooting point may include the shooting angle of the imaging device 10 during panoramic shooting, that is, the posture of the carrier 20 during panoramic shooting.

Wherein, the moving path of the carrier 20 is formed according to the panoramic shooting point planning. Therefore, in the process that the carrier 20 moves the imaging device 10 according to the movement path, the shooting requirements of all panoramic shooting points can be met, so that the images corresponding to the panoramic shooting points can be obtained.

That is, the control method according to the embodiment of the present invention may be implemented by the control device 30 according to the embodiment of the present invention, wherein step 012, step 014, step 016 and step 018 may be implemented by the processor 32.

The control method of the embodiment of the present invention and the control device 30 of the embodiment of the present invention may be applied to the image forming system 100 of the embodiment of the present invention, that is, the image forming system 100 of the embodiment of the present invention may include the control device 30. In addition, the imaging system 100 further includes an imaging device 10 and a carrier 20.

The panoramic shooting control method, the panoramic shooting control device 30 and the imaging system 100 of the embodiment of the invention can automatically determine the panoramic shooting point of the imaging device 10 according to the panoramic shooting starting point and the panoramic shooting end point, and plan the motion path of the carrier 20 according to the panoramic shooting point, so that the imaging device 10 can shoot images at the panoramic shooting point. The movement path of the carrier 20 can be freely planned according to the panoramic shooting starting point and the panoramic shooting end point, so that parameters of the imaging device 10, such as shooting duration, shooting number, shooting angle and the like, can be automatically and correspondingly adjusted according to needs, the flexibility of panoramic shooting is increased, the selection operation of a user is reduced, meanwhile, through the automatic planning of the movement path, the repeated shooting and the image splicing times of the imaging device 10 are favorably reduced, and the waste of resources is reduced.

The panoramic shooting start point and the panoramic shooting end point can be determined by user input, so that the obtained panoramic shooting point can be a shooting position in which a user is interested, and an image shot by the imaging device 10 can greatly meet the shooting requirement of the user.

It is to be understood that the start point and the end point of the panoramic photographing may be determined in other ways besides the input for the user, for example, the start point and the end point of the panoramic photographing are automatically identified according to the conditions set by the user, and are not limited in detail here.

The imaging device 10 may be a camera. The imaging apparatus 10 may be disposed on a handheld pan/tilt head, for example, and the imaging apparatus 10 may also be mounted on other components, such as a head-mounted device, such as a sports tool. In addition, the imaging device 10 may be other electronic devices with a shooting function, such as a mobile phone, a tablet computer, and the like. The carrier 20 includes, for example, a movable platform such as a pan-tilt head, an aircraft, an automobile, a robot, a water-side mobile device, and the like. Wherein, the cloud platform can be single-axis, biax or triaxial cloud platform.

In some embodiments, the imaging device 10 and the carrier 20 may be a unitary structure. For example, in one embodiment, as shown in fig. 2, the imaging device 10 and the carrier 20 are formed as a handheld pan-tilt camera. The imaging device 10 may be used for capturing images and/or video, and the imaging device 10 includes, for example, a lens and an image sensor (not shown). The carrier 20 is used to support the image forming apparatus 10. The carrier 20 comprises, for example, a pan and tilt head. The pan/tilt head may be configured to move according to a movement path to move the imaging device 10. Meanwhile, the cradle head can increase stability of the imaging device 10 in the corresponding direction, so that the quality of the image and/or video acquired by the imaging device 10 is better, or the cradle head can be used for regulating and controlling the shooting angle of the imaging device 10.

In some embodiments, the imaging device 10 and the carrier 20 may be two devices independent from each other, wherein the communication mode between the imaging device 10 and the carrier 20 independent from each other may include a wired communication mode or a wireless communication mode, and the wireless communication mode includes, for example, a bluetooth communication mode, a WiFi communication mode, a ZigBee communication mode, and the like. In one embodiment, for example, as shown in fig. 3, the carrier 20 is an aircraft and the imaging device 10 is carried on the aircraft, and for example, the carrier 20 is a handheld pan-tilt head and the imaging device 10 is a camera or a cell phone.

It should be noted that the control device 30 may include one or more processors 32, and the one or more processors 32 are used to implement all control methods individually or cooperatively. Meanwhile, the one or more processors 32 may be disposed integrally or separately, and the disposed position may include the imaging apparatus 10 and/or the carrier 20, or may be disposed in other devices besides the imaging apparatus 10 and the carrier 20.

In some embodiments, step 012 may specifically be: when the carrier 20 is in a moving state, one posture of the carrier 20 is determined as a panorama shooting starting point and the other posture of the carrier 20 is determined as a panorama shooting end point according to the input of a user. In this way, the user can observe the picture of the imaging apparatus 10 in real time, so that the user can determine whether the picture of the imaging apparatus 10 meets the requirements of the user, and further can obtain a more appropriate panoramic shooting start point and panoramic shooting end point.

In some embodiments, step 012 can also be: when the carrier 20 is in a stationary state, one posture of the carrier 20 is determined as a panorama photographing start point according to the user's input, and the other posture of the carrier 20 is determined as a panorama photographing end point according to the user's input, and at this time, the carrier 20 may be in a stationary state. In this way, the carrier 20 does not need to be moved when determining the panorama shooting start point and the panorama shooting end point, so that power consumption required for the carrier 20 can be reduced.

Referring to fig. 4, in some embodiments, step 012 includes:

0121: the panorama shooting start point and panorama shooting end point are acquired in accordance with an input operation of the user on the imaging apparatus 10 for the carrier 20.

Taking the application scenario of fig. 2 as an example, referring to fig. 2 again, in some embodiments, the processor 32 is configured to obtain a panoramic start point and a panoramic end point according to an input operation of a user on the imaging apparatus 10 for the carrier 20.

That is, step 0121 may be implemented by processor 32.

Specifically, the imaging apparatus 10 includes, for example, keys (physical keys and/or virtual keys) by which a panoramic photographing start point and a panoramic photographing end point can be acquired by a user's input operation. In one embodiment, the imaging device 10 is provided with a confirmation key, and during the movement of the carrier 20, the user can determine whether the shooting angle of the imaging device 10 corresponding to the posture of the carrier 20 is satisfactory, and when the user feels satisfactory, the confirmation key can be triggered to determine the panoramic shooting starting point and the panoramic shooting ending point, wherein the confirmation key can be triggered by clicking, double clicking, long pressing and the like, for example, the confirmation key is clicked to determine the panoramic shooting starting point, the confirmation key is clicked by double clicking, the panoramic shooting ending point is determined by clicking the confirmation key for the first time, the panoramic shooting starting point is determined by clicking the confirmation key for the second time, and the panoramic shooting ending point is determined by clicking the confirmation key for the second time. Of course, the user may also directly input the posture of the carrier 20 as the panorama shooting start point and the panorama shooting end point on the imaging apparatus 10, for example, the user directly inputs the first posture value as the panorama shooting start point and the second posture value as the panorama shooting end point. The input operation of the user on the imaging apparatus 10 may be a touch screen input, a voice input, a motion sensing input, or the like, and is not particularly limited herein. In this way, the user can quickly acquire the panorama shooting start point and panorama shooting end point of interest to the user through the imaging apparatus 10, thereby improving the viewing efficiency and ensuring the panorama shooting of the picture of interest to the user.

Referring to fig. 5, in some embodiments, the carrier 20 is a cradle head, and the cradle head is disposed on the portable component 40, and step 012 includes:

0122: the panorama shooting start point and panorama shooting end point are acquired according to an input operation of a user on the portable unit 40 with respect to the pan/tilt head.

Taking the application scenario of fig. 2 as an example, please continue to refer to fig. 2, in some embodiments, the carrier 20 is a pan/tilt head, the pan/tilt head is disposed on the portable unit 40, and the processor 32 is configured to obtain a panoramic start point and a panoramic end point according to an input operation of a user on the portable unit 40 for the pan/tilt head.

That is, step 0122 may be implemented by processor 32.

In particular, the portable component 40 may be a hand-held part such as a hand-held pan-tilt camera. The portable section 40 includes, for example, keys (physical keys and/or virtual keys) by which a panoramic-shooting start point and a panoramic-shooting end point can be acquired by a user's input operation. In one embodiment, the portable unit 40 is provided with a confirmation key, and during the movement of the carrier 20, the user can determine whether the shooting angle of the imaging device 10 corresponding to the posture of the carrier 20 is satisfactory, and when the user feels satisfactory, the confirmation key can be triggered to determine the panoramic shooting starting point and the panoramic shooting ending point, wherein the confirmation key can be triggered by clicking, double clicking, long pressing, and the like, for example, the confirmation key is clicked to determine the panoramic shooting starting point, the confirmation key is clicked double, the confirmation key is clicked for example, the panoramic shooting starting point is determined by clicking the confirmation key for the first time, the panoramic shooting ending point is determined by clicking the confirmation key for the second time, and the like. Of course, the user may also directly input the posture of the carrier 20 as the panorama shooting start point and the panorama shooting end point on the portable part 40, for example, the user directly inputs the first posture value as the panorama shooting start point and the second posture value as the panorama shooting end point. The input operation by the user on the portable unit 40 may be a voice input, a body-sensory input, or the like, and is not particularly limited. In this way, the user can rapidly acquire the panorama shooting start point and the panorama shooting end point through the portable part 40, thereby improving the viewing efficiency, and ensuring the panorama shooting of the picture in which the user is interested, and particularly, because the imaging device 10 rotates along with the pan/tilt head, thereby converting the input operation to the imaging device 10 into the input operation to the portable part 40, which is beneficial to avoiding the motion interference of the user operation to the imaging device 10.

Referring to fig. 6, in some embodiments, a display screen 50 is disposed on the portable component 40, and step 0122 includes:

01222: the panorama shooting start point and panorama shooting end point are acquired according to the input operation of the user on the display screen 50 for the pan/tilt head.

Taking the application scenario of fig. 2 as an example, with continuing reference to fig. 2, in some embodiments, the portable unit 40 is provided with a display screen 50, and the processor 32 is configured to:

the panorama shooting start point and panorama shooting end point are acquired according to the input operation of the user on the display screen 50 for the pan/tilt head.

That is, step 01222 may be implemented by processor 32.

Specifically, the display screen 50 may be a touch display screen, and the touch display screen may display a confirmation icon as a virtual key, so that the user may perform an input operation according to the virtual key to obtain the panorama shooting start point and the panorama shooting end point.

It is understood that, in practical applications, in addition to using the virtual keys on the display screen 50 to obtain the panoramic start point and the panoramic end point, other manners may also be adopted, for example, clicking the display screen 50 or double clicking the display screen 50 during the process of controlling the rotation of the pan/tilt head, and the present disclosure is not limited in this respect.

Further, the user can control the pan/tilt head and also the imaging device 10 by touch operation on the display screen 50. At the same time, the display screen 50 may also be used to display images and/or video captured by the imaging device 10 for user preview.

Referring to fig. 7 and 8, in some embodiments, step 012 includes:

0123: the terminal 200 is used to control the carrier 20 and/or control the imaging apparatus 10 according to the panoramic photographing start point and the panoramic photographing end point obtained by the user's input operation on the terminal 200 for the carrier 20.

With continued reference to fig. 8, in some embodiments, the processor 32 is configured to obtain a panorama shooting start point and a panorama shooting end point according to an input operation of a user on the terminal 200 for the carrier 20, and the terminal 200 is configured to control the carrier 20 and/or the imaging apparatus 10.

That is, step 0123 can be implemented by processor 32.

Specifically, taking the carrier 20 as an aircraft for example, the terminal 200 includes a control terminal such as a remote controller, a mobile phone, and a tablet computer. The terminal 200 and the imaging device 10 and/or the carrier 20 may communicate through a wired communication manner or a wireless communication manner, so as to control the imaging device 10 and/or the carrier 20. The wireless communication method includes, for example, a bluetooth communication method, a WiFi communication method, a ZigBee communication method, and the like. Specifically, the terminal 200 includes, for example, keys (physical keys and/or virtual keys) by which a panorama shooting start point and a panorama shooting end point can be acquired by a user's input operation. In one embodiment, the terminal 200 is provided with a confirmation key, and during the movement of the carrier 20, the user can determine whether the shooting angle of the imaging device 10 corresponding to the posture of the carrier 20 is satisfactory, and when the user feels satisfactory, the confirmation key can be triggered to determine the panoramic shooting starting point and the panoramic shooting ending point, wherein the confirmation key can be triggered by clicking, double clicking, long pressing, and the like, for example, the confirmation key is clicked to determine the panoramic shooting starting point, the confirmation key is clicked double, the panoramic shooting ending point is determined by clicking the confirmation key for the first time, the panoramic shooting starting point is determined by clicking the confirmation key for the second time, and the panoramic shooting ending point is determined by clicking the confirmation key for the second time. Of course, the user may also directly input the posture of the carrier 20 as the panorama shooting start point and the panorama shooting end point on the terminal 200, for example, the user directly inputs the first posture value as the panorama shooting start point and the second posture value as the panorama shooting end point. The input operation of the user on the terminal 200 may be a touch screen input, a voice input, a motion sensing input, or the like, and is not particularly limited herein. Thus, the user can rapidly acquire the panorama shooting starting point and the panorama shooting end point through the terminal 200, thereby improving the view finding efficiency, ensuring the panorama shooting of the picture which the user is interested in, and particularly, realizing the remote view finding operation of the user.

It should be noted that, in the embodiment of the present invention, the terminal 200 may display the image and/or video captured by the imaging device 10 for the user to preview.

It will be appreciated that embodiments of the present invention are equally applicable where the carrier 20 is a pan/tilt head, for example as shown in figure 2.

Referring to fig. 9, in some embodiments, step 012 includes:

0124: the panorama shooting start point and panorama shooting end point are acquired in accordance with a manual turning operation of the user with respect to the carrier 20.

Taking the application scenario of fig. 2 as an example, referring to fig. 2 again, in some embodiments, the processor 32 is configured to obtain the panorama shooting start point and the panorama shooting end point according to a manual rotation operation of the user on the carrier 20.

That is, step 0124 may be implemented by processor 32.

In one embodiment, taking the carrier 20 as the cradle head in fig. 2 as an example for explanation, the user can determine and determine which position in the scene is desired to be shot by observing the scene, then manually rotate the carrier 20 so that the imaging device 10 can image the scene at the position and determine the posture of the carrier 20 at this time as the panoramic shooting starting point, and then manually rotate the carrier 20 again to determine another posture of the carrier 20 as the panoramic shooting ending point. Therefore, the panoramic starting point and the panoramic terminal can be quickly acquired according to the manual rotation operation of the user, the view finding efficiency is improved, the panoramic shooting of the picture interested by the user is ensured, the view finding mode is enriched, the view finding operation requirements suitable for different people are facilitated, and especially under the condition that other view finding operation modes are inconvenient (if the terminal 200 is not powered, if the operation button of the portable component 40 is out of order), the acquisition of the panoramic starting point and the panoramic terminal can be simply and quickly realized.

It is understood that when the carrier 20 is a mobile platform such as an aircraft, a robot, etc., the orientation of the aircraft or the robot may also be rotated in a hovering state such as an aircraft or a pausing state of the robot, so as to achieve the purpose of obtaining the panoramic shooting start point and the panoramic shooting end point.

Referring to fig. 10, in some embodiments, step 012 includes:

0125: determining a target object for panorama shooting;

0126: in the process of controlling the imaging apparatus 10 to track the target object through the carrier 20, a panorama shooting start point and a panorama shooting end point are acquired according to an input operation of a user.

Taking the application scenario of fig. 2 as an example, referring to fig. 2 again, in some embodiments, the processor 32 is configured to determine a target object for panoramic shooting and obtain a panoramic shooting start point and a panoramic shooting end point according to an input operation of a user during the process of controlling the imaging apparatus 10 to track the target object through the carrier 20.

That is, steps 0125 and 0126 may be implemented by the processor 32.

Specifically, the manner of determining the target object is, for example: objects moving in the scene are marked as target objects or the user selects an object in the image taken by the imaging device 10 on the display screen 50 as a target object. After determining the target object, the imaging device 10 may be controlled to track the target object, where tracking the target object means that the target object is always in the field of view of the imaging device 10, that is, the imaging device 10 may acquire an image including the target object, and during the tracking process, a user may obtain a corresponding panoramic starting point and a panoramic ending point through the obtaining manner of the panoramic starting point and the panoramic ending point according to any one of the above embodiments, for example, determine the panoramic starting point and the panoramic ending point through a confirmation key on the imaging device 10. Of course, during the tracking of the target object by the imaging apparatus 10, the user may determine a time period, determine the posture of the carrier 20 corresponding to the start time of the time period as the panoramic photographing start point, and determine the posture of the carrier 20 corresponding to the end time of the time period as the panoramic photographing end point. Therefore, the panoramic shooting starting point and the panoramic shooting end point can be quickly acquired according to the movement of the target object, the framing efficiency is improved, and the panoramic shooting of the picture which is interested by the user is ensured.

It is understood that the selected panorama shooting start point and panorama shooting end point may include attitude information of the carrier 20 and/or attitude information of the imaging apparatus 10, which may be obtained by attitude calculation, for example, may be integrated using the inertial measurement unit IMU of the carrier 20.

Referring to FIG. 11, in some embodiments, step 014 includes:

0142: determining the total shooting number of the imaging device 10 according to the panoramic shooting starting point and the panoramic shooting end point;

0144: the photographing angle of each image in the total number of photographed sheets is determined as a panorama photographing point.

Taking the application scenario of fig. 2 as an example, referring to fig. 2 again, in some embodiments, the processor 32 is configured to determine the total number of shots of the imaging apparatus 10 according to the start point and the end point of the panoramic shot, and determine the shooting angle of each image in the total number of shots as the panoramic shooting point.

That is, steps 0142 and 0144 may be implemented by processor 32.

Specifically, after the panorama shooting start point and the panorama shooting end point are determined, the total number of shots required for the panorama shooting may be determined from the panorama shooting start point and the panorama shooting end point, and then the shooting angle required for each image may be determined as one panorama shooting point. In this way, all panoramic shooting points can be accurately determined, so that the shooting area in which the user is interested appears in the image in a maximized manner, and the generation of redundant areas is minimized, thereby reducing the post-photo clipping time.

Referring to fig. 12, in some embodiments, step 0142 includes:

01421: determining the rotation angle of the carrier 20 according to the panoramic shooting starting point and the panoramic shooting end point;

01422: and determining the total number of the shots of the imaging device 10 according to the rotation angle, the field angle of the imaging device 10 and the preset splicing angle.

Taking the application scenario of fig. 2 as an example, referring to fig. 2 again, in some embodiments, the processor 32 is configured to determine the rotation angle of the carrier 20 according to the panoramic shooting start point and the panoramic shooting end point, and determine the total number of shots of the imaging apparatus 10 according to the rotation angle, the field angle of the imaging apparatus 10, and the preset stitching angle.

That is, steps 01421 and 01422 may be implemented by processor 32.

Specifically, referring to fig. 13, the carrier 20 may be configured to rotate around at least one rotation axis, and the panorama shooting start point and the panorama shooting end point may each include pose information of the carrier 20. The carrier 20 is, for example, a biaxial head configured to rotate around a yaw (yaw) axis and a pitch (pitch) axis, and the yaw axis attitude and the pitch axis attitude of the carrier 20 corresponding to the panorama shooting start point are, for example, (yaw) axis attitude_{Starting point}，pitch_{Starting point}) The yaw axis attitude and pitch axis attitude of the carrier 20 corresponding to the panoramic photographing end point are, for example, (yaw axis attitude)_{Terminal point}，pitch_{Terminal point}) When the rotation angle of the carrier 20 is determined based on the panorama shooting start point and the panorama shooting end point, the rotation angle α of the deflection axis of the carrier 20 can be determined_yawIs | yaw_{Terminal point}-yaw_{Starting point}Angle of rotation α of pitch axis of carrier 20_pitchIs | pitch_{Terminal point}-pitch_{Starting point}L. In one embodiment, (yaw)_{Starting point}，pitch_{Starting point}) Is (0, 0), (yaw)_{Terminal point}，pitch_{Terminal point}) Is (140, 150), then α_yawMay be 140-0 to 140 degrees, α_pitchAnd may be 150-0 to 150 degrees. When the carrier 20 is a single-axis pan-tilt or a three-axis pan-tilt, or when the carrier 20 is an aircraft, a robot, or other equipment, the calculation method of the rotation angle is the same as the calculation method of the rotation angle of the two-axis pan-tilt. And determining the total number of the shot images of the imaging device 10 according to the calculated rotation angle, the field angle of the imaging device 10 and the preset splicing angle.

Specifically, referring to fig. 13 and 14, in some embodiments, the carrier 20 is configured to rotate about at least one axis of rotation, and step 01422 includes:

01427: determining the rotation angle of the preset rotating shaft corresponding to the two adjacent images according to the field angle of the imaging device 10 and the preset splicing angle;

01428: determining the number of the shot images of the imaging device 10 corresponding to the preset rotating shaft according to the rotating angle and the rotating angle;

01429: the total number of shots of the imaging device 10 is determined based on the number of shots.

Referring again to fig. 2 and 13, in some embodiments, the carrier 20 is taken as a pan/tilt head for illustration, the carrier 20 is configured to rotate around at least one rotation axis, and the processor 32 is configured to determine a rotation angle of a preset rotation axis corresponding to two adjacent images according to the angle of view of the imaging device 10 and the preset stitching angle, determine the number of shots of the imaging device 10 corresponding to the preset rotation axis according to the rotation angle and the rotation angle, and determine the total number of shots of the imaging device 10 according to the number of shots.

That is, step 01427, step 01428, and step 01429 may be implemented by processor 32.

Specifically, taking the carrier 20 as a biaxial head as an example, the biaxial head is configured to rotate around a yaw (yaw) axis and a pitch (pitch) axis, and the yaw axis attitude and the pitch axis attitude of the carrier 20 corresponding to the panoramic shooting start point are, for example, (yaw) and (pitch) axes_{Starting point}，pitch_{Starting point}) The yaw axis attitude and pitch axis attitude of the carrier 20 corresponding to the panoramic photographing end point are, for example, (yaw axis attitude)_{Terminal point}，pitch_{Terminal point}) Angle of rotation α of the axis of deflection of the carrier 20_yawIs | yaw_{Terminal point}-yaw_{Starting point}Angle of rotation α of pitch axis of carrier 20_pitchIs | pitch_{Terminal point}-pitch_{Starting point}The preset rotation axis may be one or more preset rotation axes, and of course, the preset rotation axis may also be determined by user input. In this embodiment, the yaw axis and the pitch axis are both preset rotation axes.

In some embodiments, the rotation shaft may be smoothly transited when the rotation shaft is not the preset rotation shaft. For example, in the case of a two-axis pan/tilt head, if the yaw axis is a preset rotation axis and the pitch axis is not a preset rotation axis, the pitch axis may smoothly rotate during the rotation of the yaw axis.

Referring to fig. 15, in some embodiments, the imaging device 10 may include a lateral view angle β and a longitudinal view angle β, the rotation angle of the preset rotation axis corresponding to the two adjacent images is determined according to the view angle of the imaging device 10 and the preset stitching angle, specifically, the rotation angle of the yaw axis corresponding to the two adjacent images is determined according to the lateral view angle β of the imaging device 10 and the first preset stitching angle θ 1, and the rotation angle of the pitch axis corresponding to the two adjacent images is determined according to the longitudinal view angle β 2 of the imaging device 10 and the second preset stitching angle θ 2, where the lateral view angle β 1 of the imaging device 10 and the longitudinal view angle β 2 of the imaging device 10 may be the same or different, and the first preset stitching angle θ 1 and the second preset stitching angle θ 2 may also be the same or different, in this embodiment, the difference between the view angle β and the rotation angle of the imaging device 10, that is the stitching angle θ 1 — β, may be the difference between the view angle and the stitching angle of the rotation angle of the imaging device 10.

Referring to fig. 16, in some embodiments, the number of shots of the imaging device 10 corresponding to the preset rotation axis is determined according to the rotation angle and the rotation angle, which may be specifically α_yawAnd the rotation angle determines the number of shots num of the imaging device 10 corresponding to the yaw axis_yawAccording to α_pitchAnd the rotation angle determines the number of shots num of the imaging device 10 corresponding to the pitch axis_pitch. More specifically, the present invention is to provide a novel,

when the preset rotating shaft is a single rotating shaft, the total number of shots of the imaging device 10 is determined according to the number of shots, which may specifically be: determining the number of shot sheets corresponding to a single rotating shaft structure as a total number of shot sheets; when the number of the preset rotating shafts is two or more, the total number of the shots of the imaging device 10 is determined according to the number of the shots, which may specifically be: the total number of shots of the imaging apparatus 10 is determined based on the number of shots corresponding to the plurality of rotation axes, and more specifically, the product of the number of shots of the plurality of preset rotation axes may be calculated as the total number of shots, for example, the total number of shots num_total＝num_yaw*num_pitch. In this way, the obtained image corresponding to the total number of shots can cover the shooting area desired by the user as much as possible.

In one embodiment, (yaw)_{Starting point}，pitch_{Starting point}) Is (0, 0), (yaw)_{Terminal point}，pitch_{Terminal point}) Is (140, 150), α_yawAt 140 degrees, α_pitch150 degrees, β degrees (60 degrees) and theta (20 degrees), the angle is defined as

num_total＝5*5＝25。

In some embodiments, the preset splicing angle is a minimum splicing angle; the total number of shots is the minimum number of shots. Specifically, when the preset splicing angle is the minimum splicing angle, the rotation angle of the preset rotating shaft corresponding to two adjacent images is the maximum at this time, so that the number of shots corresponding to each preset rotating shaft is the minimum, and further, the total number of shots of the imaging device 10 determined according to the number of shots corresponding to the preset rotating shaft is also the minimum. In this way, a panoramic image can be obtained with a minimum total number of images taken, thereby reducing the number of imaging times and imaging time required for the imaging apparatus 10, reducing the power consumption of the imaging apparatus 10, and reducing the time required for panoramic photographing.

In some embodiments, the carrier 20 may be configured to rotate about a rotation axis, which is preset as a yaw axis or a pitch axis. Of course, the preset rotation shaft may be a roll shaft. In this way, when the carrier 20 rotates around a rotating shaft, the imaging device 10 can obtain a plurality of images arranged in one dimension, thereby forming a panoramic image in the corresponding dimension. For example, the imaging device 10 may obtain a plurality of images arranged laterally while the carrier 20 is rotated about the deflection axis, thereby forming a laterally panoramic image. For another example, the imaging device 10 may obtain a plurality of images arranged in a longitudinal direction while the carrier 20 is rotated about the pitch axis, thereby forming a longitudinal panoramic image.

In some embodiments, the carrier 20 may also be configured to rotate about at least two axes of rotation, the predetermined axes of rotation including a yaw axis and a pitch axis. Of course, the preset rotation axis may be at least two of the yaw axis, the pitch axis, and the roll axis. In this manner, the imaging device 10 can obtain a plurality of images arranged in at least two dimensions while the carrier 20 is rotated about at least two rotational axes, thereby forming a panoramic image in the corresponding dimension. For example, the imaging apparatus 10 can obtain a plurality of images arranged laterally as well as longitudinally as the carrier 20 rotates about the yaw axis and the pitch axis, thereby forming a panoramic image with more comprehensive image information.

Referring to FIG. 17, in some embodiments, step 01421 includes:

01423: acquiring the rotation direction of the carrier 20 from the panoramic shooting starting point to the panoramic shooting end point;

01424: the rotation angle of the carrier 20 is determined according to the panorama shooting start point, the panorama shooting end point and the rotation direction.

Taking the application scenario of fig. 2 as an example, referring to fig. 2 again, in some embodiments, the processor 32 is configured to obtain a rotation direction of the carrier 20 from the panorama shooting start point to the panorama shooting end point, and determine a rotation angle of the carrier 20 according to the panorama shooting start point, the panorama shooting end point and the rotation direction.

That is, step 01423 and step 01424 may be implemented by processor 32.

Specifically, the carrier 20 may include a plurality of rotation directions from the panorama shooting start point to the panorama shooting end point, and rotation angles of the carrier 20 of the same panorama shooting start point and the same panorama shooting end point determined according to the different rotation directions may be different, and therefore, it is necessary to acquire the rotation direction of the carrier 20 from the panorama shooting start point to the panorama shooting end point, so that the rotation angle may be accurately acquired according to the rotation direction, the panorama shooting start point, and the panorama shooting end point.

Referring to fig. 18, in some embodiments, step 01423 includes:

01425: and acquiring the rotation direction recorded in the process that the carrier 20 rotates from the panoramic shooting starting point to the panoramic shooting end point.

Taking the application scenario of fig. 2 as an example, referring to fig. 2 again, in some embodiments, the processor 32 is configured to obtain a rotation direction recorded during the rotation of the carrier 20 from the start point of the panorama shooting to the end point of the panorama shooting.

That is, step 01425 may be implemented by processor 32.

In some embodiments, when acquiring the start point and the end point of the panoramic photographing, the moving direction of the carrier 20 when moving from the start point to the end point of the panoramic photographing may be recorded, and the recorded moving direction may be recorded as the rotating direction of the carrier 20 during the panoramic photographing. Thus, the rotation direction can be determined by acquiring the recorded data, which is beneficial to reducing the calculation or analysis work when determining the rotation direction

Referring to fig. 19, in some embodiments, step 01423 includes:

01426: and determining the rotation direction of the carrier 20 from the panoramic shooting starting point to the panoramic shooting end point according to the rotation angle range of the carrier 20, wherein the rotation angle range is not more than 360 degrees.

Taking the application scenario of fig. 2 as an example, referring to fig. 2 again, in some embodiments, the processor 32 is configured to determine the rotation direction of the carrier 20 from the panoramic shooting start point to the panoramic shooting end point according to the rotation angle range of the carrier 20, where the rotation angle range is not greater than 360 degrees.

That is, step 01426 may be implemented by processor 32.

Referring to fig. 20, specifically, taking the carrier 20 as a pan/tilt head as an example, the rotation angle of the corresponding rotating shaft of the carrier 20 is not greater than 360 degrees, for example, the rotation angle of the yaw axis of the carrier 20 is-180 degrees to 180 degrees (where-180 degrees and 180 degrees may correspond to the mechanical limit of the yaw axis), so that the carrier 20 cannot be directly transited from-180 degrees to 180 degrees, nor from 180 degrees to-180 degrees (the carrier 20 may collide with the corresponding mechanical limit). It is therefore possible to determine whether the carrier 20 is rotated in each possible rotational direction and will hit a mechanical limit, which indicates that the corresponding rotational direction is wrong if it hits a limit, and that the corresponding rotational direction is correct if it does not hit a limit. Therefore, the rotation direction of the carrier 20 from the panorama shooting start point to the panorama shooting end point can be accurately determined according to the rotation angle of the carrier 20.

In some embodiments, the direction of rotation may also be determined based on user input. For example, the panorama shooting start point and the panorama shooting end point are directly determined by the user input, and the user may simultaneously input the rotation direction as the rotation direction of the support 20 (e.g., the user slides right on the display screen 50 of the portable part 40 or on the display screen of the terminal 200 to indicate that the rotation direction is clockwise, and slides left to indicate that the rotation direction is counterclockwise).

Referring to fig. 21, in some embodiments, the method further comprises:

022: determining the carrier 20 posture corresponding to each image according to the rotation angle and the total shooting number;

024: the posture of the carrier 20 is determined as a photographing angle.

Taking the application scenario of fig. 2 as an example, referring to fig. 2 again, in some embodiments, the processor 32 is configured to determine the posture of the carrier 20 corresponding to each image according to the rotation angle and the total number of shots, and determine the posture of the carrier 20 as the shooting angle.

That is, step 022 and step 024 may be implemented by processor 32.

Referring to FIG. 22, in some embodiments, each of the sheets is determined according to the rotation angle and the total number of the photographed sheetsThe posture of the carrier 20 corresponding to the image may specifically be: and determining the posture of the carrier 20 corresponding to each image according to the rotation angle and the number of the shot images corresponding to each rotation shaft. Taking the carrier 20 as a biaxial pan/tilt head as an example, the biaxial pan/tilt head is configured to rotate around the yaw axis and pitch axis, and the yaw axis attitude and pitch axis attitude of the carrier 20 corresponding to the panoramic shooting start point is, for example, (yaw axis attitude)_{Starting point}，pitch_{Starting point}) The angle of rotation of the axis of deflection of the carrier 20 is α_yawThe pitch axis of the carrier 20 is rotated at α_pitchThe number of shots corresponding to the yaw axis is num_yawNumber of shots num corresponding to pitch axis_pitchThe yaw axis attitude yaw of the carrier 20 corresponding to the nth image_n＝yaw_{Starting point}+α_yaw/(num_yaw-1)*[(n-1)％num_yaw]Pitch-axis attitude of the carrier 20 corresponding to the nth imageWherein n is more than or equal to 1 and less than or equal to num_total。

In one embodiment, (yaw)_{Starting point}，pitch_{Starting point}) Is (0, 0), (yaw)_{Terminal point}，pitch_{Terminal point}) Is (140, 150), α_yawAt 140 degrees, α_pitch150 degrees, β degrees, 60 degrees, theta 20 degrees,

num_total5 × 5 — 25, the yaw axis attitude and pitch axis attitude (yaw) of the carrier 20 corresponding to the 1 st image is obtained₁，pitch₁) Is (yaw)_{Starting point}，pitch_{Starting point}) The 2 nd image corresponds to the yaw axis attitude and pitch axis attitude (yaw) of the carrier 20₂，pitch₂) Is composed of

Yaw axis attitude and pitch axis attitude (yaw) of the carrier 20 corresponding to the 3 rd image₃，pitch₃) Is (yaw)_{Starting point}+140/(5-1)*[(3-1)％5]＝yaw_{Starting point}+140/2，

By analogy, the posture of the carrier 20 corresponding to each image, for example, the yaw axis posture and pitch axis posture (yaw axis posture) of the carrier 20 corresponding to the 24 th image can be obtained₂₄，pitch₂₄) Is (yaw)_{Starting point}+140/(5-1)*[(24-1)％5]＝yaw_{Starting point}+140*3/4，) The 25 th image corresponds to the yaw axis attitude and pitch axis attitude (yaw) of the carrier 20₂₅，pitch₂₅) Is (yaw)_{Starting point}+140/(5-1)*[(25-1)％5]＝yaw_{Starting point}+140＝yaw_{Terminal point}，

)。

It should be noted that the sequence number of the images is to determine the posture of the carrier 20 corresponding to the panoramic shooting point (i.e. the shooting angle of the panoramic shooting point), and it may not be taken as the shooting sequence of the images during panoramic shooting (i.e. may not be taken as the sequence of the panoramic shooting points), that is, the first image may not be the first image during panoramic shooting, the second image may not be the second image during panoramic shooting, and so on. During panoramic shooting, only all panoramic shooting points need to be shot, and the shooting sequence can be set according to actual requirements. Of course, the number of the images may be directly regarded as the order of capturing the images in the panoramic shooting, and is not particularly limited herein.

In some embodiments, when the carrier 20 is configured to rotate around at least two rotation axes, the shooting angles of the panorama shooting point include a yaw shooting angle and a pitch shooting angle, wherein the yaw shooting angle corresponds to a yaw axis attitude of the carrier 20, and the pitch shooting angle corresponds to a pitch axis attitude of the carrier 20, and the step 016 includes:

dividing panoramic shooting points with the same deflection shooting angle into the same group;

sequencing a plurality of groups of panoramic shooting points according to the size of the deflection shooting angle, and sequencing the same group of panoramic shooting points according to the size of the pitching shooting angle;

and planning the motion path of the carrier 20 according to the sequencing result.

In some embodiments, when the carrier 20 is configured to rotate around at least two rotation axes, the shooting angles of the panorama shooting points include a yaw shooting angle and a pitch shooting angle, and the processor 32 is configured to divide the panorama shooting points with the same yaw shooting angle into a same group, sort the plurality of groups of panorama shooting points according to the magnitude of the yaw shooting angle, sort the same group of panorama shooting points according to the magnitude of the pitch shooting angle, and plan the motion path of the carrier 20 according to the sorting result.

Specifically, the movement path of the carrier 20 is planned according to the sorting result, which may specifically be: the pitching shooting angles of the panoramic shooting points in the same group are small to large, and the deflection shooting angles of the panoramic shooting points in different groups are small to large; the pitching shooting angles of the panoramic shooting points of the same group are changed from large to small, and the deflection shooting angles of the panoramic shooting points of different groups are changed from small to large; the pitching shooting angles of the panoramic shooting points of the same group are changed from small to large, and the deflection shooting angles of the panoramic shooting points of different groups are changed from large to small; the pitch shooting angles of the panoramic shooting points of the same group are from large to small, and the yaw shooting angles of the panoramic shooting points of different groups are from large to small. Wherein the panorama shooting points of the same group are consecutive. In one embodiment, the corresponding yaw shooting angle of the panoramic shooting point of the first group is the smallest, the pitch shooting angle of the panoramic shooting point of the first group is from small to large, then the panoramic shooting points jump to the second group according to the magnitude sequence of the yaw shooting angles, the pitch shooting angle of the panoramic shooting point of the second group is from small to large, … …, until the panoramic shooting point jumps to the last group, the corresponding yaw shooting angle of the panoramic shooting point of the last group is the largest, and the pitch shooting angle of the panoramic shooting point of the last group is from small to large.

In some embodiments, the motion path is the shortest motion path. Specifically, after the panoramic shooting point is determined, the shortest motion path can be planned according to the panoramic shooting point, so that the shooting time can be effectively shortened on the basis of simplifying the panoramic shooting flow, the times of repeated shooting and splicing are reduced, and the panoramic shooting of a user is improved.

Referring to fig. 23, 24 and 25, in particular, when the carrier 20 is configured to rotate around at least two rotation axes, the photographing angles of the panorama photographing point include a yaw photographing angle and a pitch photographing angle, wherein the yaw photographing angle corresponds to a yaw axis attitude of the carrier 20, and the pitch photographing angle corresponds to a pitch axis attitude of the carrier 20, and the step 016 includes:

0161: dividing panoramic shooting points with the same deflection shooting angle into the same group;

0162: sorting the plurality of groups of panoramic shooting points according to the size of the deflection shooting angle;

0163: determining that the pitching shooting angle of the odd-numbered group of panoramic shooting points changes in a first change direction, and determining that the pitching shooting angle of the even-numbered group of panoramic shooting points changes in a second change direction, wherein the first change direction is opposite to the second change direction;

0164: and jumping to the panoramic shooting points of the next group in sequence after the change of the pitching shooting angles of the panoramic shooting points of the same group is finished.

Referring again to fig. 2, 24 and 25, in some embodiments, when the carrier 20 is configured to rotate around at least two rotation axes, the shooting angles of the panorama shooting points include a yaw shooting angle and a pitch shooting angle, the processor 32 is configured to divide the panorama shooting points with the same yaw shooting angle into a same group, sort the plurality of groups of panorama shooting points according to the magnitude of the yaw shooting angle, determine that the pitch shooting angle of the panorama shooting points of the odd group changes in a first changing direction, determine that the pitch shooting angle of the panorama shooting points of the even group changes in a second changing direction, and sequentially jump to the panorama shooting points of the next group after the change of the pitch shooting angle of the panorama shooting points of the same group is over. Wherein the first changing direction is opposite to the second changing direction.

That is, step 0161, step 0162, step 0163, and step 0164 may be implemented by processor 32.

Referring to fig. 24, in an embodiment, the motion path may be specifically configured to divide the panorama shooting points with the same yaw shooting angle into the same group, that is, the panorama shooting points in the same group have the same yaw shooting angle and different pitch shooting angles, sort the groups according to the yaw shooting angle of each group of panorama shooting points, determine that the pitch shooting angle of the first group gradually decreases (first change direction) starting from the panorama shooting point with the largest pitch shooting angle of the first group, jump to the next group of panorama shooting points when the pitch shooting angle of the first group is the smallest (change end), jump to the panorama shooting point closest to the panorama shooting point before jumping in order to shorten the motion path, that is, only change the yaw shooting angle without changing the pitch shooting angle when jumping, at this time, the corresponding pitch shooting angle of the panorama shooting point after jumping is the smallest, therefore, it can be determined that the tilt angle of the second group should be gradually increased (second changing direction), that is, the changing direction of the tilt angle of the second group (second changing direction) is opposite to the changing direction of the tilt angle of the first group (first changing direction), and so on until the movement path can pass through each panorama shooting point. It can be understood that when the groups are sorted according to the size of the deflection shooting angle of the panoramic shooting point of each group, the groups may be sorted from small to large, or sorted from large to small, and are not specifically limited herein. In addition, referring to fig. 25 again, the panoramic shooting point with the smallest pitch shooting angle of the first group may be set as a starting point, the pitch shooting angle of the first group is determined to be gradually increased (a first change direction), when the pitch shooting angle of the first group is the largest, the next group of panoramic shooting point is skipped, the pitch shooting angle corresponding to the skipped panoramic shooting point is the largest, then the pitch shooting angle of the second group is determined to be gradually decreased (a second change direction), and so on until the motion path can pass through each panoramic shooting point. In this manner, the shortest motion path can be determined from step 0161, step 0162, step 0163, and step 0164.

: dividing panoramic shooting points with the same pitching shooting angle into the same group;

sequencing the multiple groups of panoramic shooting points according to the size of the pitching shooting angle, and sequencing the same group of panoramic shooting points according to the size of the deflection shooting angle;

In some embodiments, when the carrier 20 is configured to rotate around at least two rotation axes, the shooting angles of the panorama shooting points include a yaw shooting angle and a pitch shooting angle, and the processor 32 is configured to divide the panorama shooting points with the same pitch shooting angle into a same group, sort the plurality of groups of panorama shooting points according to the size of the pitch shooting angle, sort the same group of panorama shooting points according to the size of the yaw shooting angle, and plan the motion path of the carrier 20 according to the sorting result.

Specifically, the movement path of the carrier 20 is planned according to the sorting result, specifically, the deflection shooting angles of the panoramic shooting points in the same group are changed from small to large, and the pitch shooting angles of the panoramic shooting points in different groups are changed from small to large; the deflection shooting angles of the panoramic shooting points of the same group are changed from large to small, and the pitching shooting angles of the panoramic shooting points of different groups are changed from small to large; the deflection shooting angles of the panoramic shooting points of the same group are from small to large, and the pitching shooting angles of the panoramic shooting points of different groups are from large to small; the deflection shooting angles of the panoramic shooting points of the same group are large to small, and the pitching shooting angles of the panoramic shooting points of different groups are large to small. Wherein the panorama shooting points of the same group are consecutive. In one embodiment, the pitch shooting angle corresponding to the first group of panorama shooting points is the smallest, the yaw shooting angle of the first group of panorama shooting points is the smallest to the largest, then the panorama shooting points jump to the second group according to the size sequence of the pitch shooting angles, the yaw shooting angle of the second group of panorama shooting points is the smallest to the largest, … …, until the panorama shooting points jump to the last group, the pitch shooting angle corresponding to the last group of panorama shooting points is the largest, and the yaw shooting angle of the last group of panorama shooting points is the smallest to the largest.

Referring to fig. 26, 27 and 28, in particular, when the carrier 20 is configured to rotate around at least two rotation axes, the photographing angles of the panorama photographing point include a yaw photographing angle and a pitch photographing angle, wherein the yaw photographing angle corresponds to a yaw axis attitude of the carrier 20, and the pitch photographing angle corresponds to a pitch axis attitude of the carrier 20, and step 016 includes:

0165: dividing panoramic shooting points with the same pitching shooting angle into the same group;

0166: sequencing the multiple groups of panoramic shooting points according to the size of the pitching shooting angle;

0167: determining that the deflection shooting angle of the odd-numbered group of panoramic shooting points changes in a third change direction, determining that the deflection shooting angle of the even-numbered group of panoramic shooting points changes in a fourth change direction, wherein the third change direction is opposite to the fourth change direction;

0168: and jumping to the panoramic shooting points of the next group in sequence after the change of the deflection shooting angle of the panoramic shooting points of the same group is finished.

Referring to fig. 2, 27 and 28, in some embodiments, when the carrier 20 is configured to rotate around at least two rotation axes, the shooting angles of the panorama shooting points include a yaw shooting angle and a pitch shooting angle, the processor 32 is configured to divide the panorama shooting points with the same pitch shooting angle into a same group, sort the plurality of groups of panorama shooting points according to the size of the pitch shooting angle, determine that the yaw shooting angle of the panorama shooting points of the odd group changes in a third changing direction, determine that the yaw shooting angle of the panorama shooting points of the even group changes in a fourth changing direction, and sequentially jump to the panorama shooting points of the next group after the change of the yaw shooting angle of the panorama shooting points of the same group is over. Wherein the third changing direction is opposite to the fourth changing direction.

That is, step 0165, step 0166, step 0167 and step 0168 may be implemented by processor 32.

Referring to fig. 27 again, in an embodiment, the motion path may be specifically configured to divide the panorama points with the same pitch shooting angle into the same group, that is, the panorama points of the same group have the same pitch shooting angle and different yaw shooting angles, sort the groups according to the pitch shooting angles of the panorama points of each group, determine that the yaw shooting angle of the first group gradually increases (third change direction) starting from the panorama point with the smallest yaw shooting angle of the first group, jump to the next panorama point when the yaw shooting angle of the first group is the largest (change end), jump to the panorama point closest to the panorama point before jumping, that is, only change the pitch shooting angle without changing the yaw shooting angle when jumping, and then the yaw shooting angle corresponding to the panorama point after jumping is the largest when jumping, therefore, it can be determined that the yaw photographing angle of the second group should be gradually decreased (fourth changing direction), that is, the changing direction of the yaw photographing angle of the second group (fourth changing direction) is opposite to the changing direction of the yaw photographing angle of the first group (third changing direction), and so on until the movement path can pass through each panorama photographing point. It can be understood that when the groups are sorted according to the size of the pitching shooting angle of the panoramic shooting point of each group, the groups may be sorted from small to large, or sorted from large to small, and are not specifically limited herein. In addition, referring to fig. 28 again, the panoramic shooting point with the largest deflection shooting angle of the first group may be set as a starting point, the deflection shooting angle of the first group is determined to be gradually decreased (the third changing direction), when the deflection shooting angle of the first group is the smallest, the next panoramic shooting point is skipped, the deflection shooting angle corresponding to the skipped panoramic shooting point is the smallest, the deflection shooting angle of the second group is determined to be gradually increased (the fourth changing direction), and so on until the motion path can pass through each panoramic shooting point. In this manner, the shortest motion path can be determined from step 0165, step 0166, step 0167 and step 0168.

Of course, in some embodiments, the shortest motion path may also be another motion path, such as shown in fig. 29, which is not limited herein.

Referring to fig. 25, 28 and 29, in some embodiments, the panorama photographing start point and/or panorama photographing end point is a panorama photographing intermediate point among the panorama photographing points. Specifically, the panorama shooting middle point refers to a corresponding panorama shooting point when an image is not shot for the first time in the panorama shooting process, and is not shot for the last time. In addition, the panoramic shooting starting point may be a panoramic shooting point corresponding to the last image shooting in the panoramic shooting process, and the panoramic shooting ending point may be a panoramic shooting point corresponding to the first image shooting in the panoramic shooting process. That is to say, the panoramic shooting starting point may be a panoramic shooting point corresponding to any shooting of an image in the panoramic shooting process, and the panoramic shooting end point may also be a panoramic shooting point corresponding to any shooting of an image in the panoramic shooting process, and may be specifically set as needed.

Referring to fig. 30, in some embodiments, the method further comprises:

step 026: determining the total movement time length of the carrier 20 according to the movement path;

step 018 includes:

0182: and controlling the imaging device 10 to shoot at the panoramic shooting point in the process that the carrier 20 moves the imaging device 10 according to the motion path and the total motion duration.

Taking the application scenario of fig. 2 as an example, referring to fig. 2 again, in some embodiments, the processor 32 is configured to determine a total movement duration of the carrier 20 according to the movement path, and control the imaging apparatus 10 to shoot at the panoramic shooting point during the process that the carrier 20 moves the imaging apparatus 10 according to the movement path and the total movement duration.

That is, step 026 and step 0182 may be implemented by processor 32.

Specifically, after the movement path is determined, the total movement duration of the carrier 20 may be planned according to the movement path, so that the movement of the carrier 20 may be planned according to the total movement duration, so that the carrier 20 completes the whole movement path within the total movement duration, that is, the imaging device 10 performs panoramic shooting within the total movement duration. If the rotational speed of the carrier 20 is constant, the longer the movement path, the longer the total movement duration, and the shorter the movement path, the shorter the total movement duration.

Referring to fig. 31, in some embodiments, step 026 includes:

0262: determining a posture difference of the carrier 20 between adjacent panorama shooting points of the imaging apparatus 10 according to the motion path;

0264: acquiring the corresponding movement duration of the adjacent panoramic shooting points according to the attitude difference of the carrier 20 and the preset angular speed;

0266: and determining the total movement duration of the carrier 20 according to the movement durations corresponding to all the adjacent panoramic shooting points.

Taking the application scenario of fig. 2 as an example, referring to fig. 2 again, in some embodiments, the processor 32 is configured to determine a posture difference of the carrier 20 between adjacent panoramic shooting points of the imaging apparatus 10 according to the motion path, obtain a motion duration corresponding to the adjacent panoramic shooting points according to the posture difference of the carrier 20 and the preset angular speed, and determine a total motion duration of the carrier 20 according to the motion durations corresponding to all the adjacent panoramic shooting points.

That is, step 0262, step 0264, and step 0266 may be implemented by processor 32.

Specifically, the attitude of the carrier 20 corresponding to the panorama shooting points arranged in the order in which the movement path passes is, for example, P₁、P₂、P₃、…、P_n-1、P_nWherein n is more than or equal to 1 and less than or equal to num_total. Taking the carrier 20 as an example of a two-axis pan-tilt head configured to rotate about the yaw axis and the pitch axis, P₁Is (yaw)_p1，pitch_p1)，P₂Is (yaw)_p2，pitch_p2)，P₃Is (yaw)_p3，pitch_p3)，……，P_n-1Is (yaw)_pn-1，pitch_pn-1)，P_nIs (yaw)_pn，pitch_pn) Then the attitude difference of the carrier 20 between the adjacent panorama shooting points is (yaw)_p2-yaw_p1，pitch_p2-pitch_p1)、(yaw_p3-yaw_p2，pitch_p3-pitch_p2)、…、(yaw_pn-yaw_pn-1，pitch_pn-pitch_pn-1). Acquiring the corresponding movement duration of the adjacent panoramic shooting points according to the attitude difference and the preset angular speed, wherein the movement duration can be specifically as follows: acquiring the motion duration of the yaw axis according to the attitude difference of the yaw axis and the preset angular speed of the yaw axis, acquiring the motion duration of the pitch axis according to the attitude difference of the pitch axis and the preset angular speed of the pitch axis, and determining the motion duration T corresponding to the adjacent panoramic shooting points according to the motion duration of the yaw axis and the motion duration of the pitch axis_n. The preset angular velocity of the yaw axis and the preset angular velocity of the pitch axis may be the same or different, and in the embodiment of the present invention, the preset angular velocity of the yaw axis is equal to the preset angular velocity of the pitch axis, which is equal to ω. The movement time of the yaw axis is (yaw)_pn-yaw_pn-1) Omega, the duration of the movement of the pitch axis is (pitch)_pn-pitch_pn-1) Because the yaw axis and the pitch axis can rotate simultaneously, the larger value of the motion duration of the yaw axis and the motion duration of the pitch axis can be taken as the motion duration T corresponding to the adjacent panoramic shooting point_nIf the total movement time length T is equal to T₂+T₃+…+T_n-1+T_n。T₂For the movement duration, T, of the second panoramic view point corresponding to the first panoramic view point₃The movement duration, T, corresponding to the third panoramic photographing point and the second panoramic photographing point_n-1The motion duration, T, corresponding to the n-1 th panoramic shooting point and the n-2 th panoramic shooting point_nAnd the motion duration corresponding to the nth panoramic shooting point and the (n-1) th panoramic shooting point is obtained.

In some embodiments, the total movement duration is a minimum total movement duration. Specifically, the movement path may be the shortest movement path described above, the preset angular velocity may be a maximum preset angular velocity, and the obtained total movement duration is a minimum total movement duration.

Referring to fig. 32, in some embodiments, the method further comprises:

028: and combining the currently shot image with the shot image in real time.

Taking the application scenario of fig. 2 as an example, referring again to fig. 2, in some embodiments, the processor 32 is configured to combine the currently captured image and the captured image in real time.

That is, step 028 can be implemented by processor 32.

Specifically, when shooting is performed according to the planned path, the currently shot image and the shot image can be merged in real time, so that the merged panoramic image can be obtained at the end of panoramic shooting, namely, the images can be quickly merged to form the panoramic image.

Referring to fig. 33, in some embodiments, the method further comprises:

032: a preview of the merged image is generated.

Taking the application scenario of fig. 2 as an example, referring again to fig. 2, in some embodiments, the processor 32 is configured to generate a preview of the merged image.

That is, step 032 may be implemented by processor 32.

Specifically, after the panoramic images are combined in real time to form the panoramic image, the panoramic image can be previewed, so that a user can observe the synthetic effect of the panoramic image in real time, and then the user can determine whether to interrupt panoramic shooting according to the requirement, for example, after the user observes, the panoramic shooting can be interrupted if the panoramic image shot at present is not the shooting effect desired by the user.

As shown in fig. 2. The imaging system 100 may include a display screen 50 through which image previews may be made via the display screen 50. It is to be understood that at least one of the imaging device 10, the portable unit 40, and the terminal 200 may also be used for image preview.

Referring to fig. 34, in some embodiments, the method further comprises:

034: one or more panoramic images are generated.

Taking the application scenario of fig. 2 as an example, referring again to fig. 2, in some embodiments, the processor 32 is configured to generate one or more panoramic images.

That is, step 034 may be implemented by processor 32.

Specifically, the plurality of images shot at the panoramic shooting point may form one or more panoramic images, that is, all the images may be combined into one panoramic image, or all the images may be divided into a plurality of groups, and each group forms a corresponding panoramic image. In this manner, one or more panoramic images may be generated according to user needs.

In some embodiments, the formed panoramic image may be stored. In particular, the imaging system 100 may further include a memory (not shown) into which the processor 32 saves the generated one or more panoramic images. Of course, the imaging system 100 may also communicate with other electronic devices (e.g., a user terminal, a server, etc.), and the processor 32 may transmit the generated one or more panoramic images to the other electronic devices through the communication module, or may share the formed panoramic images.

Referring to fig. 35, in some embodiments, the method further comprises:

036: when the imaging apparatus 10 completes the panoramic photographing, the carrier 20 is locked.

Taking the application scenario of fig. 2 as an example, referring again to fig. 2, in some embodiments, the processor 32 is configured to lock the carrier 20 when the imaging device 10 completes the panoramic shooting.

That is, step 036 may be implemented by processor 32.

Specifically, when the imaging apparatus 10 completes the panoramic photographing, the carrier 20 completes the entire moving process, and at this time, the locking of the carrier 20 may be controlled, thereby reducing the power consumption of the carrier 20. In addition, locking the carrier 20 can prevent the imaging device 10 from defaulting to continuously shooting images due to continuous movement of the carrier 20 (at this time, if the continuously shooting images are not the images desired by the user, the synthesized panoramic image may not meet the requirements of the user), so that the quality of the synthesized panoramic image is better, and the power consumption of the imaging device 10 can be reduced.

Referring to fig. 36, a computer-readable storage medium 400 according to an embodiment of the present invention includes a computer program, which can be executed by the processor 32 to implement the control method according to any one of the above embodiments.

For example, the computer program may be executed by the processor 32 to perform the control method described in the following steps:

As another example, the computer program may also be executable by the processor 32 to perform a control method as described in the following steps:

In the description herein, references to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps in the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.

The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, various steps or methods may be performed by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for performing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried out in the above method may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and the program, when executed, includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be executed in the form of hardware or in the form of a software functional module. The integrated module, if executed in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A control method of panoramic shooting is characterized by comprising the following steps:

planning a motion path of a carrier according to the panoramic shooting point;

2. The method of claim 1, wherein determining a panorama shooting point of an imaging device according to the panorama shooting start point and the panorama shooting end point comprises:

determining the total shooting number of the imaging device according to the panoramic shooting starting point and the panoramic shooting end point;

and determining the shooting angle of each image in the total shooting number as the panoramic shooting point.

3. The method of claim 2, wherein the determining a total number of shots of the imaging device based on the panorama shooting start point and the panorama shooting end point comprises:

determining the rotation angle of the carrier according to the panoramic shooting starting point and the panoramic shooting end point;

and determining the total number of the shot images of the imaging device according to the rotation angle, the field angle of the imaging device and a preset splicing angle.

4. The method of claim 3, wherein the carrier is configured to rotate around at least one rotation axis, and wherein determining the total number of shots of the imaging device according to the rotation angle, the field angle of the imaging device and a preset stitching angle comprises:

determining the rotation angle of the preset rotating shaft corresponding to the two adjacent images according to the field angle of the imaging device and the preset splicing angle;

determining the number of the imaging device corresponding to the preset rotating shaft according to the rotating angle and the rotating angle;

and determining the total number of the shot pictures of the imaging device according to the number of the shot pictures.

5. The method of claim 4, wherein the carrier is configured to rotate about a rotation axis, the predetermined rotation axis being a yaw axis or a pitch axis; or

The carrier is configured to rotate about at least two axes of rotation, the predetermined axes of rotation including a yaw axis and a pitch axis.

6. The method of claim 5, wherein when the carrier is configured to rotate about at least two axes of rotation, the pan angles of the panorama point include a yaw pan angle and a pitch pan angle, and wherein planning the path of motion of the carrier based on the panorama point comprises:

dividing the panoramic shooting points with the same deflection shooting angle into the same group;

sequencing multiple groups of panoramic shooting points according to the size of the deflection shooting angle, and sequencing the same group of panoramic shooting points according to the size of the pitching shooting angle;

and planning the motion path of the carrier according to the sequencing result.

7. The method of claim 5, wherein when the carrier is configured to rotate about at least two axes of rotation, the pan angles of the panorama point include a yaw pan angle and a pitch pan angle, and wherein planning the path of motion of the carrier based on the panorama point comprises:

dividing the panoramic shooting points with the same pitching shooting angle into the same group;

sequencing a plurality of groups of panoramic shooting points according to the size of the pitching shooting angle, and sequencing the same group of panoramic shooting points according to the size of the deflection shooting angle;

and planning the motion path of the carrier according to the sequencing result.

8. The method of claim 3, wherein the preset splicing angle is a minimum splicing angle; the total number of shots is the minimum number of shots.

9. The method of claim 3, wherein determining the rotation angle of the carrier according to the panorama shooting start point and the panorama shooting end point comprises:

acquiring the rotation direction of the carrier from the panoramic shooting starting point to the panoramic shooting end point;

and determining the rotation angle of the carrier according to the panoramic shooting starting point, the panoramic shooting end point and the rotation direction.

10. The method of claim 9, wherein the obtaining the rotation direction of the carrier from the start point of the panorama shooting to the end point of the panorama shooting comprises:

acquiring a rotation direction recorded in the process that the carrier rotates from the panoramic shooting starting point to the panoramic shooting end point; or the like, or, alternatively,

and determining the rotation direction of the carrier from the panoramic shooting starting point to the panoramic shooting end point according to the rotation angle range of the carrier, wherein the rotation angle range is not more than 360 degrees.

11. The method of claim 3, further comprising:

determining the carrier posture corresponding to each image according to the rotation angle and the total shooting number;

and determining the carrier posture as the shooting angle.

12. The method of claim 1, wherein the motion path is a shortest motion path.

13. The method of claim 1, wherein the panorama shooting start point and/or the panorama shooting end point is a panorama shooting middle point among the panorama shooting points.

14. The method of claim 1, further comprising:

determining the total movement time length of the carrier according to the movement path;

the controlling the imaging device to shoot at the panoramic shooting point in the process that the carrier moves the imaging device according to the motion path comprises the following steps:

and controlling the imaging device to shoot at the panoramic shooting point in the process that the carrier moves the imaging device according to the motion path and the total motion duration.

15. The method of claim 14, wherein said determining a total movement duration of said carrier from said movement path comprises:

determining a carrier attitude difference between adjacent panoramic shooting points of the imaging device according to the motion path;

acquiring the motion duration corresponding to the adjacent panoramic shooting points according to the carrier attitude difference and a preset angular speed;

and determining the total movement duration of the carrier according to the movement durations corresponding to all the adjacent panoramic shooting points.

16. The method of claim 15, wherein the total movement duration is a minimum total movement duration.

17. The method of claim 1, wherein the obtaining of the panorama shooting start point and the panorama shooting end point comprises:

and acquiring the panoramic shooting starting point and the panoramic shooting end point according to the input operation of a user on the imaging device aiming at the carrier.

18. The method of claim 1, wherein the carrier is a pan-tilt head disposed on a portable device, and the obtaining the panorama shooting start point and the panorama shooting end point comprises:

and acquiring the panoramic shooting starting point and the panoramic shooting end point according to the input operation of a user on the portable component aiming at the holder.

19. The method according to claim 18, wherein a display screen is provided on the portable unit, and the acquiring the panorama shooting start point and the panorama shooting end point according to the input operation of the user on the portable unit for the pan/tilt head comprises:

and acquiring the panoramic shooting starting point and the panoramic shooting end point according to the input operation of a user on the display screen aiming at the holder.

20. The method of claim 1, wherein the obtaining of the panorama shooting start point and the panorama shooting end point comprises:

and acquiring the panoramic shooting starting point and the panoramic shooting end point according to the input operation of a user on the carrier on a terminal, wherein the terminal is used for controlling the carrier and/or controlling the imaging device.

21. The method of claim 1, wherein the obtaining of the panorama shooting start point and the panorama shooting end point comprises:

and acquiring the panoramic shooting starting point and the panoramic shooting end point according to the manual rotation operation of the user on the carrier.

22. The method of claim 1, wherein the obtaining of the panorama shooting start point and the panorama shooting end point comprises:

determining a target object for the panorama shooting;

and in the process of controlling the imaging device to track the target object through the carrier, acquiring the panoramic shooting starting point and the panoramic shooting end point according to the input operation of a user.

23. The method of claim 1, further comprising:

and combining the currently shot image with the shot image in real time.

24. The method of claim 23, further comprising:

a preview of the merged image is generated.

25. The method of claim 1, further comprising:

one or more panoramic images are generated.

26. The method of claim 1, further comprising:

and when the imaging device finishes the panoramic shooting, locking the carrier.

27. A control apparatus for panorama shooting, characterized in that the apparatus comprises a processor for:

planning a motion path of a carrier according to the panoramic shooting point;

28. The apparatus of claim 27, wherein the processor is configured to:

29. The apparatus of claim 28, wherein the processor is configured to:

30. The apparatus of claim 29, wherein the carrier is configured to rotate about at least one axis of rotation, and wherein the processor is configured to:

31. The apparatus of claim 30, wherein the carrier is configured to rotate about a rotation axis, the predetermined rotation axis being a yaw axis or a pitch axis; or

32. The apparatus of claim 31, wherein when the carrier is configured to rotate about at least two axes of rotation, the pan angle of the panorama capture point comprises a yaw capture angle and a pitch capture angle, the processor configured to:

and planning the motion path of the carrier according to the sequencing result.

33. The apparatus of claim 31, wherein when the carrier is configured to rotate about at least two axes of rotation, the pan angle of the panorama capture point comprises a yaw capture angle and a pitch capture angle, the processor configured to:

and planning the motion path of the carrier according to the sequencing result.

34. The apparatus of claim 29, wherein the preset splicing angle is a minimum splicing angle; the total number of shots is the minimum number of shots.

35. The apparatus of claim 29, wherein the processor is configured to:

36. The apparatus of claim 35, wherein the processor is configured to:

37. The apparatus of claim 29, wherein the processor is configured to:

and determining the carrier posture as the shooting angle.

38. The apparatus of claim 27, wherein the motion path is a shortest motion path.

39. The apparatus of claim 27, wherein the panorama shooting start point and/or the panorama shooting end point is a panorama shooting middle point of the panorama shooting points.

40. The apparatus of claim 27, wherein the processor is configured to:

41. The apparatus of claim 40, wherein the processor is configured to:

42. The apparatus of claim 41, wherein the total movement duration is a minimum total movement duration.

43. The apparatus of claim 27, wherein the processor is configured to:

44. The apparatus of claim 27, wherein the carrier is a pan/tilt head disposed on a portable component, the processor configured to:

45. The device of claim 44, wherein a display screen is provided on the portable unit, and the processor is configured to:

46. The apparatus of claim 27, wherein the processor is configured to:

47. The apparatus of claim 27, wherein the processor is configured to:

48. The apparatus of claim 27, wherein the processor is configured to:

determining a target object for the panorama shooting;

49. The apparatus of claim 27, wherein the processor is configured to:

and combining the currently shot image with the shot image in real time.

50. The apparatus of claim 49, wherein the processor is configured to:

a preview of the merged image is generated.

51. The apparatus of claim 27, wherein the processor is configured to:

one or more panoramic images are generated.

52. The apparatus of claim 27, wherein the processor is configured to:

53. An imaging system comprising an imaging device, a carrier and a control device as claimed in any one of claims 27 to 52.

54. The imaging system of claim 53, wherein the imaging device and the carrier are a unitary structure.

55. A computer-readable storage medium on which a computer program is stored, the computer program being executable by a processor to perform the control method of any one of claims 1 to 26.