CN110800286B - Shooting method and related equipment - Google Patents
Shooting method and related equipment Download PDFInfo
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- CN110800286B CN110800286B CN201980002892.XA CN201980002892A CN110800286B CN 110800286 B CN110800286 B CN 110800286B CN 201980002892 A CN201980002892 A CN 201980002892A CN 110800286 B CN110800286 B CN 110800286B
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- 238000000034 method Methods 0.000 title claims abstract description 69
- 239000002360 explosive Substances 0.000 claims abstract description 120
- 238000004880 explosion Methods 0.000 claims description 46
- 230000008859 change Effects 0.000 claims description 40
- 230000008569 process Effects 0.000 claims description 24
- 230000015572 biosynthetic process Effects 0.000 claims description 13
- 238000003786 synthesis reaction Methods 0.000 claims description 13
- 238000012545 processing Methods 0.000 claims description 8
- 230000001133 acceleration Effects 0.000 claims description 7
- 230000002194 synthesizing effect Effects 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 6
- 238000007781 pre-processing Methods 0.000 claims description 5
- 238000013507 mapping Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 9
- 230000001360 synchronised effect Effects 0.000 description 5
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
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Abstract
A shooting method and related equipment are provided, wherein the method comprises the following steps: receiving a shooting instruction for explosive shooting; and controlling the shooting device to simultaneously perform exposure and zooming based on the shooting instruction so as to obtain an explosive image. By adopting the embodiment of the invention, the mobile platform controls the exposure and the zooming of the shooting device to be carried out simultaneously, so that the synchronization of the exposure and the zooming of the explosive shooting is ensured, the influence of the asynchronism of the exposure and the zooming on the explosive image is avoided, and the quality of the explosive image is improved.
Description
Technical Field
The present invention relates to the field of image technologies, and in particular, to a shooting method and a related device.
Background
With the continuous development of the times, the requirements of users on image shooting are higher and higher, and in order to meet the requirements of users, various image shooting modes are generated, wherein explosion shooting is one of them, and the so-called explosion shooting refers to that the focal length is changed rapidly at the moment of pressing a shutter by utilizing the focal length variability of a lens of a shooting device, so that the focal length is increased or decreased, and thus, a picture generates strong explosion radiation lines spreading from the center to the periphery.
The problem of unsynchronized exposure and zooming exists when the zooming device is manually adjusted in the conventional explosion-type shooting, and the effect of shot explosion-type images is influenced. Therefore, how to improve the quality of the explosive image becomes a hot issue of research.
Disclosure of Invention
The embodiment of the invention provides a shooting method and related equipment, which can improve the quality of an explosive image.
In a first aspect, an embodiment of the present invention provides a shooting method, including:
receiving a shooting instruction for explosive shooting;
and controlling the shooting device to simultaneously perform exposure and zooming based on the shooting instruction so as to obtain an explosive image.
In a second aspect, an embodiment of the present invention provides a mobile platform, including: memory, processor and camera:
the memory for storing program code;
the processor, configured to invoke the program code, and when executed, configured to:
receiving a shooting instruction for explosive shooting;
controlling the shooting device to simultaneously perform exposure and zooming based on the shooting instruction so as to obtain an explosive image;
and the shooting device is used for simultaneously carrying out exposure and zooming to obtain an explosive image when receiving the shooting instruction.
Accordingly, an embodiment of the present invention provides a computer-readable storage medium, which stores computer program instructions, and the computer program instructions are used for implementing the shooting method according to the first aspect described above when executed.
In the embodiment of the invention, when the explosion type shooting instruction is received, the mobile platform controls the shooting device hung on the mobile platform to simultaneously expose and zoom based on the explosion type shooting instruction so as to obtain the explosion type image. In addition, the user does not need to manually adjust the zoom, and only needs to send the shooting instruction for the explosive shooting to obtain the explosive shooting image, so that the user experience is improved.
Drawings
FIG. 1 is a schematic diagram of an explosive image according to an embodiment of the present invention;
fig. 2 is an application scenario diagram of the explosive shooting according to the embodiment of the present invention;
fig. 3 is a schematic flowchart of a shooting method according to an embodiment of the present invention;
fig. 4 is a schematic flowchart of another shooting method according to an embodiment of the present invention;
fig. 5 is a schematic flowchart of another shooting method according to an embodiment of the present invention;
FIG. 6 is a diagram of a zoom mode and exposure time for each exposure according to an embodiment of the present invention;
FIG. 7 is a schematic view of a vertebral body model according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a mobile platform according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a shooting device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The explosion shooting mode is a shooting mode realized based on the focal length variability and exposure controllability of a shooting device, generally, the focal length variability of the shooting device depends on a zoom lens of the shooting device, and the zoom lens of the shooting device can be adjusted to change the focal length state of the shooting device; the exposure controllability of the photographing device means that the exposure time can be controlled by a shutter of the photographing device. Specifically, the explosion shooting refers to that the zoom lens is rapidly pushed and pulled at the moment when the shutter of the shooting device is pressed, the focal length is increased or decreased, and therefore the picture generates strong explosion radiation lines which spread from the center to the periphery, as shown in fig. 1.
As can be seen from fig. 1, the center of the explosive image obtained by the explosive shooting is relatively clear, and the sharpness is lower as the image is closer to the edge, because the focal length change of the image center is weaker in the explosive shooting, and the focal length change is stronger as the image is closer to the edge of the screen. Therefore, when shooting in an explosion mode, the shooting subject is usually placed at the center of the picture, which can both make the shooting subject relatively clear and blur the background, as shown in fig. 1, while highlighting the central leaf and blurring other leaves in the shooting background. Due to the shooting characteristics of the explosion-type shooting, the explosion-type shooting can be applied to shooting of moving pictures or shooting of street night scene lamplight and other shooting scenes.
A common explosive shot is zoomed and exposed by manually adjusting the camera. Specifically, during shooting, the focal length of the shooting device is adjusted by manually rotating a zoom ring of the shooting device, and the exposure condition of the shooting device is controlled by a shutter of the shooting device. However, when the zoom ring is manually rotated, the camera shakes, which affects the quality of the shot explosive image.
Moreover, by manually adjusting the shooting device to zoom and expose, it is easy to cause that the shooting device starts to expose, but the shooting device does not start to rotate the zoom ring to zoom, or the exposure is not finished, and the action of rotating the zoom ring is finished, so that the exposure and the zooming are not synchronous, and if the exposure and the zooming are not synchronous, the zooming effect cannot be fully embodied in the shot explosion type image, thereby affecting the quality of the explosion type image.
Therefore, in order to solve the above problem, an embodiment of the present invention provides a shooting method, which can be applied to a mobile platform on which a shooting device is mounted, and the mobile platform can control the shooting device to perform explosive shooting. Specifically, when the mobile platform receives a shooting instruction of the explosion type shooting, the shooting device on the mobile platform is controlled to simultaneously expose and zoom so as to obtain an explosion type image. In addition, in the shooting method provided by the embodiment of the invention, the user does not need to manually adjust the zoom, and only needs to send the shooting instruction of the explosion type shooting to obtain the explosion type shot image, so that the user experience is improved.
In addition, in the shooting method provided by the embodiment of the invention, the mobile platform controls the shooting device to simultaneously perform exposure and zooming during explosive shooting, so that the influence of shaking of the shooting device caused by manually adjusting the exposure and zooming on the explosive image quality is avoided. In addition, the shooting device is mounted on the mobile platform to carry out explosive shooting, and multi-view shooting is realized.
The photographing method according to an embodiment of the present invention is described in detail below with reference to fig. 2. Referring to fig. 2, an application scenario diagram of explosive shooting according to an embodiment of the present invention is provided, in fig. 2, a mobile platform is assumed to be an unmanned aerial vehicle 201, a shooting device 202 is mounted on the unmanned aerial vehicle, an explosive shooting instruction received by the unmanned aerial vehicle 201 may be sent by a user through a terminal control device matched with the unmanned aerial vehicle 201, in fig. 2, it is assumed that the terminal control device matched with the unmanned aerial vehicle is a remote controller 203, and a shooting target is assumed to be a street night scene 204. In one embodiment, the user can control the drone 201 to fly through the remote controller 203, and when the drone 201 flies to a suitable position for shooting the shooting target 204, the user can control the drone 201 to be in a hovering state through the remote controller 203 and send a shooting instruction for explosive shooting to the drone 201; when the drone 201 receives a shooting instruction for explosive shooting, the shooting device 202 is controlled to perform exposure and zooming simultaneously based on the shooting instruction to obtain an explosive image 205. It should be understood that the shooting device mounted on the unmanned aerial vehicle is used for carrying out the explosive shooting, the multi-view shooting is realized, the application range of the explosive shooting is expanded, the shooting device can be controlled to zoom and expose simultaneously, and the quality of the shot explosive image is improved. In addition, the user does not need to manually adjust the zoom, and only needs to send the shooting instruction for the explosive shooting to obtain the explosive shooting image, so that the user experience is improved.
The embodiment of the invention provides a shooting method as shown in fig. 3, which can be applied to a mobile platform, wherein a shooting device is hung on the mobile platform, and the shooting device can carry out explosive shooting. The photographing method illustrated in fig. 3 may be performed by a mobile platform, and in particular may be performed by a processor of the mobile platform, and the mobile platform may include any one of a drone, an unmanned vehicle, a mobile robot, and a camera, and the photographing method illustrated in fig. 3 may include the following steps:
step S301, the mobile platform receives a shooting instruction for the explosive shooting.
It should be understood that, in order to ensure safe and effective movement of the mobile platform and perform certain operations such as shooting operation, obstacle avoidance operation, etc., a matched terminal control device such as a remote controller may be configured for the mobile platform, or a mobile control system may be configured in the mobile platform. In one embodiment, if the mobile platform is configured with a matched terminal control device, a user can monitor the movement condition of the mobile platform through the terminal control device, and control the movement of the mobile platform and control the mobile platform to perform certain operations through the terminal control device. For example, suppose that the mobile platform is an unmanned aerial vehicle, and the terminal control device matched with the unmanned aerial vehicle is a remote controller, the user can realize the functions of tracking flight of the unmanned aerial vehicle, avoiding obstacles and the like through the remote controller. In other embodiments, if a mobile control system is configured in the mobile platform, the mobile control system may monitor the mobile state of the mobile platform, thereby implementing the mobile control of the mobile platform.
In step S301, the shooting instruction is an instruction for instructing the mobile platform to control the shooting device to shoot a shooting target, and in one embodiment, the shooting instruction may be sent by a terminal control device matching with the mobile platform, or the shooting instruction may also be generated and sent by a mobile control system of the mobile platform.
Specifically, if the shooting instruction is sent by the terminal control device matched with the mobile platform, the manner of receiving the shooting instruction sent by the terminal control device matched with the mobile platform may be: when the terminal control device obtains an operation for the explosive shooting, a shooting instruction for the explosive shooting can be generated according to the operation, and the shooting instruction is sent to the mobile platform; if the shooting instruction is sent by the mobile control system of the mobile platform, the mode of receiving the shooting instruction sent by the mobile control system of the mobile platform may be: when the mobile platform starts to move, setting a moving route for the mobile platform, and setting shooting points for carrying out explosive shooting in the moving route; after the setting is successful, the mobile control system can control the mobile platform to move according to a set moving route, and when the mobile platform is monitored to move to a shooting point, a shooting instruction for explosive shooting is generated and sent to the mobile platform.
And step S302, controlling the shooting device to simultaneously perform exposure and zooming based on the shooting instruction so as to obtain an explosive image.
It should be understood that the explosive image is an image obtained by rapidly controlling the focal length change of the shooting device while exposing, and in the embodiment of the invention, the zooming and the exposure of the shooting device can be controlled to be strictly synchronous, so that the quality of the shot explosive image is improved.
In one embodiment, the shooting device is provided with a zoom device and an exposure device, the mobile platform controls the shooting device to simultaneously perform exposure and zoom based on the shooting instruction, and the zoom device and the exposure device of the shooting device are substantially controlled to be in an exposure state and a focal length state when the shooting device performs shooting, so that the zoom time and the exposure time are the same, and an explosive image with higher quality is obtained.
In one embodiment, in order to obtain an explosive image with higher quality while saving power consumption overhead of the mobile platform, before the mobile platform controls the shooting device to perform exposure and zoom simultaneously based on the shooting instruction, it may further be determined whether a current operating state of the mobile platform meets a preset state condition, specifically, before the mobile platform controls the shooting device to perform exposure and zoom simultaneously based on the shooting instruction: acquiring the running state of the mobile platform; and if the running state of the mobile platform meets a preset state condition, executing the step of controlling the shooting device to simultaneously perform exposure and zooming based on the shooting instruction.
Wherein the preset state condition comprises that the mobile platform is in a hovering state. When an image is shot, if the shooting device is in an operating state, the image can be out of focus, and therefore the shot image is blurred. In the embodiment of the invention, the shooting device is hung on the mobile platform and moves along with the movement of the mobile platform, and the shooting device is ensured to shoot in a stable state by ensuring that the mobile platform is in a hovering state, so that the power consumption expense of the mobile platform is saved, and meanwhile, an explosive image with higher quality is obtained.
In other embodiments, if the operating state of the mobile platform does not satisfy the preset state condition, the mobile platform may ignore the shooting instruction received this time, or the mobile platform may generate a hover prompt message for prompting a user or a mobile control system to hover the mobile platform.
And when the step of controlling the shooting device to simultaneously perform exposure and zooming is finished based on the shooting instruction, the mobile platform can obtain an explosive image, and further, the mobile platform can output the explosive image for a user to view or use, and simultaneously can store the explosive image in the mobile platform.
In one embodiment, in order to enhance the user experience, it is required to ensure that the explosive image output by the mobile platform is an image obtained in case of successful shooting, so before outputting the shot explosive image to the user, the mobile platform further needs to determine whether the shooting is successful: if shooting is successful, the mobile platform outputs the explosive image; and if the shooting fails, the mobile platform can output shooting failure prompt information. Optionally, the shooting failure prompt message may include a reason for shooting failure, which is helpful for a user to adjust shooting of the mobile platform according to the reason for shooting failure, so that the mobile platform performs shooting again until shooting is successful, as shown in fig. 4.
In one embodiment, there are many factors that determine whether the shooting is successful, such as whether the mobile platform is hovering to be in operation during shooting, or whether the camera is simultaneously performing exposure and zooming during shooting, and if the mobile platform remains hovering all the time during shooting, or the camera is simultaneously performing exposure and zooming during shooting, it can be determined that the shooting is successful; otherwise, it may be determined that the photographing is unsuccessful. The above are only two factors influencing the success or failure of shooting provided by the embodiment of the present invention, and other factors influencing the success or failure of shooting may exist in the actual shooting process.
In the embodiment of the invention, when the explosion type shooting instruction is received, the mobile platform controls the shooting device mounted on the mobile platform to simultaneously perform exposure and zooming based on the explosion type shooting instruction so as to obtain an explosion type image. Because the movable platform can control the exposure and the zooming of the shooting device to be carried out simultaneously, the synchronization of the exposure and the zooming during the explosive shooting is ensured, the influence of the asynchronism of the exposure and the zooming on the explosive image quality is avoided, and the explosive image quality is improved. In addition, the shooting device hung on the mobile platform is used for carrying out explosive shooting, and the requirement of multi-view shooting is met. In addition, the user does not need to manually adjust the zoom, and only needs to send the shooting instruction for the explosive shooting to obtain the explosive shooting image, so that the user experience is improved.
Referring to fig. 5, a schematic flow chart of another shooting method according to an embodiment of the present invention is shown, where the shooting method shown in fig. 5 includes the following steps:
in step S501, a shooting instruction for explosive shooting is received.
In an embodiment, some possible implementations included in step S501 may refer to descriptions of corresponding parts in the embodiment shown in fig. 3, and are not described herein again.
Step S502, acquiring a zoom mode included in the shooting instruction, and determining an exposure mode of the shooting device during simultaneous exposure and zooming based on the zoom mode.
In an embodiment, the shooting instruction received in step S501 may carry a zoom mode, where the zoom mode refers to a focal length change mode of the shooting device, and the zoom mode may include constant-speed zooming and variable-speed zooming, where the constant-speed zooming refers to zooming of the shooting device at a constant speed in a zooming process, the variable-speed zooming refers to zooming of the shooting device at a variable speed in the zooming process, the variable-speed zooming includes acceleration zooming and deceleration zooming, the acceleration zooming refers to zooming of the shooting device from slow to fast in the zooming process, and the deceleration zooming refers to zooming of the shooting device from fast to slow in the zooming process. Practice shows that the explosive lines in the explosive image shot by the shooting device in the constant-speed zooming mode are uniform and have a regular sense, and the lines in the explosive image shot by the shooting device in the variable-speed zooming mode have a remarkable movement effect and a strong visual impact. Therefore, when performing the explosion-type shooting, an appropriate zoom mode can be selected according to actual requirements.
In order to obtain an explosive image with high quality, the embodiment of the invention needs to control the shooting device to perform exposure and zooming simultaneously during shooting, so that when the zooming mode is determined, the mobile platform needs to determine the exposure mode matched with the zooming mode based on the zooming mode so as to realize simultaneous exposure and zooming of the shooting device.
In one embodiment, the determining, based on the zoom mode, an exposure mode when the camera performs exposure and zooming simultaneously includes: acquiring current brightness information of an environment where a shooting target is located; interpreting zoom parameters corresponding to the zoom mode, wherein the zoom parameters comprise zoom time and zoom range; determining the exposure mode based on the zoom parameter and the current brightness information. Wherein the shooting target refers to an object shot by the shooting device. The zoom time in the zoom parameter refers to the time taken for the focal length of the photographing device to change, the zoom range refers to the focal length of the photographing device to change from the a state to the B state, the zoom time may be 1s, and the zoom range may be 23mm-55 mm.
In one embodiment, the mobile platform may collect current brightness information of an environment where the photographic target is located through a light sensing module on the photographing device, and after the current brightness information of the environment where the photographic target is located is collected, the mobile platform may determine the exposure mode based on the zoom parameter and the current brightness information, where the exposure mode includes a long exposure mode and a short exposure mode, the long exposure mode refers to maintaining exposure all the time during zooming, and the short exposure mode refers to multiple exposures during zooming, where each exposure time is short. The long exposure mode is suitable for the case where the brightness of the shooting scene is not very high during zooming, and the short exposure mode is suitable for the case where the brightness of the shooting scene exhibits high dynamic changes during zooming. As a result, the exposure mode is related to the zoom time and the current brightness information.
Optionally, the determining the exposure mode based on the zoom parameter and the current brightness information includes: judging whether the shooting device meets an overexposure condition in the long exposure mode or not based on the zooming time and the current brightness information; if the shooting device meets the condition of overexposure, determining that the exposure mode is a short exposure mode; and if the shooting device does not meet the condition of overexposure, determining that the exposure mode is long exposure.
In one embodiment, to ensure that the camera can take a picture in the proper exposure mode, the camera may first control the camera to enter a preview mode before taking a picture, in which the proper exposure mode is selected for the camera by the above method.
For example, overexposure may refer to excessive light received by the camera during the exposure time (i.e., excessive exposure), resulting in a white image being captured. Wherein the exposure amount refers to how much the photographing device can receive light during an exposure time. As an example, the exposure amount is controlled by three factors of the sensitivity ISO, exposure time, and aperture of the photographing device. In general, the aperture of the photographing device mounted on the mobile platform is fixed, and in the embodiment of the present invention, in order to control the photographing device to perform simultaneous exposure and zooming, the exposure time and the zooming time are set to be the same, so that in the embodiment of the present invention, it is assumed that the aperture is fixed, the exposure time is equal to the zooming time, and once the zooming time is determined, the exposure time is also determined, and at this time, the exposure amount of the photographing device is controlled by the sensitivity ISO, where ISO refers to the light receiving capability of the photosensitive element of the photographing device.
Optionally, the condition that the photographing device meets the overexposure condition is that: if the ISO value of the camera is set to be minimum at the brightness indicated by the current brightness information with the zoom time as the exposure time and the aperture of the camera fixed, the exposure amount of the camera is still too high (or still overexposed). In other words, assuming that the aperture is fixed, if adjusting the ISO value of the photographing device in any way during the exposure time would cause the photographing device to be overexposed, it is determined that the photographing device meets the overexposure condition. It will be appreciated that if a suitable ISO value can be found within the exposure time such that the camera is normally exposed, it is determined that the camera is not eligible for overexposure.
It should be noted that, a person skilled in the art may determine the overexposure condition according to actual situations to determine whether to normally expose, and the embodiment of the present invention is not limited to this.
In summary, if the photographing apparatus does not meet the overexposure condition, it indicates that the long exposure mode may be selected at the zoom time and the current brightness of the photographing target, and if the photographing apparatus meets the overexposure condition, it indicates that the long exposure mode may not be selected at the zoom time and the current brightness of the photographing target, and it is determined that the exposure mode of the photographing apparatus is the short exposure mode.
And S503, controlling the shooting device to simultaneously perform exposure and zooming based on the exposure mode and the zooming mode to obtain an explosive image.
In one embodiment, after determining an exposure mode and a zoom mode of a camera, the mobile platform controls the camera to simultaneously perform exposure and zoom based on the exposure mode and the zoom mode to obtain an explosive image. Optionally, controlling the photographing apparatus to perform exposure and zoom simultaneously based on the zoom mode and the exposure mode means configuring the zoom parameter in the zoom mode and the exposure parameter in the exposure mode to the photographing apparatus, and then controlling the photographing apparatus to change the focal length state and the exposure state of the photographing apparatus according to the configured zoom parameter and exposure parameter. Therefore, when the photographing device is controlled to perform exposure and zooming simultaneously based on the exposure mode and the zoom mode, it is necessary to determine the exposure parameters in the exposure mode and the zoom parameters in the zoom mode.
Specifically, the controlling the photographing apparatus to simultaneously perform exposure and zooming based on the zoom mode and the exposure mode includes: determining an exposure parameter based on the current environment brightness information of the shooting target, the zooming parameter and the exposure mode; and controlling the shooting device to simultaneously perform exposure and zooming based on the zooming parameter and the exposure parameter.
The zoom parameters may include zoom time and zoom range. In an embodiment, a zoom mode included in the shooting instruction received by the mobile platform is selected by a user, and the user sets a zoom time and a zoom range while selecting the zoom mode, so that the mobile platform can acquire the zoom parameters only by interpreting the zoom mode.
The exposure parameters may include the number of exposures, the exposure time corresponding to each exposure, and the exposure value corresponding to each exposure. In the long exposure mode, the number of exposures in the exposure parameters is equal to 1, and the exposure time corresponding to each exposure is equal to the zoom time. In the short exposure mode, the number of exposures in the exposure parameters is at least two, and the number of exposures is determined according to the current ambient brightness information. Alternatively, if the exposure mode is the short exposure mode, the zoom parameters at this time may include the number of times of zooming, the zoom range of each zooming, and the zoom speed of each zooming. Alternatively, the range of each zoom may be set to be the same, for example, assuming that the zoom range is from a to B and the number of times of zooming is 3, the range change amount of each zoom is (B-a)/3, the range of the first zoom is from a to a + (B-a)/3, the range of the second zoom is from a + (B-a)/3 to a +2 + a + (B-a)/3, and the range of the third zoom is from a +2 a + (B-a)/3 to B.
In order to ensure the synchronization of the exposure and the zooming of the shooting device, the zooming times and the exposure times are set to be the same, and the zooming speed of each zooming is determined by the zooming mode: if the zooming mode is constant zooming, the zooming speed of each zooming is set to be constant; if the zooming mode is accelerated zooming, the zooming speed of each zooming is gradually increased; if the zoom mode is the deceleration zoom, the zoom speed per zoom is gradually decreased.
For example, referring to fig. 6, it is assumed that the number of exposures is 6 in fig. 6, and the length of the line segment in the graph indicates the length of each exposure time, which is a relationship diagram between the exposure time and the zoom mode provided by the embodiment of the present invention. Alternatively, a brief interval may be provided between each exposure in which the camera focal length is unchanged and the camera is not exposed. In the uniform zoom mode in the first row in fig. 6, the zoom speed is the same for each zoom and the range is the same for each zoom, so the exposure time is the same for each exposure; in the second row, the zooming speeds of the front rows are lower and the corresponding exposure time is longer under the condition of accelerated zooming, and the corresponding exposure time is gradually reduced along with the acceleration of the zooming speed; in the third row, in the deceleration zoom mode, the zoom speeds of the previous rows are faster, the corresponding exposure time is shorter, and the corresponding exposure time becomes longer as the zoom speed is slower.
After determining the zoom parameter and the exposure parameter, the mobile platform configures the zoom parameter and the exposure parameter to the shooting device, and then controls the shooting device to simultaneously perform exposure and zoom based on the zoom parameter and the exposure parameter to obtain an explosive image.
And step S504, judging whether the shooting is successful.
And step S505, if the shooting is successful, outputting the shot explosion type image.
And step S506, if the shooting fails, outputting shooting failure prompt information.
In one embodiment, in step S504, after the moving platform controls the camera to perform the steps of performing exposure and zooming simultaneously based on the zoom parameter and the exposure parameter, before outputting the obtained explosive image, the moving platform may first determine whether the shooting is successful, and if the shooting is successful, step S505 may be performed, that is, the obtained explosive image is output and stored; if the photographing fails, step S506 of outputting photographing failure prompt information may be performed. Optionally, in order to find the reason of the shooting failure and perform shooting again after the user fails in shooting, the shooting failure prompt information includes the reason of the shooting failure, and/or a solution.
In one embodiment, determining whether the photographing is successful may include: judging whether the shooting is successful or not according to the end time of the exposure and the end time of the zooming; and if the difference between the exposure end time and the zooming end time is within a preset time threshold, judging that the shooting is successful, otherwise, judging that the shooting is failed. The preset time threshold may be a standard preset by the mobile platform for measuring whether the exposure and the zooming of the camera are synchronous, if the difference between the end time of the exposure and the end time of the zooming is within the preset time threshold, the camera can be considered to be approximately simultaneously exposed and zoomed, and if the difference between the end time of the exposure and the end time of the zooming exceeds the preset time threshold, the camera can be determined to be out of synchronization between the exposure and the zooming, so as to determine that the shooting of the mobile platform fails. Optionally, the reason for the shooting failure included in the shooting failure prompt message output by the mobile platform may be that the exposure and the zoom are not synchronized.
In another embodiment, the moving platform may monitor an operating state of the moving platform during the process of controlling the photographing apparatus to perform the simultaneous exposure and the zoom based on the zoom parameter and the exposure parameter, and determine whether the photographing is successful may further include: if the running state of the mobile platform meets the preset shooting condition, determining that the shooting is successful; and if the running state of the mobile platform does not accord with the preset shooting condition, determining that the shooting is unsuccessful. The preset shooting condition refers to that the running state of the mobile platform is a hovering state, or the preset shooting condition may also refer to a preset number of times that the running state of the mobile platform is changed from the hovering state to a motion state. For example, for the long exposure mode, the shooting device only shoots one image, which is the explosive image to be output last, and if the mobile platform is out of the hovering state during shooting the image, the shooting device is out of focus due to shaking of the mobile platform, so that the obtained explosive image is blurred, in this case, the preset shooting condition may refer to that the operation state of the mobile platform is the hovering state; for the short exposure mode, the shooting device can shoot a plurality of images, and the explosion-type image is obtained after the plurality of images are synthesized, so that the final synthesized explosion-type image cannot be influenced by the occasional movement of the mobile platform in the shooting process, and the preset shooting condition can also refer to the preset number of times that the operation state of the mobile platform is changed from the hovering state to the motion state.
In other embodiments, in the process of controlling the photographing apparatus to perform simultaneous exposure and zooming based on the exposure parameter and the zooming parameter, the mobile platform may further monitor a focal length change condition and an exposure condition of the photographing apparatus to determine whether photographing is successful: if the focal length change condition is matched with the focal length change condition indicated by the zoom parameter and the exposure condition is matched with the exposure condition indicated by the exposure parameter, determining that the shooting is successful; and if the focal length change condition is not matched with the focal length change indicated by the zooming parameter and/or the exposure condition is not matched with the exposure condition indicated by the exposure parameter, determining that the shooting is unsuccessful. For example, if it is monitored that the range of the focal length change at a certain time of the focal length change is greater than or less than the previously set range of the focal length change at each time, it is determined that the focal length change does not match the indicated focal length change of the zoom parameter, assuming that the focal length change indicated by the zoom parameter is the same range of each focal length change.
In one embodiment, after the mobile platform judges that the shooting is successful, the mobile platform can output an explosion-type image obtained by shooting, if an exposure mode used in the shooting process is a long exposure mode, the mobile platform can obtain the explosion-type image obtained by shooting, and the explosion-type image can be output after being slightly processed; and if the exposure mode is the short exposure mode, the mobile platform can acquire a plurality of images, and the explosive image is obtained after the plurality of images are subjected to synthesis processing. Specifically, when the exposure mode is a short exposure mode, acquiring initial explosion type images obtained by the shooting device, wherein the number of the initial explosion type images is at least two; and carrying out image synthesis processing on the initial explosion type image to obtain an explosion type image.
The image synthesizing process of the initial explosive image to obtain an explosive image may include: preprocessing the initial explosion type image to obtain a preprocessed image, wherein each preprocessed image in the preprocessed image has the same image brightness and geometric parameters; and synthesizing the preprocessed image to obtain an explosion type image.
Because the exposure parameters used by the shooting device during shooting are determined according to the brightness information of the shooting target before shooting, the exposure conditions of the shot initial explosive images are inconsistent due to the possibility of change in the shooting process, and in order to ensure the consistency of the brightness of the synthesized explosive images, the brightness of each initial explosive image needs to be adjusted by taking one of the initial explosive images as a reference so as to ensure the consistency of the brightness of each initial explosive image. In addition, there may be a difference in geometric parameters between the initial explosive images, and in order to ensure smooth image synthesis, geometric correction needs to be performed based on the geometric difference between the initial explosive images, so that the geometric information of the initial explosive images is consistent. In summary, the preprocessing of the initial explosive image may include image quality enhancement operations such as image noise reduction, image brightness adjustment, image geometry adjustment, and the like.
In one embodiment, the step of performing a synthesis process on the preprocessed images may include image mapping, image synthesis, and synthesized image de-mapping. The image mapping is to map the obtained initial explosion type image into a certain space, and the space models a shooting process; the image synthesis means that in the mapping space, the result graph of each pair of initial explosive image mapping is subjected to synthesis operation, namely, the splicing operation is carried out on each pair of initial explosive images; and (3) inverse mapping of the synthetic image, namely, after splicing the synthetic image in a mapping space to obtain a result image, mapping the result image back to a two-dimensional image plane to obtain the synthetic explosion image.
In an embodiment, since the implementation process of the explosion-type shooting is rapid zooming in the shooting process, in the embodiment of the present invention, the spatial modeling may be a vertebral body model as shown in fig. 7, the shot initial explosion-type images are sequentially mapped to layer 0 and layer 1 … … according to the chronological order, and the mapping operation is a scale change operation, that is, the size of each image is scaled down to meet the vertebral body model. The scale factor can be calculated according to the time relationship, and can be simply expressed as the proportion of the shooting time (taking the shooting time of the first initial explosive image as the initial time, and the shooting time of other initial explosive images is the relative time relative to the shooting time of the first initial explosive image) to the total time. In other embodiments, the spatial modeling may be represented in the form of an inverted cone model.
It should be noted that the mapping model shown in fig. 7 is suitable for the case where the focal length is changed from small to large during shooting, and the mapping model can be obtained by referring to the mapping model for the case where the focal length is changed from small to large during shooting, and a specific modeling process is not described in detail.
The fields of vision of the images shot by the shooting device at different focal lengths are different, the range of the shot images corresponding to the shot target is smaller (similar to the enlargement of the shot target) in the long-focus process, the range of the shot images corresponding to the shot target is larger in the short-focus process, and the sizes of the shot images are the same in the two cases. In order to fuse two images and not directly synthesize the image shot by the long focus and the image shot by the short focus, a plurality of shot initial explosive images are subjected to scale change operation according to time sequence, and the sizes of the images are reduced proportionally.
In the embodiment of the invention, when an explosive shooting instruction is received, the mobile platform controls the shooting device hung on the mobile platform to simultaneously perform exposure and zooming based on the explosive shooting instruction, further, after the shooting is finished, whether the shooting is successful is judged, an explosive image is output under the condition of successful shooting, and a shooting failure prompt message is output under the condition of failure shooting. In addition, the mobile platform outputs the explosion type images only when shooting is successful, and the prompt information is output when shooting is failed, so that the explosion type shooting of the mobile platform can be controlled, and the user experience can be promoted while the quality of the explosion type images shot by the mobile platform is further ensured.
Referring to fig. 8, which is a schematic structural diagram of a mobile platform according to an embodiment of the present invention, the mobile platform shown in fig. 8 may include a processor 801, a storage 802, and a camera 803, where the storage 802, the camera 803, and the processor 801 are connected by a bus 804, and the storage 802 is used for storing program instructions.
The memory 802 may include volatile memory (volatile memory), such as random-access memory (RAM); the memory 802 may also include a non-volatile memory (non-volatile memory), such as a flash memory (flash memory), a solid-state drive (SSD), etc.; the memory 802 may also comprise a combination of the above-described types of memory.
The processor 801 may be a Central Processing Unit (CPU). The processor 801 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or the like. The PLD may be a field-programmable gate array (FPGA), a General Array Logic (GAL), or the like. The processor 801 may also be a combination of the above structures.
In the embodiment of the present invention, the memory 802 is used for storing a computer program, the computer program includes program instructions, and the processor 801 is used for executing the program instructions stored in the memory 802, so as to implement the steps of the corresponding method in the embodiment shown in fig. 3.
In one embodiment, the processor 801 is configured to execute program instructions stored in the memory 802, and the processor 801 is configured to execute, when calling the program instructions:
receiving a shooting instruction for explosive shooting; the photographing device 803 is controlled to perform exposure and zooming simultaneously based on the photographing instruction to obtain an explosive image. The shooting device 803 is configured to perform exposure and zooming simultaneously to obtain an explosive image when receiving the shooting instruction.
In one embodiment, the camera 803 may include an exposure module and a zoom module, the exposure module for controlling the exposure of the camera; the zooming module is used for controlling the focal length change of the shooting device.
In one embodiment, the shooting instruction includes a zoom mode when the shooting device performs exposure and zooming simultaneously, and the processor 801 performs the following operations when controlling the shooting device to perform exposure and zooming simultaneously based on the shooting instruction: determining an exposure mode when the shooting device performs exposure and zooming simultaneously based on the zooming mode; and controlling the shooting device to simultaneously perform exposure and zooming based on the zooming mode and the exposure mode.
In one embodiment, the zoom mode includes a uniform zoom and a variable zoom, the variable zoom including an acceleration zoom and a deceleration zoom.
In one embodiment, when determining the exposure mode of the photographing apparatus during simultaneous exposure and zooming based on the zoom mode, the processor 801 performs the following operations: acquiring current brightness information of an environment where a shooting target is located; interpreting zoom parameters corresponding to the zoom mode, wherein the zoom parameters comprise zoom time and zoom range; determining the exposure mode based on the zoom parameter and the current brightness information.
In one embodiment, the exposure modes include a long exposure mode and a short exposure mode, and the processor 801 performs the following operations when determining the exposure mode based on the zoom parameter and the current brightness information: judging whether the shooting device meets the condition of overexposure or not in the long exposure mode based on the zooming time and the current brightness information; if the shooting device meets the condition of overexposure, determining that the exposure mode is a short exposure mode; and if the shooting device does not meet the overexposure condition, determining that the exposure mode is a long exposure mode.
In one embodiment, the processor 801, when controlling the camera to simultaneously perform exposure and zoom based on the zoom mode and the exposure mode, performs the following operations: determining exposure parameters based on the current environment brightness information, the zooming parameters and the exposure mode, wherein the exposure parameters comprise exposure times, exposure time corresponding to each exposure and an exposure value corresponding to each exposure; and controlling the shooting device to simultaneously perform exposure and zooming based on the zooming parameter and the exposure parameter.
In one embodiment, the processor 801 is configured to, when calling the program instruction, further perform: monitoring the focal length change condition and the exposure condition of the shooting device to judge whether the shooting is successful; if the focal length change condition is matched with the focal length change indicated by the zooming parameter and the exposure condition is matched with the exposure condition indicated by the exposure parameter, the shooting is determined to be successful; and if the focal length change condition is not matched with the focal length change indicated by the zooming parameter and/or the exposure condition is not matched with the exposure condition indicated by the exposure parameter, determining that the shooting is unsuccessful.
In one embodiment, when the exposure mode is the short exposure mode, the processor 801, when controlling the camera to perform exposure and zooming simultaneously based on the shooting instruction to obtain an explosive image, performs the following operations: acquiring at least two initial explosion type images obtained by the shooting device; and carrying out image synthesis processing on the initial explosion type image to obtain an explosion type image.
In one embodiment, the processor 801 performs the following operations when performing image synthesis processing on the initial explosive image to obtain an explosive image: preprocessing the initial explosion type image to obtain a preprocessed image, wherein each preprocessed image in the preprocessed image has the same image brightness and geometric parameters; and synthesizing the preprocessed image to obtain an explosion type image.
In one embodiment, the processor 801 is configured to, when calling the program instruction, further perform: judging whether the shooting is successful or not; if shooting is successful, outputting the explosive image; and if the shooting fails, outputting shooting failure prompt information.
In one embodiment, the processor 801, when determining whether the shooting is successful, performs the following operations: judging whether the shooting is successful or not according to the end time of the exposure and the end time of the zooming; and if the difference between the exposure end time and the zooming end time is within a preset time threshold, judging that the shooting is successful, otherwise, judging that the shooting is failed.
In one embodiment, the processor 801 is configured to, when calling the program instruction, further perform: monitoring the running state of the mobile platform; the processor executes the following operations when judging whether the shooting is successful or not: if the running state of the mobile platform meets the preset shooting condition, determining that the shooting is successful; and if the running state of the mobile platform does not accord with the preset shooting condition, determining that the shooting is unsuccessful.
In one embodiment, the processor 801 is configured to, when calling the program instruction, further perform: acquiring the running state of the mobile platform; if the running state of the mobile platform meets a preset state condition, executing the step of controlling the shooting device to simultaneously perform exposure and zooming based on the shooting instruction; wherein the preset state condition comprises that the mobile platform is in a hovering state.
Referring to fig. 9, which is a schematic structural diagram of a shooting apparatus according to an embodiment of the present invention, the shooting apparatus shown in fig. 9 may include a mode interpreter 901, a parameter configurator 902, a zoom device 903, and an exposure device 904.
Optionally, the mode interpreter 901 is configured to receive a shooting instruction for explosive shooting sent by an external module, and interpret the shooting instruction to obtain a zoom parameter and an exposure parameter. Wherein, the external module can be any equipment connected with the shooting equipment, such as an unmanned aerial vehicle, a remote controller, an unmanned vehicle and the like.
In one embodiment, the shooting instruction may include a zoom mode and an exposure mode required in explosive shooting, and the mode interpreter 901 interprets the zoom mode and the exposure mode in the shooting instruction to obtain zoom parameters and exposure parameters. In another embodiment, the shooting instruction includes only a zoom mode, and the mode interpreter 901 is further configured to determine an exposure mode required during the explosive shooting according to the zoom mode, and further interpret the zoom mode and the exposure mode to obtain a zoom parameter and an exposure parameter.
The zoom mode comprises constant-speed zooming and variable-speed zooming, the variable-speed zooming comprises acceleration zooming and deceleration zooming, and the zooming parameters can comprise zooming time and zooming range; the exposure mode may include a long exposure and a short exposure, and the exposure parameters may include the number of exposures, an exposure time corresponding to each exposure, and an exposure value corresponding to each exposure.
In one embodiment, the mode interpreter 901 is further configured to transmit the zoom parameters and the exposure parameters to the parameter configurator 902, perform corresponding parameter configuration by the parameter configurator 902, and send activation instructions to the zoom apparatus 903 and the exposure apparatus 904, respectively.
In one embodiment, the zoom apparatus 903 may include a zoom controller 9031, a zoom actuator 9032, and a zoom controller 9033, where the zoom controller 9031 is configured to receive the start instruction sent by the parameter configurator 902, and generate a zoom control instruction according to a zoom parameter configured in the parameter configurator 902. The zoom controller 9031 is further configured to send a zoom control instruction to the zoom actuator 9032, and the zoom actuator 9032 controls the zoom controller 9033 to perform zoom control, that is, to control a focal length state, according to the zoom parameter. It will be appreciated that the focal length state of the camera may be changed by controlling the zoom 9033 (e.g. zoom ring), that is zoom control may be achieved by controlling zoom changes.
In one embodiment, the zoom controller 9033 may be configured to acquire a focal length state of the shooting device, and feed the focal length state back to the zoom controller 9031 to assist the zoom controller 9031 in zooming control. Optionally, the zoom module 903 may further include a focal length state monitor 9034, where the focal length state monitor 9034 is configured to receive a focal length state fed back by the zoom controller 9033, and send the focal length state to the zoom controller 9031.
In one embodiment, the zoom controller 9031 is further configured to analyze a zoom control result according to the received focal length state, feed the zoom control result back to the parameter configurator 902, and analyze and determine the zoom control result by the parameter configurator 902 to determine whether to zoom according to a zoom mode in the shooting instruction. The parameter configurator 902 is further configured to feed the zoom control result back to the mode interpreter 901, and the mode interpreter 901 feeds the zoom control result back to the external module, so that the external module determines whether to output an explosive image obtained by the shooting device or resend a shooting instruction according to the zoom control result.
In one embodiment, the exposure apparatus 904 may include an exposure controller 9041, an exposure actuator 9042, and an exposure unit 9043, where the exposure controller 9041 is configured to receive a start instruction sent by the parameter configurator 902 and generate an exposure control instruction according to an exposure parameter in the parameter configurator 902. The exposure controller 9041 is further configured to send the exposure control instruction to the exposure actuator 9042, where the exposure actuator 9042 controls the exposure device 9043 to perform exposure control according to the exposure parameter. It is to be understood that the exposure state of the photographing apparatus may be controlled by controlling the exposer 9043 such as a shutter.
In one embodiment, the exposer 9043 may be configured to acquire an exposure status of the shooting device and feed the exposure status back to the exposure controller 9041 to assist the exposure controller 9041 in exposure control. Optionally, the exposure module 904 may further include an exposure status monitor 9044, where the exposure status monitor 9044 is configured to receive an exposure status fed back by the exposer 9043, and send the exposure status to the exposure controller 9041.
In one embodiment, the exposure controller 9041 is further configured to analyze the exposure control result according to the received exposure state, and feed the exposure control result back to the parameter configurator 902, and the parameter configurator 902 performs an analysis determination on the exposure control result to determine whether to perform exposure according to the exposure mode in the shooting instruction. The parameter configurator 902 is further configured to feed the zoom control result back to the mode interpreter 901, and the mode interpreter 901 feeds the exposure control result back to the external module, so that the external module determines whether to output an explosive image obtained by the shooting device or resend a shooting instruction according to the exposure control result.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above disclosure is intended to be illustrative of only some embodiments of the invention, and is not intended to limit the scope of the invention.
Claims (28)
1. A shooting method is applied to a mobile platform, and a shooting device is hung on the mobile platform, and the method comprises the following steps:
receiving a shooting instruction for explosive shooting;
acquiring current brightness information of an environment where a shooting target is located;
determining an exposure mode of the photographing device based on the current brightness information, the exposure mode including a long exposure mode and a short exposure mode;
if the exposure mode is determined to be the long exposure mode, controlling the shooting device to continuously expose in the zooming process to obtain an explosive image;
and if the exposure mode is determined to be the short exposure mode, controlling the shooting device to carry out multiple exposure in the zooming process so as to obtain multiple initial explosive images, wherein the multiple initial explosive images are used for synthesizing the images to obtain the explosive images.
2. The method of claim 1, wherein the photographing instruction includes a zoom mode of the photographing apparatus; the determining an exposure mode of the photographing device based on the current brightness information includes:
determining an exposure mode of the photographing apparatus based on the zoom mode and the current brightness information.
3. The method of claim 2, wherein the zoom modes include constant zoom and variable zoom, the variable zoom including acceleration zoom and deceleration zoom.
4. The method of claim 2, wherein determining the exposure mode of the camera based on the zoom mode and the current brightness information comprises:
interpreting zoom parameters corresponding to the zoom mode, wherein the zoom parameters comprise zoom time;
determining the exposure mode based on the zoom parameter and the current brightness information.
5. The method of claim 4, wherein the determining the exposure mode based on the zoom parameter and the current brightness information comprises:
judging whether the shooting device meets the condition of overexposure or not in the long exposure mode based on the zooming time and the current brightness information;
if the shooting device meets the condition of overexposure, determining that the exposure mode is a short exposure mode;
and if the shooting device does not meet the overexposure condition, determining that the exposure mode is a long exposure mode.
6. The method of claim 4, wherein the method further comprises:
and determining exposure parameters based on the current brightness information, the zooming parameters and the exposure mode, wherein the exposure parameters comprise exposure times, exposure time corresponding to each exposure and exposure value corresponding to each exposure.
7. The method of claim 6, wherein the method further comprises:
monitoring the focal length change condition and the exposure condition of the shooting device to judge whether the shooting is successful;
if the focal length change condition is matched with the focal length change indicated by the zooming parameter and the exposure condition is matched with the exposure condition indicated by the exposure parameter, the shooting is determined to be successful;
and if the focal length change condition is not matched with the focal length change indicated by the zooming parameter and/or the exposure condition is not matched with the exposure condition indicated by the exposure parameter, determining that the shooting is unsuccessful.
8. The method of claim 1, wherein when the exposure mode is the short exposure mode, the method further comprises:
acquiring at least two initial explosion type images obtained by the shooting device;
and carrying out image synthesis processing on the initial explosion type image to obtain an explosion type image.
9. The method according to claim 8, wherein the image synthesizing the initial explosive image to obtain an explosive image comprises:
preprocessing the initial explosion type image to obtain a preprocessed image, wherein each preprocessed image in the preprocessed image has the same image brightness and geometric parameters;
and synthesizing the preprocessed image to obtain the explosion type image.
10. The method of claim 1, wherein the method further comprises:
judging whether the shooting is successful or not;
if shooting is successful, outputting the explosive image;
and if the shooting fails, outputting shooting failure prompt information.
11. The method of claim 10, wherein the determining whether the photographing was successful comprises:
judging whether the shooting is successful or not according to the end time of the exposure and the end time of the zooming;
and if the difference between the exposure end time and the zooming end time is within a preset time threshold, judging that the shooting is successful, otherwise, judging that the shooting is failed.
12. The method of claim 10, wherein the method further comprises:
monitoring the motion state of the mobile platform;
the judging whether the shooting is successful or not comprises the following steps:
if the running state of the mobile platform meets the preset shooting condition, determining that the shooting is successful;
and if the running state of the mobile platform does not accord with the preset shooting condition, determining that the shooting is unsuccessful.
13. The method of claim 1, wherein the method further comprises:
acquiring the running state of the mobile platform;
if the running state of the mobile platform does not meet the preset state condition, the shooting instruction is not responded;
wherein the preset state condition comprises that the mobile platform is in a hovering state.
14. A mobile platform comprising a memory, a processor, and a camera:
the memory for storing program code;
the processor, configured to invoke the program code, and when executed, configured to:
receiving a shooting instruction for explosive shooting;
acquiring current brightness information of an environment where a shooting target is located;
determining an exposure mode of the photographing device based on the current brightness information, the exposure mode including a long exposure mode and a short exposure mode;
if the exposure mode is determined to be the long exposure mode, controlling the shooting device to continuously expose in the zooming process to obtain an explosive image;
and if the exposure mode is determined to be the short exposure mode, controlling the shooting device to perform multiple exposures in the zooming process to obtain multiple initial explosive images, wherein the multiple initial explosive images are used for image synthesis to obtain an explosive image.
15. The mobile platform of claim 14, wherein the camera instructions comprise a zoom mode of the camera, the processor when determining an exposure mode of the camera based on the current brightness information performs the following:
determining an exposure mode of the photographing apparatus based on the zoom mode and the current brightness information.
16. The mobile platform of claim 15, wherein the zoom mode comprises a constant zoom and a variable zoom, the variable zoom comprising an acceleration zoom and a deceleration zoom.
17. The mobile platform of claim 15, wherein the processor, when determining the exposure mode of the camera based on the zoom mode and the current brightness information, performs the following:
interpreting zoom parameters corresponding to the zoom mode, wherein the zoom parameters comprise zoom time and zoom range;
determining the exposure mode based on the zoom parameter and the current brightness information.
18. The mobile platform of claim 17, wherein the processor, in determining the exposure mode based on the zoom parameter and the current brightness information, performs the following:
judging whether the shooting device meets the condition of overexposure or not in the long exposure mode based on the zooming time and the current brightness information;
if the shooting device meets the condition of overexposure, determining that the exposure mode is a short exposure mode;
and if the shooting device does not meet the overexposure condition, determining that the exposure mode is a long exposure mode.
19. The mobile platform of claim 17, wherein the program code, when executed, is further to:
and determining exposure parameters based on the current brightness information, the zooming parameters and the exposure mode, wherein the exposure parameters comprise exposure times, exposure time corresponding to each exposure and exposure value corresponding to each exposure.
20. The mobile platform of claim 19, wherein the program code, when executed, is further to:
monitoring the focal length change condition and the exposure condition of the shooting device to judge whether the shooting is successful;
if the focal length change condition is matched with the focal length change indicated by the zooming parameter and the exposure condition is matched with the exposure condition indicated by the exposure parameter, the shooting is determined to be successful;
and if the focal length change condition is not matched with the focal length change indicated by the zooming parameter and/or the exposure condition is not matched with the exposure condition indicated by the exposure parameter, determining that the shooting is unsuccessful.
21. The mobile platform of claim 14, wherein when the exposure mode is the short exposure mode, the program code, when executed, is further configured to:
acquiring at least two initial explosion type images obtained by the shooting device;
and carrying out image synthesis processing on the initial explosion type image to obtain an explosion type image.
22. The mobile platform of claim 21, wherein the processor, in performing image synthesis processing on the initial explosive image to obtain an explosive image, performs the following operations:
preprocessing the initial explosion type image to obtain a preprocessed image, wherein each preprocessed image in the preprocessed image has the same image brightness and geometric parameters;
and synthesizing the preprocessed image to obtain an explosion type image.
23. The mobile platform of claim 14, wherein the program code, when executed, is further to:
judging whether the shooting is successful or not;
if shooting is successful, outputting the explosive image;
and if the shooting fails, outputting shooting failure prompt information.
24. The mobile platform of claim 23, wherein the processor, in determining whether the capture was successful, performs the following:
judging whether the shooting is successful or not according to the end time of the exposure and the end time of the zooming;
and if the difference between the exposure end time and the zooming end time is within a preset time threshold, judging that the shooting is successful, otherwise, judging that the shooting is failed.
25. The mobile platform of claim 23, wherein the program code, when executed, is further to:
monitoring the running state of the mobile platform;
the processor executes the following operations when judging whether the shooting is successful or not:
if the running state of the mobile platform meets the preset shooting condition, determining that the shooting is successful;
and if the running state of the mobile platform does not accord with the preset shooting condition, determining that the shooting is unsuccessful.
26. The mobile platform of claim 14, wherein the program code, when executed, is further to:
acquiring the running state of the mobile platform;
if the running state of the mobile platform does not meet the preset state condition, the shooting instruction is not responded;
wherein the preset state condition comprises that the mobile platform is in a hovering state.
27. The mobile platform of claim 14, wherein the mobile platform comprises any one or more of a drone, an unmanned vehicle, a mobile robot, a camera.
28. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program comprising program instructions that, when executed by a processor, cause the processor to execute the photographing method according to any one of claims 1 to 13.
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| WO2020147028A1 (en) | 2020-07-23 |
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