CN112862861A - Camera motion path determining method and device and shooting system - Google Patents
Camera motion path determining method and device and shooting system Download PDFInfo
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Abstract
The invention discloses a camera motion path determining method, a camera motion path determining device and a shooting system, wherein the method comprises the following steps: acquiring scene parameters of a target shooting object in a target area, and determining camera shooting position parameters corresponding to the target shooting object according to the scene parameters of the target shooting object and shooting requirement parameters of the target shooting object; and determining a camera motion path corresponding to the target shooting object according to the camera shooting position parameter corresponding to the target shooting object and the real-time camera position. Therefore, the method and the device can accurately and efficiently determine the shooting position according to the actual scene parameters in the shooting area and the shooting requirements of the object, reasonably determine the motion path of the camera according to the camera position and the shooting position, greatly improve the shooting efficiency and effect, save the manpower and material resources cost of subsequent image processing and meet the shooting requirements in various aspects compared with the traditional fixed automatic shooting scheme.
Description
Technical Field
The invention relates to the technical field of motion control, in particular to a camera motion path determining method, a camera motion path determining device and a camera shooting system.
Background
With the development of the e-commerce market, the automatic shooting of the commodities by the camera to form the propaganda images of the commodities is gradually meeting huge market demands. However, due to the lag of the automatic shooting technology, most of the automatically shot publicity images are far from being compared with professional or even amateur photographers in terms of picture layout and light control, and therefore, the defects are often repaired by image processing.
The existing automatic shooting technology generally adopts a fixed shooting area and a fixed shooting camera to shoot commodities placed in the shooting area, the working mode is single, the obtained images are uniform, and the existing market demands cannot be met.
It can be seen that the existing automatic shooting technology does not consider scene parameters and the requirement for pictures of commodities during shooting, has certain defects, and needs to be solved urgently.
Disclosure of Invention
The invention aims to provide a camera motion path determining method, a determining device and a shooting system, which can accurately and efficiently determine a shooting position according to actual scene parameters and shooting requirements on an object in a shooting area, and reasonably determine a camera motion path according to the camera position and the shooting position.
In order to solve the above technical problem, a first aspect of the present invention discloses a method for determining a motion path of a camera, the method including:
acquiring scene parameters of a target shooting object in a target area, and determining camera shooting position parameters corresponding to the target shooting object according to the scene parameters of the target shooting object and shooting requirement parameters of the target shooting object;
and determining a camera motion path corresponding to the target shooting object according to the camera shooting position parameter corresponding to the target shooting object and the real-time camera position.
As an optional implementation manner, in the first aspect of the present invention, the scene parameter includes one or more of an ambient light of the target area, a light reflection degree of the target photographic object, a position of the target photographic object in the target area, and a distance between the target photographic object and a camera; and/or the shooting requirement parameters comprise one or more of shooting angle requirements, shooting light requirements, picture far and near requirements, picture layout requirements and picture focus requirements.
As an optional implementation manner, in the first aspect of the present invention, the determining, according to the scene parameters of the target photographic object and the photographic requirement parameters of the target photographic object, camera photographic position parameters corresponding to the target photographic object includes:
generating a three-dimensional illumination model of the target area, which comprises the target shooting object, according to the scene parameters of the target shooting object in the target area;
and determining camera shooting position parameters corresponding to the target shooting object through a template matching algorithm according to the three-dimensional illumination model and the shooting requirement parameters of the target shooting object.
As an optional implementation manner, in the first aspect of the present invention, the determining, according to the three-dimensional illumination model and the shooting requirement parameter of the target shooting object, a camera shooting position parameter corresponding to the target shooting object through a template matching algorithm includes:
determining a target picture template of the target shooting object according to the shooting requirement parameters of the target shooting object;
randomly generating a plurality of viewing viewpoints in the three-dimensional illumination model of the target area, comparing a plurality of viewing pictures generated by viewing the three-dimensional illumination model at different angles at each viewing viewpoint with a target picture template of the target shooting object, and determining a target viewing picture with the highest similarity to the target picture template from the plurality of viewing pictures;
and determining the position of the viewing viewpoint corresponding to the target viewing picture in the three-dimensional illumination model as a camera shooting position parameter corresponding to the target shooting object.
As an optional implementation manner, in the first aspect of the present invention, the determining a target picture template of the target photographic subject according to the photographic requirement parameter of the target photographic subject includes:
establishing a three-dimensional object model corresponding to the target shooting object;
and carrying out angle framing and image ray processing on the three-dimensional object model according to the shooting requirement parameters of the target shooting object so as to obtain a target picture template of the target shooting object.
As an optional implementation manner, in the first aspect of the present invention, the determining, according to the camera shooting position parameter corresponding to the target shooting object and the real-time camera position, a camera motion path corresponding to the target shooting object includes:
acquiring at least one camera shooting position included in camera shooting position parameters corresponding to the target shooting object;
and determining the shortest path passing through the at least one camera shooting position and the real-time camera position based on a shortest path solving algorithm according to the at least one camera shooting position and the real-time camera position, and determining the shortest path as a camera motion path corresponding to the target shooting object.
As an alternative implementation, in the first aspect of the present invention, the method further includes:
decomposing the camera motion path corresponding to the target shooting object to obtain a plurality of path points;
performing inverse kinematics solution on each path point to obtain a corresponding motion control vector; the motion control vector is used to control a mechanical structure connected to the camera to move the camera to the waypoint.
A second aspect of the present invention discloses a camera movement path determination apparatus, including:
the device comprises a first determining module, a second determining module and a third determining module, wherein the first determining module is used for acquiring scene parameters of a target shooting object in a target area, and determining camera shooting position parameters corresponding to the target shooting object according to the scene parameters of the target shooting object and shooting requirement parameters of the target shooting object;
and the second determining module is used for determining a camera motion path corresponding to the target shooting object according to the camera shooting position parameter corresponding to the target shooting object and the real-time camera position.
As an optional implementation manner, in the second aspect of the present invention, the scene parameter includes one or more of an ambient light of the target area, a light reflection degree of the target photographic object, a position of the target photographic object in the target area, and a distance between the target photographic object and a camera; and/or the shooting requirement parameters comprise one or more of shooting angle requirements, shooting light requirements, picture far and near requirements, picture layout requirements and picture focus requirements.
As an optional implementation manner, in the second aspect of the present invention, a specific manner in which the first determining module determines the camera shooting position parameter corresponding to the target shooting object according to the scene parameter of the target shooting object and the shooting requirement parameter of the target shooting object includes:
generating a three-dimensional illumination model of the target area, which comprises the target shooting object, according to the scene parameters of the target shooting object in the target area;
and determining camera shooting position parameters corresponding to the target shooting object through a template matching algorithm according to the three-dimensional illumination model and the shooting requirement parameters of the target shooting object.
As an optional implementation manner, in the second aspect of the present invention, a specific manner in which the first determining module determines the camera shooting position parameter corresponding to the target shooting object through a template matching algorithm according to the three-dimensional illumination model and the shooting requirement parameter of the target shooting object includes:
determining a target picture template of the target shooting object according to the shooting requirement parameters of the target shooting object;
randomly generating a plurality of viewing viewpoints in the three-dimensional illumination model of the target area, comparing a plurality of viewing pictures generated by viewing the three-dimensional illumination model at different angles at each viewing viewpoint with a target picture template of the target shooting object, and determining a target viewing picture with the highest similarity to the target picture template from the plurality of viewing pictures;
and determining the position of the viewing viewpoint corresponding to the target viewing picture in the three-dimensional illumination model as a camera shooting position parameter corresponding to the target shooting object.
As an optional implementation manner, in the second aspect of the present invention, a specific manner of determining the target frame template of the target photographic object by the first determining module according to the photographic requirement parameter of the target photographic object includes:
establishing a three-dimensional object model corresponding to the target shooting object;
and carrying out angle framing and image ray processing on the three-dimensional object model according to the shooting requirement parameters of the target shooting object so as to obtain a target picture template of the target shooting object.
As an optional implementation manner, in the second aspect of the present invention, a specific manner in which the second determining module determines the camera motion path corresponding to the target photographic object according to the camera photographic position parameter corresponding to the target photographic object and the real-time camera position includes:
acquiring at least one camera shooting position included in camera shooting position parameters corresponding to the target shooting object;
and determining the shortest path passing through the at least one camera shooting position and the real-time camera position based on a shortest path solving algorithm according to the at least one camera shooting position and the real-time camera position, and determining the shortest path as a camera motion path corresponding to the target shooting object.
As an optional implementation manner, in the second aspect of the present invention, the apparatus further includes a control solving module, configured to:
decomposing the camera motion path corresponding to the target shooting object to obtain a plurality of path points;
performing inverse kinematics solution on each path point to obtain a corresponding motion control vector; the motion control vector is used to control a motion control module connected to a camera to move the camera to the waypoint.
A third aspect of the present invention discloses another camera motion path determination apparatus, including:
a memory storing executable program code;
a processor coupled with the memory;
the processor calls the executable program code stored in the memory to execute part or all of the steps of the camera motion path determination method disclosed in the first aspect of the embodiment of the present invention.
The fourth aspect of the embodiment of the invention discloses a shooting system based on a camera motion path, which comprises a camera, a motion control module and a camera motion path determining device; the camera motion path determination device is used for executing part or all of the steps in the camera motion path determination method disclosed by the first aspect of the embodiment of the invention.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
in the embodiment of the invention, scene parameters of a target shooting object in a target area are acquired, and camera shooting position parameters corresponding to the target shooting object are determined according to the scene parameters of the target shooting object and shooting requirement parameters of the target shooting object; and determining a camera motion path corresponding to the target shooting object according to the camera shooting position parameter corresponding to the target shooting object and the real-time camera position. Therefore, the method and the device can accurately and efficiently determine the shooting position according to the actual scene parameters in the shooting area and the shooting requirements of the object, reasonably determine the motion path of the camera according to the camera position and the shooting position, greatly improve the shooting efficiency and effect, save the manpower and material resources cost of subsequent image processing and meet the shooting requirements in various aspects compared with the traditional fixed automatic shooting scheme.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flowchart of a method for determining a motion path of a camera according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating another method for determining a motion path of a camera according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a camera movement path determining apparatus according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of another camera motion path determining apparatus disclosed in the embodiment of the present invention;
fig. 5 is a schematic structural diagram of another camera motion path determining apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, 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 terms "first," "second," and the like in the description and claims of the present invention and in the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, apparatus, article, or article that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or article.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The invention discloses a camera motion path determining method, a camera motion path determining device and a camera shooting system, which can provide a technology for projecting an indoor scene based on three-dimensional model data of the indoor scene to form an augmented reality scene, and can effectively improve the fusion degree of virtual information projected in the augmented reality scene and the real indoor scene so as to bring more realistic experience for a user. The following are detailed below.
Example one
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a method for determining a motion path of a camera according to an embodiment of the present invention. The method described in fig. 1 may be applied to a corresponding determination terminal, determination device, or server, where the server may be a local server or a cloud server, and the embodiment of the present invention is not limited thereto. As shown in fig. 1, the camera motion path determination method may include the operations of:
101. the method comprises the steps of obtaining scene parameters of a target shooting object in a target area, and determining camera shooting position parameters corresponding to the target shooting object according to the scene parameters of the target shooting object and shooting requirement parameters of the target shooting object.
In the embodiment of the present invention, the target area may be a closed or semi-closed area dedicated to shooting, such as a studio, a camera box or a shooting area, which is not limited to a strictly distinguished area, and may also be an outdoor scene or an arbitrarily selected non-boundary area. Alternatively, the target photographic subject may be a commodity or a person, such as a commodity to be shelved or a public person to be advertised.
In the embodiment of the present invention, the scene parameters may include, but are not limited to, one or more of ambient light of the target area, a degree of reflection of the target photographic object, a position of the target photographic object within the target area, and a distance between the target photographic object and the camera. Alternatively, the scene parameters may be obtained by a sensing element disposed in the target area, for example, the light measuring device may be configured to obtain ambient light of the target area and a light reflection degree of the target photographic object, and the distance measuring device may be configured to obtain a position of the target photographic object in the target area and a distance between the target photographic object and the camera.
In the embodiment of the present invention, the shooting requirement parameters may include, but are not limited to, one or more of a shooting angle requirement, a shooting light requirement, a picture distance requirement, a picture layout requirement, and a picture focus requirement. Optionally, the shooting requirement parameter may be a requirement input by an operator or a user, the requirement may be a text requirement, and the corresponding shooting requirement parameter is obtained through a text-to-meaning analysis algorithm.
102. And determining a camera motion path corresponding to the target shooting object according to the camera shooting position parameter corresponding to the target shooting object and the real-time camera position.
In the embodiment of the invention, the real-time camera position can be obtained by the position sensing device arranged on the camera and transmitted to the corresponding determination equipment.
Therefore, the method described by the embodiment of the invention can be implemented to accurately and efficiently determine the shooting position according to the actual scene parameters in the shooting area and the shooting requirements of the object, and reasonably determine the motion path of the camera according to the camera position and the shooting position.
In an optional embodiment, the determining, according to the scene parameters of the target photographic object and the photographic requirement parameters of the target photographic object in step 101, the camera photographic position parameters corresponding to the target photographic object includes:
generating a three-dimensional illumination model including a target shooting object in a target area according to scene parameters of the target shooting object in the target area;
and determining camera shooting position parameters corresponding to the target shooting object through a template matching algorithm according to the three-dimensional illumination model and the shooting requirement parameters of the target shooting object.
In the embodiment of the invention, the three-dimensional illumination model comprises a simulated light model, a model of the target shooting object, a model of the target area and other structures, and specifically, the model of the target shooting object also comprises a simulated light-reflecting material of the target shooting object, which is determined by the parameter of the light-reflecting degree of the target shooting object. Specifically, the simulated light model may be an ambient light model, a diffuse reflection light model, or a specular reflection light model.
Optionally, the three-dimensional illumination model may scan the target area and the target object through a three-dimensional scanning device, generate the three-dimensional model by using a three-dimensional model generation algorithm, and modify or add materials to the three-dimensional illumination model by combining information such as ambient light of the target area and the degree of reflection of the target object in the scene parameters.
Therefore, the implementation of the optional implementation mode can generate the three-dimensional illumination model including the target shooting object in the target area according to the scene parameters of the target shooting object in the target area, and determine the camera shooting position parameters corresponding to the target shooting object through the template matching algorithm according to the three-dimensional illumination model and the shooting requirement parameters of the target shooting object, so that the shooting position which best meets the shooting requirement is determined more accurately, the accuracy of the determined shooting position is improved, and the intelligent degree and the accuracy of automatic shooting adjusted by the shooting position are improved.
In another optional embodiment, the determining, according to the three-dimensional illumination model and the shooting requirement parameter of the target shooting object, the camera shooting position parameter corresponding to the target shooting object through a template matching algorithm includes:
determining a target picture template of the target shooting object according to the shooting requirement parameters of the target shooting object;
randomly generating a plurality of viewing viewpoints in the three-dimensional illumination model of the target area, comparing a plurality of viewing pictures generated by viewing the three-dimensional illumination model at different angles at each viewing viewpoint with a target picture template of a target shooting object, and determining a target viewing picture with the highest similarity to the target picture template from the plurality of viewing pictures;
and determining the position of the viewing viewpoint corresponding to the target viewing picture in the three-dimensional illumination model as a camera shooting position parameter corresponding to the target shooting object.
Therefore, by implementing the optional implementation mode, a plurality of watching pictures generated by watching the three-dimensional illumination model at different angles at each watching viewpoint can be compared with the target picture template of the target shooting object, the target watching picture with the highest similarity to the target picture template is determined from the plurality of watching pictures, and the position of the watching viewpoint corresponding to the target watching picture in the three-dimensional illumination model is determined as the camera shooting position parameter corresponding to the target shooting object, so that the shooting position which best meets the shooting requirement is determined more accurately, the accuracy of the determined shooting position is improved, and the intelligent degree and the accuracy of automatic shooting adjusted by the shooting position are improved.
In yet another optional embodiment, the determining the target frame template of the target photographic subject according to the photographic requirement parameter of the target photographic subject includes:
establishing a three-dimensional object model corresponding to a target shooting object;
and performing angle framing and image ray processing on the three-dimensional object model according to the shooting requirement parameters of the target shooting object to obtain a target picture template of the target shooting object.
Optionally, the establishing of the three-dimensional object model corresponding to the target shooting object may include:
acquiring an object type corresponding to a target shooting object;
and according to the object type, matching a model corresponding to the object type in a preset model template database, and determining the matched model as a three-dimensional object model corresponding to the target shooting object.
In the embodiment of the invention, the three-dimensional object model is established according to the target shooting object, can be a model template determined according to the category of the target shooting object, and is mainly used for determining the picture template, so the model fineness is lower than that of a three-dimensional illumination model, and a light model or other object models of a target area are not required to be added.
Optionally, the performing angle view and image ray processing on the three-dimensional object model according to the shooting requirement parameter of the target shooting object to obtain a target picture template of the target shooting object may include:
determining a view angle according to the shooting angle requirement in the shooting requirement parameters of the target shooting object;
determining a framing mode according to picture far and near requirements and/or picture layout requirements and/or picture focus requirements in shooting requirement parameters of a target shooting object;
framing the three-dimensional object model according to the framing angle and the framing mode to obtain a target initial picture;
and carrying out light special effect processing on the initial target picture according to the shooting light requirement in the shooting requirement parameters of the target shooting object so as to obtain a target picture template of the target shooting object.
Therefore, by implementing the optional implementation mode, the three-dimensional object model corresponding to the target shooting object can be established, and the angle framing and the image ray processing are performed on the three-dimensional object model according to the shooting requirement parameters of the target shooting object to obtain the target picture template of the target shooting object, so that the target picture template of the target shooting object is determined more accurately, and the accuracy of the camera shooting position parameters obtained by matching calculation based on the target picture template is improved.
In yet another optional embodiment, in step 102, determining a camera motion path corresponding to the target photographic object according to the camera photographic position parameter corresponding to the target photographic object and the real-time camera position includes:
acquiring at least one camera shooting position included in camera shooting position parameters corresponding to a target shooting object;
and determining the shortest path passing through the at least one camera shooting position and the real-time camera position based on a shortest path solving algorithm according to the at least one camera shooting position and the real-time camera position, and determining the shortest path as a camera motion path corresponding to the target shooting object.
In the embodiment of the present invention, the shortest path solving algorithm may be, but is not limited to, a Floyd algorithm, a Dijkstra algorithm, a Bellman-Ford algorithm, or an SPFA algorithm.
Therefore, by implementing the optional implementation mode, the shortest path passing through the at least one camera shooting position and the real-time camera position can be determined based on the shortest path solving algorithm according to the at least one camera shooting position and the real-time camera position, and the shortest path is determined as the camera motion path corresponding to the target shooting object, so that the shortest camera motion path corresponding to the target shooting object is more accurately determined, and the camera can more efficiently and more accurately move according to the motion path, so that the target shooting object can be shot more accurately and more reasonably.
In yet another optional embodiment, in step 102, determining a camera motion path corresponding to the target photographic object according to the camera photographic position parameter corresponding to the target photographic object and the real-time camera position includes:
acquiring edge limit information and at least one camera shooting position included in camera shooting position parameters corresponding to a target shooting object;
and determining a camera motion path corresponding to the target shooting object according to the at least one camera shooting position, the real-time camera position and the edge limitation information.
In the embodiment of the invention, the camera motion path is limited by the edge limitation information. Specifically, the edge constraint information may be a physical edge boundary of the target area, or circular boundary information with a preset distance from the center of the target area. Alternatively, the edge constraint information may be a set of positions consisting of the most distant positions of the motion limits of the plurality of cameras.
Therefore, by implementing the optional implementation mode, the camera motion path corresponding to the target shooting object can be determined according to at least one camera shooting position, the real-time camera position and the edge limitation information, so that the camera motion path limited by the edge limitation information corresponding to the target shooting object can be more accurately determined, the reasonability and the safety of the camera motion path can be improved, and the camera can move more efficiently and more accurately according to the motion path to shoot the target shooting object more accurately and more reasonably.
Example two
Referring to fig. 2, fig. 2 is a schematic flow chart illustrating another method for determining a camera motion path according to an embodiment of the present invention. The method described in fig. 2 is applied to a corresponding determination terminal, determination device, or server, where the server may be a local server or a cloud server, and the embodiment of the present invention is not limited thereto. As shown in fig. 2, the camera motion path determination method may include the operations of:
201. the method comprises the steps of obtaining scene parameters of a target shooting object in a target area, and determining camera shooting position parameters corresponding to the target shooting object according to the scene parameters of the target shooting object and shooting requirement parameters of the target shooting object.
202. And determining a camera motion path corresponding to the target shooting object according to the camera shooting position parameter corresponding to the target shooting object and the real-time camera position.
In the embodiment of the present invention, specific technical details and technical noun explanations of the steps 201-202 may refer to the description of the steps 101-102 in the first embodiment, which are not repeated herein.
203. And decomposing the camera motion path corresponding to the target shooting object to obtain a plurality of path points.
204. And performing inverse kinematics solution on each path point to obtain a corresponding motion control vector.
In the embodiment of the present invention, optionally, each path point may correspond to a camera shooting position in the first embodiment. In embodiments of the present invention, the motion control vectors are used to control a mechanical structure coupled to the camera to move the camera to a waypoint. Optionally, kinematic inverse solution is performed on each path point, and when the coordinates of the path points are known and the joint degree of freedom of the mechanical structure, such as a manipulator, and the initial position of the joint, are known, solution is performed by an analytic method or an optimization method, such as gradient descent, to obtain a corresponding manipulator motion control vector. Optionally, an iterative solution-jacobian matrix inversion method, a jacobian matrix transpose method, an iterative solution-jacobian matrix inversion method, a redundant jacobian matrix inversion method, and the like may also be used to perform the solution, since the solution methods are all kinematic inversion solution methods that are common in the art, detailed description of specific technical principles thereof is omitted here, and a person skilled in the art knows how to apply the method to perform the solution of the motion control vector.
Therefore, the embodiment of the invention can decompose the camera motion path corresponding to the target shooting object to obtain a plurality of path points, and perform inverse kinematics solution on each path point to obtain the corresponding motion control vector, so that the motion path is converted into the motion control vector, and the mechanical structure can control the camera to shoot according to the motion path determined by the motion control vector in the steps, so as to shoot the target shooting object more accurately and reasonably.
EXAMPLE III
Referring to fig. 3, fig. 3 is a schematic structural diagram of a camera motion path determining device according to an embodiment of the present invention. The apparatus described in fig. 3 may be applied to a corresponding determination terminal, determination device, or server, and the server may be a local server or a cloud server, which is not limited in the embodiment of the present invention. As shown in fig. 3, the apparatus may include:
the first determining module 301 is configured to obtain scene parameters of a target photographic object in a target area, and determine camera shooting position parameters corresponding to the target photographic object according to the scene parameters of the target photographic object and shooting requirement parameters of the target photographic object.
In the embodiment of the present invention, the target area may be a closed or semi-closed area dedicated to shooting, such as a studio, a camera box or a shooting area, which is not limited to a strictly distinguished area, and may also be an outdoor scene or an arbitrarily selected non-boundary area. Alternatively, the target photographic subject may be a commodity or a person, such as a commodity to be shelved or a public person to be advertised.
In the embodiment of the present invention, the scene parameters may include, but are not limited to, one or more of ambient light of the target area, a degree of reflection of the target photographic object, a position of the target photographic object within the target area, and a distance between the target photographic object and the camera. Alternatively, the scene parameters may be obtained by a sensing element disposed in the target area, for example, the light measuring device may be configured to obtain ambient light of the target area and a light reflection degree of the target photographic object, and the distance measuring device may be configured to obtain a position of the target photographic object in the target area and a distance between the target photographic object and the camera.
In the embodiment of the present invention, the shooting requirement parameters may include, but are not limited to, one or more of a shooting angle requirement, a shooting light requirement, a picture distance requirement, a picture layout requirement, and a picture focus requirement. Optionally, the shooting requirement parameter may be a requirement input by an operator or a user, the requirement may be a text requirement, and the corresponding shooting requirement parameter is obtained through a text-to-meaning analysis algorithm.
The second determining module 302 is configured to determine a camera motion path corresponding to the target photographic object according to the camera photographic position parameter corresponding to the target photographic object and the real-time camera position.
In the embodiment of the invention, the real-time camera position can be obtained by the position sensing device arranged on the camera and transmitted to the corresponding determination equipment.
Therefore, the device described by the embodiment of the invention can accurately and efficiently determine the shooting position according to the actual scene parameters in the shooting area and the shooting requirements on the object, and reasonably determine the motion path of the camera according to the camera position and the shooting position.
As an optional implementation manner, in an embodiment of the present invention, a specific manner in which the first determining module 301 determines the camera shooting position parameter corresponding to the target shooting object according to the scene parameter of the target shooting object and the shooting requirement parameter of the target shooting object includes:
generating a three-dimensional illumination model including a target shooting object in a target area according to scene parameters of the target shooting object in the target area;
and determining camera shooting position parameters corresponding to the target shooting object through a template matching algorithm according to the three-dimensional illumination model and the shooting requirement parameters of the target shooting object.
In the embodiment of the invention, the three-dimensional illumination model comprises a simulated light model, a model of the target shooting object, a model of the target area and other structures, and specifically, the model of the target shooting object also comprises a simulated light-reflecting material of the target shooting object, which is determined by the parameter of the light-reflecting degree of the target shooting object. Specifically, the simulated light model may be an ambient light model, a diffuse reflection light model, or a specular reflection light model.
Optionally, the three-dimensional illumination model may scan the target area and the target object through a three-dimensional scanning device, generate the three-dimensional model by using a three-dimensional model generation algorithm, and modify or add materials to the three-dimensional illumination model by combining information such as ambient light of the target area and the degree of reflection of the target object in the scene parameters.
Therefore, the implementation of the optional implementation mode can generate the three-dimensional illumination model including the target shooting object in the target area according to the scene parameters of the target shooting object in the target area, and determine the camera shooting position parameters corresponding to the target shooting object through the template matching algorithm according to the three-dimensional illumination model and the shooting requirement parameters of the target shooting object, so that the shooting position which best meets the shooting requirement is determined more accurately, the accuracy of the determined shooting position is improved, and the intelligent degree and the accuracy of automatic shooting adjusted by the shooting position are improved.
As an optional implementation manner, in an embodiment of the present invention, a specific manner in which the first determining module 301 determines, according to the three-dimensional illumination model and the shooting requirement parameter of the target shooting object, a camera shooting position parameter corresponding to the target shooting object through a template matching algorithm includes:
determining a target picture template of the target shooting object according to the shooting requirement parameters of the target shooting object;
randomly generating a plurality of viewing viewpoints in the three-dimensional illumination model of the target area, comparing a plurality of viewing pictures generated by viewing the three-dimensional illumination model at different angles at each viewing viewpoint with a target picture template of a target shooting object, and determining a target viewing picture with the highest similarity to the target picture template from the plurality of viewing pictures;
and determining the position of the viewing viewpoint corresponding to the target viewing picture in the three-dimensional illumination model as a camera shooting position parameter corresponding to the target shooting object.
Therefore, by implementing the optional implementation mode, a plurality of watching pictures generated by watching the three-dimensional illumination model at different angles at each watching viewpoint can be compared with the target picture template of the target shooting object, the target watching picture with the highest similarity to the target picture template is determined from the plurality of watching pictures, and the position of the watching viewpoint corresponding to the target watching picture in the three-dimensional illumination model is determined as the camera shooting position parameter corresponding to the target shooting object, so that the shooting position which best meets the shooting requirement is determined more accurately, the accuracy of the determined shooting position is improved, and the intelligent degree and the accuracy of automatic shooting adjusted by the shooting position are improved.
As an optional implementation manner, in an embodiment of the present invention, a specific manner of determining, by the first determining module 301, a target frame template of a target photographic object according to a photographic requirement parameter of the target photographic object includes:
establishing a three-dimensional object model corresponding to a target shooting object;
and performing angle framing and image ray processing on the three-dimensional object model according to the shooting requirement parameters of the target shooting object to obtain a target picture template of the target shooting object.
Optionally, the specific manner of establishing the three-dimensional object model corresponding to the target shooting object by the first determining module 301 may include:
acquiring an object type corresponding to a target shooting object;
and according to the object type, matching a model corresponding to the object type in a preset model template database, and determining the matched model as a three-dimensional object model corresponding to the target shooting object.
In the embodiment of the invention, the three-dimensional object model is established according to the target shooting object, can be a model template determined according to the category of the target shooting object, and is mainly used for determining the picture template, so the model fineness is lower than that of a three-dimensional illumination model, and a light model or other object models of a target area are not required to be added.
Optionally, the specific manner of performing angle view and image ray processing on the three-dimensional object model by the first determining module 301 according to the shooting requirement parameter of the target shooting object to obtain the target picture template of the target shooting object may include:
determining a view angle according to the shooting angle requirement in the shooting requirement parameters of the target shooting object;
determining a framing mode according to picture far and near requirements and/or picture layout requirements and/or picture focus requirements in shooting requirement parameters of a target shooting object;
framing the three-dimensional object model according to the framing angle and the framing mode to obtain a target initial picture;
and carrying out light special effect processing on the initial target picture according to the shooting light requirement in the shooting requirement parameters of the target shooting object so as to obtain a target picture template of the target shooting object.
Therefore, by implementing the optional implementation mode, the three-dimensional object model corresponding to the target shooting object can be established, and the angle framing and the image ray processing are performed on the three-dimensional object model according to the shooting requirement parameters of the target shooting object to obtain the target picture template of the target shooting object, so that the target picture template of the target shooting object is determined more accurately, and the accuracy of the camera shooting position parameters obtained by matching calculation based on the target picture template is improved.
As an optional implementation manner, in an embodiment of the present invention, a specific manner in which the second determining module 302 determines the camera motion path corresponding to the target photographic object according to the camera photographic position parameter corresponding to the target photographic object and the real-time camera position includes:
acquiring at least one camera shooting position included in camera shooting position parameters corresponding to a target shooting object;
and determining the shortest path passing through the at least one camera shooting position and the real-time camera position based on a shortest path solving algorithm according to the at least one camera shooting position and the real-time camera position, and determining the shortest path as a camera motion path corresponding to the target shooting object.
In the embodiment of the present invention, the shortest path solving algorithm may be, but is not limited to, a Floyd algorithm, a Dijkstra algorithm, a Bellman-Ford algorithm, or an SPFA algorithm.
Therefore, by implementing the optional implementation mode, the shortest path passing through the at least one camera shooting position and the real-time camera position can be determined based on the shortest path solving algorithm according to the at least one camera shooting position and the real-time camera position, and the shortest path is determined as the camera motion path corresponding to the target shooting object, so that the shortest camera motion path corresponding to the target shooting object is more accurately determined, and the camera can more efficiently and more accurately move according to the motion path, so that the target shooting object can be shot more accurately and more reasonably.
As an optional implementation manner, in an embodiment of the present invention, a specific manner in which the second determining module 302 determines the camera motion path corresponding to the target photographic object according to the camera photographic position parameter corresponding to the target photographic object and the real-time camera position includes:
acquiring edge limit information and at least one camera shooting position included in camera shooting position parameters corresponding to a target shooting object;
and determining a camera motion path corresponding to the target shooting object according to the at least one camera shooting position, the real-time camera position and the edge limitation information.
In the embodiment of the invention, the camera motion path is limited by the edge limitation information. Specifically, the edge constraint information may be a physical edge boundary of the target area, or circular boundary information with a preset distance from the center of the target area. Alternatively, the edge constraint information may be a set of positions consisting of the most distant positions of the motion limits of the plurality of cameras.
Therefore, by implementing the optional implementation mode, the camera motion path corresponding to the target shooting object can be determined according to at least one camera shooting position, the real-time camera position and the edge limitation information, so that the camera motion path limited by the edge limitation information corresponding to the target shooting object can be more accurately determined, the reasonability and the safety of the camera motion path can be improved, and the camera can move more efficiently and more accurately according to the motion path to shoot the target shooting object more accurately and more reasonably.
As an optional implementation manner, in the embodiment of the present invention, as shown in fig. 4, the apparatus further includes a control solving module 303, configured to:
decomposing a camera motion path corresponding to a target shooting object to obtain a plurality of path points;
performing inverse kinematics solution on each path point to obtain a corresponding motion control vector; the motion control vector is used to control a motion control module connected to the camera to move the camera to the waypoint.
In the embodiment of the present invention, optionally, each path point may correspond to a camera shooting position in the first embodiment. In embodiments of the present invention, the motion control vectors are used to control a mechanical structure coupled to the camera to move the camera to a waypoint. Optionally, kinematic inverse solution is performed on each path point, and when the coordinates of the path points are known and the joint degree of freedom of the mechanical structure, such as a manipulator, and the initial position of the joint, are known, solution is performed by an analytic method or an optimization method, such as gradient descent, to obtain a corresponding manipulator motion control vector. Optionally, an iterative solution-jacobian matrix inversion method, a jacobian matrix transpose method, an iterative solution-jacobian matrix inversion method, a redundant jacobian matrix inversion method, and the like may also be used to perform the solution, since the solution methods are all kinematic inversion solution methods that are common in the art, detailed description of specific technical principles thereof is omitted here, and a person skilled in the art knows how to apply the method to perform the solution of the motion control vector.
Therefore, the embodiment of the invention can decompose the camera motion path corresponding to the target shooting object to obtain a plurality of path points, and perform inverse kinematics solution on each path point to obtain the corresponding motion control vector, so that the motion path is converted into the motion control vector, and the mechanical structure can control the camera to shoot according to the motion path determined by the motion control vector in the steps, so as to shoot the target shooting object more accurately and reasonably.
Example four
Referring to fig. 5, fig. 5 is a schematic structural diagram of another camera motion path determining apparatus according to an embodiment of the present disclosure. As shown in fig. 5, the apparatus may include:
a memory 401 storing executable program code;
a processor 402 coupled with the memory 401;
the processor 402 calls the executable program code stored in the memory 401 to execute some or all of the steps of the camera motion path determination method disclosed in the first embodiment or the second embodiment of the present invention.
EXAMPLE five
The embodiment of the invention discloses a computer storage medium, which stores computer instructions, and when the computer instructions are called, the computer storage medium is used for executing part or all of the steps in the camera motion path determination method disclosed in the first embodiment or the second embodiment of the invention.
EXAMPLE six
The embodiment of the invention discloses a camera motion path-based shooting system, which comprises a camera, a motion control module and a camera motion path determining device, wherein the camera motion path determining device is used for executing part or all of the steps of the camera motion path determining method disclosed in the first embodiment or the second embodiment of the invention.
The embodiment of the present invention is directed to a solution for combining a manipulator and an automatic shooting camera, and therefore, in the embodiment of the present invention, the motion control module may be a mechanical structure connected to the camera, such as a manipulator, which may be a manipulator having 2-7 joint degrees of freedom. Alternatively, the camera motion path determining means may be connected to the motion control module and transmit the determined camera motion path or motion control vector to the motion control module.
The above-described embodiments of the apparatus are merely illustrative, and the modules described as separate parts may or may not be physically separate, and the parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above detailed description of the embodiments, those skilled in the art will clearly understand that the embodiments may be implemented by software plus a necessary general hardware platform, and may also be implemented by hardware. Based on such understanding, the above technical solutions may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, where the storage medium includes a Read-Only Memory (ROM), a Random Access Memory (RAM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), a One-time Programmable Read-Only Memory (OTPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a Compact Disc-Read-Only Memory (CD-ROM), or other disk memories, CD-ROMs, or other magnetic disks, A tape memory, or any other medium readable by a computer that can be used to carry or store data.
Finally, it should be noted that: the method, the apparatus and the shooting system for determining a camera motion path disclosed in the embodiments of the present invention are only preferred embodiments of the present invention, and are only used for illustrating the technical solutions of the present invention, not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art; the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (16)
1. A method for determining a motion path of a camera, the method comprising:
acquiring scene parameters of a target shooting object in a target area, and determining camera shooting position parameters corresponding to the target shooting object according to the scene parameters of the target shooting object and shooting requirement parameters of the target shooting object;
and determining a camera motion path corresponding to the target shooting object according to the camera shooting position parameter corresponding to the target shooting object and the real-time camera position.
2. The camera motion path determination method of claim 1, wherein the scene parameters comprise one or more of ambient light of the target area, a degree of light reflection of the target photographic subject, a position of the target photographic subject within the target area, a distance between the target photographic subject and a camera; and/or the shooting requirement parameters comprise one or more of shooting angle requirements, shooting light requirements, picture far and near requirements, picture layout requirements and picture focus requirements.
3. The method for determining the camera motion path according to claim 1, wherein the determining the camera shooting position parameter corresponding to the target shooting object according to the scene parameter of the target shooting object and the shooting requirement parameter of the target shooting object comprises:
generating a three-dimensional illumination model of the target area, which comprises the target shooting object, according to the scene parameters of the target shooting object in the target area;
and determining camera shooting position parameters corresponding to the target shooting object through a template matching algorithm according to the three-dimensional illumination model and the shooting requirement parameters of the target shooting object.
4. The method for determining the camera motion path according to claim 3, wherein determining the camera shooting position parameter corresponding to the target shooting object through a template matching algorithm according to the three-dimensional illumination model and the shooting requirement parameter of the target shooting object comprises:
determining a target picture template of the target shooting object according to the shooting requirement parameters of the target shooting object;
randomly generating a plurality of viewing viewpoints in the three-dimensional illumination model of the target area, comparing a plurality of viewing pictures generated by viewing the three-dimensional illumination model at different angles at each viewing viewpoint with a target picture template of the target shooting object, and determining a target viewing picture with the highest similarity to the target picture template from the plurality of viewing pictures;
and determining the position of the viewing viewpoint corresponding to the target viewing picture in the three-dimensional illumination model as a camera shooting position parameter corresponding to the target shooting object.
5. The method for determining the motion path of the camera according to claim 4, wherein the determining the target picture template of the target photographic object according to the photographic requirement parameters of the target photographic object comprises:
establishing a three-dimensional object model corresponding to the target shooting object;
and carrying out angle framing and image ray processing on the three-dimensional object model according to the shooting requirement parameters of the target shooting object so as to obtain a target picture template of the target shooting object.
6. The method for determining the camera motion path according to claim 1, wherein the determining the camera motion path corresponding to the target photographic object according to the camera photographic position parameter corresponding to the target photographic object and the real-time camera position comprises:
acquiring at least one camera shooting position included in camera shooting position parameters corresponding to the target shooting object;
and determining the shortest path passing through the at least one camera shooting position and the real-time camera position based on a shortest path solving algorithm according to the at least one camera shooting position and the real-time camera position, and determining the shortest path as a camera motion path corresponding to the target shooting object.
7. The camera motion path determination method according to claim 1, further comprising:
decomposing the camera motion path corresponding to the target shooting object to obtain a plurality of path points;
performing inverse kinematics solution on each path point to obtain a corresponding motion control vector; the motion control vector is used to control a mechanical structure connected to the camera to move the camera to the waypoint.
8. A camera motion path determination apparatus, characterized in that the apparatus comprises:
the device comprises a first determining module, a second determining module and a third determining module, wherein the first determining module is used for acquiring scene parameters of a target shooting object in a target area, and determining camera shooting position parameters corresponding to the target shooting object according to the scene parameters of the target shooting object and shooting requirement parameters of the target shooting object;
and the second determining module is used for determining a camera motion path corresponding to the target shooting object according to the camera shooting position parameter corresponding to the target shooting object and the real-time camera position.
9. The camera motion path determination apparatus of claim 8, wherein the scene parameters comprise one or more of ambient light of the target area, a degree of light reflection of the target photographic subject, a position of the target photographic subject within the target area, a distance between the target photographic subject and a camera; and/or the shooting requirement parameters comprise one or more of shooting angle requirements, shooting light requirements, picture far and near requirements, picture layout requirements and picture focus requirements.
10. The apparatus according to claim 8, wherein the specific manner of determining the camera shooting position parameter corresponding to the target shooting object by the first determining module according to the scene parameter of the target shooting object and the shooting requirement parameter of the target shooting object includes:
generating a three-dimensional illumination model of the target area, which comprises the target shooting object, according to the scene parameters of the target shooting object in the target area;
and determining camera shooting position parameters corresponding to the target shooting object through a template matching algorithm according to the three-dimensional illumination model and the shooting requirement parameters of the target shooting object.
11. The apparatus according to claim 10, wherein the specific manner of determining the camera shooting position parameter corresponding to the target shooting object by the first determining module according to the three-dimensional illumination model and the shooting requirement parameter of the target shooting object through a template matching algorithm includes:
determining a target picture template of the target shooting object according to the shooting requirement parameters of the target shooting object;
randomly generating a plurality of viewing viewpoints in the three-dimensional illumination model of the target area, comparing a plurality of viewing pictures generated by viewing the three-dimensional illumination model at different angles at each viewing viewpoint with a target picture template of the target shooting object, and determining a target viewing picture with the highest similarity to the target picture template from the plurality of viewing pictures;
and determining the position of the viewing viewpoint corresponding to the target viewing picture in the three-dimensional illumination model as a camera shooting position parameter corresponding to the target shooting object.
12. The apparatus according to claim 11, wherein the first determining module determines a specific manner of the target screen template of the target photographic object according to the photographic requirement parameter of the target photographic object, and the specific manner includes:
establishing a three-dimensional object model corresponding to the target shooting object;
and carrying out angle framing and image ray processing on the three-dimensional object model according to the shooting requirement parameters of the target shooting object so as to obtain a target picture template of the target shooting object.
13. The apparatus according to claim 8, wherein the second determining module determines a specific manner of the camera motion path corresponding to the target object according to the camera shooting position parameter corresponding to the target object and the real-time camera position, and includes:
acquiring at least one camera shooting position included in camera shooting position parameters corresponding to the target shooting object;
and determining the shortest path passing through the at least one camera shooting position and the real-time camera position based on a shortest path solving algorithm according to the at least one camera shooting position and the real-time camera position, and determining the shortest path as a camera motion path corresponding to the target shooting object.
14. The camera motion path determination apparatus of claim 8, further comprising a control solution module to:
decomposing the camera motion path corresponding to the target shooting object to obtain a plurality of path points;
performing inverse kinematics solution on each path point to obtain a corresponding motion control vector; the motion control vector is used to control a motion control module connected to a camera to move the camera to the waypoint.
15. A camera motion path determination apparatus, characterized in that the apparatus comprises:
a memory storing executable program code;
a processor coupled with the memory;
the processor calls the executable program code stored in the memory to execute the camera motion path determination method according to any one of claims 1 to 7.
16. A camera motion path-based photographing system, comprising a camera, a motion control module, and a camera motion path determining means; the camera motion path determination apparatus is configured to perform the camera motion path determination method according to any one of claims 1 to 7.
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