CN114760412A

CN114760412A - Method and device for acquiring full-field high-sharpness image and movable platform

Info

Publication number: CN114760412A
Application number: CN202210260649.1A
Authority: CN
Inventors: 张霁寒; 卢庆博; 李广; 邹文
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2022-03-16
Filing date: 2022-03-16
Publication date: 2022-07-15
Anticipated expiration: 2042-03-16
Also published as: CN114760412B

Abstract

A method, a device and a movable platform for acquiring full-field high-sharpness images are applied to the movable platform, wherein shooting equipment is mounted on the movable platform, and the method comprises the following steps: acquiring a shooting instruction input by a user and an image size selected by the user; in response to a shooting instruction, controlling the shooting equipment to shoot images at the poses required by shooting each image respectively based on the attribute information and the image size of the shooting equipment to obtain a plurality of images to be processed, wherein the attribute information is related to high-sharpness areas in the images shot by the shooting equipment, and the poses of the shooting equipment are different when the plurality of images to be processed are shot; high sharpness areas in each image to be processed are determined, and full-field high sharpness images are synthesized and output based on the high sharpness areas in each image to be processed. The method, the device and the movable platform can synthesize full-field high-sharpness images meeting the requirements of users, and can obviously improve the image quality for scenes in which high-frequency details are generally distributed in large frames.

Description

Method and device for acquiring full-field high-sharpness image and movable platform

Technical Field

The present application relates to the field of image processing technology, and more particularly, to a method, an apparatus, and a movable platform for acquiring full-field high-sharpness images.

Background

For a normal camera lens, the sharpness (contrast) decays as the distance between the photosensitive position and the center of the lens increases, so that the taken picture has a distribution characteristic of higher sharpness (characteristic resolving power) at the center of the picture and lower sharpness at the edges. That is, it is difficult to realize that the entire photograph (full field of view) has high sharpness (for example, the sharpness of the full field of view is as high as that of the center area of the screen) in the current photograph taken by the general camera lens.

However, for some application scenes, such as a multi-person group scene or a scene that captures a large number of viewers and crowds, it is necessary to present highly restored detailed information in the full view, i.e., to clearly present a human face; and in the case of an aerial city scene, highly restored detailed information needs to be presented in a full view field, namely buildings, vehicles, people and the like are clearly presented. In the above application scenarios, a full-view high-sharpness image needs to be acquired, and as described above, the current ordinary camera lens cannot capture the full-view high-sharpness image.

Disclosure of Invention

According to an aspect of the present application, there is provided a method for acquiring a full-field high-sharpness image, the method being applied to a movable platform on which a photographing apparatus is mounted, the method including: acquiring a shooting instruction input by a user and an image size selected by the user; in response to the shooting instruction, controlling the shooting equipment to respectively shoot images at poses required for shooting each image based on attribute information and the image size of the shooting equipment to obtain a plurality of images to be processed, wherein the attribute information is related to a high-sharpness area in the images shot by the shooting equipment, and the poses of the shooting equipment are different when the plurality of images to be processed are shot; determining a high sharpness area in each image to be processed, and synthesizing and outputting a full-field high sharpness image based on the high sharpness area in each image to be processed.

According to another aspect of the present application, there is also provided a movable platform comprising a memory, a processor, and a mechanical structure capable of carrying a photographing apparatus, wherein: the memory has stored thereon a computer program for execution by the processor, which, when executed by the processor, causes the processor to: acquiring a shooting instruction input by a user and an image size selected by the user; in response to the shooting instruction, controlling the shooting equipment to shoot images at poses required for shooting each image respectively based on attribute information and the image size of the shooting equipment carried on the mechanical structure to obtain a plurality of images to be processed, wherein the attribute information is related to a high-sharpness area in the images shot by the shooting equipment, and the poses of the shooting equipment are different when the plurality of images to be processed are shot; determining a high sharpness area in each image to be processed, and synthesizing and outputting a full-field high sharpness image based on the high sharpness area in each image to be processed.

According to yet another aspect of the present application, there is also provided a movable platform including a memory, a processor, a mechanical structure capable of carrying a photographing apparatus, and a control structure controlling movement of the mechanical structure, wherein: the memory has stored thereon a computer program for execution by the processor, which, when executed by the processor, causes the processor to: acquiring a shooting instruction input by a user and an image size selected by the user; responding to the shooting instruction, sending an instruction to the control structure based on attribute information and the image size of shooting equipment carried on the mechanical structure, enabling the control structure to control the mechanical structure to rotate, so as to drive the shooting equipment to shoot images respectively at a pose required by shooting each image, and obtaining a plurality of images to be processed, wherein the attribute information is related to a high-sharpness area in the images shot by the shooting equipment, and the poses of the shooting equipment are different when the plurality of images to be processed are shot; after the image to be processed is obtained, the shooting device executes the image to be processed or the shooting device transmits the image to be processed to a terminal device so as to execute the following steps: determining a high sharpness area in each image to be processed, and synthesizing and outputting a full-field high sharpness image based on the high sharpness area in each image to be processed.

According to yet another aspect of the present application, there is also provided an apparatus for acquiring full field of view sharpness images, the apparatus comprising a memory and a processor, wherein the memory has stored thereon a computer program for execution by the processor, the computer program, when executed by the processor, causing the processor to perform the above-described method of acquiring full field of view sharpness images.

According to yet another aspect of the present application, there is also provided a storage medium having stored thereon a computer program which, when executed by a processor, causes the processor to execute the above-described method of acquiring a full field of view sharpness image.

According to the method, the device and the movable platform for acquiring the full-view high-sharpness images, the shooting equipment can be controlled to shoot a plurality of images at different poses according to the user requirements and the attributes of the shooting equipment, the shooting equipment or the terminal equipment acquires respective high-sharpness areas in the plurality of images, the full-view high-sharpness images meeting the user requirements are synthesized, and the image quality can be obviously improved for scenes in which high-frequency details are generally distributed in large frames.

Drawings

The above and other objects, features and advantages of the present application will become more apparent by describing in more detail embodiments of the present application with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings, like reference numbers generally represent like parts or steps.

Fig. 1 shows a graph of an example of a Modulation Transfer Function (MTF) curve of a common lens.

Fig. 2 shows a schematic flow diagram of a method of acquiring a full field of view high sharpness image according to an embodiment of the application.

Fig. 3 illustrates an exemplary schematic diagram of a photographing apparatus for photographing images at different angles in a method of acquiring a full-field high-sharpness image according to an embodiment of the present application.

Fig. 4 shows an exemplary schematic diagram of a sharpness area of an image to be processed obtained in the method for acquiring a full-field high-sharpness image according to an embodiment of the present application.

Fig. 5 illustrates an exemplary schematic diagram of cropping a high sharpness area in an image to be processed in a method of acquiring a full-field high sharpness image according to an embodiment of the present application.

Fig. 6 shows an exemplary schematic diagram of stitching images to be stitched in a method for acquiring a full-field high-sharpness image according to an embodiment of the present application.

Fig. 7 illustrates an exemplary schematic diagram of cropping the full-field high-sharpness image again in the method of acquiring the full-field high-sharpness image according to the embodiment of the present application.

Fig. 8 shows an exemplary schematic diagram of a flow of a method for acquiring a full-field high-sharpness image at a user layer and a background according to an embodiment of the present application.

FIG. 9 shows a schematic block diagram of a movable platform according to one embodiment of the present application.

FIG. 10 shows a schematic block diagram of a movable platform according to another embodiment of the present application.

FIG. 11 shows a schematic block diagram of a movable platform according to yet another embodiment of the present application.

FIG. 12 shows a schematic block diagram of a movable platform according to yet another embodiment of the present application.

FIG. 13 shows a schematic block diagram of a movable platform according to yet another embodiment of the present application.

FIG. 14 shows a schematic block diagram of a movable platform according to yet another embodiment of the present application.

Fig. 15 shows a schematic block diagram of an apparatus for acquiring full field of view high sharpness images according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, exemplary embodiments according to the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the described embodiments are only some embodiments of the present application and not all embodiments of the present application, and that the present application is not limited by the example embodiments described herein. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application described in the present application without inventive step, shall fall within the scope of protection of the present application.

At present, in order to obtain a picture with a high sharpness area as wide as possible, a user is generally required to adopt a lens with high original quality. The lens pristine quality is typically characterized using a Modulation Transfer Function (MTF). Fig. 1 shows an exemplary graph of MTF curves of a common lens. As shown in fig. 1, the abscissa of the MTF curve is the distance from the center of the film to the imaging position on the photosensitive film, and the ordinate is the ratio of the grating modulation (representing contrast, i.e., sharpness) before and after going through the lens. A curve value closer to 1 indicates a more perfect sharpness of the position. Fig. 1 illustrates MTF curve states of a plurality of common lenses, wherein the left graph is the MTF curve of each of the 4 lenses, and the right graph is the MTF curve of each of the other 4 lenses. According to the curves, if a photo with a relatively wide high-sharpness area is obtained, a lens with slow sharpness attenuation needs to be selected, and the selling price of the lens is high; in addition, full-field high-sharpness photographs cannot be obtained at present, and even with a lens of excellent quality, the slope of sharpness attenuation is still large in a region of large distance.

In the photographic field, sharpness is used to represent the contrast of the edges of an image, and sharpness is also said to be the magnitude of the derivative of brightness with respect to space. Areas of higher sharpness may give a clear look to the human eye.

Based on this, the present application provides a scheme for acquiring full-field high-sharpness images. The following description is made with reference to the accompanying drawings.

Fig. 2 shows a schematic flow diagram of a method 200 of acquiring a full field of view high sharpness image according to an embodiment of the application. The method 200 for acquiring full-field high-sharpness images may be applied to a movable platform on which a shooting device is mounted, as shown in fig. 2, and the method 200 for acquiring full-field high-sharpness images may include the following steps:

in step S210, a photographing instruction input by the user and an image size selected by the user are acquired.

In step S220, in response to the shooting instruction, the shooting device is controlled to respectively shoot the images at the poses required for shooting each image based on the attribute information and the image size of the shooting device, so as to obtain a plurality of images to be processed, the attribute information is related to a high-sharpness area in the images shot by the shooting device, and the poses of the shooting device are different when the plurality of images to be processed are shot.

In step S230, a high sharpness area in each image to be processed is determined, and a full-field high sharpness image is synthesized and output based on the high sharpness area in each image to be processed.

In the embodiment of the present application, after a user inputs a shooting instruction and selects (or manually edits and inputs) a desired image size via a user interface (such as a user interface of a shooting device mounted on a movable platform, a user interface of the movable platform itself, a user interface of a terminal device communicatively connected to the movable platform, and the like), the movable platform may control the shooting device mounted thereon to shoot images at different poses based on the user input and attribute information of the shooting device itself mounted thereon (specifically, attribute information related to a high sharpness region in an image shot by the shooting device), obtain a plurality of images to be processed, finally obtain high sharpness regions in the plurality of images to be processed (such as a region in the image with sharpness greater than a preset threshold value, and a circular region with a certain distance expanded outward from the center of the image), a new image is synthesized based on the high-sharpness areas in the images, and the whole new image is synthesized based on a plurality of high-sharpness areas, so that the full-field high-sharpness image is obtained in the new image, wherein all fields of view are high-sharpness areas. Full field high sharpness photographs have the same ability to represent detail in the full field, meaning a higher image quality than ordinary photographs.

Therefore, according to the method for acquiring the full-view high-sharpness image, the shooting equipment can be controlled to shoot a plurality of images at different poses according to the user requirements and the attributes of the shooting equipment, respective high-sharpness areas in the plurality of images are acquired, the full-view high-sharpness image meeting the user requirements is synthesized, the image quality can be obviously improved for scenes (such as multi-person group photo and imaging of a plurality of high-frequency information at the edge of a view field) needing high-frequency details to be generally distributed in a large picture, and the user can simply shoot the full-view high-sharpness image by only using the equipment in the hand.

In the embodiment of the present application, the controlling the photographing apparatus to photograph the images in the pose required for photographing each image, respectively, based on the attribute information and the image size of the photographing apparatus in step S220 may further include: and determining the number of images required to be shot by the shooting device and the pose required when each image is shot on the basis of the attribute information and the image size of the shooting device, and controlling the shooting device to shoot the images at the poses required when each image is shot.

In this embodiment, the movable platform may determine, according to the user requirement (i.e., the image size of the full-field high-sharpness image ultimately desired by the user, including the number of pixels or the aspect ratio, etc.), in combination with attribute information of the current capture device (such as one or more of lens sharpness attenuation information, field angle, pixels, or focal length), what pose (e.g., what angle to rotate) the current capture device needs to capture several images and capture each image in order to ultimately synthesize a full-field high-sharpness image that meets the user requirement.

For example, the size of an image required by a user is small, and the high-sharpness area range in an image shot by the current shooting device is wide, so that the number of images needing to be shot by the current shooting device is small, and the amount of change of the required pose in each shooting process can be large. On the contrary, the size of the image required by the user is large, and the high-sharpness area range in the image shot by the current shooting device is small, so that the number of the images needing to be shot by the current shooting device is large, and the variation amount of the required pose is small during each shooting.

The difference between the number of captured images and the required pose in different situations is only qualitatively described here and is merely exemplary. In practical application, the movable platform can quantitatively determine the number of images needing to be shot by the shooting equipment and the required pose when each image is shot based on the attribute information and the image size of the shooting equipment, and control the shooting equipment to respectively shoot the images at the required pose when each image is shot. Fig. 3 is an exemplary schematic diagram illustrating an image captured at different angles by the capturing device in the method for acquiring a full-field high-sharpness image according to the embodiment of the present application.

In an embodiment of the present application, the determining the high sharpness regions in each of the images to be processed and synthesizing and outputting the full-field high sharpness image based on the high sharpness regions in each of the images to be processed as described in step S230 may include: determining a high-sharpness area in each image to be processed based on a preset sharpness threshold, and cutting the high-sharpness area in each image to be processed to obtain images to be spliced; and splicing all the images to be spliced based on the image information, the corresponding pose information and the cutting information of each image to be spliced to obtain and output a full-field high-sharpness image.

In this embodiment, after the shooting device shoots a plurality of images to be processed at different poses, the movable platform or the shooting device or other terminal devices in communication connection with the movable platform may determine respective high sharpness areas in the plurality of images to be processed. Here, it should be noted that since the attribute of the photographing device is determined, the sharpness at each position in the image captured by the photographing device is also determined and known, and therefore the high sharpness area can be determined only based on a preset sharpness threshold, that is, the sharpness area greater than or equal to the threshold is the high sharpness area.

According to the MTF curve shown in fig. 1 in the foregoing, in the captured image to be processed, generally, the sharpness of the center area is high and the sharpness of the edge is low. Accordingly, in general, for each image to be processed, the determined high-sharpness region may be a circular region, for example, as shown in fig. 4. In the example shown in fig. 4, a circular region in the rectangular image is a high-sharpness region, and a region other than the circular region is not a high-sharpness region.

After the high-sharpness region in each image to be processed is determined, the high-sharpness region of each image to be processed can be cut to obtain images to be spliced. Following the example above, the high sharpness region is a circular region, based on which clipping the high sharpness region may include: inscribed rectangles of high sharpness regions (or other shapes suitable for subsequent splicing operations) are cut out, for example as shown in fig. 5. In the example shown in fig. 5, a circular region in a rectangular image is a high-sharpness region, and an inscribed rectangle in the region is cut out to obtain an image to be stitched. Similarly, in each of the multiple images to be processed, one image to be stitched is cut out in this way, and multiple images to be stitched can be obtained.

After a plurality of images to be spliced are obtained, all the images to be spliced can be spliced according to the image information, the corresponding pose information and the cutting information of each image to be spliced, and a full-field high-sharpness image is obtained and output. The image information of the images to be spliced refers to image content, and can be used for performing feature matching so as to determine content association among a plurality of images to be spliced. In addition, the corresponding pose information refers to the pose of the shooting equipment when the to-be-processed images from which the to-be-stitched images originate are shot, and the cropping information refers to how to crop the to-be-processed images to obtain the to-be-stitched images. Generally, based on the image information, the corresponding pose information and the cropping information of each image to be stitched, how to stitch the images to be stitched can be determined to obtain a wider-angle image. Illustratively, the stitching process described above may be performed by a wide-angle photo stitching algorithm. Since the wider-angle images are obtained by splicing images in high-sharpness areas, the images are full-field high-sharpness images, and have wider fields of view and full-field high-sharpness characteristics.

Fig. 6 is an exemplary schematic diagram illustrating stitching images to be stitched in a method for acquiring a full-field high-sharpness image according to an embodiment of the present application. In this example, 6 images to be stitched are stitched in a 3 x 2 array into a full field of view high sharpness image, each image to be stitched being similar in size. In other examples, the sizes of the different images to be stitched may also be different.

In an embodiment of the present application, the size of the full-field high-sharpness image output in step S230 is greater than or equal to the image size selected by the user, the method 200 may further include the steps of: after the full-view high-sharpness image is displayed, acquiring a region selection result of the full-view high-sharpness image by a user; and cutting the full-view high-sharpness image based on the area selection result to obtain and output the full-view high-sharpness image of the user selected area.

In this embodiment, the finished picture provided to the user has a larger frame size than the user needs, and the user can freely select the cropping area, which can avoid the situation that the user needs to take a new shot because of the need for a slight angle adjustment and the lack of taking the full desired content. Fig. 7 is an exemplary diagram illustrating cropping the full-field high-sharpness image again in the method for acquiring the full-field high-sharpness image according to the embodiment of the present application. In fig. 7, the dashed large rectangular area is the full-field high-sharpness image output to the user, and the user can freely select and crop the area, for example, the left solid rectangle and the right solid rectangle (with overlap) are two selected areas.

The above describes a detailed process of the method 200 for acquiring full-field high-sharpness images according to an embodiment of the present application. An example of the execution subject of the method is described below.

In one embodiment of the present application, the method 200 may be performed by a movable platform. Wherein, this movable platform can include unmanned aerial vehicle, and aforementioned shooting equipment can include the camera. The shooting instruction and the image size in step S210 may be acquired by the drone via a user interface of a mobile phone (APP) (in communication connection with the drone) or a remote controller of the drone. Then, in step S220, the drone controls the camera mounted thereon to capture images in the pose required to capture each image, respectively, based on the attribute information of the camera and the image size acquired via the aforementioned user interface, in response to the capture instruction. The unmanned aerial vehicle can change the pose through the power structure and the flight system of the unmanned aerial vehicle, so that the pose of the camera carried on the unmanned aerial vehicle can be changed. Next, in step S230, the drone may acquire the images to be processed from the photographing apparatus, synthesize and output a full-field high-sharpness image after determining the high-sharpness area. Finally, this full field of view high sharpness image may be displayed on the user interface of the aforementioned cell phone (APP) or remote control of the drone.

In another embodiment of the present application, the method 200 may be performed by a movable platform. Wherein, this movable platform can include unmanned aerial vehicle, and aforementioned shooting equipment can include the camera. The shooting instruction and the image size in step S210 may be acquired by the drone via a user interface of a mobile phone (APP) (in communication connection with the drone) or a remote controller of the drone. Then, in step S220, the drone controls the camera mounted thereon to capture images in the pose required to capture each image, respectively, based on the attribute information of the camera and the image size acquired via the aforementioned user interface, in response to the capture instruction. Wherein, unmanned aerial vehicle can connect the cloud platform, carries on the camera by the cloud platform, and the motor of unmanned aerial vehicle steerable cloud platform this moment, the motor is controlled the cloud platform again and is rotated to drive the camera and change the position appearance and shoot. Here, the quality of the shot image can be improved through the stability increasing performance of the holder. Next, in step S230, the drone may acquire the images to be processed from the photographing apparatus, synthesize and output a full-field high-sharpness image after determining the high-sharpness area. Finally, the full field of view sharpness image may be displayed on the user interface of the aforementioned cell phone (APP) or remote control of the drone.

In yet another embodiment of the present application, the method 200 is performed by a moveable platform in cooperation with a capture device (or terminal device). In this embodiment, the movable platform may comprise a handheld pan/tilt head and the capture device comprises a camera (or cell phone). The handheld cradle head may be provided with a touch screen, and the shooting instruction and the image size in step S210 may be obtained by the handheld cradle head via a user interface on the touch screen. Then, in step S220, the handheld cloud deck may control the camera (or the mobile phone) mounted thereon to capture images at the pose required for capturing each image, respectively, based on the attribute information of the camera and the image size acquired via the user interface on the touch screen, in response to the capture instruction. The handheld cloud platform can be used for carrying a mechanical structure of a camera (or a mobile phone) through motor control, so that the mechanical structure rotates, and the camera (or the mobile phone) is driven to change the pose for shooting. Here, can also improve the quality of the image of shooing through the steady performance that increases of handheld cloud platform. Next, in step S230, the camera (or the cell phone may acquire the images to be processed and) may determine a high sharpness area in each image to be processed, synthesize and output a full-field high sharpness image based thereon. Finally, the full field of view sharpness image may be displayed on the aforementioned user interface of the touch screen of the handheld pan/tilt head.

In yet another embodiment of the present application, the method 200 is performed by a moveable platform in cooperation with a capture device (or terminal device). In this embodiment, the movable platform may comprise a handheld pan/tilt head and the capture device comprises a camera (or cell phone). The shooting instruction and the image size in step S210 may be obtained by the handheld cradle head via a user interface on the camera (or mobile phone). Then, in step S220, the handheld cloud deck may control the camera (or the mobile phone) mounted thereon to capture images at a pose required for capturing each image, respectively, based on the attribute information of the camera and the image size acquired via the user interface on the camera or the mobile phone, in response to the capture instruction. The handheld cloud platform can be used for carrying a mechanical structure of a camera (or a mobile phone) through motor control, so that the mechanical structure rotates, and the camera (or the mobile phone) is driven to change the pose for shooting. Here, can also improve the quality of the image of shooing through the steady performance that increases of handheld cloud platform. Next, in step S230, the camera (or the cell phone may acquire the images to be processed and) may determine a high sharpness area in each image to be processed, synthesize and output a full-field high sharpness image based thereon. Finally, the full field of view high sharpness image may be displayed on the user interface of the aforementioned camera (or cell phone). In this embodiment, the handset may act as both a capture device and a user interaction device. Alternatively, a camera may be used as the shooting device, and a mobile phone may be used as the user interaction device.

In other embodiments, rotation may also be achieved by a micro-cloud stage built into the camera.

In the foregoing embodiment, the attribute information of the shooting device may be acquired from the shooting device in real time, may be input by a user, or may be preset. For example, the unmanned aerial vehicle is generally matched with a camera mounted on the unmanned aerial vehicle, and at this time, the attribute information of the camera can be directly set in the unmanned aerial vehicle and does not need to be acquired from the shooting device. For another example, different shooting devices may be mounted on the handheld cradle head, and at this time, the handheld cradle head may obtain the attribute information from the shooting devices in real time (for example, through a hardware interface, bluetooth, WIFI, or other wireless transmission methods, etc.), or the attribute information may be input by the user. For another example, parameters of a shooting device mounted on a movable platform such as an unmanned aerial vehicle or a handheld pan-tilt may be changed (for example, zooming), and at this time, attribute information may be acquired in real time to sense the change and then determine the number of shot images and the shooting pose again.

In addition, in the user interface mentioned in the foregoing embodiment, various template sizes (i.e., various image sizes, parameters such as the number of pixels, aspect ratio, etc.) may be provided for the user to select, or a desired size may be directly input by the user. Further, the user can be provided with a one-key shooting function, namely the user only needs to operate the device to aim at a scene which is expected to be shot and select the one-key shooting global high-sharpness image function, all user operations are locked at the moment and wait until the shooting splicing is finished. During the period, the user can observe the live view (live view) condition as usual, and can be prompted to wait for the shooting end through prompting information such as characters or voice. In the process, at least one of the number of the images needing to be shot, the pose needed when each image is shot, the image to be processed and the image to be spliced can be displayed for the user. Fig. 8 is an exemplary diagram illustrating a flow of a method for acquiring a full-field high-sharpness image at a user layer and a background according to an embodiment of the present application. In the example shown in fig. 8, a detailed process example of the method for acquiring a full-field high-sharpness image according to the embodiment of the present application is presented from the perspective of a user layer and a background (a movable platform taking a pan-tilt as an example), which can be understood in conjunction with the foregoing description and is not described herein again.

The method of acquiring a full-field high-sharpness image according to an embodiment of the present application is exemplarily described above. Based on the above description, the method for acquiring full-view high-sharpness images according to the embodiment of the application can control the shooting equipment to shoot a plurality of images at different poses according to the user requirements and the attributes of the shooting equipment, acquire respective high-sharpness areas in the plurality of images, synthesize full-view high-sharpness images meeting the user requirements, and can obviously improve the image quality for scenes (such as multi-person group photo scenes or urban aerial photo scenes) in which high-frequency details are generally distributed in a large frame.

The following describes a movable platform provided according to another aspect of the present application, which may be executed by itself or in cooperation with a photographing apparatus (and/or a terminal apparatus) to perform the method for acquiring full-field high-sharpness images according to the embodiment of the present application described above. The structure of the movable platform and its specific operations according to the embodiments of the present application can be understood by those skilled in the art in combination with the foregoing descriptions, and for the sake of brevity, specific details are not repeated here, and only some main operations are described.

FIG. 9 illustrates a schematic block diagram of a movable platform 900 according to one embodiment of the present application. As shown in fig. 9, the movable platform 900 includes a memory 910, a processor 920, and a mechanical structure 930 capable of carrying a capture device 940. Wherein: the memory 910 has stored thereon a computer program that is executed by the processor 920, and when executed by the processor 920, causes the processor 920 to perform the following operations: acquiring a shooting instruction input by a user and an image size selected by the user; in response to the shooting instruction, based on the attribute information and the image size of the shooting device 940 mounted on the mechanical structure 930, controlling the shooting device 940 to respectively shoot images at poses required for shooting each image, so as to obtain a plurality of images to be processed, wherein the attribute information is related to high sharpness areas in the images shot by the shooting device 940, and the poses of the shooting device 940 are different when the plurality of images to be processed are shot; high sharpness areas in each image to be processed are determined, and full-field high sharpness images are synthesized and output based on the high sharpness areas in each image to be processed.

In an embodiment of the present application, the processor 920 is further configured to: based on the attribute information and the image size of the photographing device 940, the number of images that the photographing device 940 needs to photograph and the pose required when each image is photographed are determined, and the photographing device 940 is controlled to photograph the images at the poses required when each image is photographed, respectively.

In an embodiment of the present application, the processor 920 is further configured to: determining a high-sharpness area in each image to be processed based on a preset sharpness threshold, and cutting the high-sharpness area in each image to be processed to obtain images to be spliced; and splicing all the images to be spliced based on the image information, the corresponding pose information and the cutting information of each image to be spliced to obtain and output a full-field high-sharpness image.

In an embodiment of the present application, the attribute information of the photographing apparatus 940 includes one or more of lens sharpness attenuation information, a field angle, a pixel, or a focal length of the photographing apparatus 940.

In an embodiment of the application, the image size comprises the number of pixels and the aspect ratio of a full field high sharpness image.

In an embodiment of the application, the size of the output full field of view high sharpness image is greater than or equal to the user selected image size, the processor 920 is further configured to: after the full-view high-sharpness image is output, acquiring a region selection result of the full-view high-sharpness image by a user; and cutting the full-view high-sharpness image based on the area selection result to obtain and output the full-view high-sharpness image of the user selected area.

In an embodiment of the present application, the high sharpness region is a circular region, and the clipping the high sharpness region by the processor 920 includes: and cutting out an inscribed rectangle of the high-sharpness area.

In an embodiment of the application, the processor 920 is further configured to output at least one of: the number of images to be shot, the pose required when each image is shot, the image to be processed and the image to be spliced.

In the embodiment of the present application, the attribute information of the photographing apparatus 940 is read or user-input by the processor 920 based on the information of the current photographing apparatus 940, or is preset.

Fig. 10 shows a schematic block diagram of a movable platform 1000 according to another embodiment of the present application, which may be regarded as a more specific implementation example of the movable platform 900. As shown in fig. 10, the movable platform 1000 may be an unmanned aerial vehicle, and includes a memory 1010, a processor 1020, and a mechanical structure capable of carrying a shooting device, that is, a pan/tilt head 1030 and a control structure 1050 for controlling the pan/tilt head 1030, where the pan/tilt head 1030 is mounted with a camera 1040. Wherein the memory 1010 has stored thereon a computer program that is executed by the processor 1020, which when executed by the processor 1020, causes the processor 1020 to: acquiring a shooting instruction and an image size through a user interface of a remote controller of a mobile phone or an unmanned aerial vehicle; in response to a shooting instruction, based on the attribute information (related to a high-sharpness area in an image shot by the camera 1040) of the camera 1040 carried on the cloud deck 1030 and the image size, transmitting an instruction to the control structure 1050, so that the control structure 1050 controls the cloud deck 1030 to rotate to drive the camera 1040 to shoot the image respectively at a pose required by shooting each image, and obtaining a plurality of images to be processed (poses of shooting equipment are different when shooting the plurality of images to be processed); determining a high-sharpness area in each image to be processed, and synthesizing a full-field high-sharpness image based on the high-sharpness area in each image to be processed; and after the full-view high-sharpness images are synthesized, the full-view high-sharpness images are transmitted to a user interface of a remote controller of a mobile phone or an unmanned aerial vehicle for display.

Fig. 11 shows a schematic block diagram of a movable platform 1100 according to yet another embodiment of the present application, which may be considered as a more specific implementation example of the movable platform 900. As shown in fig. 11, the movable platform 1100 may be an unmanned aerial vehicle, and includes a memory 1110, a processor 1120, a mechanical structure 1130 capable of carrying a shooting device, a power structure 1150, and a flight system 1160, where the mechanical structure 1130 is fixed to the flight system 1160, and the mechanical structure 1130 carries a camera 1140. Wherein the memory 1110 has stored thereon a computer program that is executed by the processor 1120, the computer program, when executed by the processor 1120, causes the processor 1120 to perform the following operations: acquiring a shooting instruction and an image size through a user interface of a remote controller of a mobile phone or an unmanned aerial vehicle; in response to the shooting instruction, based on the attribute information (related to the high sharpness region in the image shot by the camera 1140) and the image size of the camera 1140, transmitting an instruction to the power structure 1150, so that the flying system 1160 flies and rotates to drive the shooting device to respectively shoot the images at the required poses for shooting each image, and obtaining a plurality of images to be processed (the poses of the shooting device are different when shooting the plurality of images to be processed); determining a high-sharpness area in each image to be processed, and synthesizing a full-field high-sharpness image based on the high-sharpness area in each image to be processed; and after the full-view high-sharpness images are synthesized, the full-view high-sharpness images are transmitted to a user interface of a remote controller of a mobile phone or an unmanned aerial vehicle for display.

Based on the above description, the movable platform according to the embodiment of the application can control the shooting device to shoot a plurality of images at different poses according to the user requirements and the attributes of the shooting device, acquire respective high-sharpness areas in the plurality of images, and synthesize a full-view high-sharpness image meeting the user requirements, so that the image quality can be obviously improved for scenes (such as multi-person group photo scenes or urban aerial photo scenes) in which high-frequency details are generally distributed in a large frame.

Fig. 12 shows a schematic block diagram of a movable platform 1200 according to yet another embodiment of the present application. In contrast to the embodiments shown in fig. 9 to 11, the embodiments shown in fig. 12 to 14 are not all the foregoing methods of acquiring full-field high-sharpness images according to the embodiments of the present application performed by the movable platform, but performed by the movable platform in cooperation with a photographing apparatus (or terminal apparatus). As shown in fig. 12, the movable platform 1200 includes a memory 1210, a processor 1220, a mechanical structure 1230 capable of carrying a photographing apparatus, and a control structure 1240 that controls movement of the mechanical structure 1230, wherein: the memory 1210 has stored thereon a computer program that is executed by the processor 1220, and when executed by the processor 1220, causes the processor 1220 to perform the following operations: acquiring a shooting instruction input by a user and an image size selected by the user; responding to a shooting instruction, sending an instruction to a control structure 1240 based on attribute information and image size of shooting equipment carried on a mechanical structure 1230, so that the control structure 1240 controls the mechanical structure 1230 to rotate, and thus the shooting equipment is driven to shoot images at a pose required by shooting each image respectively to obtain a plurality of images to be processed, wherein the attribute information is related to a high-sharpness area in the images shot by the shooting equipment, and the poses of the shooting equipment are different when the plurality of images to be processed are shot; after obtaining the image to be processed, the shooting device executes the image to be processed or the shooting device transmits the image to be processed to the terminal device to execute the following steps: high sharpness areas in each image to be processed are determined, and full-field high sharpness images are synthesized and output based on the high sharpness areas in each image to be processed.

In an embodiment of the present application, the processor 1220 is further configured to: and determining the number of images required to be shot by the shooting device and the pose required when each image is shot on the basis of the attribute information and the image size of the shooting device, and controlling the shooting device to shoot the images at the poses required when each image is shot.

In an embodiment of the present application, the shooting device or the terminal device is further configured to: determining a high-sharpness area in each image to be processed based on a preset sharpness threshold, and cutting the high-sharpness area in each image to be processed to obtain images to be spliced; and splicing all the images to be spliced based on the image information, the corresponding pose information and the cutting information of each image to be spliced to obtain and output a full-field high-sharpness image.

In an embodiment of the present application, the attribute information of the photographing apparatus includes one or more of lens sharpness attenuation information, a field angle, a pixel, or a focal length of the photographing apparatus.

In an embodiment of the application, the size of the output full-field high-sharpness image is greater than or equal to the image size selected by the user, and the photographing apparatus or the terminal apparatus is further configured to: after the full-field high-sharpness image is output, acquiring a region selection result of the full-field high-sharpness image by a user; and cutting the full-view high-sharpness image based on the area selection result to obtain and output the full-view high-sharpness image of the user selected area.

In an embodiment of the present application, the high-sharpness area is a circular area, and the cutting of the high-sharpness area by the shooting device or the terminal device includes: and cutting out an inscribed rectangle of the high-sharpness area.

In an embodiment of the application, the processor 1220 or the photographing apparatus or the terminal apparatus is further configured to output at least one of: the number of images to be shot, the pose required when each image is shot, the image to be processed and the image to be spliced.

In an embodiment of the present application, the property information of the photographing device is read or user-input by the processor 1220 based on the information of the current photographing device, or is preset.

Fig. 13 shows a schematic block diagram of a movable platform 1300 according to yet another embodiment of the present application, which can be seen as a more specific implementation example of the movable platform 1200. As shown in fig. 13, the movable platform 1300 may be a handheld pan/tilt head, and includes a memory 1310, a processor 1320, a mechanical structure 1330 capable of carrying a shooting device, a control structure 1340 for controlling the movement of the mechanical structure 1330, and a touch screen 1350, wherein a camera (or a mobile phone) is mounted on the mechanical structure 1330. The memory 1310 has stored thereon a computer program for execution by the processor 1320, which when executed by the processor 1320, causes the processor 1320 to perform the following operations: acquiring a photographing instruction input by a user and an image size selected by the user via a user interface of the touch screen 1350; in response to a shooting instruction, based on attribute information and image size of a camera (or a mobile phone camera) carried on the mechanical structure 1330, sending an instruction to the control structure 1340, so that the control structure 1340 controls the mechanical structure 1330 to rotate, and thus the camera (or the mobile phone) is driven to respectively shoot images at a pose required by shooting each image to obtain a plurality of images to be processed, wherein the attribute information is related to a high-sharpness area in the images shot by the camera (or the mobile phone), and the poses of the camera (or the mobile phone) are different when shooting the plurality of images to be processed; after obtaining the image to be processed, the camera (or the mobile phone) executes: high sharpness areas in each image to be processed are determined, and full-field high sharpness images are synthesized and output based on the high sharpness areas in each image to be processed. After the full field of view sharpness images are combined, the full field of view sharpness images are transferred to a user interface of the touch screen 1350 for display. In this embodiment, the handset may act as both a capture device and a user interaction device. Alternatively, a camera may be used as the camera and a mobile phone as the user interaction device.

Fig. 14 shows a schematic block diagram of a movable platform 1400 according to one embodiment of the right of the present application, which can be regarded as a more specific implementation example of the movable platform 1200. As shown in fig. 14, the movable platform 1400 may be a handheld pan/tilt head, and includes a memory 1410, a processor 1420, a mechanical structure 1430 capable of carrying a photographing apparatus, and a control structure 1440 for controlling movement of the mechanical structure 1430, and a camera (or a mobile phone) is mounted on the mechanical structure 1430. The memory 1410 has stored thereon a computer program that is executed by the processor 1420, which, when executed by the processor 1420, causes the processor 1420 to: acquiring a shooting instruction input by a user and an image size selected by the user through a user interface of a camera (or a mobile phone); responding to a shooting instruction, sending an instruction to a control structure 1440 based on attribute information and image size of a camera (or a mobile phone camera) carried on a mechanical structure 1430, so that the control structure 1440 controls the mechanical structure 1430 to rotate, and the camera (or the mobile phone) is driven to shoot images at a pose required by shooting each image respectively to obtain a plurality of images to be processed, wherein the attribute information is related to a high-sharpness area in the images shot by the camera (or the mobile phone), and the poses of the camera (or the mobile phone) are different when shooting the plurality of images to be processed; after obtaining the image to be processed, the camera (or the mobile phone) executes: high sharpness areas in each image to be processed are determined, and full-field high sharpness images are synthesized and output based on the high sharpness areas in each image to be processed. After the full field of view sharpness images are synthesized, the full field of view sharpness images are transferred to a user interface of the camera (or cell phone) for display. In this embodiment, the mobile phone may simultaneously serve as a photographing device and a user interaction device. Alternatively, a camera may be used as the camera and a mobile phone as the user interaction device.

Based on the above description, the movable platform according to the embodiment of the application can control the shooting device to shoot a plurality of images at different poses according to the user requirements and the attributes of the shooting device, the shooting device or the terminal device acquires respective high-sharpness areas in the plurality of images, a full-field high-sharpness image meeting the user requirements is synthesized, and the image quality can be obviously improved for scenes (such as multi-person group photo scenes or urban aerial photo scenes) in which high-frequency details are generally distributed in a large frame.

Fig. 15 shows a schematic block diagram of an apparatus 1500 for acquiring full field of view high sharpness images according to an embodiment of the application. As shown in fig. 15, the apparatus 1500 for acquiring a full-field high sharpness image according to the embodiment of the present application may include a memory 1510 and a processor 1520, the memory 1510 stores a computer program executed by the processor 1520, and the computer program, when executed by the processor 1520, causes the processor 1520 to execute the method for acquiring a full-field high sharpness image according to the embodiment of the present application described above. The detailed operation of the apparatus 1500 for acquiring full-field high-sharpness images according to the embodiments of the present application can be understood by those skilled in the art with reference to the foregoing description, and for brevity, the detailed description is not repeated here.

Furthermore, according to an embodiment of the present application, there is also provided a storage medium having stored thereon program instructions for executing the corresponding steps of the method of acquiring full-field high-sharpness images of the embodiment of the present application when the program instructions are executed by a computer or a processor. The storage medium may include, for example, a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a Read Only Memory (ROM), an Erasable Programmable Read Only Memory (EPROM), a portable compact disc read only memory (CD-ROM), a USB memory, or any combination of the above storage media. The computer-readable storage medium may be any combination of one or more computer-readable storage media.

Furthermore, according to an embodiment of the present application, there is also provided a computer program for performing, when the computer program is executed by a computer or a processor, the corresponding steps of the method of acquiring a full-field high-sharpness image of an embodiment of the present application.

Based on the above description, the method, the apparatus and the movable platform for acquiring a full-view high-sharpness image according to the embodiments of the application can control the shooting device to shoot a plurality of images at different poses according to the user requirements and the attributes of the shooting device, acquire respective high-sharpness regions in the plurality of images by the shooting device or the terminal device, synthesize the full-view high-sharpness image meeting the user requirements, and significantly improve the image quality for scenes (such as multi-person group photo scenes or urban aerial photo scenes) in which high-frequency details are generally distributed in a large frame.

Although the example embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the above-described example embodiments are merely illustrative and are not intended to limit the scope of the present application thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present application. All such changes and modifications are intended to be included within the scope of the present application as claimed in the appended claims.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only one type of logical functional division, and other divisions may be realized in practice, for example, multiple units or components may be combined or integrated into another device, or some features may be omitted, or not executed.

In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the description of exemplary embodiments of the present application, various features of the present application are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the application and aiding in the understanding of one or more of the various inventive aspects. However, the method of the present application should not be construed to reflect the intent: this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this invention pertains. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.

It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where such features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the application and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

The various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some of the modules according to embodiments of the present application. The present application may also be embodied as apparatus programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present application may be stored on a computer readable medium or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.

It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means can be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.

The above description is only for the specific embodiments of the present application or the description thereof, and the protection scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope disclosed in the present application, and shall be covered by the protection scope of the present application. The protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method for acquiring a full-field high-sharpness image, wherein the method is applied to a movable platform on which a shooting device is mounted, and the method comprises the following steps:

acquiring a shooting instruction input by a user and an image size selected by the user;

in response to the shooting instruction, controlling the shooting equipment to respectively shoot images at poses required for shooting each image based on attribute information and the image size of the shooting equipment to obtain a plurality of images to be processed, wherein the attribute information is related to a high-sharpness area in the images shot by the shooting equipment, and the poses of the shooting equipment are different when the plurality of images to be processed are shot;

determining a high sharpness area in each image to be processed, and synthesizing and outputting a full-field high sharpness image based on the high sharpness area in each image to be processed.

2. The method of claim 2, wherein a pan-tilt is connected to the movable platform, the pan-tilt carrying the photographing apparatus;

the controlling the photographing apparatus to photograph the images respectively at the poses required for photographing each image includes: the movable platform controls the holder to rotate so as to drive the shooting equipment to shoot images respectively at the pose required by shooting each image.

3. The method according to claim 1 or 2, wherein the controlling the photographing apparatuses to respectively photograph images at poses required to photograph each image based on the attribute information of the photographing apparatus and the image size includes:

and determining the number of images which need to be shot by the shooting equipment and the needed pose when each image is shot based on the attribute information of the shooting equipment and the image size, and controlling the shooting equipment to respectively shoot the images at the needed pose when each image is shot.

4. The method of claim 1 or 2, wherein the determining high sharpness regions in each of the images to be processed and synthesizing and outputting full field of view high sharpness images based on the high sharpness regions in each of the images to be processed comprises:

determining a high-sharpness area in each image to be processed based on a preset sharpness threshold, and cutting the high-sharpness area in each image to be processed to obtain images to be spliced;

and splicing all the images to be spliced based on the image information, the corresponding pose information and the cutting information of each image to be spliced to obtain and output a full-field high-sharpness image.

5. The method of claim 1 or 2, wherein the attribute information of the photographing apparatus includes one or more of lens sharpness attenuation information, field angle, pixel, or focal length of the photographing apparatus.

6. The method of claim 1 or 2, wherein the image size comprises a pixel count or an aspect ratio of the full field high sharpness image.

7. The method of claim 1 or 2, wherein the size of the output full field high sharpness image is greater than or equal to the user selected image size, the method further comprising:

after displaying the full-field high-sharpness image, acquiring a region selection result of the full-field high-sharpness image by a user;

and cutting the full-view high-sharpness image based on the area selection result to obtain and output the full-view high-sharpness image of the user-selected area.

8. The method of claim 4, wherein the high-sharpness area is a circular area, and wherein clipping the high-sharpness area comprises: and cutting out an inscribed rectangle of the high-sharpness area.

9. The method of claim 4, further comprising displaying at least one of: the number of images to be shot, the pose required when each image is shot, the images to be processed and the images to be spliced.

10. The method according to claim 1 or 2, wherein the attribute information of the photographing apparatus is read or user-input based on information of a current photographing apparatus, or is preset.

11. The method of claim 1 or 2, wherein the method is performed by the movable platform, the movable platform comprises a drone, the camera device comprises a camera, the camera instructions and the image size are acquired by the drone via a user interface of a cell phone or a remote control of the drone, the full field of view sharpness image is displayed on the user interface.

12. The method of claim 1, wherein the movable platform comprises a handheld pan/tilt head, the capture device comprises a camera or a cell phone, a touch screen is disposed on the handheld pan/tilt head, the capture instructions and the image size are acquired by the handheld pan/tilt head via a user interface of the touch screen, the pose of the capture device is controlled by the handheld pan/tilt head, and the synthesizing and outputting of the full field of view high-sharpness images are performed by the camera or the cell phone.

13. The method of claim 1, wherein the movable platform comprises a handheld pan-tilt, wherein the capture device comprises a camera or a cell phone, wherein the capture instructions and the image dimensions are acquired by the handheld pan-tilt via a user interface of the camera or cell phone, wherein the pose of the capture device is controlled by the handheld pan-tilt, and wherein the synthesizing and outputting of the full field of view sharpness images is performed by the camera or cell phone.

14. Method according to claim 1 or 2, characterized in that it can be applied to a multi-person group scene or a city aerial scene.

15. A movable platform comprising a memory, a processor, and a mechanical structure capable of carrying a camera device, wherein:

the memory has stored thereon a computer program for execution by the processor, which, when executed by the processor, causes the processor to:

in response to the shooting instruction, controlling the shooting equipment to shoot images at poses required for shooting each image respectively based on attribute information and the image size of the shooting equipment mounted on the mechanical structure, so as to obtain a plurality of images to be processed, wherein the attribute information is related to a high-sharpness area in the images shot by the shooting equipment, and the poses of the shooting equipment are different when the plurality of images to be processed are shot;

16. The movable platform of claim 15, wherein the movable platform comprises a drone, the camera device comprises a camera, the mechanical structure comprises a pan-tilt, the movable platform further comprises a control structure that controls the pan-tilt;

the processor is further configured to:

acquiring the shooting instruction and the image size through a user interface of a mobile phone or a remote controller of the unmanned aerial vehicle;

transmitting an instruction to the control structure based on the attribute information of the camera and the image size, so that the control structure controls the holder to rotate to drive the shooting equipment to shoot images at the pose required by shooting each image;

after synthesizing the full-field sharpness image, transferring the full-field sharpness image to the user interface for display.

17. The movable platform of claim 15, wherein the movable platform comprises a drone, the capture device comprises a camera, the movable platform further comprises a powered structure and a flight system, the powered structure being fixed to the flight system;

the processor is further configured to:

transmitting an instruction to the power structure based on the attribute information of the camera and the image size, so that the flying system flies and rotates to drive the shooting equipment to shoot images at the pose required by shooting each image respectively;

18. The movable platform of any one of claims 15-17, wherein the processor is further configured to:

19. The movable platform of any one of claims 15-17, wherein the processor is further configured to:

20. The movable platform of any one of claims 15-17, wherein the attribute information of the capture device comprises one or more of lens sharpness attenuation information, field angle, pixels, or focal length of the capture device.

21. The movable platform of any one of claims 15-17, wherein the image dimensions comprise a number of pixels and an aspect ratio of the full field high sharpness image.

22. The movable platform of any one of claims 15-17, wherein the size of the output full field of view high sharpness image is greater than or equal to the user selected image size, the processor further to:

after outputting the full-field high-sharpness image, acquiring a region selection result of the full-field high-sharpness image by a user;

23. The movable platform of claim 19, wherein the high-sharpness area is a circular area, and wherein the processor cropping the high-sharpness area comprises: and cutting out an inscribed rectangle of the high-sharpness area.

24. The movable platform of claim 19, wherein the processor is further configured to output at least one of: the number of images to be shot, the pose required when each image is shot, the image to be processed and the image to be spliced.

25. The movable platform of any one of claims 15-17, wherein the property information of the photographing apparatus is read by the processor based on information of a current photographing apparatus or input by a user, or is preset.

26. A movable platform comprising a memory, a processor, a mechanical structure capable of carrying a camera device, and a control structure for controlling movement of the mechanical structure, wherein:

responding to the shooting instruction, sending an instruction to the control structure based on attribute information and the image size of shooting equipment carried on the mechanical structure, enabling the control structure to control the mechanical structure to rotate, so as to drive the shooting equipment to shoot images respectively at a pose required by shooting each image, and obtaining a plurality of images to be processed, wherein the attribute information is related to a high-sharpness area in the images shot by the shooting equipment, and the poses of the shooting equipment are different when the plurality of images to be processed are shot;

after the image to be processed is obtained, the shooting device executes the image to be processed or the shooting device transmits the image to be processed to a terminal device so as to execute the following steps: determining a high sharpness area in each image to be processed, and synthesizing and outputting a full-field high sharpness image based on the high sharpness area in each image to be processed.

27. The movable platform according to claim 26, wherein the movable platform comprises a handheld cradle head, the photographing device comprises a camera, the terminal device comprises a mobile phone, and a touch screen is further arranged on the handheld cradle head;

the processor is further configured to: the shooting instruction and the image size are acquired via a user interface of the touch screen.

28. The movable platform of claim 26, wherein the movable platform comprises a handheld pan-tilt, the camera device comprises a camera, and the terminal device comprises a cell phone;

the processor is further configured to: and acquiring the shooting instruction and the image size through a user interface of the mobile phone.

29. The movable platform of claim 26, wherein the movable platform comprises a handheld pan-tilt head, and the capture device comprises a cell phone;

30. The movable platform of any one of claims 26-29, wherein the processor is further configured to:

and determining the number of images required to be shot by the shooting equipment and the pose required when each image is shot on the basis of the attribute information of the shooting equipment and the image size, and controlling the shooting equipment to shoot the images at the poses required when each image is shot.

31. The movable platform of claim 26, wherein the capture device or the terminal device is further configured to:

32. The movable platform of any one of claims 26-29, wherein the attribute information of the capture device comprises one or more of lens sharpness attenuation information, field angle, pixels, or focal length of the capture device.

33. The movable platform of any one of claims 26-29, wherein the image dimensions comprise a number of pixels and an aspect ratio of the full field high sharpness image.

34. The movable platform of claim 26, wherein the size of the outputted full-field high-sharpness image is greater than or equal to the user-selected image size, the capture device or the terminal device further configured to:

35. The movable platform of claim 31, wherein the high-sharpness area is a circular area, and wherein clipping the high-sharpness area by the capture device or the terminal device comprises: and cutting out an inscribed rectangle of the high-sharpness area.

36. The movable platform of claim 31, wherein the processor or the capture device or the terminal device is further configured to output at least one of: the number of images to be shot, the pose required when each image is shot, the image to be processed and the image to be spliced.

37. The movable platform of any one of claims 26-29, wherein the attribute information of the capture device is read by the processor or input by a user based on information of a current capture device or is preset.

38. An apparatus for acquiring a full-field high-sharpness image, the apparatus comprising a memory and a processor, wherein the memory has stored thereon a computer program for execution by the processor, the computer program, when executed by the processor, causing the processor to perform the method of acquiring a full-field high-sharpness image of any of claims 1-14.

39. A storage medium having stored thereon a computer program for execution by a processor, the computer program, when executed by the processor, causing the processor to perform the method of acquiring full field high sharpness images according to any of claims 1-14.