CN115550538A

CN115550538A - Tracking shooting method, device and medium

Info

Publication number: CN115550538A
Application number: CN202110735661.9A
Authority: CN
Inventors: 郑志羿; 林光彦
Original assignee: Beijing Xiaomi Mobile Software Co Ltd
Current assignee: Beijing Xiaomi Mobile Software Co Ltd
Priority date: 2021-06-30
Filing date: 2021-06-30
Publication date: 2022-12-30

Abstract

The disclosure relates to a tracking shooting method, a tracking shooting device and a tracking shooting medium, which belong to the technical field of electronics and can effectively track an object to be characterized and reduce the operation load. A track shot method, comprising: determining a current position of an object to be featured in a wide-angle camera shooting picture; calculating a pixel vector from a picture center point of the wide-angle camera shooting picture to a current position of the object to be close-up; converting the pixel vector into an angle vector based on the ratio of the angle value of the visual angle of the wide-angle camera to the number of edge pixels of a picture shot by the wide-angle camera; driving a tele-camera to rotate based on the angle vector to track the object to be close-up.

Description

Tracking shooting method, device and medium

Technical Field

The present disclosure relates to the field of electronic technologies, and in particular, to a tracking shooting method, apparatus, and medium.

Background

In the related art, tracking an object in a wide-angle picture is generally performed as follows: firstly, the object to be close-up is identified in the wide-angle picture, and then the digital zoom image is edited by using the position of the identification frame as the center, so as to achieve the function of shooting scene and close-up simultaneously. However, this method has a large computational load and cannot effectively track an object to be imaged.

Disclosure of Invention

To overcome the problems in the related art, the present disclosure provides a track shot method, apparatus, and medium.

According to a first aspect of the embodiments of the present disclosure, there is provided a track shooting method, including: determining the current position of an object to be close-up in a wide-angle camera shooting picture; calculating a pixel vector from a picture center point of the wide-angle camera shooting picture to a current position of the object to be close-up; converting the pixel vector into an angle vector based on the ratio of the angle value of the visual angle of the wide-angle camera to the number of edge pixels of a picture shot by the wide-angle camera; driving a tele-camera to rotate based on the angle vector to track the object to be close-up.

Optionally, the determining a current position of the object to be featured in the wide-angle camera shooting picture comprises: determining the middle point of a connecting line of touch points positioned at two sides of the object to be closed up in the shooting picture of the wide-angle camera; and confirming the connecting line midpoint as the current position of the object to be featured.

Optionally, the converting the pixel vector into an angle vector based on a ratio of an angle of view value of the wide-angle camera to a number of edge pixels of a picture taken by the wide-angle camera includes: and converting the pixel vector into an angle vector based on the ratio of the angle value of the vertical visual angle of the wide-angle camera to the number of pixels of the vertical edge of the picture shot by the wide-angle camera.

Optionally, said driving the tele-camera to turn based on the angle vector to track the object to be close-up comprises: splitting the angle vector into a horizontal angle value and a vertical angle value; driving a Yaw axis of the tele camera to rotate based on the horizontal angle value and driving a Pitch axis of the tele camera to rotate based on the vertical angle value.

Optionally, the method comprises: calculating an amount of change between a current position of the object to be featured and a last position thereof; comparing the change amount with a preset threshold value; if the change amount is larger than the preset threshold, the step of calculating a pixel vector from the picture center point of the wide-angle camera photographing picture to the current position of the object to be featured is performed.

Optionally, the method comprises: and if the change amount is smaller than the preset threshold value, controlling the tele camera to execute the anti-hand-shake operation.

Optionally, the preset threshold is one N times of the number of short-edge pixels of the long-focus camera shooting picture, where N is greater than or equal to 3 and less than or equal to 9.

Optionally, the arrangement of the wide-angle camera and the tele camera satisfies the following requirements: the long edge of the picture shot by the wide-angle camera is in the same direction as the long edge of the picture shot by the telephoto camera and in the same direction as the long edge of the screen; the head of the picture shot by the wide-angle camera and the head of the picture shot by the telephoto camera are in the same direction; and the center position of the long edge of the picture shot by the wide-angle camera is aligned with the center position of the long edge of the picture shot by the telephoto camera.

According to a second aspect of the embodiments of the present disclosure, there is provided a track shooting apparatus including: a determination module for determining a current position of an object to be featured in a wide-angle camera shooting picture; a calculation module for calculating a pixel vector from a picture center point of the wide-angle camera photographing picture to a current position of the object to be featured; the conversion module is used for converting the pixel vector into an angle vector based on the ratio of the angle value of the visual angle of the wide-angle camera to the number of edge pixels of a picture shot by the wide-angle camera; a tracking module for driving the tele camera to rotate based on the angle vector to track the object to be close-up.

Optionally, the determining a current position of the object to be featured in the wide-angle camera shooting picture comprises: determining the middle point of a connecting line of touch points positioned at two sides of the object to be closed up in the shooting picture of the wide-angle camera; and confirming the connecting line middle point as the current position of the object to be close up.

Optionally, the converting the pixel vector into an angle vector based on a ratio of an angle of view value of the wide-angle camera to a number of edge pixels of a picture taken by the wide-angle camera comprises: and converting the pixel vector into an angle vector based on the ratio of the angle value of the vertical visual angle of the wide-angle camera to the number of pixels of the vertical edge of the picture shot by the wide-angle camera.

Optionally, the driving of the tele camera rotation based on the angle vector to track the object to be close-up comprises: splitting the angle vector into a horizontal angle value and a vertical angle value; driving a Yaw axis of the tele camera to rotate based on the horizontal angle value and driving a Pitch axis of the tele camera to rotate based on the vertical angle value.

Optionally, the computing module is further configured to: calculating the change amount between the current position of the object to be close-up and the last position thereof, comparing the change amount with a preset threshold value, and if the change amount is larger than the preset threshold value, performing the operation of calculating the pixel vector from the picture center point of the wide-angle camera shooting picture to the current position of the object to be close-up.

Optionally, the tracking module is further configured to: and if the change amount is smaller than the preset threshold value, controlling the tele camera to execute anti-hand-shake operation.

Optionally, the arrangement of the wide-angle camera and the tele camera satisfies the following requirements: the long edge of the shot picture of the wide-angle camera is in the same direction as the long edge of the shot picture of the telephoto camera and in the same direction as the long edge of the screen; the head of the picture shot by the wide-angle camera and the head of the picture shot by the telephoto camera are in the same direction; and the center position of the long edge of the picture shot by the wide-angle camera is aligned with the center position of the long edge of the picture shot by the telephoto camera.

According to a third aspect of the embodiments of the present disclosure, there is provided a track shooting apparatus including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to: determining the current position of an object to be close-up in a wide-angle camera shooting picture; calculating a pixel vector from a picture center point of the wide-angle camera shooting picture to a current position of the object to be close-up; converting the pixel vector into an angle vector based on the ratio of the angle value of the visual angle of the wide-angle camera to the number of edge pixels of a picture shot by the wide-angle camera; driving a tele-camera to rotate based on the angle vector to track the object to be close-up.

According to a fourth aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the steps of the track shot method provided by the first aspect of the present disclosure.

By adopting the technical scheme, the current position of the object to be close-up in the picture shot by the wide-angle camera is firstly determined, then the pixel vector from the picture central point of the picture shot by the wide-angle camera to the current position of the object to be close-up is calculated, then the pixel vector is converted into the angle vector based on the ratio of the angle value of the visual angle of the wide-angle camera to the number of the edge pixels of the picture shot by the wide-angle camera, and then the object to be close-up is tracked by driving the tele camera to rotate based on the angle vector.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure.

Fig. 1 is a flow chart illustrating a track shot method according to an exemplary embodiment.

Fig. 2 is a schematic diagram of a user touching both sides of an object to be close-up with two fingers at the same time.

Fig. 3 is a schematic diagram of an object recognition box to be close-up.

Fig. 4 is a schematic diagram of pixel vectors from a picture center point of a wide-angle camera photographing picture to a current position of an object to be close-up.

Fig. 5 is a schematic top view of an exemplary tele camera.

Fig. 6 is a schematic front view of an exemplary tele camera.

Fig. 7 is a schematic view of a rotation of the tele camera shown in fig. 5, according to an embodiment of the disclosure.

Fig. 8 is yet another flowchart of a track shot method according to an embodiment of the present disclosure.

Fig. 9 is a schematic view of a track shot screen.

Fig. 10 is a schematic view of an anti-handshake operation screen.

Fig. 11 is a schematic diagram showing the long side of the wide-angle camera image being in the same direction as the long side of the telephoto camera image and in the same direction as the long side of the screen.

Fig. 12 is a schematic diagram showing the head of a wide-angle camera photographing screen and the head of a telephoto camera photographing screen facing each other.

Fig. 13 is a schematic diagram in which the long-side center position of the wide-angle camera shooting picture is aligned with the long-side center position of the telephoto camera shooting picture.

Fig. 14 is a block diagram illustrating a tracking camera according to an exemplary embodiment.

Fig. 15 is a block diagram illustrating an apparatus for track shot in accordance with an example embodiment.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the disclosure, as detailed in the appended claims.

Fig. 1 is a flowchart illustrating a trace shot method according to an exemplary embodiment, which is used in a mobile terminal, as shown in fig. 1, and includes the following steps.

In step S11, the current position of the subject to be close-up in the wide-angle camera shooting picture is determined.

In photography, a wide-angle camera can shoot a scene, a long-focus camera can shoot a close-up, and if the scene and the close-up are to be shot simultaneously, the long-focus camera needs to be enabled to rotate by a large angle (for example, more than 3 degrees); moreover, because the telephoto camera needs to rotate at a large angle, the center of the captured image of the wide-angle camera needs to be as consistent as possible with the center of the captured image of the telephoto camera, so that the telephoto lens can be ensured to track the close-up object efficiently within the scene range of the wide-angle camera.

The close-up object refers to a person, a scene, an animal, or the like, which needs to be close-up.

In some embodiments, the midpoint of a connecting line of touch points located on both sides of an object to be close-up in a wide-angle camera shooting picture may be determined first; then, the connecting line midpoint is determined as the current position of the object to be featured. For example, when shooting with a mobile terminal, if a user wants to close up an object in a shooting screen, the user can touch two sides of the object to be closed up with two fingers at the same time, and determine the center position of the connecting line of the two touch points as the current position of the object to be closed up.

In addition, the object to be featured can also be recognized by the recognition box. For example, in the photographing process, if the user touches both sides of the object to be close-up with two fingers at the same time (as shown in fig. 2), the middle point of the line connecting the touch points of the two fingers may be set as the center point of the recognition frame, and the touch points of the two fingers may be respectively used as the focusing points of the recognition frame, thereby constructing the recognition frame about the object to be close-up (as shown in fig. 3).

In step S12, a pixel vector from the screen center point of the wide-angle camera shooting screen to the current position of the subject to be close-up is calculated. Fig. 4 is a schematic diagram of pixel vectors from a picture center point of a wide-angle camera photographing picture to a current position of an object to be close-up.

In step S13, the pixel vector is converted into an angle vector based on the ratio of the angle-of-view value of the wide-angle camera to the number of edge pixels of the wide-angle camera shooting picture.

In some embodiments, the pixel vector may be converted to an angle vector based on a ratio of an angle value of a vertical angle of view of the wide-angle camera to a number of pixels of a vertical edge of a picture taken by the wide-angle camera.

In step S14, the telephoto camera is driven to rotate based on the angle vector to track the object to be close-up.

In some embodiments, the angle vector may first be split into a horizontal angle value and a vertical angle value; the Yaw axis of the tele camera is then driven to rotate based on the horizontal angle value and the Pitch axis of the tele camera is driven to rotate based on the vertical angle value. Generally, rotation of the Yaw axis corresponds to horizontal rotation of the captured picture, and rotation of the Pitch axis corresponds to vertical rotation of the captured picture. By driving the telephoto camera to rotate, an object to be focused can be tracked.

Fig. 5 is a schematic top view of an exemplary tele camera. Fig. 6 is a schematic front view of an exemplary tele camera. As shown in fig. 5 and 6, the telephoto camera includes two sets of prisms that can rotate in a single axis and a telephoto camera module. Fig. 7 is a schematic diagram of a rotation of the tele camera shown in fig. 5, according to an embodiment of the disclosure.

Fig. 8 is yet another flowchart of a track shot method according to an embodiment of the present disclosure. Fig. 8 differs from fig. 1 in that it further includes steps S15 and S16.

In step S15, an amount of change between the current position of the object to be featured and the last position thereof is calculated;

in step S16, the change amount is compared with a preset threshold value. The preset threshold value can be one N times of the number of the short-edge pixels of the long-focus camera shooting picture, wherein N is more than or equal to 3 and less than or equal to 9. For example, the preset threshold may be 1/6 of the number of short-side pixel points of the telephoto camera photographing screen.

If the change amount is larger than the preset threshold, step S12 is executed to track and shoot the object to be captured in close-up, as shown in fig. 9, where fig. 9 illustrates that N is 6 as an example. If the amount of change is smaller than the preset threshold, step S17 is performed.

In step S17, if the amount of change is less than the preset threshold, the tele camera is controlled to perform the anti-hand-shake operation, as shown in fig. 10.

By adopting the technical scheme, the anti-shake operation can be executed under the condition that the moving distance of the object to be close-up is short, and the object to be close-up is tracked and shot under the condition that the moving distance of the object to be close-up is large, so that the picture shake can be avoided, and the stability of the shooting close-up of the telephoto camera is kept.

In some embodiments, in order to make the above tracking shooting method perform better, the arrangement of the wide-angle camera and the telephoto camera may satisfy the following requirements: (1) The long side of the wide-angle camera shot picture is in the same direction as the long side of the telephoto camera shot picture and in the same direction as the long side of the screen, as shown in fig. 11; (2) The head of the picture shot by the wide-angle camera and the head of the picture shot by the telephoto camera are in the same direction, as shown in fig. 12; and (3) the long-side center position of the wide-angle camera shooting picture is aligned with the long-side center position of the telephoto camera shooting picture, as shown in fig. 13. By the arrangement, the long-edge movement tracking of the object to be focused can be more efficient in the scene, and the tracking range is wider.

Fig. 14 is a block diagram illustrating a track shot device according to an exemplary embodiment. Referring to fig. 14, the tracking camera includes: a determination module 141 for determining a current position of an object to be featured in a wide-angle camera photographing screen; a calculating module 142, configured to calculate a pixel vector from a picture center point of the wide-angle camera shooting picture to a current position of the object to be featured; the conversion module 143 is configured to convert the pixel vector into an angle vector based on a ratio of an angle value of an angle of view of the wide-angle camera to a number of edge pixels of a picture taken by the wide-angle camera; a tracking module 144 for driving the tele-camera to rotate based on the angle vector to track the object to be close-up.

Optionally, the calculating module 142 is further configured to: calculating an amount of change between the current position of the object to be close-up and the last position thereof, and comparing the amount of change with a preset threshold, if the amount of change is greater than the preset threshold, performing the operation of calculating a pixel vector from the screen center point of the wide-angle camera photographing screen to the current position of the object to be close-up.

Optionally, the tracking module 144 is further configured to: and if the change amount is smaller than the preset threshold value, controlling the tele camera to execute the anti-hand-shake operation.

With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

The present disclosure also provides a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the track shot method provided by the present disclosure.

Fig. 15 is a block diagram illustrating an apparatus 800 for track shot in accordance with an exemplary embodiment. For example, the apparatus 800 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, an exercise device, a personal digital assistant, and the like.

Referring to fig. 8, the apparatus 800 may include one or more of the following components: a processing component 802, a memory 804, a power component 806, a multimedia component 808, an audio component 810, an input/output (I/O) interface 812, a sensor component 814, and a communication component 816.

The processing component 802 generally controls overall operation of the device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to perform all or some of the steps of the above-described track-shot method. Further, the processing component 802 can include one or more modules that facilitate interaction between the processing component 802 and other components. For example, the processing component 802 may include a multimedia module to facilitate interaction between the multimedia component 808 and the processing component 802.

The memory 804 is configured to store various types of data to support operations at the apparatus 800. Examples of such data include instructions for any application or method operating on device 800, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 804 may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

Power component 806 provides power to the various components of device 800. The power components 806 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the device 800.

The multimedia component 808 includes a screen that provides an output interface between the device 800 and the user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the device 800 is in an operating mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

The audio component 810 is configured to output and/or input audio signals. For example, audio component 810 includes a Microphone (MIC) configured to receive external audio signals when apparatus 800 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 804 or transmitted via the communication component 816. In some embodiments, audio component 810 also includes a speaker for outputting audio signals.

The I/O interface 812 provides an interface between the processing component 802 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.

The sensor assembly 814 includes one or more sensors for providing various aspects of state assessment for the device 800. For example, the sensor assembly 814 may detect the open/closed state of the device 800, the relative positioning of components, such as a display and keypad of the device 800, the sensor assembly 814 may also detect a change in position of the device 800 or a component of the device 800, the presence or absence of user contact with the device 800, the orientation or acceleration/deceleration of the device 800, and a change in temperature of the device 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 816 is configured to facilitate communications between the apparatus 800 and other devices in a wired or wireless manner. The apparatus 800 may access a wireless network based on a communication standard, such as WiFi,4G or 5G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, the apparatus 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described trace photographing method.

In an exemplary embodiment, a non-transitory computer-readable storage medium comprising instructions, such as the memory 804 comprising instructions, executable by the processor 820 of the apparatus 800 to perform the above-described track shot method is also provided. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

In another exemplary embodiment, a computer program product is also provided, which contains a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-described track shot method when executed by the programmable apparatus.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A tracking shooting method, comprising:

determining a current position of an object to be featured in a wide-angle camera shooting picture;

calculating a pixel vector from a picture center point of the wide-angle camera shooting picture to a current position of the object to be close-up;

converting the pixel vector into an angle vector based on the ratio of the angle value of the visual angle of the wide-angle camera to the number of edge pixels of a picture shot by the wide-angle camera;

driving a tele-camera to rotate based on the angle vector to track the object to be close-up.

2. The method of claim 1, wherein determining the current position of the object to be featured in the wide-angle camera shot comprises:

determining the middle point of a connecting line of touch points positioned at two sides of the object to be closed up in the shooting picture of the wide-angle camera;

and confirming the connecting line midpoint as the current position of the object to be featured.

3. The method of claim 1, wherein converting the pixel vector into an angle vector based on a ratio of a view angle value of the wide-angle camera to a number of edge pixels of a picture taken by the wide-angle camera comprises:

and converting the pixel vector into an angle vector based on the ratio of the angle value of the vertical visual angle of the wide-angle camera to the number of pixels of the vertical edge of the picture shot by the wide-angle camera.

4. The track shooting method according to claim 1, wherein the tracking the object to be close-up by driving a tele camera to rotate based on the angle vector includes:

splitting the angle vector into a horizontal angle value and a vertical angle value;

driving a Yaw axis of the tele camera to rotate based on the horizontal angle value and driving a Pitch axis of the tele camera to rotate based on the vertical angle value.

5. The method according to claim 1, characterized in that it comprises:

calculating an amount of change between a current position of the object to be featured and a last position thereof;

comparing the change amount with a preset threshold value;

if the change amount is larger than the preset threshold, the step of calculating a pixel vector from the picture center point of the wide-angle camera photographing picture to the current position of the object to be featured is performed.

6. The method of claim 5, wherein the method comprises:

and if the change amount is smaller than the preset threshold value, controlling the tele camera to execute the anti-hand-shake operation.

7. The method according to claim 5, wherein the preset threshold is one N times the number of short-edge pixels of the long-focus camera shooting picture, wherein N is greater than or equal to 3 and less than or equal to 9.

8. The method of any one of claims 1 to 7, wherein the arrangement of the wide-angle camera and the tele camera satisfies the following requirements: the long edge of the picture shot by the wide-angle camera is in the same direction as the long edge of the picture shot by the telephoto camera and in the same direction as the long edge of the screen; the head of the picture shot by the wide-angle camera and the head of the picture shot by the telephoto camera are in the same direction; and the center position of the long edge of the picture shot by the wide-angle camera is aligned with the center position of the long edge of the picture shot by the telephoto camera.

9. A tracking camera, comprising:

a determining module for determining the current position of the object to be closed up in the wide-angle camera shooting picture;

a calculation module for calculating a pixel vector from a picture center point of the wide-angle camera photographing picture to a current position of the object to be featured;

the conversion module is used for converting the pixel vector into an angle vector based on the ratio of the angle value of the visual angle of the wide-angle camera to the number of edge pixels of a picture shot by the wide-angle camera;

a tracking module for driving the tele camera to rotate based on the angle vector to track the object to be close-up.

10. A tracking camera, comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

11. A computer-readable storage medium, on which computer program instructions are stored, which program instructions, when executed by a processor, carry out the steps of the method of any one of claims 1 to 8.