WO2018072717A1 - 拍摄构图的方法及其装置、可移动物体及计算机可读存储介质 - Google Patents

拍摄构图的方法及其装置、可移动物体及计算机可读存储介质 Download PDF

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Publication number
WO2018072717A1
WO2018072717A1 PCT/CN2017/106749 CN2017106749W WO2018072717A1 WO 2018072717 A1 WO2018072717 A1 WO 2018072717A1 CN 2017106749 W CN2017106749 W CN 2017106749W WO 2018072717 A1 WO2018072717 A1 WO 2018072717A1
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WIPO (PCT)
Prior art keywords
image
composition model
composition
photographing device
model
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/106749
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English (en)
French (fr)
Inventor
刘洋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Autel Robotics Co Ltd
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Autel Robotics Co Ltd
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Filing date
Publication date
Application filed by Autel Robotics Co Ltd filed Critical Autel Robotics Co Ltd
Publication of WO2018072717A1 publication Critical patent/WO2018072717A1/zh
Priority to US16/386,997 priority Critical patent/US20190246042A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/13—Satellite images
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/75—Determining position or orientation of objects or cameras using feature-based methods involving models
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/17—Terrestrial scenes taken from planes or by drones
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/35—Categorising the entire scene, e.g. birthday party or wedding scene
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/64—Computer-aided capture of images, e.g. transfer from script file into camera, check of taken image quality, advice or proposal for image composition or decision on when to take image
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10032—Satellite or aerial image; Remote sensing
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose

Definitions

  • the present application relates to the field of image capturing technology, and in particular, to a method and apparatus for photographing composition, a movable object, and a computer readable storage medium.
  • Prior art aircraft or handheld heads often require scenes to be photographed to capture more professional and aesthetic images when photographing with an onboard camera.
  • composition is an aesthetic design. For ordinary users, composition design is difficult to master in a short time.
  • the technical problem to be solved by the embodiments of the present application is to provide a method and a device for easily and conveniently giving an optimal shooting composition design, and taking a more professional image shooting composition according to the shooting composition design, and moving Object and computer readable storage medium.
  • an embodiment of the present application provides a method for photographing a composition, including:
  • the determining, according to the first image, a composition model related to the first image includes:
  • a composition model related to the target scene is determined according to a category to which the target scene belongs.
  • the adjusting a posture of the photographing device according to the composition model and the first image, so that the photographing device acquires a second image that matches the composition model including:
  • the method further includes:
  • a second image that matches the composition model is acquired based on the shooting parameters.
  • the photographing parameter includes at least one of a focal length, a chromaticity, a brightness, a contrast, and an exposure.
  • an embodiment of the present application provides a movable object, including a body, a controller disposed in the body, and a photographing device disposed on the body, where the controller is configured to:
  • the controller is specifically configured to:
  • a composition model related to the target scene is determined according to a category to which the target scene belongs.
  • the controller is specifically configured to:
  • the controller is specifically configured to:
  • the photographing device is controlled to acquire a second image that matches the composition model according to the photographing parameter.
  • the photographing parameter includes at least one of a focal length, a chromaticity, a brightness, a contrast, and an exposure.
  • the movable object further includes a memory for storing the composition model.
  • the movable object includes an aircraft or a handheld photographing device.
  • an embodiment of the present application provides an apparatus for photographing a composition, where the apparatus includes:
  • An acquiring module configured to acquire a first image of a target scene captured by the photographing device
  • a model determining module configured to determine a composition model related to the first image according to the first image
  • an attitude adjustment module configured to adjust a posture of the photographing device according to the composition model and the first image, so that the photographing device acquires a second image that matches the composition model.
  • the model determining module includes:
  • a scene recognition module configured to identify a category to which the target scene belongs
  • a determining module for determining a composition model associated with the first image.
  • the apparatus further includes:
  • An offset parameter determining module configured to determine an offset parameter of the first image relative to the composition model
  • the attitude adjustment module is configured to adjust a posture of the photographing device according to the offset parameter, so that the photographing device acquires a second image that matches the composition model.
  • the apparatus further includes:
  • a shooting parameter determining module configured to determine a shooting parameter related to the composition model according to the composition model
  • the attitude adjustment module is configured to acquire a second image that matches the composition model according to the shooting parameter.
  • the photographing parameter includes at least one of a focal length, a chromaticity, a brightness, a contrast, and an exposure.
  • the apparatus further includes a storage for storing the composition model Storage module.
  • an embodiment of the present application provides a movable object, including a memory and a processor, where a computer program is stored in the memory, and when the computer program is executed by the processor, the processor performs shooting as described above.
  • the method of composition is described above.
  • an embodiment of the present application provides a computer readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the processor is configured to perform the method for photographing the composition described above.
  • a method and device for photographing a composition, a movable object, and a computer readable storage medium provided by an embodiment of the present application, by acquiring a first image of a target scene captured by a photographing device, and determining, according to the first image, a first image-related composition model, and finally adjusting a posture of the photographing device according to the composition model and the first image, so that the photographing device acquires a second image that matches the composition model, and is capable of photographing
  • the image with better composition is simple and convenient to operate.
  • FIG. 1 is a schematic structural diagram of a movable object according to an embodiment of the present application.
  • FIG. 2 is a flowchart of a method for photographing a composition provided by an embodiment of the present application
  • FIG. 3 is a flowchart of a method for photographing a composition provided by another embodiment of the present application.
  • FIG. 4 is a functional block diagram of an apparatus for photographing a composition provided by an embodiment of the present application.
  • FIG. 5 is a functional block diagram of an apparatus for photographing composition according to still another embodiment of the present application.
  • FIG. 6 is a schematic diagram of a hardware structure of a movable object according to an embodiment of the present application.
  • the present application provides a method, apparatus, and movable object using the photographing composition method or apparatus.
  • the optimal composition design and shooting parameters can be matched according to different shooting scenes, and the posture of the movable object can be adjusted to obtain an image with a better composition design.
  • the movable object includes a body and a photographing device disposed on the body.
  • the movable object is the aircraft 10.
  • the movable object may also be a handheld pan/tilt camera, a manned aircraft, a model airplane, an unmanned airship, and a fixed wing. Machines and unmanned hot air balloons, etc.
  • the aircraft 10 includes a casing 11, an arm 12 connected to the casing 11, a power unit 13 disposed at one end of the arm 12, a platform 15 connected to the casing 11, and a platform 13 connected thereto.
  • the imaging device 14 and a controller 16 disposed in the housing 11.
  • the number of the arms 12 is four, that is, the aircraft is a quadrotor. In other possible embodiments, the number of the arms 12 may also be 3, 6, 8, 10, and the like.
  • the power unit 13 includes a motor 132 disposed at one end of the arm 12 and a propeller 131 coupled to the rotating shaft of the motor 132.
  • the rotating shaft of the motor 132 rotates to drive the propeller 131 to rotate to provide lift to the aircraft 10.
  • the pan/tilt 15 serves to alleviate or even eliminate the vibration transmitted by the power unit 13 to the photographing device 14 to ensure that the photographing device 14 can capture a stable and clear image or video.
  • the photographing device 14 may be a binocular camera, a monocular camera, an infrared imaging device, an ultraviolet imaging device, a camcorder, or the like.
  • the imaging device 14 may be mounted directly on the aircraft 10 or may be mounted on the platform 15 as shown in this embodiment.
  • the target scene to be photographed is substantially aligned, the photographing device 14 is activated, and the controller 16 acquires the first image of the target scene captured by the photographing device.
  • the target scene may be a scene with a beach as a background, and an architectural background. Scenes, scenes with distant mountains, scenes with landscapes and buildings as backgrounds.
  • the first image may be a single frame image of a target scene captured by the photographing device.
  • the controller 16 identifies the category to which the target scene belongs based on the first image.
  • the controller 16 may identify the first image according to a prior art known technique, and classify the target scene in the first image according to the recognition result, for example, when identifying that the first image contains a building, The first image is classified into a building class.
  • the first image may be classified into a character class, and when the first image is included in the first image, the first image may be classified as a landscape.
  • the controller 16 can give a composition model related to the target scene according to the category to which the target scene belongs.
  • the composition model may be a composition model of a person with a beach as a background, a composition model of a person with a background of the building, a composition model of a person with a distant mountain as a background, a composition model of a person with a landscape and a building as a background, and the like. Multiple types of composition models.
  • the composition model may include feature information of the target scene, external contour information of the portrait of the person, position information of the portrait of the person in the target scene, and the like.
  • the aircraft 10 may further include a memory for storing a composition model in which the aforementioned composition model may be stored.
  • composition models There may be multiple composition models. At this time, the user can select the optimal composition model according to actual needs, or the aircraft 10 can independently select the best composition model according to the pre-stored strategy.
  • the composition is an aesthetic design, there are rules to follow.
  • the training model of the scene recognition technology can be formed for these rules.
  • the machine learning method is used to train the scenes, and finally the scene is identified and given.
  • a compositional design for reference.
  • the controller 16 further determines an offset parameter of the first image relative to the composition model. This is because the first image captured by the camera device is inevitably biased compared to the composition model. For example, the first image has a certain inclination angle with respect to the horizontal plane. For example, the external contour of the portrait of the person in the first image is too large or too large. Small, as another example, the portrait is positioned to the left or to the right in the first image. Thus, the controller 16 will give an offset parameter of the first image relative to the composition model to provide a basis for subsequent adjustment of the attitude of the aircraft 10.
  • the controller 16 is configured according to the determined composition model.
  • the shooting parameters associated with the composition model can also be further determined.
  • the shooting parameters may include at least one of focal length, chromaticity, brightness, contrast, and exposure.
  • the controller 16 can implement the photographing device by adjusting the stabilizing components on the aircraft 10 such as the pan/tilt 15, the distance of the aircraft 10 relative to the target scene, the shooting parameters of the photographing device 14, and the like. 14 Attitude adjustment, when the optimal shooting attitude is reached or the best shooting point is reached, the aircraft 10 automatically performs shooting to cause the camera 14 to acquire a second image that matches the composition model.
  • the aircraft 10 of the present application can match the optimal composition design and shooting parameters according to different shooting scenes, and adjust the posture of the aircraft 10 to obtain an image with a better composition design.
  • the embodiment of the present application provides a method for photographing a composition, which can be applied to a movable object, the movable object having a photographing device, and the method includes:
  • the target scene may be a scene with a beach as a background, a scene with a building as a background, a scene with a distant mountain as a background, a scene with a landscape and a building as a background.
  • the first image may be a single frame image of a target scene captured by the photographing device.
  • the first image may be identified according to a prior known technique, and the target scene in the first image may be classified according to the recognition result, for example, when the first image is included in the building, the first image may be Classified as a building class, when it is recognized that the first image contains a task, the first image may be classified into a character class, and when the first image is included in the first image, the first image may be classified as a landscape.
  • a composition model related to the target scene may be given according to the category to which the target scene belongs.
  • the composition model may be a composition model of a person with a beach as a background, a composition model of a person with a background of the building, a composition model of a person with a distant mountain as a background, a composition model of a person with a landscape and a building as a background, and the like.
  • the composition model may include feature information of the target scene and an external outline of the portrait of the person Information, location information of a person's portrait in the target scene, etc.
  • composition model There may be more than one composition model.
  • the user can select the best composition model according to actual needs, or the movable object can select the best composition model according to the pre-stored strategy.
  • the first image captured by the photographing device inevitably has a deviation from the composition model, for example, the first image has a certain inclination angle with respect to the horizontal plane, and, for example, the outer contour of the portrait of the person in the first image is too large or too small, As another example, the portrait of the person in the first image is positioned to the left or to the right.
  • the offset parameter of the first image relative to the composition model may provide a basis for subsequent adjustment of the pose of the movable object.
  • the shooting parameters may include at least one of focal length, chromaticity, brightness, contrast, and exposure.
  • the adjustment of the posture of the camera can be achieved by adjusting the stabilization component on the aircraft, the distance of the aircraft relative to the target scene, the focal length of the camera, etc., so that the camera acquires and composes the image.
  • the matching of the second image of the model, the matching of the second image with the composition model may mean that the outer contour size, position, and the like of the portrait of the second image are substantially equivalent to the outer contour size, position, and the like of the portrait of the person in the composition model.
  • the adjustment of the attitude of the camera can be achieved by controlling and adjusting the pan/tilt.
  • another embodiment of the present application provides a method for photographing a composition, the method comprising:
  • Step S11 Acquire a first image of a target scene captured by the photographing device.
  • the target scene may be a scene with a beach as a background, a scene with a building as a background, a scene with a distant mountain as a background, a scene with a landscape and a building as a background.
  • the first image may be a single frame image of a target scene captured by the photographing device.
  • Step S13 determining, according to the first image, a composition mode associated with the first image type.
  • the composition model may be a composition model of a person with a beach as a background, a composition model of a person with a background of the building, a composition model of a person with a distant mountain as a background, a composition model of a person with a landscape and a building as a background, and the like.
  • the composition model may include feature information of the target scene, external contour information of the portrait of the person, position information of the portrait of the person in the target scene, and the like.
  • Step S15 Adjust a posture of the photographing device according to the composition model and the first image, so that the photographing device acquires a second image that matches the composition model.
  • the first image captured by the photographing device is inevitably deviated from the composition model, for example, the first image has a certain inclination angle with respect to a horizontal plane, and, for example, the portrait of the person in the first image
  • the outer contour is too large or too small, and the portrait is left or right in the first image. Therefore, when the device carrying the photographing device is an aircraft, the posture of the photographing device can be adjusted by adjusting the stabilizing component on the aircraft, the distance of the aircraft relative to the target scene, the focal length of the photographing device, and the like, so that the photographing device is adjusted.
  • Obtaining a second image that matches the composition model, and matching the second image with the composition model may mean that the outer contour size, position, and the like of the portrait in the second image are substantially equivalent to the outer contour size, position, and the like of the portrait in the composition model.
  • a method for photographing a composition provided by an embodiment of the present application, by acquiring a first image of a target scene currently previewed by a photographing device, and further determining a composition model related to the first image according to the first image, and finally determining a
  • the composition model and the first image are adjusted to adjust a posture of the photographing device, so that the photographing device acquires a second image that matches the composition model, and can capture an image with a better composition design, and the operation is simple. Convenience.
  • the embodiment of the present application provides a device 20 for photographing composition, and the device 20 includes: an obtaining module 21, a model determining module 22, an offset parameter determining module 25, a shooting parameter determining module 26, and posture adjustment. Module 27.
  • the acquisition module 51 is configured to acquire a first image of a target scene captured by the photographing device.
  • the target scene may be a scene with a beach as a background, a scene with an architectural background, a scene with a distant mountain as a background, a scene with a landscape of mountains and water, and the like.
  • the first image can be taken A single frame image of the target scene captured by the device.
  • the model determination module 22 is configured to determine a composition model associated with the first image based on the first image.
  • the model determination module 22 includes a scene recognition module 23 and a determination module 24.
  • the scene recognition module 23 is configured to identify the category to which the target scene belongs.
  • the determination module 24 is operative to determine a composition model associated with the first image.
  • the composition model may be a composition model of a person with a beach as a background, a composition model of a person with a background of the building, a composition model of a person with a distant mountain as a background, a composition model of a person with a landscape and a building as a background, and the like.
  • the composition model may include feature information of the target scene, external contour information of the portrait of the person, position information of the portrait of the person in the target scene, and the like.
  • the composition model may be pre-stored in the device 20 for photographing composition, such as a storage module pre-stored in a device such as an aircraft or a handheld head.
  • the type and number of composition models can be set according to actual needs.
  • the scene recognition module 23 first identifies the target scene in the first image, and determines the category to which the target scene belongs, and the determining module 24 filters out the first image from the plurality of types of composition models according to the category to which the target scene belongs.
  • Composition model For example, the first image is a target scene with a person as a background of the beach, and the composition model related to the first image is a composition model of the person with the beach as the background; for example, the first image is a target scene with the background of the distant mountain as a background. Then, the composition model related to the first image is a composition model with the background of the distant mountains.
  • the offset parameter determination module 25 is configured to determine an offset parameter of the first image relative to the composition model.
  • the offset parameter may be an oblique angle of the first image with respect to a horizontal plane; for example, the offset parameter may also be a distance to the left or right of the position of the portrait of the person in the first image.
  • the shooting parameter determination module 26 is configured to determine shooting parameters related to the composition model according to the composition model.
  • the shooting parameters include, but are not limited to, at least one of a focal length, a chromaticity, a brightness, a contrast, and an exposure.
  • Shooting parameters can be based on composition
  • the type of the model is set in advance, and can also be adjusted according to the user's operation.
  • the attitude adjustment module 27 is configured to adjust a posture of the photographing device according to the determined offset parameter and the photographing parameter, so that the photographing device acquires a second image that matches the composition model.
  • FIG. 5 another embodiment of the present application provides an apparatus 30 for photographing a composition.
  • the apparatus 30 includes an acquisition module 31, a model determination module 32, and a posture adjustment module 33.
  • the acquisition module 31 is configured to acquire a first image of a target scene captured by the photographing device.
  • the model determination module 32 is configured to determine a composition model associated with the first image based on the first image.
  • the attitude adjustment module 33 is configured to adjust a posture of the photographing device according to the offset parameter, so that the photographing device acquires a second image that matches the composition model.
  • FIG. 6 is a schematic diagram of a hardware structure of a movable object 40 according to an embodiment of the present application.
  • the movable object 40 can include:
  • One or more processors 41, a memory 42, and a photographing device 43 are exemplified by a processor 41 in FIG.
  • the processor 41, the memory 42, and the photographing device 43 may be connected by a bus or the like, and the bus connection is taken as an example in FIG.
  • the memory 42 is a non-volatile computer readable storage medium, and can be used for storing non-volatile software programs, non-volatile computer-executable programs, and modules, such as a program corresponding to the method of photographing composition in the embodiment of the present application.
  • the instruction/module for example, the acquisition module 31, the model determination module 32, and the attitude adjustment module 33 shown in FIG. 5, the acquisition module 21, the model determination module 22, and the offset parameter determination module 25 in FIG. 4, the shooting parameter determination module 26 and the posture adjustment module 27.
  • the processor 41 and the photographing device 43 perform various functional applications and data processing of the movable object 40 by executing nonvolatile software programs, instructions, and modules stored in the memory 42, that is, A method of photographing a composition of the above method embodiment.
  • the memory 42 may include a storage program area and a storage data area, wherein the program area is stored
  • the operating system, an application required for at least one function may be stored; the storage data area may store data created according to the use of the device for photographing the composition, and the like.
  • memory 42 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device.
  • the memory 42 can optionally include a memory remotely located relative to the processor 41 that can be connected to the device that captures the composition over a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • the one or more modules are stored in the memory 42 and, when executed by the one or more processors 41, perform a method of photographing composition in any of the above method embodiments, for example, performing FIG. 2 described above Method step S101 to step S106, method step S11 to step S15 in FIG. 3, acquisition module 21, model determination module 22, offset parameter determination module 25, shooting parameter determination module 26, and attitude adjustment module in FIG. 27.
  • the above device can perform the method of photographing composition provided by the embodiment of the present application, and has the corresponding functional modules and beneficial effects of the execution method.
  • the method of photographing composition provided by the embodiment of the present application.
  • the embodiment of the present application further provides a computer readable storage medium storing computer executable instructions executed by one or more processors, such as one of the processes in FIG.
  • the method of causing the one or more processors to perform the photographing composition in any of the above method embodiments for example, performing the method steps S101 to S106 in FIG. 2 described above, the method step S11 in FIG. Go to step S15, the acquisition module 21, the model determination module 22, the offset parameter determination module 25, the photographing parameter determination module 26, and the posture adjustment module 27 in FIG. 4, the acquisition module 31, the model determination module 32 in FIG. 5, and The function of the attitude adjustment module 33.
  • the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

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Abstract

本申请公开了一种拍摄构图的方法及装置、可移动物体及计算机可读存储介质，通过获取拍摄装置拍摄的目标场景的第一图像，进而根据所述第一图像，确定与所述第一图像相关的构图模型，最终根据所述构图模型和所述第一图像，调整所述拍摄装置的姿态，以使所述拍摄装置获取与所述构图模型匹配的第二图像，能够拍摄出具有较佳构图的图像，操作简单、方便。

Description

拍摄构图的方法及其装置、可移动物体及计算机可读存储介质 技术领域
本申请涉及图像拍摄技术领域，特别是涉及一种拍摄构图的方法及其装置、可移动物体及计算机可读存储介质。
背景技术
现有技术的飞行器或者手持云台在利用机载相机进行拍摄时，经常需要对场景进行构图以拍摄出更加专业且富有美感的图像。
首先，对于飞行器来说，需要多次试飞并调整姿态以获得最佳的拍摄角度，耗费了飞行器的电量，且增加了飞行器的控制难度。对于手持云台来说，如果想要拍摄好一个场景，则需要经常调整手持云台的姿态，耗费了操作者大量的时间与精力，从而不能集中精力进行创造。其次，构图是一种美学设计，对于普通用户来说，构图设计短时间内难以掌握。
申请内容
本申请实施方式主要解决的技术问题是提供一种操作简单、方便且能够给出最佳拍摄构图设计，并依据该拍摄构图设计拍摄出更加专业的图像的拍摄构图的方法及其装置、可移动物体及计算机可读存储介质。
第一方面，本申请实施例提供了一种拍摄构图的方法，包括：
获取拍摄装置拍摄的目标场景的第一图像；
根据所述第一图像，确定与所述第一图像相关的构图模型；
根据所述构图模型和所述第一图像，调整所述拍摄装置的姿态，以使所述拍摄装置获取与所述构图模型匹配的第二图像。
在本申请的一实施例中，所述根据所述第一图像，确定与所述第一图像相关的构图模型，包括：
根据所述第一图像识别所述目标场景所属的类别；
根据所述目标场景所属的类别，确定与所述目标场景相关的构图模型。
在本申请的一实施例中，所述根据所述构图模型和所述第一图像，调整所述拍摄装置的姿态，以使所述拍摄装置获取与所述构图模型匹配的第二图像，包括：
确定所述第一图像相对于所述构图模型的偏移参数；
根据所述偏移参数，调整所述拍摄装置的姿态，以使所述拍摄装置获取与所述构图模型匹配的第二图像。
在本申请的一实施例中，该方法还包括：
根据所述构图模型，确定与所述构图模型相关的拍摄参数；
根据所述拍摄参数获取与所述构图模型匹配的第二图像。
在本申请的一实施例中，所述拍摄参数包括焦距、色度、亮度、对比度以及曝光度中的至少一种。
第二方面，本申请实施例提供一种可移动物体，包括本体、设于所述本体内的控制器和设于所述本体上的拍摄装置，所述控制器用于：
获取所述拍摄装置拍摄的目标场景的第一图像；
根据所述第一图像，确定与所述第一图像相关的构图模型；
根据所述构图模型和所述第一图像，调整所述拍摄装置的姿态，以使所述拍摄装置获取与所述构图模型匹配的第二图像。
在本申请的一实施例中，所述控制器具体用于：
根据所述第一图像识别所述目标场景所属的类别；
根据所述目标场景所属的类别，确定与所述目标场景相关的构图模型。
在本申请的一实施例中，所述控制器具体用于：
确定所述第一图像相对于所述构图模型的偏移参数；
根据所述偏移参数，调整所述拍摄装置的姿态，以使所述拍摄装置获取与所述构图模型匹配的第二图像。
在本申请的一实施例中，所述控制器具体用于：
根据所述构图模型，确定与所述构图模型相关的拍摄参数；
控制所述拍摄装置根据所述拍摄参数获取与所述构图模型匹配的第二图像。
在本申请的一实施例中，所述拍摄参数包括焦距、色度、亮度、对比度以及曝光度中的至少一种。
在本申请的一实施例中，所述可移动物体还包括用于存储所述构图模型的存储器。
在本申请的一实施例中，所述可移动物体包括飞行器或手持拍摄设备。
第三方面，本申请实施例提供一种拍摄构图的装置，所述装置包括：
获取模块，用于获取拍摄装置拍摄的目标场景的第一图像；
模型确定模块，用于根据所述第一图像，确定与所述第一图像相关的构图模型；
姿态调整模块，用于根据所述构图模型和所述第一图像，调整所述拍摄装置的姿态，以使所述拍摄装置获取与所述构图模型匹配的第二图像。
在本申请的一实施例中，所述模型确定模块包括：
场景识别模块，用于识别所述目标场景所属的类别；
确定模块，用于确定与所述第一图像相关的构图模型。
在本申请的一实施例中，所述装置还包括：
偏移参数确定模块，用于确定所述第一图像相对于所述构图模型的偏移参数；
所述姿态调整模块用于根据所述偏移参数，调整所述拍摄装置的姿态，以使所述拍摄装置获取与所述构图模型匹配的第二图像。
在本申请的一实施例中，所述装置还包括：
拍摄参数确定模块，用于根据所述构图模型，确定与所述构图模型相关的拍摄参数；
所述姿态调整模块用于根据所述拍摄参数获取与所述构图模型匹配的第二图像。
在本申请的一实施例中，所述拍摄参数包括焦距、色度、亮度、对比度以及曝光度中的至少一种。
在本申请的一实施例中，该装置还包括用于存储所述构图模型的存 储模块。
第四方面，本申请实施例提供一种可移动物体，包括存储器和处理器，存储器中存储有计算机程序，所述计算机程序被处理器执行时，使得所述处理器执行如上述所述的拍摄构图的方法。
第五方面，本申请实施例提供一种计算机可读存储介质，存储有计算机程序，所述计算机程序被处理器执行时，使得所述处理器执行上述所述的拍摄构图的方法。
本申请实施例提供的一种拍摄构图的方法及装置、可移动物体及计算机可读存储介质，通过获取拍摄装置拍摄的目标场景的第一图像，进而根据所述第一图像，确定与所述第一图像相关的构图模型，最终根据所述构图模型和所述第一图像，调整所述拍摄装置的姿态，以使所述拍摄装置获取与所述构图模型匹配的第二图像，能够拍摄出具有较佳构图的图像，操作简单、方便。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对本申请实施例中所需要使用的附图作简单地介绍。显而易见地，下面所描述的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例提供的一种可移动物体的结构示意图；
图2是本申请实施例提供的一种拍摄构图的方法的流程图；
图3是本申请又一实施例提供的一种拍摄构图的方法的流程图；
图4是本申请实施例提供的一种拍摄构图的装置的功能框图；
图5本申请又一实施例提供的一种拍摄构图的装置的功能框图；
图6是本申请实施例提供的一种可移动物体的硬件结构示意图。
具体实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的 具体实施例仅用以解释本申请，并不用于限定本申请。
此外，下面所描述的本申请各个实施方式中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。
本申请提供了一种拍摄构图的方法、装置以及使用该拍摄构图方法或装置的可移动物体。通过该拍摄构图方法或装置，可以根据不同的拍摄场景匹配最佳的构图设计和拍摄参数，调整可移动物体的姿态以获得具有较佳构图设计的图像。
可移动物体包括本体和设置在本体上的拍摄装置。在本申请的一实施例中，可移动物体为飞行器10，在其他可能的实施例中，可移动物体还可以是手持云台拍摄设备、载人飞行器、航模、无人飞艇、固定翼无人机和无人热气球等。
如图1所示，飞行器10包括壳体11、与壳体11相连的机臂12、设置在机臂12一端的动力装置13、与壳体11相连的云台15、与云台13相连的拍摄装置14以及设置在壳体11内的控制器16。
在本实施例中，机臂12的数量为4，即该飞行器为四旋翼飞行器，在其他可能的实施例中，机臂12的数量也可以为3、6、8、10等。
动力装置13包括设置在机臂12一端的电机132以及与电机132的转轴相连的螺旋桨131。电机132的转轴转动以带动螺旋桨131旋转从而给飞行器10提供升力。
云台15用于减轻甚至消除动力装置13传递给拍摄装置14的振动，以保证拍摄装置14能够拍摄出稳定清晰的图像或视频。
拍摄装置14可以是双目摄像头、单目摄像头、红外线影像设备、紫外线影像设备、摄录机等类似的设备。拍摄装置14可以直接搭载在飞行器10上，也可以通过如本实施例所示的云台15搭载。
飞行器10起飞后，大致对准所要拍摄的目标场景，启动拍摄装置14，控制器16获取拍摄装置拍摄的该目标场景的第一图像。在本申请的一实施例中，目标场景可以是以海滩为背景的场景、以建筑为背景的 场景、以远山为背景的场景、以山水和建筑为背景的场景等。第一图像可以是拍摄装置捕捉到的目标场景的单帧图像。
控制器16根据第一图像识别目标场景所属的类别。控制器16可以根据现有已知的技术对第一图像进行识别，并根据识别结果对第一图像中的目标场景进行归类，例如，当识别出第一图像中包含建筑物时，可将第一图像归为建筑类，当识别出第一图像中包含任务时，可将第一图像归为人物类，当识别出第一图像中包含山水时，可将第一图像归为山水类。
当目标场景所属的类别确定之后，控制器16就可以根据目标场景所属的类别，给出与目标场景相关的构图模型了。在本申请实施例中，构图模型可以是人以海滩为背景的构图模型、人以建筑为背景的构图模型、人以远山为背景的构图模型、人以山水和建筑为背景的构图模型等多种类型的构图模型。构图模型中可以包括目标场景的特征信息、人物肖像的外部轮廓信息、人物肖像在目标场景中的位置信息等。且在本申请的一实施例中，该飞行器10还可以包括用于存储构图模型的存储器，前述的构图模型可被存储在该存储器中。
构图模型可能有多个，此时用户可以根据实际的需要选择最佳的构图模型，也可以是飞行器10根据预存的策略自主选择最佳的构图模型。构图虽然是一种美学设计，但其中也有规律可循，可针对这些规律形成对场景识别技术的训练模型，利用机器学习的方法，对这些场景进行机器训练，并最终对场景进行识别并给出可供参考的构图设计。
在本申请的一实施例中，构图模型确定之后，控制器16会进一步确定第一图像相对于构图模型的偏移参数。这是因为拍摄装置捕捉到的第一图像与构图模型相比难免具有偏差，例如，第一图像相对于水平面具有一定的倾斜角度，又如，第一图像中人物肖像的外部轮廓过大或过小，又如，人物肖像在第一图像中的位置偏左或偏右。因此，控制器16会给出第一图像相对于构图模型的偏移参数以为后续调整飞行器10的姿态提供基础。
此外，在本申请的一实施例中，根据该确定的构图模型，控制器16 还可以进一步确定与该构图模型相关的拍摄参数。拍摄参数可以包括焦距、色度、亮度、对比度以及曝光度中的至少一种。
在确定了偏移参数和拍摄参数之后，控制器16可以通过调整飞行器10上的增稳组件如云台15、飞行器10相对于目标场景的远近、拍摄装置14的拍摄参数等方式来实现拍摄装置14姿态的调整，当达到最佳拍摄姿态或者到达最佳拍摄点时，飞行器10自动进行拍摄以使拍摄装置14获取与构图模型匹配的第二图像。
由此，本申请的飞行器10可以根据不同的拍摄场景匹配最佳的构图设计和拍摄参数，调整飞行器10的姿态以获得具有较佳构图设计的图像。
如图2所示，本申请实施例提供了一种拍摄构图的方法，该方法可被应用于可移动物体，该可移动物体具有拍摄装置，该方法包括：
S101、获取拍摄装置拍摄的目标场景的第一图像。
在本申请的一实施例中，目标场景可以是以海滩为背景的场景、以建筑为背景的场景、以远山为背景的场景、以山水和建筑为背景的场景等。第一图像可以是拍摄装置捕捉到的目标场景的单帧图像。
S102、根据第一图像识别目标场景所述的类别。
可以根据现有已知的技术对第一图像进行识别，并根据识别结果对第一图像中的目标场景进行归类，例如，当识别出第一图像中包含建筑物时，可将第一图像归为建筑类，当识别出第一图像中包含任务时，可将第一图像归为人物类，当识别出第一图像中包含山水时，可将第一图像归为山水类。
S103、根据目标场景所属的类别，确定与目标场景相关的构图模型。
当目标场景所属的类别确定之后，可以根据目标场景所属的类别，给出与目标场景相关的构图模型。在本申请实施例中，构图模型可以是人以海滩为背景的构图模型、人以建筑为背景的构图模型、人以远山为背景的构图模型、人以山水和建筑为背景的构图模型等多种类型的构图模型。构图模型中可以包括目标场景的特征信息、人物肖像的外部轮廓 信息、人物肖像在目标场景中的位置信息等。
构图模型可能有多个，此时用户可以根据实际的需要选择最佳的构图模型，也可以是可移动物体根据预存的策略自主选择最佳的构图模型。
S104、确定第一图像相对于构图模型的偏移参数。
由于拍摄装置捕捉到的第一图像与构图模型相比难免具有偏差，例如，第一图像相对于水平面具有一定的倾斜角度，又如，第一图像中人物肖像的外部轮廓过大或过小，又如，人物肖像在第一图像中的位置偏左或偏右。第一图像相对于构图模型的偏移参数可以为后续调整可移动物体的姿态提供基础。
S105、根据构图模型，确定与构图模型相关的拍摄参数。拍摄参数可以包括焦距、色度、亮度、对比度以及曝光度中的至少一种。
S106、根据偏移参数和拍摄参数调整拍摄装置的姿态，以使拍摄装置获取与构图模型匹配的第二图像。
当携带有拍摄装置的设备为飞行器时，可以通过调整飞行器上的增稳组件、飞行器相对于目标场景的远近、拍摄装置的焦距等方式来实现拍摄装置姿态的调整，以使拍摄装置获取与构图模型匹配的第二图像，第二图像与构图模型匹配可以是指第二图像中人物肖像的外部轮廓大小、位置等与构图模型中人物肖像的外部轮廓大小、位置等大致相当。当携带有拍摄装置的设备为手持云台时，可以通过控制及调整云台来实现拍摄装置姿态的调整。
如图3所示，本申请另一实施例提供了一种拍摄构图的方法，所述方法包括：
步骤S11、获取拍摄装置拍摄的目标场景的第一图像。
在本申请实施例中，目标场景可以是以海滩为背景的场景、以建筑为背景的场景、以远山为背景的场景、以山水和建筑为背景的场景等。第一图像可以是拍摄装置捕捉到的目标场景的单帧图像。
步骤S13、根据所述第一图像，确定与所述第一图像相关的构图模 型。
在本申请实施例中，构图模型可以是人以海滩为背景的构图模型、人以建筑为背景的构图模型、人以远山为背景的构图模型、人以山水和建筑为背景的构图模型等多种类型的构图模型。构图模型中可以包括目标场景的特征信息、人物肖像的外部轮廓信息、人物肖像在目标场景中的位置信息等。
步骤S15、根据所述构图模型和所述第一图像，调整所述拍摄装置的姿态，以使所述拍摄装置获取与所述构图模型匹配的第二图像。
在本申请实施例中，拍摄装置捕捉到的第一图像难免与所述构图模型相比具有偏差，例如，第一图像相对于水平面具有一定的倾斜角度，又如，第一图像中人物肖像的外部轮廓过大或过小，又如，人物肖像在第一图像中的位置偏左或偏右。因此，当携带有拍摄装置的设备为飞行器时，可以通过调整飞行器上的增稳组件、飞行器相对于目标场景的远近、拍摄装置的焦距等方式来实现拍摄装置的姿态的调整，以使拍摄装置获取与构图模型匹配的第二图像，第二图像与构图模型匹配可以是指第二图像中人物肖像的外部轮廓大小、位置等与构图模型中人物肖像的外部轮廓大小、位置等大致相当。
本申请实施例提供的一种拍摄构图的方法，通过获取拍摄装置当前预览的目标场景的第一图像，进而根据所述第一图像，确定与所述第一图像相关的构图模型，最终根据所述构图模型和所述第一图像，调整所述拍摄装置的姿态，以使所述拍摄装置获取与所述构图模型匹配的第二图像，能够拍摄出具有较佳构图设计的图像，操作简单、方便。
如图4所示，本申请实施例提供了一种拍摄构图的装置20，所述装置20包括：获取模块21、模型确定模块22、偏移参数确定模块25、拍摄参数确定模块26以及姿态调整模块27。
获取模块51用于获取拍摄装置拍摄的目标场景的第一图像。
目标场景可以是以海滩为背景的场景、以建筑为背景的场景、以远山为背景的场景、以山水和建筑为背景的场景等。第一图像可以是拍摄 装置捕捉到的目标场景的单帧图像。
模型确定模块22用于根据所述第一图像，确定与所述第一图像相关的构图模型。在本申请的一实施例中，模型确定模块22包括场景识别模块23和确定模块24。场景识别模块23用于识别目标场景所属的类别。确定模块24用于确定与第一图像相关的构图模型。
在本申请实施例中，构图模型可以是人以海滩为背景的构图模型、人以建筑为背景的构图模型、人以远山为背景的构图模型、人以山水和建筑为背景的构图模型等多种类型的构图模型。构图模型中可以包括目标场景的特征信息、人物肖像的外部轮廓信息、人物肖像在目标场景中的位置信息等。
构图模型可以是预存于拍摄构图的装置20中，如预存于飞行器或手持云台等设备中的存储模块。构图模型的种类和数量可以根据实际需要进行设定。
场景识别模块23先对第一图像中的目标场景进行识别，并确定该目标场景所属的类别，确定模块24根据目标场景所属的类别，从多种类型的构图模型中筛选出与第一图像相关的构图模型。例如，第一图像是人以海滩为背景的目标场景，则与第一图像相关的构图模型是人以海滩为背景的构图模型；又如，第一图像是人以远山为背景的目标场景，则与第一图像相关的构图模型是人以远山为背景的构图模型。
偏移参数确定模块25用于确定所述第一图像相对于构图模型的偏移参数。
在本申请实施例中，若所述第一图像与所述构图模型不匹配，即拍摄装置捕捉到的第一图像与所述构图模型相比具有偏差，则确定所述第一图像相对于所述构图模型的偏移参数。例如，偏移参数可以是第一图像相对于水平面的倾斜角度；又如，偏移参数也可以是在第一图像中人物肖像的位置偏左或偏右的距离。
拍摄参数确定模块26用于根据所述构图模型，确定与所述构图模型相关的拍摄参数。在本申请实施例中，拍摄参数包括但不限于焦距、色度、亮度、对比度以及曝光度中的至少一种。拍摄参数可以根据构图 模型的种类进行预先设定，也可以根据用户的操作进行调整。
姿态调整模块27用于根据上述确定的偏移参数和拍摄参数，调整所述拍摄装置的姿态，以使所述拍摄装置获取与所述构图模型匹配的第二图像。
如图5所示，本申请又一实施例提供了一种拍摄构图的装置30，所述装置30包括：获取模块31、模型确定模块32、以及姿态调整模块33。
获取模块31用于获取拍摄装置拍摄的目标场景的第一图像。
模型确定模块32用于根据所述第一图像，确定与所述第一图像相关的构图模型。
姿态调整模块33用于根据所述偏移参数，调整所述拍摄装置的姿态，以使所述拍摄装置获取与所述构图模型匹配的第二图像。
关于获取模块31、模型确定模块32以及姿态调整模块33的详细说明可参见上述实施例，在此不再赘述。
图6是本申请实施例提供的一种可移动物体40的硬件结构示意图。可移动物体40可以包括：
一个或多个处理器41、存储器42以及拍摄装置43，图6中以一个处理器41为例。
处理器41、存储器42以及拍摄装置43可以通过总线或者其他方式连接，图6中以通过总线连接为例。
存储器42作为一种非易失性计算机可读存储介质，可用于存储非易失性软件程序、非易失性计算机可执行程序以及模块，如本申请实施例中的拍摄构图的方法对应的程序指令/模块(例如，附图5所示的获取模块31、模型确定模块32以及姿态调整模块33，附图4中的获取模块21、模型确定模块22、偏移参数确定模块25拍摄参数确定模块26以及姿态调整模块27。处理器41和拍摄装置43通过运行存储在存储器42中的非易失性软件程序、指令以及模块，从而执行可移动物体40的各种功能应用以及数据处理，即实现上述方法实施例的拍摄构图的方法。
存储器42可以包括存储程序区和存储数据区，其中，存储程序区 可存储操作系统、至少一个功能所需要的应用程序；存储数据区可存储根据拍摄构图的装置的使用所创建的数据等。此外，存储器42可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实施例中，存储器42可选包括相对于处理器41远程设置的存储器，这些远程存储器可以通过网络连接至拍摄构图的装置。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
所述一个或者多个模块存储在所述存储器42中，当被所述一个或者多个处理器41执行时，执行上述任意方法实施例中的拍摄构图的方法，例如，执行以上描述的图2中的方法步骤S101至步骤S106，图3中的方法步骤S11至步骤S15，附图4中的获取模块21、模型确定模块22、偏移参数确定模块25、拍摄参数确定模块26以及姿态调整模块27，附图5中的获取模块31、模型确定模块32以及姿态调整模块33的功能。
上述装置可执行本申请实施例所提供的拍摄构图的方法，具备执行方法相应的功能模块和有益效果。未在本实施例中详尽描述的技术细节，可参见本申请实施例所提供的拍摄构图的方法。
本申请实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机可执行指令，该计算机可执行指令被一个或多个处理器执行，例如图6中的一个处理器41，可使得上述一个或多个处理器可执行上述任意方法实施例中的拍摄构图的方法，例如，执行以上描述的图2中的方法步骤S101至步骤S106，图3中的方法步骤S11至步骤S15，附图4中的获取模块21、模型确定模块22、偏移参数确定模块25、拍摄参数确定模块26以及姿态调整模块27，附图5中的获取模块31、模型确定模块32以及姿态调整模块33的功能。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
通过以上的实施方式的描述，本领域普通技术人员可以清楚地了解到各实施方式可借助软件加通用硬件平台的方式来实现，当然也可以通过硬件。本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory,ROM)或随机存储记忆体(Random Access Memory，RAM)等。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；在本申请的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本申请的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (20)

  1. 一种拍摄构图的方法，其特征在于，包括：
    获取拍摄装置拍摄的目标场景的第一图像；
    根据所述第一图像，确定与所述第一图像相关的构图模型；
    根据所述构图模型和所述第一图像，调整所述拍摄装置的姿态，以使所述拍摄装置获取与所述构图模型匹配的第二图像。
  2. 根据权利要求1所述的方法，其特征在于，所述根据所述第一图像，确定与所述第一图像相关的构图模型，包括：
    根据所述第一图像识别所述目标场景所属的类别；
    根据所述目标场景所属的类别，确定与所述目标场景相关的构图模型。
  3. 根据权利要求1或2所述的方法，其特征在于，所述根据所述构图模型和所述第一图像，调整所述拍摄装置的姿态，以使所述拍摄装置获取与所述构图模型匹配的第二图像，包括：
    确定所述第一图像相对于所述构图模型的偏移参数；
    根据所述偏移参数，调整所述拍摄装置的姿态，以使所述拍摄装置获取与所述构图模型匹配的第二图像。
  4. 根据权利要求1-3中任一所述的方法，其特征在于，该方法还包括：
    根据所述构图模型，确定与所述构图模型相关的拍摄参数；
    根据所述拍摄参数获取与所述构图模型匹配的第二图像。
  5. 根据权利要求4所述的方法，其特征在于，所述拍摄参数包括焦距、色度、亮度、对比度以及曝光度中的至少一种。
  6. 一种可移动物体，包括本体、设于所述本体内的控制器和设于所述本体上的拍摄装置，其特征在于，所述控制器用于：
    获取所述拍摄装置拍摄的目标场景的第一图像；
    根据所述第一图像，确定与所述第一图像相关的构图模型；
    根据所述构图模型和所述第一图像，调整所述拍摄装置的姿态，以 使所述拍摄装置获取与所述构图模型匹配的第二图像。
  7. 根据权利要求6所述的可移动物体，其特征在于，所述控制器具体用于：
    根据所述第一图像识别所述目标场景所属的类别；
    根据所述目标场景所属的类别，确定与所述目标场景相关的构图模型。
  8. 根据权利要求6或7所述的可移动物体，其特征在于，所述控制器具体用于：
    确定所述第一图像相对于所述构图模型的偏移参数；
    根据所述偏移参数，调整所述拍摄装置的姿态，以使所述拍摄装置获取与所述构图模型匹配的第二图像。
  9. 根据权利要求6-8任一项所述的可移动物体，其特征在于，所述控制器具体用于：
    根据所述构图模型，确定与所述构图模型相关的拍摄参数；
    控制所述拍摄装置根据所述拍摄参数获取与所述构图模型匹配的第二图像。
  10. 根据权利要求9所述的可移动物体，其特征在于，所述拍摄参数包括焦距、色度、亮度、对比度以及曝光度中的至少一种。
  11. 根据权利要求6-10任一项所述的可移动物体，其特征在于，所述可移动物体还包括用于存储所述构图模型的存储器。
  12. 根据权利要求6-11任一项所述的可移动物体，其特征在于，所述可移动物体包括飞行器或手持拍摄设备。
  13. 一种拍摄构图的装置，其特征在于，所述装置包括：
    获取模块，用于获取拍摄装置拍摄的目标场景的第一图像；
    模型确定模块，用于根据所述第一图像，确定与所述第一图像相关的构图模型；
    姿态调整模块，用于根据所述构图模型和所述第一图像，调整所述拍摄装置的姿态，以使所述拍摄装置获取与所述构图模型匹配的第二图像。
  14. 根据权利要求13所述的装置，其特征在于，所述模型确定模块包括：
    场景识别模块，用于识别所述目标场景所属的类别；
    确定模块，用于确定与所述第一图像相关的构图模型。
  15. 根据权利要求13或14所述的装置，其特征在于，所述装置还包括：
    偏移参数确定模块，用于确定所述第一图像相对于所述构图模型的偏移参数；
    所述姿态调整模块用于根据所述偏移参数，调整所述拍摄装置的姿态，以使所述拍摄装置获取与所述构图模型匹配的第二图像。
  16. 根据权利要求13-15中任一所述的装置，其特征在于，所述装置还包括：
    拍摄参数确定模块，用于根据所述构图模型，确定与所述构图模型相关的拍摄参数；
    所述姿态调整模块用于根据所述拍摄参数获取与所述构图模型匹配的第二图像。
  17. 根据权利要求16所述的装置，其特征在于，所述拍摄参数包括焦距、色度、亮度、对比度以及曝光度中的至少一种。
  18. 根据权利要求13-17任一项所述的装置，其特征在于，该装置还包括用于存储所述构图模型的存储模块。
  19. 一种可移动物体，其特征在于，包括存储器和处理器，存储器中存储有计算机程序，所述计算机程序被处理器执行时，使得所述处理器执行权利要求1至5中任意一项所述的方法。
  20. 一种计算机可读存储介质，其特征在于，存储有计算机程序，所述计算机程序被处理器执行时，使得所述处理器执行权利要求1至5中任意一项所述的方法。
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