WO2019227441A1 - 可移动平台的拍摄控制方法和设备 - Google Patents

可移动平台的拍摄控制方法和设备 Download PDF

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Publication number
WO2019227441A1
WO2019227441A1 PCT/CN2018/089398 CN2018089398W WO2019227441A1 WO 2019227441 A1 WO2019227441 A1 WO 2019227441A1 CN 2018089398 W CN2018089398 W CN 2018089398W WO 2019227441 A1 WO2019227441 A1 WO 2019227441A1
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WO
WIPO (PCT)
Prior art keywords
shooting
focal length
movable platform
current
target object
Prior art date
Application number
PCT/CN2018/089398
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English (en)
French (fr)
Inventor
张伟
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2018/089398 priority Critical patent/WO2019227441A1/zh
Priority to CN201880031549.3A priority patent/CN110651466A/zh
Publication of WO2019227441A1 publication Critical patent/WO2019227441A1/zh

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    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60Control of cameras or camera modules
    • H04N23/67Focus control based on electronic image sensor signals
    • GPHYSICS
    • G03PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03BAPPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B13/00Viewfinders; Focusing aids for cameras; Means for focusing for cameras; Autofocus systems for cameras
    • G03B13/32Means for focusing
    • G03B13/34Power focusing
    • G03B13/36Autofocus systems
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00Control of position or direction
    • G05D3/10Control of position or direction without using feedback
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60Control of cameras or camera modules

Definitions

  • Embodiments of the present invention relate to the technical field of movable platforms, and in particular, to a method and device for shooting control of a movable platform.
  • Sliding zoom also known as "vertigo lens”
  • vergo lens is a very well-known film and television shooting technique. It is the visual effect of the camera synchronously zooming on moving targets. The result is that the object remains roughly the same size throughout the process, but all other objects in the scene change the perspective relationship. Sliding zoom is a subtle, effective target that highlights the subject as the only composition in the scene that does not change in size and position.
  • Embodiments of the present invention provide a shooting control method and device for a movable platform, which are used to perform zoom shooting through the movable platform and expand an application scene of zoom video shooting.
  • an embodiment of the present invention provides a shooting control method for a movable platform, including:
  • an embodiment of the present invention provides a shooting control method for a movable platform, including:
  • the error between the sizes of the target objects in each video image in the video is less than a preset value.
  • an embodiment of the present invention provides a control terminal, including:
  • a processor configured to control the movable platform to perform video shooting on the target object according to the zoom shooting start operation detected by the interactive device, so that when a distance between the movable platform and the target object changes, the The error between the sizes of the target objects in each video image in the video obtained by the movable platform is less than a preset value.
  • an embodiment of the present invention provides a movable platform, including:
  • a communication device configured to receive a zoom shooting start instruction sent by the control terminal, where the zoom shooting start instruction is determined by the control terminal by detecting the zoom shooting start operation through the interactive device;
  • a processor configured to control the shooting device of the movable platform to video capture a target object according to the zoom shooting start instruction to obtain a video
  • the error between the sizes of the target objects in each video image in the video is less than a preset value.
  • an embodiment of the present invention provides a readable storage medium on which a computer program is stored; when the computer program is executed, it implements the embodiments of the present invention as in the first aspect or the second aspect.
  • the shooting control method of the movable platform when the computer program is executed, it implements the embodiments of the present invention as in the first aspect or the second aspect.
  • the shooting control method and device for a movable platform provided by the embodiments of the present invention detect a zoom shooting start operation through an interactive device, and then control the movable platform to perform video shooting according to the zoom shooting start operation. Therefore, the user can control the movable platform to realize the function of zoom shooting by operating the control terminal, and the movable platform can be adapted to various shooting application scenarios, which brings different shooting experiences to the user. Even if the user is a white person who does not know the zoom expertise, it is easy to obtain a zoom video by shooting on a movable platform.
  • FIG. 1 is a schematic architecture diagram of an unmanned flight system according to an embodiment of the present invention
  • FIG. 2 is a flowchart of a shooting control method for a movable platform according to an embodiment of the present invention
  • FIG. 3 is a flowchart of a shooting control method for a movable platform according to another embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a control terminal according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a movable platform according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a photographing system of a movable platform according to an embodiment of the present invention.
  • a component when a component is called “fixed to” another component, it may be directly on another component or a centered component may exist. When a component is considered to be “connected” to another component, it can be directly connected to another component or a centered component may exist at the same time.
  • Embodiments of the present invention provide a shooting control method and device of a movable platform.
  • the movable platform may be a drone, and the drone may be a rotorcraft, for example, a multi-rotor aircraft propelled by multiple propulsion devices through air.
  • Embodiments of the present invention are not limited thereto.
  • FIG. 1 is a schematic architecture diagram of an unmanned flight system according to an embodiment of the present invention. This embodiment is described by taking a rotary wing drone as an example.
  • the unmanned aerial system 100 may include an unmanned aerial vehicle 110, a display device 130, and a control device 140.
  • the UAV 110 may include a power system 150, a flight control system 160, a rack, and a gimbal 120 carried on the rack.
  • the drone 110 may perform wireless communication with the control terminal 140 and the display device 130.
  • the frame may include a fuselage and a tripod (also called a landing gear).
  • the fuselage may include a center frame and one or more arms connected to the center frame. One or more arms extend radially from the center frame.
  • the tripod is connected to the fuselage, and is used to support the UAV 110 when landing.
  • the power system 150 may include one or more electronic governors (referred to as ESCs) 151, one or more propellers 153, and one or more electric motors 152 corresponding to the one or more propellers 153, where the electric motor 152 is connected to Between the electronic governor 151 and the propeller 153, the motor 152 and the propeller 153 are arranged on the arm of the drone 110; the electronic governor 151 is used to receive the driving signal generated by the flight control system 160 and provide driving according to the driving signal Current is supplied to the motor 152 to control the rotation speed of the motor 152.
  • the motor 152 is used to drive the propeller to rotate, so as to provide power for the flight of the drone 110, and the power enables the drone 110 to achieve one or more degrees of freedom of movement.
  • the drone 110 may rotate about one or more rotation axes.
  • the rotation axis may include a roll axis (Roll), a yaw axis (Yaw), and a pitch axis (Pitch).
  • the motor 152 may be a DC motor or an AC motor.
  • the motor 152 may be a brushless motor or a brushed motor.
  • the flight control system 160 may include a flight controller 161 and a sensing system 162.
  • the sensing system 162 is used to measure the attitude information of the drone, that is, the position information and status information of the drone 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity.
  • the sensing system 162 may include, for example, at least one of a gyroscope, an ultrasonic sensor, an electronic compass, an Inertial Measurement Unit (IMU), a vision sensor, a global navigation satellite system, and a barometer.
  • the global navigation satellite system may be a Global Positioning System (GPS).
  • GPS Global Positioning System
  • the flight controller 161 is used to control the flight of the drone 110.
  • the flight controller 161 may control the flight of the drone 110 according to the attitude information measured by the sensing system 162. It should be understood that the flight controller 161 may control the drone 110 according to a pre-programmed program instruction, and may also control the drone 110 by responding to one or more control instructions from the control terminal 140.
  • the gimbal 120 may include a motor 122.
  • the gimbal is used to carry the photographing device 123.
  • the flight controller 161 may control the movement of the gimbal 120 through the motor 122.
  • the PTZ 120 may further include a controller for controlling the movement of the PTZ 120 by controlling the motor 122.
  • the gimbal 120 may be independent of the drone 110 or may be a part of the drone 110.
  • the motor 122 may be a DC motor or an AC motor.
  • the motor 122 may be a brushless motor or a brushed motor.
  • the gimbal can be located on top of the drone or on the bottom of the drone.
  • the photographing device 123 may be, for example, a device for capturing an image, such as a camera or a video camera.
  • the photographing device 123 may communicate with the flight controller and perform shooting under the control of the flight controller.
  • the photographing device 123 of this embodiment includes at least a photosensitive element, such as a complementary metal oxide semiconductor (Complementary Metal Oxide Semiconductor) sensor or a charge-coupled device (CCD) sensor. It can be understood that the shooting device 123 can also be directly fixed on the drone 110, so that the PTZ 120 can be omitted.
  • a complementary metal oxide semiconductor Complementary Metal Oxide Semiconductor
  • CCD charge-coupled device
  • the display device 130 is located on the ground side of the unmanned flight system 100, can communicate with the drone 110 wirelessly, and can be used to display the attitude information of the drone 110. In addition, an image captured by the imaging device may also be displayed on the display device 130. It should be understood that the display device 130 may be an independent device or integrated in the control terminal 140.
  • the control terminal 140 is located on the ground side of the unmanned flight system 100 and can communicate with the unmanned aerial vehicle 110 in a wireless manner for remotely controlling the unmanned aerial vehicle 110.
  • FIG. 2 is a flowchart of a shooting control method for a mobile platform according to an embodiment of the present invention. As shown in FIG. 2, this embodiment is applied to a control terminal.
  • the method in this embodiment may include:
  • a zoom shooting start operation is detected through an interactive device.
  • the method in this embodiment uses the movable platform as a drone as an example.
  • the control terminal in this embodiment is a control terminal of the drone.
  • the control terminal of the drone can detect the zoom shooting and start the operation through the interactive device.
  • the control terminal includes one or more of a remote controller, a smart phone, a tablet computer, a laptop computer, and a wearable device, and details are not described herein again.
  • the interactive device may be an important part of the control terminal and an interface for interacting with the user.
  • the user can control the drone by operating the interactive device. When the user wants to control the drone, the user The interactive device of the control terminal operates, and the control terminal controls the drone after detecting the user's operation through the interactive device.
  • the control terminal can pass the interactive device The user's zoom shooting start operation is detected.
  • the interactive device may be, for example, one or more of a touch display screen, a keyboard, a joystick, and a pulsator of a control terminal; at the same time, the touch display screen may also display all the parameters of the drone flight, and may show the drone shooting The picture.
  • the touch display of the control terminal may display the start zoom shooting icon, and the user may perform a touch operation on the start zoom shooting icon by touching the display to input a zoom shooting start operation.
  • the control terminal controls the drone to perform video shooting according to the zoom shooting start operation.
  • the control terminal starts an operation according to the zoom shooting, so that when the distance between the drone and the target object changes, the target object in each video image in the video obtained by the drone
  • the error between the dimensions is smaller than the preset value.
  • the error smaller than the preset value may be equal in size or approximately equal.
  • the size of the target object in the video image refers to the size of the target object in the video image, and the size includes at least one of the following: height and width.
  • the control of the drone for video shooting may be, for example, that the control terminal sends a zoom shooting start instruction to the drone, so that the drone controls the shooting device of the drone to perform video shooting and obtain video according to the zoom shooting start instruction.
  • a zoom shooting start operation is detected by the interactive device, and then the drone is controlled to perform video shooting according to the zoom shooting start operation.
  • the distance between the drone and the target object changes, The error between the sizes of the target objects in each video image in the video is less than a preset value. Therefore, the user can control the drone to realize the function of zoom shooting by operating the control terminal, adapting the drone to various shooting application scenarios, and bringing different shooting experiences to the user. Even if the user is a white person who does not understand zoom expertise, it is easy to obtain a zoom video by shooting with a drone.
  • FIG. 3 is a flowchart of a shooting control method for a movable platform according to another embodiment of the present invention. As shown in FIG. 3, the method in this embodiment is applied to a movable platform. The method in this embodiment may include:
  • S301 Receive a zoom shooting start instruction sent by a control terminal, where the zoom shooting start instruction is determined by the control terminal detecting a zoom shooting start operation through an interactive device.
  • This embodiment uses the movable platform as a drone as an example.
  • the drone receives a zoom shooting start instruction sent by the control terminal.
  • the zoom shooting start instruction is determined by the control terminal by detecting the zoom shooting start operation.
  • the drone controls the shooting device of the drone to perform video shooting according to the received zoom shooting start instruction to obtain a video.
  • the error between the sizes of the target objects in each video image in the video obtained by the drone is less than a preset value.
  • the drone receives a zoom shooting start instruction sent by the control terminal, and controls the shooting device of the drone to perform video shooting according to the zoom shooting start instruction, between the drone and the target object.
  • the error between the sizes of the target objects in each video image in the video is smaller than a preset value when the distance is changed. Therefore, the drone can be controlled by the control terminal to implement the function of zoom shooting, so that the drone can adapt to various different shooting application scenarios, and bring different shooting experiences to users. Even if the user is a white person who does not understand zoom expertise, it is easy to obtain a zoom video by shooting with a drone.
  • the control terminal may further receive the video sent by the drone.
  • the drone controls the shooting device to perform video shooting according to the zoom shooting start instruction, and a video can be obtained, and the target object of each video image in the video obtained even when the distance between the drone and the target object is changed The error between the sizes is smaller than the preset value, and then the drone sends the obtained video to the control terminal, and accordingly, the control terminal receives the video sent by the drone.
  • the drone can actively send the obtained video to the control terminal in real time, or it can also send it to the control terminal when it receives the video acquisition instruction sent by the control terminal.
  • the drone can send video to the control terminal through a wireless communication link or a wired communication link.
  • control terminal may display the video through the display device, so as to display the video to the user for viewing.
  • the user can share the video.
  • the user can perform a sharing operation on the interactive device.
  • the control terminal can detect the sharing operation through the interactive device. After detecting the user's sharing operation through the interactive device, the control terminal can share the video.
  • the control terminal can publish the video to the network (such as a social networking site or a social APP). .
  • the user may also set imaging parameters of the shooting device when the UAV performs video shooting, wherein the imaging parameters may include at least one of an exposure parameter and a focus. Therefore, the control terminal can detect the imaging parameter setting operation through the interactive device. When the user needs to set the imaging parameter, the user can perform the imaging parameter setting operation on the interactive device. Accordingly, the control terminal detects the imaging parameter setting operation through the interactive device and determines the imaging parameter according to the imaging parameter setting operation. Then the control terminal controls the drone to perform video shooting according to the determined imaging parameters described above.
  • control terminal sends the above-mentioned imaging parameters to the drone, and accordingly, the drone receives the imaging parameters sent by the control terminal, and then The drone controls the shooting device to perform video shooting according to the received imaging parameters.
  • control terminal may include the imaging parameters in the zoom shooting start instruction and send it to the drone, or may include the other parameters and send it to the drone.
  • an implementation manner of the control terminal controlling the drone to perform video shooting on the target object may be: the control terminal adjusts the shooting attitude of the drone to track the target object for video shooting.
  • an implementation manner in which the drone controls the shooting device to perform video shooting on the target object may be: the drone controls the shooting device to adjust the shooting posture to track the target object for video shooting. Tracking a target object means that the drone's shooting device is always aimed at the target object, so that the target object is in the shooting picture of the drone, for example, the target object can be placed in the center of the shooting picture of the drone position.
  • the target object is a predefined object, for example, a preset image template (such as a person or a building) is stored in the control terminal in advance, and the object corresponding to the preset image template is used for video shooting by the drone.
  • the control terminal further determines, according to a preset image template, an object closest to the preset image template in the shooting picture of the drone video shooting as the target object; Then, the control terminal sends the target object indication information to the drone.
  • the drone can track the target object indicated by the target object indication information for video shooting.
  • a preset image template is pre-stored in the drone.
  • the drone before the drone controls the shooting device to perform video shooting on the target object, the drone also determines, according to the preset image template, that the shooting picture of the drone video shooting is consistent with the shooting picture.
  • the closest object of the preset image template is the target object; then the drone control shooting device can track the target object for video shooting.
  • the target object is selected by the user.
  • the user When the user needs to control the drone to track a target object for video shooting, the user performs a target object selection operation on the interactive device. Accordingly, the control terminal detects the target object selection operation through the interactive interface, and determines the target according to the target object selection operation.
  • Object indication information such as controlling the terminal to display the shooting screen of the drone's shooting device.
  • the target object selection operation can be a frame operation for selecting a target object in the shooting screen, and the object selected by the frame operation frame can be the target object.
  • the indication information of the object selected by the picture frame operation frame is the indication information of the target object, and the indication information of the target object may be the position of the target object in the shooting screen; and then the control terminal controls the drone to indicate the indication information of the target object.
  • the target object is video captured.
  • control terminal controls the drone to perform video shooting on the target object indicated by the target object indication information, and the control terminal sends the target object indication information to the drone.
  • the drone controls the shooting device to video capture the target object indicated by the target object indication information.
  • control terminal may further control the drone to fly according to a preset trajectory.
  • the drone can obtain the preset trajectory and then fly according to the preset trajectory.
  • the control terminal in this embodiment controls the drone to perform video shooting on the target object during the process of controlling the drone to fly according to the preset trajectory, and accordingly, the drone is in the process of flying according to the preset trajectory. To control the shooting device to take a video shot of the target object.
  • the preset trajectory can be saved in the drone in advance, or it can be saved in the control terminal in advance. If the preset trajectory is saved in the drone, the drone obtains the preset trajectory locally.
  • the preset trajectory is stored in the control terminal, and the drone receives the preset trajectory sent by the control terminal.
  • the preset trajectory includes at least a plurality of waypoints, and the waypoints include at least position information. Therefore, the drone flies to the corresponding position according to the position information of each waypoint.
  • the waypoint further includes a shooting attitude and / or imaging parameters. Therefore, the drone adjusts the shooting attitude and / or imaging parameters according to the shooting attitude and / or imaging parameters of each waypoint.
  • the waypoints mentioned above can be obtained by users performing dot operations on the map displayed on the control terminal.
  • the user operates the control terminal to control the drone to fly to some locations, and the drone records these locations as routes.
  • Point record the location information of these locations, and also record the shooting attitude and / or imaging parameters of the drone at these locations.
  • the following describes the error between the size of the target object in each video image in the video obtained by the drone when the distance between the drone and the target object changes is less than a preset value.
  • the drone when the distance between the drone and the target object is changed, the error between the sizes of the target object in each video image in the video obtained by the drone is changed. Less than the preset value, when the distance between the drone and the target object changes, the drone can adjust the current focal length of the shooting device, and then perform video shooting on the target object according to the adjusted current focal length to obtain a video .
  • the drone can determine whether to adjust the focus of the drone's shooting device, that is, if the distance between the drone and the target object changes, the drone adjusts the current focus of the shooting device; or The camera is controlled by the control terminal to adjust the focus of the shooting device.
  • w is the size of the target object in the captured image
  • f is the focal length
  • Z is the distance between the drone and the target object
  • H is the actual size of the target object. If the distance Z between the drone and the target object changes, to keep w constant, you can adjust f.
  • the following uses the drone to judge and adjust the focal length of the shooting device as an example for description.
  • the drone may adjust the current focal length of the shooting device of the drone according to the current distance between the drone and the target object. That is, if the distance between the drone and the target object changes, the focal length of the imaging device of the drone also changes with the change of the distance.
  • the current focal length is directly proportional to the current distance. If the current distance between the drone and the target object increases, the drone increases the current focal length of the shooting device. If the drone is between the drone and the target object, If the distance decreases, the drone reduces the current focal length of the camera.
  • the drone of this embodiment when the drone of this embodiment receives a zoom shooting start instruction, it obtains an initial focal length of the shooting device and an initial distance between the drone and the target object.
  • the initial focal length refers to the focal length of the shooting device when the drone receives the zoom shooting start instruction
  • the initial distance refers to the distance between the drone and the target object when the drone receives the zoom shooting start instruction. Therefore, an implementation manner of adjusting the current focal length of the photographing device by the drone is: adjusting the current focal length of the photographing device according to the initial focal length, the initial distance, and the current distance. This makes the error between the size of the target object in the video image obtained by the drone shooting according to the adjusted current focal length and the size of the target object in the video image obtained when the drone starts shooting when it receives the zoom shooting start instruction Less than the preset value.
  • a ratio between the initial focal length and the initial distance is equal to a ratio between the current focal length and the current distance.
  • w 0 is the initial size of the target object in the video image that the drone starts shooting when it receives the zoom shooting start instruction
  • f 0 is the initial focal length
  • Z 0 is the initial distance
  • H is the actual size of the target object
  • w 1 is the current size of the target object in the video image captured by the drone according to the current focal length
  • f 1 is the current focal length
  • Z 1 is the current distance.
  • the drone adjusts the current focal length according to the current distance between the drone and the target object, so that the size of the target object in the video image obtained by shooting remains unchanged as much as possible.
  • the drone may adjust the current focal length of the shooting device of the drone according to the current size of the target object in the shooting picture of the drone. That is, if the size of the target object in the shooting picture of the drone changes, indicating that the distance between the drone and the target object has changed, the focal length of the shooting device of the drone also changes as the size changes. .
  • the current focal length is inversely proportional to the current size. If the current size of the target object in the shooting picture of the drone is increased, it means that the current distance between the target object and the drone is reduced. The drone reduces the current focal length of the shooting device. If the current size of the target object in the shooting picture of the drone decreases, indicating that the current distance between the target object and the drone increases, the drone increases the shooting The current focal length of the device.
  • the drone of this embodiment when receiving the zoom shooting start instruction, obtains an initial focal length of the shooting device and an initial size of the target object in a shooting screen of the shooting device.
  • the initial focal length refers to the focal length of the shooting device when the drone receives the zoom shooting start instruction
  • the initial size refers to the size of the target object in the shooting screen of the shooting device when the drone receives the zoom shooting start instruction. Therefore, an implementation manner of adjusting the current focal length of the photographing device by the drone is: adjusting the current focal length of the photographing device according to the initial focal length, the initial size, and the current size.
  • the error between them is less than the preset value.
  • the ratio between the current focal length before adjustment and the current focal length after adjustment is equal to the ratio between the current size and the initial size.
  • w 0 is the initial size of the target object in the video image that the drone starts shooting when it receives the zoom shooting start instruction
  • f 0 is the initial focal length
  • Z 0 is the initial distance
  • H is the actual size of the target object.
  • w 1 is the current size of the target object in the video image obtained by the drone according to the current focal length
  • f 1 is the current focus of the shooting device before adjustment, that is, the target object is taken when the size of the video image in the video image is w 1
  • the focal length of the device, Z 1 is the current distance.
  • f ' 1 is the current focal length of the adjusted shooting device, that is, and You can be sure So you can get Thus, the drone can obtain the adjusted current focal length so that the size of the target object in the video image remains as constant as possible.
  • the drone adjusts the current focal length according to the current size of the target object in the shooting screen of the shooting device, so that the size of the target object in the video image obtained by shooting remains unchanged as much as possible.
  • the drone may determine the current focal length adjustment amount of the shooting device according to the current flying distance of the drone after receiving the zoom shooting start instruction, and then according to the current focal length adjustment amount, Adjusting the current focal length of the photographing device. If the target object is stationary and the drone is flying away from or close to the target object, the current flight distance of the drone is changing, indicating that the distance between the drone and the target object is changing, so the focal length of the drone's camera Changes with the current flight distance of the drone. The current focal length adjustment amount is proportional to the current flight distance. If the current flight distance of the drone is increased, the current focal length adjustment amount is increased. If the current flight distance of the drone is decreased, the current focal length adjustment amount is decreased. .
  • the drone of this embodiment when the drone of this embodiment receives a zoom shooting start instruction, it acquires an initial focal length of the shooting device and an initial distance between the drone and the target object.
  • the initial focal length refers to the focal length of the shooting device when the drone receives the zoom shooting start instruction
  • the initial distance refers to the distance between the drone and the target object when the drone receives the zoom shooting start instruction. Therefore, an implementation method for the drone to determine the current focal length adjustment amount is to determine the current focal length adjustment amount according to the initial focal length, the initial distance, and the current flying distance.
  • An implementation manner of adjusting the current focal length of the photographing device by the drone is: adjusting the current focal length of the photographing device according to the initial focal length and the current focal length adjustment amount. This makes the error between the size of the target object in the video image obtained by the drone shooting according to the adjusted current focal length and the size of the target object in the video image obtained when the drone starts shooting when it receives the zoom shooting start instruction Less than the preset value.
  • a ratio between the initial focal length and the initial distance is equal to a ratio between the current focal length adjustment and the current flying distance.
  • the adjusted current focal length is equal to a difference between the initial focal length and the current focal length adjustment amount. If the drone is flying away from the target object, the adjusted current focal length is equal to the sum of the initial focal length and the current focal length adjustment amount.
  • w 0 is the initial size of the target object in the video image that the drone starts shooting when it receives the zoom shooting start instruction
  • f 0 is the initial focal length
  • Z 0 is the initial distance
  • H is the actual size of the target object
  • w 1 is the current size of the target object in the video image captured by the drone according to the current focal length
  • f 1 is the current focal length
  • Z 1 is the current distance.
  • Z 1 Z 0 + ⁇ Z
  • f 1 f 1 + ⁇ f
  • ⁇ f the current focal length adjustment amount
  • ⁇ Z the current flight distance.
  • the drone flying close to the target object is similar and will not be repeated here. So can be sure Thus the drone can determine the current focal length so that the size of the target object in the video image remains as constant as possible.
  • the drone adjusts the current focal length according to the current flying distance between the drone and the target object, so that the size of the target object in the video image obtained by shooting remains unchanged as much as possible.
  • the drone is controlled by the control terminal to adjust the focal length of the shooting device as an example.
  • the control terminal may adjust the current focal length of the drone according to the current distance between the drone and the target object. That is, if the distance between the drone and the target object changes, the focal length of the drone also changes as the distance changes.
  • the current focal length is directly proportional to the current distance. If the current distance between the drone and the target object increases, the control terminal increases the current focal length of the drone. If the drone is between the drone and the target object, If the distance decreases, the control terminal decreases the current focal length of the drone.
  • One implementation manner for the control terminal to adjust the current focus of the drone is: the control terminal sends a focus adjustment instruction to the drone, and the focus adjustment instruction includes the adjusted current focus.
  • the drone receives the focus adjustment instruction sent by the control terminal and adjusts the current focus of the shooting device according to the focus adjustment instruction, for example, adjusting the current focus of the shooting device to the adjusted current focus included in the focus adjustment instruction, Then, according to the current focal length of the adjusted shooting device, the drone controls the shooting device to video capture the target object to obtain a shooting video.
  • the current distance may be received by the control terminal from the drone.
  • the control terminal of this embodiment when the control terminal of this embodiment detects a zoom shooting start operation, it obtains an initial focal length of the drone and an initial distance between the drone and the target object.
  • the control terminal may receive The initial focal length and the initial distance sent by the human machine.
  • the initial focal length refers to the focal length of the drone when the control terminal detects a zoom shooting start operation
  • the initial distance refers to the distance between the drone and the target object when the control terminal detects a zoom shooting start operation. Therefore, an implementation manner of the control terminal adjusting the current focal length of the drone is: adjusting the current focal length of the drone according to the initial focal length, the initial distance, and the current distance. This allows the size of the target object in the video image obtained by the drone to shoot according to the adjusted current focal length and the size of the target object in the video image obtained by the drone when the control terminal detects the zoom shooting start operation. The error is less than the preset value.
  • a ratio between the initial focal length and the initial distance is equal to a ratio between the current focal length and the current distance. Therefore, the control terminal can adjust the current focal length of the drone so that the size of the target object in the video image obtained by the drone remains unchanged as much as possible.
  • control terminal adjusts the current focal length of the drone according to the current distance between the drone and the target object, so that the size of the target object in the video image obtained by the drone is kept as unchanged as possible.
  • the control terminal may adjust the current focal length of the drone according to the current size of the target object in the shooting picture of the drone. That is, if the size of the target object in the shooting picture of the drone changes, indicating that the distance between the drone and the target object has changed, the focal length of the drone also changes with the size change.
  • the current focal length is inversely proportional to the current size. If the current size of the target object in the shooting picture of the drone is increased, it means that the current distance between the target object and the drone is reduced, then control The terminal decreases the current focal length of the drone. If the current size of the target object in the shooting picture of the drone decreases, indicating that the current distance between the target object and the drone increases, the control terminal increases the drone.
  • the current focal length of the camera is inversely proportional to the current size.
  • the current size may be received by the control terminal from the drone, or the current size may be determined by the control terminal from receiving the shooting picture sent by the drone and based on the shooting picture.
  • control terminal of this embodiment when it receives the zoom shooting start instruction, it obtains the initial focal length of the drone and the initial size of the target object in the shooting picture of the drone, for example: control The terminal may receive the initial focal length sent by the drone, the control terminal may receive the initial size sent by the drone, or the control terminal may receive the shooting picture sent by the drone and determine the initial size according to the shooting picture .
  • the initial focal length refers to the focal length of the drone when the control terminal detects a zoom shooting start operation
  • the initial size refers to the size of the target object in the shooting screen of the drone when the control terminal detects a zoom shooting start instruction.
  • an implementation manner of the control terminal adjusting the current focal length of the drone is: adjusting the current focal length of the drone according to the initial focal length, the initial size, and the current size. This allows the size of the target object in the video image obtained by the drone to shoot according to the adjusted current focal length, and the size of the target object in the video image obtained by the drone when the control terminal detects the zoom shooting start operation.
  • the error is less than the preset value.
  • the ratio between the current focal length before adjustment and the current focal length after adjustment is equal to the ratio between the current size and the initial size, so that the control terminal can obtain the current focal length adjusted by the drone so that the target The size of the object in the video image remains as constant as possible.
  • control terminal adjusts the current focal length of the drone according to the current size of the target object in the shooting screen of the shooting device, so that the size of the target object in the video image obtained by shooting remains unchanged as much as possible.
  • control terminal may determine a current focal length adjustment amount of the drone according to the current flying distance of the drone after receiving the zoom shooting start instruction, and then according to the current focal length adjustment amount, Adjusting the current focal length of the drone. According to the current focal length adjustment amount, the control terminal adjusts the current focal length of the drone.
  • An implementation solution is: the control terminal sends a focal length adjustment instruction to the drone, where the focal length adjustment instruction includes the current focal length adjustment amount, and accordingly The drone receives the focus adjustment instruction, and adjusts the current focus of the drone's photographing device according to the current focus adjustment amount.
  • the control terminal adjusts the current focal length of the drone according to the current focal length adjustment.
  • control terminal determines the current focal length of the drone according to the current focal length adjustment, and then sends the drone to the drone.
  • a focus adjustment instruction is sent, and the focus adjustment instruction includes the adjusted current focus distance. Accordingly, the drone receives the focus adjustment instruction and adjusts the current focus distance of the shooting device of the drone to the adjusted current focus distance.
  • the current flight distance of the drone is changing, indicating that the distance between the drone and the target object changes, so the focal length of the drone also changes with The drone's current flight distance changes.
  • the current focal length adjustment amount is proportional to the current flight distance. If the current flight distance of the drone is increased, the current focal length adjustment amount is increased. If the current flight distance of the drone is decreased, the current focal length adjustment amount is decreased. .
  • the control terminal of this embodiment when the control terminal of this embodiment receives the zoom shooting start instruction, it obtains the initial focal length of the shooting device and the initial distance between the drone and the target object.
  • the control terminal may receive The initial focal length and the initial distance sent by the drone.
  • the initial focal length refers to the focal length of the shooting device when the drone receives the zoom shooting start instruction
  • the initial distance refers to the distance between the drone and the target object when the drone receives the zoom shooting start instruction. Therefore, an implementation manner for the control terminal to determine the current focal length adjustment amount is: determining the current focal length adjustment amount according to the initial focal length, the initial distance, and the current flying distance.
  • An implementation manner of the control terminal adjusting the current focal length of the drone is: adjusting the current focal length of the drone according to the initial focal length and the current focal length adjustment amount. This allows the size of the target object in the video image obtained by the drone to shoot according to the adjusted current focal length, and the size of the target object in the video image obtained by the drone when the control terminal detects the zoom shooting start operation.
  • the error is less than the preset value.
  • a ratio between the initial focal length and the initial distance is equal to a ratio between the current focal length adjustment and the current flying distance.
  • the adjusted current focal length is equal to a difference between the initial focal length and the current focal length adjustment amount. If the drone is flying away from the target object, the adjusted current focal length is equal to the sum of the initial focal length and the current focal length adjustment amount.
  • control terminal adjusts the current focal length of the drone according to the current flying distance between the drone and the target object, so that the size of the target object in the video image obtained by shooting remains unchanged as much as possible.
  • the drone can control the shooting device to take a video shot of the target object with a fixed focal length to obtain a shooting picture; perform zoom processing on the shooting picture to obtain the video In the captured image to generate the video.
  • the control terminal controls the drone to perform video shooting on the target object with a fixed focal length, and controls the drone to perform zoom processing on the shooting picture, so that the drone obtains the video.
  • the control terminal controls the drone to take a video shot of the target object with a fixed focal length, and receives a shooting picture sent by the drone, and the control terminal performs zoom processing on the received shooting picture to obtain a captured image in the video.
  • the following describes the implementation scheme of zooming the shooting picture by the drone.
  • the implementation scheme of the control terminal is similar to the implementation scheme of the drone, and will not be repeated here.
  • the drone when the drone receives the zoom shooting start instruction, it also obtains the initial size of the target object in the shooting screen of the shooting device, where the initial size refers to the drone receiving the zoom shooting start The size of the target object in the shooting screen of the shooting device when instructed.
  • the drone performs scaling processing on the shooting picture, and one implementation manner of obtaining the captured image in the video is: the drone performs scaling processing on the shooting picture according to the initial size to obtain the Describe the captured images in the video. So that the size of the target object in the captured image in the video is as close as possible to the initial size.
  • the drone performs scaling processing on the captured image according to the initial size
  • a possible implementation solution for obtaining a captured image in the video may be: the drone is at a fixed focal length
  • the size of the target object in the shooting frame of the shooting device may be determined, and then the size of the target object in the shooting frame is compared with the initial size.
  • the drone performs an enlargement process on the shooting frame according to the initial size, where the size of the target object in the enlarged shooting frame is equal to the An initial size; and cropping the size of the enlarged shooting screen to the size of the shooting image to obtain the shooting image in the video.
  • the size of the target object in the shooting frame is one-half of the original size, and then the entire shooting frame is doubled, so that the size of the target object in the shooting frame will be doubled accordingly, so the enlarged shooting frame
  • the size of the middle target object is equal to the initial size, and then the enlarged shooting frame is cropped to the size of the captured image (for example: 640 * 480 pixels).
  • the size of the target object in the shooting picture is larger than the initial size, performing reduction processing on the shooting picture according to the initial size, wherein the size of the target object in the reduced shooting picture is equal to the initial size; And cropping the reduced shooting screen to the size of the captured image, or stitching the reduced shooting screen to the size of the captured image to obtain the captured image in the video.
  • the size of the target object in the shooting screen is twice the original size, and then the entire shooting screen is reduced by twice, so that the size of the target object in the shooting screen will also be reduced by twice, so that the target in the reduced shooting screen
  • the size of the object is equal to the initial size, and then the size of the reduced captured image is larger than the size of the captured image.
  • the reduced shooting screen is cropped to the size of the captured image. If the size of the reduced shooting screen is smaller than the size of the captured image, the reduced shooting screen is stitched to the size of the captured image. For example, another shooting device is provided on the drone to obtain a shot taken by the other shooting device. Screen, then stitch the reduced shooting screen or the target object in the reduced shooting screen into the shooting screen shot by another camera, and then crop the stitched shooting screen to the size of the captured image (for example: 640 * 480 Pixels). If the size of the reduced shooting screen is equal to the size of the captured image, the reduced shooting screen is determined as the size of the captured image.
  • the drone can obtain a shooting image according to the shooting picture without performing zoom processing on the shooting picture.
  • the drone performs zoom processing on the shooting frame according to the current flying distance of the drone after receiving the zoom shooting start instruction, to obtain a captured image in the video. So that the size of the target object in the captured image in the video is as close as possible to the initial size of the target object in the shooting screen of the shooting device when the drone receives the zoom shooting start instruction.
  • the drone when receiving the zoom shooting start instruction, may further obtain an initial distance between the drone and the target object, and then perform zoom processing on the current shooting picture according to the current flying distance and the initial distance. To get the currently captured image in the video.
  • the shooting device of the drone since the shooting device of the drone performs video shooting with a fixed focal length, the size of the target object in the shooting screen of the shooting device is related to the current flying distance of the drone.
  • the size of the target object in the shooting screen will become smaller, and the current shooting screen will be enlarged (the ratio of the current flight distance to the initial distance), such as: the current flight distance and the initial The ratio of the distance is 0.1, and the current shooting frame is enlarged by a factor of 0.1, wherein the size of the target object in the enlarged shooting frame is equal to the initial size; and the size of the enlarged shooting frame is cropped to the size of the captured image. To obtain a captured image in the video.
  • the size of the target object in the shooting screen will become larger, and the current shooting screen will be reduced (ratio of the current flight distance to the initial distance), such as: the current flight distance and the initial The ratio of the distance is 0.1, and the current shooting picture is reduced by 0.1 times, wherein the size of the target object in the reduced shooting picture is equal to the initial size; and the reduced shooting picture is cropped to the size of the captured image, or , Stitching the reduced shooting picture to the size of the shooting image to obtain the shooting image in the video.
  • w 0 is the initial size of the target object in the video image that the drone starts shooting when it receives the zoom shooting start instruction
  • f is a fixed focal length
  • Z 0 is the initial distance
  • H is the actual size of the target object
  • w 1 is the current size of the target object in the shooting screen of the shooting device when the drone is flying the current flight distance
  • Z 1 is the current distance between the drone and the target object.
  • the drone performs zoom processing on the shooting frame according to the current distance between the drone and the target object to obtain a captured image in the video. So that the size of the target object in the captured image in the video is as close as possible to the initial size of the target object in the shooting screen of the shooting device when the drone receives the zoom shooting start instruction.
  • the drone when receiving the zoom shooting start instruction, may further obtain an initial distance between the drone and the target object, and then perform zoom processing on the current shooting picture according to the current distance and the initial distance, Get the currently captured image in the video.
  • the shooting device of the drone since the shooting device of the drone performs video shooting with a fixed focal length, the size of the target object in the shooting screen of the shooting device is related to the current distance of the drone.
  • the ratio of the current distance to the initial distance is greater than 1, the size of the target object in the shooting screen will become smaller, and the current shooting screen will be enlarged (the ratio of the current distance to the initial distance will be reduced by 1) times, for example: the current flight distance and The ratio of the initial distance is 1.1, and the current shooting frame is enlarged by a factor of 0.1, wherein the size of the target object in the enlarged shooting frame is equal to the initial size; and the size of the enlarged shooting frame is cropped to the size of the captured image. Size to obtain the captured image in the video.
  • the size of the target object in the shooting picture will become larger, and the current shooting picture will be reduced by (1 minus (the ratio of the current flight distance to the initial distance)) times.
  • the ratio of the current flight distance to the initial distance is 0.9, and the current shooting picture is reduced by 0.1 times, wherein the size of the target object in the reduced shooting picture is equal to the initial size; and the reduced shooting picture is cropped to shoot The size of the image, or stitching the reduced shooting frame to the size of the captured image to obtain the captured image in the video.
  • the drone when the drone crops the captured image from the zoomed-in shooting screen or the zoomed-out shooting screen, it can crop the image in the middle area from the zoomed-in shooting screen or the zoomed-out shooting screen as the captured image;
  • an image area including the target object may be cropped from the enlarged shooting screen or the reduced shooting screen to be a captured image; or, the enlarged shooting screen or the reduced In the middle of the shooting screen, the captured image starts to be cropped, and then the captured image is cropped down or up in sequence.
  • the user can control the drone to pause the video shooting at any time.
  • the control terminal detects the pause zoom shooting operation through the interactive device; when the user needs to control the drone to pause the zoom shooting operation, the user can perform the pause zoom shooting operation on the interactive device, for example:
  • the control terminal may display a pause zoom shooting icon when the drone performs video shooting on the target object, and the user may perform a touch operation on the pause zoom shooting icon through an interactive device.
  • control terminal can detect the pause zoom shooting operation through the interactive device, and when the pause zoom shooting operation is detected, control the drone to suspend video shooting of the target object, for example, when the control terminal detects the pause zoom shooting operation , Sending a pause zoom shooting instruction to the drone, and accordingly, the drone receives the pause zoom shooting instruction sent by the control terminal, and according to the pause zoom shooting instruction, controls the shooting device to suspend video shooting of the target object.
  • the user can also control the drone to resume zooming.
  • the control terminal detects the resumed zoom shooting operation through the interactive device; when the user needs When the drone is controlled to resume zoom shooting, the user can perform the resume zoom shooting operation on the interactive device.
  • the control terminal can display the resume zoom shooting icon after the drone pauses zoom shooting, and the user can use the interactive device to restore the zoom shooting icon. Perform contact operation.
  • the control terminal can detect the resumed zoom shooting operation through the interactive device, and when the resumed zoom shooting operation is detected, control the drone to resume zoom shooting, for example, when the control terminal detects the resumed zoom shooting operation,
  • the drone sends a resume zoom shooting instruction.
  • the drone receives the resume zoom shooting instruction sent by the control terminal, and according to the resume zoom shooting instruction, continues to control the shooting device to perform video shooting on the target object.
  • the above-mentioned start zoom shooting icon, the above-mentioned pause zoom shooting icon, and the above-mentioned resume zoom shooting icon may be the same icon displayed by the control terminal, and the icon has different functions under different operations of the drone.
  • control terminal or the drone may further mark a bounding box of the target object in the captured image, and display the object in the bounding box as the target object.
  • the size of the target object in the captured image may be determined according to the size of the bounding box.
  • the user can control the drone to control the drone to change the focal length to perform video shooting on the target object, so that when the distance between the drone and the target object changes, The error between the sizes of the target objects in each video image in the obtained video is less than a preset value, or the user can control the drone to control the drone to video capture the target object with a fixed focal length by operating the control terminal, and then The human machine processes the image so that when the distance between the drone and the target object changes, the error between the sizes of the target object in each video image in the obtained video is less than a preset value. Therefore, the drone can be controlled by the control terminal to implement the function of zoom shooting, so that the drone can adapt to various different shooting application scenarios, and bring different shooting experiences to users. Even if the user is a white person who does not understand zoom expertise, it is easy to obtain a zoom video by shooting with a drone.
  • An embodiment of the present invention also provides a computer storage medium.
  • the computer storage medium stores program instructions, and the program execution may include a part or all of the steps of the shooting control method of the movable platform in the foregoing embodiments.
  • FIG. 4 is a schematic structural diagram of a control terminal according to an embodiment of the present invention.
  • the control terminal 400 in this embodiment may be used to control a movable platform.
  • the control terminal 400 may include: an interaction device 401 and a process. ⁇ 402.
  • the processor 402 may be a central processing unit (CPU), and the processor 402 may also be another general-purpose processor, a digital signal processor (DSP), or an application-specific integrated circuit (Application Specific Integrated Circuit). ASIC), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • An interactive device 401 configured to detect a zoom shooting start operation
  • a processor 402 configured to control the movable platform to perform video shooting on the target object according to the zoom shooting start operation detected by the interaction device 401, so that when the distance between the movable platform and the target object changes, The error between the sizes of the target objects in each video image in the video obtained by the movable platform is less than a preset value.
  • the processor 402 is specifically configured to: if the distance between the movable platform and the target object changes, adjust the current focal length of the movable platform; and according to the adjusted movable platform, The current focal length is controlled by the movable platform to perform video shooting on the target object, and the video is obtained by the movable platform performing video shooting on the target object with a variable focal length.
  • the processor 402 is specifically configured to adjust a current focal length of the movable platform according to a current distance between the movable platform and the target object.
  • the current focal length is directly proportional to the current distance.
  • the processor 402 is further configured to: when the interactive device 401 detects a zoom shooting start operation, obtain an initial focal length of the movable platform and an initial distance between the movable platform and the target object. distance;
  • the processor 402 adjusts the current focal length of the movable platform according to the current distance between the movable platform and the target object
  • the processor 402 is specifically configured to: The initial distance between the platform and the target object and the current distance between the movable platform and the target object adjust the current focal length of the movable platform.
  • a ratio between the initial focal length and the initial distance is equal to a ratio between the current focal length and the current distance.
  • the processor 402 is specifically configured to adjust the current focal length of the movable platform according to the current size of the target object in the captured image of the movable platform.
  • the current focal length is inversely proportional to the current size.
  • the processor 402 is further configured to: when the interactive device 401 detects a zoom shooting start operation, obtain an initial size of the target object in a shooting screen of the movable platform;
  • the processor 402 adjusts the current focal length of the movable platform according to the current size of the target object in the shooting screen of the movable platform, it is specifically configured to: according to the initial size, the current size And the current focal length before adjustment, and adjusting the current focal length of the movable platform.
  • the ratio between the current focal length before adjustment and the current focal length after adjustment is equal to the ratio between the current size and the initial size.
  • the processor 402 is specifically configured to determine the current focal length adjustment amount of the movable platform according to the current flying distance of the movable platform after the interactive device 401 detects the zoom shooting start operation; The current focal length adjustment amount adjusts the current focal length of the movable platform.
  • the current focal length adjustment amount is proportional to the current flight distance.
  • the processor 402 is further configured to: when the interactive device 401 detects a zoom shooting start operation, obtain an initial focal length of the movable platform and a distance between the movable platform and the target object. Initial distance
  • the processor 402 determines the current focal length adjustment amount of the movable platform according to the current flying distance of the movable platform after detecting the zoom shooting start operation by the interactive device 401, it is specifically configured to: according to the initial focal distance , The initial distance and the current flight distance to determine the current focal length adjustment amount;
  • the processor 402 adjusts the current focal length of the movable platform according to the current focal length adjustment amount
  • the processor 402 is specifically configured to adjust the movable focus according to the initial focal length of the movable platform and the current focal length adjustment amount.
  • the current focal length of the mobile platform is specifically configured to adjust the movable focus according to the initial focal length of the movable platform and the current focal length adjustment amount.
  • a ratio between the initial focal length and the initial distance is equal to a ratio between the current focal length adjustment and the current flying distance.
  • the adjusted current focal length is equal to a difference between the initial focal length and the current focal length adjustment amount
  • the adjusted current focal length is equal to the sum of the initial focal length and the current focal length adjustment amount.
  • the processor 402 is specifically configured to: control the movable platform to take a video shot of the target object with a fixed focal length; the video is for the movable platform to take a video shot of the target object with a fixed focal length Generated after.
  • the processor 402 is specifically configured to control a shooting posture of the movable platform to track the target object for video shooting.
  • the processor 402 is further configured to determine, based on a preset image template, an object that is closest to the preset image template in a video shooting shooting frame before controlling the movable platform to perform video shooting on the target object. Is the target audience.
  • the interaction device 401 is further configured to detect a target object selection operation before the processor 402 controls the movable platform to perform video shooting on the target object;
  • the processor 402 is further configured to determine target object indication information according to the target object selection operation detected by the interaction device 401;
  • the processor 402 is specifically configured to control the movable platform to perform video shooting on the target object indicated by the target object indication information.
  • the processor 402 is further configured to: control the movable platform to fly according to a preset trajectory;
  • the processor 402 controls a movable platform to perform video shooting on a target object
  • the processor 402 is specifically configured to control the movable platform to perform video shooting on a target object while the movable platform is flying according to a preset trajectory. .
  • the preset trajectory includes at least a plurality of waypoints, and the waypoints include at least position information.
  • the waypoint further includes a shooting attitude and / or an imaging parameter.
  • control terminal 400 further includes: a communication device 403.
  • the communication device 403 is configured to receive the video sent by the movable platform.
  • control terminal 400 further includes: a display device 404.
  • a display device 404 is configured to display the zoomed video.
  • the interaction device 401 and the display device 404 may be integrated into a touch display screen of the control terminal 400.
  • the interaction device 401 is further configured to detect a sharing operation
  • the processor 402 is further configured to share the video according to a sharing operation detected by the interaction device 401.
  • control terminal 400 in this embodiment may further include a memory (not shown in the figure).
  • the memory is used to store program code.
  • the control terminal 400 may implement the technical solution of the control terminal. .
  • control terminal in this embodiment may be used to execute the technical solutions of the control terminal in the foregoing method embodiments of the present invention.
  • the implementation principles and technical effects of the control terminal are similar, and details are not described herein again.
  • FIG. 5 is a schematic structural diagram of a movable platform according to an embodiment of the present invention.
  • the movable platform 500 in this embodiment may include a communication device 501, a processor 502, and a photographing device 503.
  • the communication device 501 is configured to receive a zoom shooting start instruction sent by a control terminal, where the zoom shooting start instruction is determined by the control terminal by detecting that the zoom shooting start operation is performed by an interactive device;
  • a processor 502 configured to control the shooting device 503 to perform video shooting on a target object according to the zoom shooting start instruction to obtain a video;
  • the error between the sizes of the target objects in each video image in the video is less than a preset value.
  • the communication device 501 is further configured to receive a focus adjustment instruction sent by the control terminal if the distance between the movable platform 500 and the target object changes;
  • the processor 502 is specifically configured to: adjust a current focal length of the photographing device 503 according to a focus adjustment instruction; and control the photographing device 503 to perform video shooting on the target object according to the current focal length of the photographing device 503 after adjustment. To obtain the captured video.
  • the focus adjustment instruction includes an adjusted current focus distance, or a current focus distance adjustment amount.
  • the processor 502 is specifically configured to: if the distance between the movable platform 500 and the target object changes, adjust the current focal length of the photographing device 503; according to the adjusted photographing The current focal length of the device 503 controls the shooting device 503 to video capture the target object to obtain the video.
  • the processor 502 is specifically configured to adjust a current focal length of the photographing device 503 according to a current distance between the movable platform 500 and the target object.
  • the current focal length is directly proportional to the current distance.
  • the processor 502 is further configured to obtain an initial focal length of the shooting device 503 and an initial distance between the movable platform 500 and the target object when the communication device 501 receives a zoom shooting start instruction. distance;
  • the processor 502 adjusts the current focal length of the photographing device 503 according to the current distance between the movable platform 500 and the target object
  • the processor 502 is specifically configured to: according to the initial focal length and the initial distance And the current distance, adjusting the current focal length of the photographing device 503.
  • a ratio between the initial focal length and the initial distance is equal to a ratio between the current focal length and the current distance.
  • the processor 502 is specifically configured to adjust a current focal length of the photographing device 503 according to a current size of the target object in a photographing frame of the photographing device 503.
  • the current focal length is inversely proportional to the current size.
  • the processor 502 is further configured to: when the communication device 501 receives a zoom shooting start instruction, obtain an initial size of the target object in a shooting screen of the shooting device 503;
  • the processor 502 adjusts the current focal length of the shooting device 503 according to the current size of the target object in the shooting screen of the movable platform 500, it is specifically configured to: according to the initial size, the The current size and the current focal length before adjustment are adjusted to adjust the current focal length of the photographing device 503.
  • the ratio between the current focal length before adjustment and the current focal length after adjustment is equal to the ratio between the current size and the initial size.
  • the processor 502 is specifically configured to determine a current focal length of the shooting device 503 according to a current flying distance of the movable platform 500 after the communication device 501 receives a zoom shooting start instruction. An adjustment amount; and adjusting the current focal length of the photographing device 503 according to the current focal length adjustment amount.
  • the current focal length adjustment amount is proportional to the current flight distance.
  • the processor 502 is further configured to: when the communication device 501 receives a zoom shooting start instruction, obtain an initial focal length of the shooting device 503 and a distance between the movable platform 500 and the target object. Initial distance between
  • the processor 502 determines the current focal length adjustment amount of the shooting device 503 according to the current flying distance of the movable platform 500 after receiving the zoom shooting start instruction in the communication device 501, it is specifically configured to: The initial focal length, the initial distance, and the current flying distance, and determining the current focal length adjustment amount;
  • the processor 502 adjusts the current focal length of the photographing device 503 according to the current focal length adjustment amount
  • the processor 502 is specifically configured to adjust the photographing according to the initial focal length of the photographing device 503 and the current focal length adjustment amount.
  • a ratio between the initial focal length and the initial distance is equal to a ratio between the current focal length adjustment and the current flying distance.
  • the adjusted current focal length is equal to the difference between the initial focal length and the current focal length adjustment amount
  • the adjusted current focal length is equal to the sum of the initial focal length and the current focal length adjustment amount.
  • the processor 502 is specifically configured to:
  • the processor 502 is specifically configured to perform zoom processing on the shooting screen according to the current flight distance of the movable platform 500 after the communication device 501 receives a zoom shooting start instruction, Obtain a captured image in the video.
  • the processor 502 is further configured to: when the communication device 501 receives a zoom shooting start instruction, acquire an initial distance between the movable platform 500 and the target object;
  • the processor 502 When the processor 502 performs zoom processing on the shooting screen according to the current flight distance of the movable platform 500 after receiving the zoom shooting start instruction from the communication device 501, when obtaining a shooting image in the video, It is specifically configured to perform zoom processing on the shooting picture according to the initial distance and the current flying distance to obtain a captured image in the video.
  • the processor 502 is specifically configured to: according to a current distance between the movable platform 500 and the target object, perform zoom processing on the shooting picture to obtain a shooting in the video image.
  • the processor 502 is further configured to: when the communication device 501 receives a zoom shooting start instruction, acquire an initial distance between the movable platform 500 and the target object;
  • the processor 502 When the processor 502 performs zoom processing on the shooting screen according to the current distance between the movable platform 500 and the target object, and obtains a shooting image in the video, it is specifically configured to: The initial distance and the current distance are obtained by performing zoom processing on the shooting picture to obtain a shooting image in the video.
  • the processor 502 is further configured to: when the communication device 501 receives a zoom shooting start instruction, obtain an initial size of the target object in a shooting frame of the shooting device 503;
  • the processor 502 When the processor 502 performs zoom processing on the shooting screen to obtain a captured image in the video, the processor 502 is specifically configured to perform zoom processing on the shooting screen according to the initial size to obtain the video in the video. Take an image.
  • the processor 502 is specifically configured to:
  • the size of the target object in the reduced shooting picture is equal to the initial size.
  • the processor 502 is specifically configured to adjust a shooting posture of the shooting device 503 to track the target object for video shooting.
  • the processor 502 is further configured to, before controlling the shooting device 503 to perform video shooting on the target object, determine, according to a preset image template, an object closest to the preset image template in a video shooting shooting picture Is the target audience.
  • the communication device 501 is further configured to receive the target object indication information sent by the control terminal before the processor 502 controls the shooting device 503 to perform video shooting on the target object;
  • the processor 502 is specifically configured to control the shooting device 503 to perform video shooting on the target object indicated by the target object instruction information.
  • the processor 502 is further configured to control the movable platform 500 to fly according to a preset trajectory
  • the processor 502 controls the shooting device 503 to perform video shooting on a target object
  • the processor 502 is specifically configured to: during the flight of the movable platform 500 according to a preset trajectory, control the shooting device 503 to target The subject performs video shooting.
  • the preset trajectory includes at least a plurality of waypoints, and the waypoints include at least position information.
  • the waypoint further includes a shooting attitude and / or an imaging parameter.
  • the communication device 501 is further configured to send the video to the control terminal.
  • the movable platform 500 in this embodiment may further include a memory (not shown in the figure).
  • the memory is used to store program code.
  • the movable platform 500 may implement the drone Technical solutions.
  • the movable platform 500 may include a drone, and the processor 502 may include a flight controller.
  • the movable platform of this embodiment can be used to implement the technical solutions of the movable platform in the foregoing method embodiments of the present invention.
  • the implementation principles and technical effects are similar, and are not described herein again.
  • FIG. 6 is a schematic structural diagram of a shooting system of a movable platform according to an embodiment of the present invention.
  • the shooting system 600 of the movable platform of this embodiment may include a control terminal 601 and a movable platform 602.
  • the control terminal 601 may adopt the structure of the embodiment shown in FIG. 4.
  • the technical solutions of the control terminal in the foregoing method embodiments may be implemented.
  • the implementation principles and technical effects are similar, and are not described herein again.
  • the movable platform 602 may adopt the structure of the embodiment shown in FIG. 5.
  • the technical solutions of the movable platform in the foregoing method embodiments may be implemented.
  • the implementation principles and technical effects are similar, and are not repeated here.
  • the foregoing program may be stored in a computer-readable storage medium.
  • the program is executed, the program is executed.
  • the foregoing storage medium includes: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc. The medium.

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Abstract

本发明实施例提供一种可移动平台的拍摄控制方法和设备,此方法包括:通过交互装置检测到变焦拍摄开始操作,再根据所述变焦拍摄开始操作,控制可移动平台进行视频拍摄。因此,用户通过操作控制终端即可实现控制可移动平台实现变焦拍摄的功能,使可移动平台适应各种不同的拍摄应用场景,为用户带来了不同的拍摄体验。即便用户是不懂变焦专业知识的小白,也很容易通过可移动平台来拍摄获得变焦视频。

Description

可移动平台的拍摄控制方法和设备 技术领域
本发明实施例涉及可移动平台技术领域,尤其涉及一种可移动平台的拍摄控制方法和设备。
背景技术
滑动变焦(Dolly Zoom)又称“眩晕镜头”,是一种非常有名的影视拍摄技巧,它是相机同步对移动目标对象缩放的视觉效果。结果是该对象在过程中会一直保持大致相同的大小,但在场景中的所有其他对象改变了透视关系。滑动变焦微妙的,有效果地突出的目标对象,将主体作为场景中唯一大小位置不变化的构成。
在无人机应用中,拍摄视频是无人机的一大应用,无人机可以通过其搭载的拍摄装置进行视频拍摄。如果要使无人机拍摄出滑动变焦的效果,现有技术中需要专业人员使用无人机进行拍摄获得视频,再使用图像后处理软件对获得的视频进行后期制作,才能实现获得的视频具有滑动变焦的效果。但是,如果用户是不懂上述专业知识的小白,难以通过无人机来拍摄获得滑动变焦的视频。
发明内容
本发明实施例提供一种可移动平台的拍摄控制方法和设备,用于通过可移动平台来进行变焦拍摄,扩展变焦视频拍摄的应用场景。
第一方面,本发明实施例提供一种可移动平台的拍摄控制方法,包括:
通过交互装置检测到变焦拍摄开始操作;
根据所述变焦拍摄开始操作,控制可移动平台对目标对象进行视频拍摄,以使所述可移动平台与所述目标对象之间的距离改变时,所述可移动平台获得的视频中的各视频图像中所述目标对象的尺寸之间的误差小于预设值。
第二方面,本发明实施例提供一种可移动平台的拍摄控制方法,包括:
接收控制终端发送的变焦拍摄开始指令,所述变焦拍摄开始指令是所述控制终端通过交互装置检测到变焦拍摄开始操作确定的;
根据所述变焦拍摄开始指令,控制可移动平台的拍摄装置对目标对象进行视频拍摄,获得视频;
在所述可移动平台与所述目标对象之间的距离改变时所述视频中的各视频图像中所述目标对象的尺寸之间的误差小于预设值。
第三方面,本发明实施例提供一种控制终端,包括:
交互装置,用于检测变焦拍摄开始操作;
处理器,用于根据所述交互装置检测到的变焦拍摄开始操作,控制可移动平台对目标对象进行视频拍摄,以使所述可移动平台与所述目标对象之间的距离改变时,所述可移动平台获得的视频中的各视频图像中所述目标对象的尺寸之间的误差小于预设值。
第四方面,本发明实施例提供一种可移动平台,包括:
通信装置,用于接收控制终端发送的变焦拍摄开始指令,所述变焦拍摄开始指令是所述控制终端通过交互装置检测到变焦拍摄开始操作确定的;
处理器,用于根据所述变焦拍摄开始指令,控制可移动平台的拍摄装置对目标对象进行视频拍摄,获得视频;
在所述可移动平台与所述目标对象之间的距离改变时所述视频中的各视频图像中所述目标对象的尺寸之间的误差小于预设值。
第五方面,本发明实施例提供一种可读存储介质,所述可读存储介质上存储有计算机程序;所述计算机程序在被执行时,实现如第一方面或第二方面本发明实施例所述的可移动平台的拍摄控制方法。
本发明实施例提供的可移动平台的拍摄控制方法和设备,通过交互装置检测到变焦拍摄开始操作,再根据所述变焦拍摄开始操作,控制可移动平台进行视频拍摄。因此,用户通过操作控制终端即可实现控制可移动平台实现变焦拍摄的功能,使可移动平台适应各种不同的拍摄应用场景,为用户带来了不同的拍摄体验。即便用户是不懂变焦专业知识的小白,也很容易通过可移动平台来拍摄获得变焦视频。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍,显而易见地,下面描述中的附图是本发明的一些实施例,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是根据本发明的实施例的无人飞行系统的示意性架构图;
图2为本发明一实施例提供的可移动平台的拍摄控制方法的流程图;
图3为本发明另一实施例提供的可移动平台的拍摄控制方法的流程图;
图4为本发明一实施例提供的控制终端的一种结构示意图;
图5为本发明一实施例提供的可移动平台的一种结构示意图;
图6为本发明一实施例提供的可移动平台的拍摄系统的一种结构示意图。
具体实施方式
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。
需要说明的是,当组件被称为“固定于”另一个组件,它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件,它可以是直接连接到另一个组件或者可能同时存在居中组件。
除非另有定义,本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的,不是旨在于限制本发明。本文所使用的术语“及/或”包括 一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图,对本发明的一些实施方式作详细说明。在不冲突的情况下,下述的实施例及实施例中的特征可以相互组合。
本发明的实施例提供了可移动平台的拍摄控制方法和设备。其中可移动平台可以是无人机,无人机例如可以是旋翼飞行器(rotorcraft),例如,由多个推动装置通过空气推动的多旋翼飞行器,本发明的实施例并不限于此。
图1是根据本发明的实施例的无人飞行系统的示意性架构图。本实施例以旋翼无人机为例进行说明。
无人飞行系统100可以包括无人机110、显示设备130和控制装置140。其中,无人机110可以包括动力系统150、飞行控制系统160、机架和承载在机架上的云台120。无人机110可以与控制终端140和显示设备130进行无线通信。
机架可以包括机身和脚架(也称为起落架)。机身可以包括中心架以及与中心架连接的一个或多个机臂,一个或多个机臂呈辐射状从中心架延伸出。脚架与机身连接,用于在无人机110着陆时起支撑作用。
动力系统150可以包括一个或多个电子调速器(简称为电调)151、一个或多个螺旋桨153以及与一个或多个螺旋桨153相对应的一个或多个电机152,其中电机152连接在电子调速器151与螺旋桨153之间,电机152和螺旋桨153设置在无人机110的机臂上;电子调速器151用于接收飞行控制系统160产生的驱动信号,并根据驱动信号提供驱动电流给电机152,以控制电机152的转速。电机152用于驱动螺旋桨旋转,从而为无人机110的飞行提供动力,该动力使得无人机110能够实现一个或多个自由度的运动。在某些实施例中,无人机110可以围绕一个或多个旋转轴旋转。例如,上述旋转轴可以包括横滚轴(Roll)、偏航轴(Yaw)和俯仰轴(pitch)。应理解,电机152可以是直流电机,也可以交流电机。另外,电机152可以是无刷电机,也可以是有刷电机。
飞行控制系统160可以包括飞行控制器161和传感系统162。传感系统162用于测量无人机的姿态信息,即无人机110在空间的位置信息和状态信息,例如,三维位置、三维角度、三维速度、三维加速度和三维角速度等。传感系统162例如可以包括陀螺仪、超声传感器、电子罗盘、惯性测量单元(Inertial Measurement Unit,IMU)、视觉传感器、全球导航卫星系统和气压计等传感器中的至少一种。例如,全球导航卫星系统可以是全球定位系统(Global Positioning System,GPS)。飞行控制器161用于控制无人机110的飞行,例如,可以根据传感系统162测量的姿态信息控制无人机110的飞行。应理解,飞行控制器161可以按照预先编好的程序指令对无人机110进行控制,也可以通过响应来自控制终端140的一个或多个控制指令对无人机110进行控制。
云台120可以包括电机122。云台用于携带拍摄装置123。飞行控制器161可以通过电机122控制云台120的运动。可选地,作为另一实施例,云台120还可以包括控制器,用于通过控制电机122来控制云台120的运动。应理解,云台120可以独立于无人机110,也可以为无人机110的一部分。应理解,电机122可以是直流电机,也可以是交流电机。另外,电机122可以是无刷电机,也可以是有刷电机。还应理解,云台可以位于无人机的顶部,也可以位于无人机的底部。
拍摄装置123例如可以是照相机或摄像机等用于捕获图像的设备,拍摄装置123可以 与飞行控制器通信,并在飞行控制器的控制下进行拍摄。本实施例的拍摄装置123至少包括感光元件,该感光元件例如为互补金属氧化物半导体(Complementary Metal Oxide Semiconductor,CMOS)传感器或电荷耦合元件(Charge-coupled Device,CCD)传感器。可以理解,拍摄装置123也可直接固定于无人机110上,从而云台120可以省略。
显示设备130位于无人飞行系统100的地面端,可以通过无线方式与无人机110进行通信,并且可以用于显示无人机110的姿态信息。另外,还可以在显示设备130上显示成像装置拍摄的图像。应理解,显示设备130可以是独立的设备,也可以集成在控制终端140中。
控制终端140位于无人飞行系统100的地面端,可以通过无线方式与无人机110进行通信,用于对无人机110进行远程操纵。
应理解,上述对于无人飞行系统各组成部分的命名仅是出于标识的目的,并不应理解为对本发明的实施例的限制。
图2为本发明一实施例提供的可移动平台的拍摄控制方法的流程图,如图2所示,本实施例应用于控制终端,本实施例的方法可以包括:
S201、通过交互装置检测到变焦拍摄开始操作。
S202、根据所述变焦拍摄开始操作,控制可移动平台对目标对象进行视频拍摄,以使所述可移动平台与所述目标对象之间的距离改变时,所述可移动平台获得的视频中的各视频图像中所述目标对象的尺寸之间的误差小于预设值。
本实施例的方法以可移动平台为无人机为例,本实施例中的控制终端为无人机的控制终端,无人机的控制终端可以通过交互装置检测到变焦拍摄开始操作。该控制终端包括遥控器、智能手机、平板电脑、膝上型电脑、穿戴式设备中的一种或多种,此处不再赘述。其中,交互装置可以是控制终端的重要组成部分,是与用户进行交互的接口,用户可以通过对交互装置的操作,实现对无人机的控制;当用户想要控制无人机时,用户对控制终端的交互装置进行操作,控制终端通过该交互装置检测到用户的操作后对无人机进行控制。本实施例中,当用户想要对控制无人机开始变焦拍摄时,用户便对交互装置进行变焦拍摄开始操作,交互装置会对该变焦拍摄开始操作进行检测,因此,控制终端可以通过交互装置检测到用户的变焦拍摄开始操作。该交互装置例如可以是控制终端的触摸显示屏、键盘、摇杆、波轮中的一种或多种;同时触摸显示屏还可以显示无人机的飞行的所有参数,可以显示无人机拍摄的画面。
例如:控制终端的触摸显示屏可以显示开始变焦拍摄图标,用户可以通过触摸显示屏对开始变焦拍摄图标进行触点操作,以输入变焦拍摄开始操作。
本实施例中,该控制终端通过交互装置检测到变焦拍摄开始操作后,根据该变焦拍摄开始操作,控制无人机进行视频拍摄。可选地,控制终端根据该变焦拍摄开始操作,以使所述无人机与所述目标对象之间的距离改变时,所述无人机获得的视频中的各视频图像中所述目标对象的尺寸之间的误差小于预设值。误差小于预设值可以是尺寸相等或近似相等。视频图像中所述目标对象的尺寸是指目标对象在视频图像中的尺寸,尺寸包括以下至少一项:高度和宽度。
其中,控制无人机进行视频拍摄例如可以是:控制终端向无人机发送变焦拍摄开始指令,以便无人机根据变焦拍摄开始指令控制无人机的拍摄装置进行视频拍摄并获得视频。
其中,无人机的具体实现过程可以参见下述图3所示实施例中的相关描述,此处不再赘述。
本实施例中,通过交互装置检测到变焦拍摄开始操作,再根据所述变焦拍摄开始操作,控制无人机进行视频拍摄,在所述无人机与所述目标对象之间的距离改变时所述视频中的各视频图像中所述目标对象的尺寸之间的误差小于预设值。因此,用户通过操作控制终端即可实现控制无人机实现变焦拍摄的功能,使无人机适应各种不同的拍摄应用场景,为用户带来了不同的拍摄体验。即便用户是不懂变焦专业知识的小白,也很容易通过无人机来拍摄获得变焦视频。
图3为本发明另一实施例提供的可移动平台的拍摄控制方法的流程图,如图3所示,本实施例的方法应用于可移动平台,本实施例的方法可以包括:
S301、接收控制终端发送的变焦拍摄开始指令,所述变焦拍摄开始指令是所述控制终端通过交互装置检测到变焦拍摄开始操作确定的。
S302、根据所述变焦拍摄开始指令,控制无人机的拍摄装置对目标对象进行视频拍摄,获得视频;在所述可移动平台与所述目标对象之间的距离改变时所述视频中的各视频图像中所述目标对象的尺寸之间的误差小于预设值。
本实施例以可移动平台为无人机为例,本实施例中,无人机接收控制终端发送的变焦拍摄开始指令,该变焦拍摄开始指令是控制终端通过检测变焦拍摄开始操作确定的,具体实现过程可以参见图2所示实施例中的相关描述,此处不再赘述。然后无人机根据接收的变焦拍摄开始指令控制该无人机的拍摄装置进行视频拍摄,获得视频。其中,在所述无人机与所述目标对象之间的距离改变时所述无人机获得的所述视频中的各视频图像中所述目标对象的尺寸之间的误差小于预设值。
本实施例中,无人机通过接收控制终端发送的变焦拍摄开始指令,根据所述变焦拍摄开始指令控制无人机的拍摄装置进行视频拍摄,在所述无人机与所述目标对象之间的距离改变时所述视频中的各视频图像中所述目标对象的尺寸之间的误差小于预设值。因此,无人机可受控于控制终端来实现变焦拍摄的功能,使无人机适应各种不同的拍摄应用场景,为用户带来了不同的拍摄体验。即便用户是不懂变焦专业知识的小白,也很容易通过无人机来拍摄获得变焦视频。
在一些实施例中,控制终端根据变焦拍摄开始操作,控制无人机进行视频拍摄后,控制终端还可以接收无人机发送的所述视频。其中,无人机根据变焦拍摄开始指令控制拍摄装置进行视频拍摄,可以获得视频,并且即使在所述无人机与所述目标对象之间的距离改变时获得的视频中各视频图像的目标对象的尺寸之间的误差小于预设值,然后无人机将获得的视频发送给控制终端,相应地,控制终端接收无人机发送的视频。例如:无人机可以实时将获得的视频主动发送给控制终端,或者,也可以是无人机接收到控制终端发送的获取视频指令时再发送给控制终端。其中,无人机可以通过无线通信链路或者有线通信链路向控制终端发送视频。
在一些实施例中,控制终端接收无人机发送的视频后,控制终端可以通过显示装置显示所述视频,以便将视频显示给用户观看。
在一些实施例中,控制终端接收无人机发送的视频后,用户可以对该视频进行分享。在用户需要对视频进行分享时,用户可以对交互装置进行分享操作。而控制终端可以通过 交互装置检测分享操作,在通过交互装置检测到用户的分享操作后,对该视频进行分享,例如:控制终端可以将该视频发布到网络(例如社交网站,或者社交APP等)。
在一些实施例中,用户还可以对无人机进行视频拍摄时拍摄装置的成像参数进行设置,其中,所述成像参数可以包括曝光参数、对焦中的至少一个。因此,控制终端可以通过交互装置检测成像参数设置操作。当用户需要对成像参数进行设置时,用户可以对交互装置进行成像参数设置操作,相应地,控制终端通过交互装置检测到成像参数设置操作,并根据该成像参数设置操作,确定成像参数。然后控制终端控制无人机根据上述的确定的成像参数,进行视频拍摄,具体可以为:控制终端向无人机发送上述的成像参数,相应地,无人机接收控制终端发送的成像参数,然后无人机根据接收的成像参数控制拍摄装置进行视频拍摄。可选地,控制终端可以将成像参数包括在变焦拍摄开始指令中发送给无人机,也可以包括在其它指令中发送给无人机。
在一些实施例,控制终端控制无人机所述对目标对象进行视频拍摄的一种实现方式可以为:控制终端调整所述无人机的拍摄姿态以跟踪所述目标对象进行视频拍摄。相应地,无人机控制拍摄装置对目标对象进行视频拍摄的一种实现方式可以为:无人机控制拍摄装置调整拍摄姿态以跟踪该目标对象进行视频拍摄。跟踪目标对像是指无人机的拍摄装置始终对准该目标对像,使得该目标对象处于该无人机的拍摄画面中,例如可以使得该目标对象处于该无人机的拍摄画面的中心位置。
在一些实施例中,目标对象是预先定义的对象,例如控制终端中预先存储有预设图像模板(例如人或建筑物等),该预设图像模板对应的对象为无人机进行视频拍摄的目标对象,因此控制终端在控制所述对目标对象进行视频拍摄之前,还根据预设图像模板,确定无人机视频拍摄的拍摄画面中与所述预设图像模板最接近的对象为目标对象;然后控制终端向无人机发送目标对象指示信息,无人机在接收到目标对象指示信息后,可以跟踪目标对象指示信息指示的目标对象进行视频拍摄。例如无人机中预先存储有预设图像模板,因此无人机在控制拍摄装置对目标对像进行视频拍摄之前,还根据预设图像模板,确定无人机视频拍摄的拍摄画面中与所述预设图像模板最接近的对象为目标对象;然后无人机控制拍摄装置可以跟踪该目标对象进行视频拍摄。
在一些实施例中,目标对象是用户选择的。当用户需要控制无人机跟踪某一目标对象进行视频拍摄时,用户对交互装置进行目标对象选择操作,相应地,控制终端通过交互界面检测到目标对象选择操作,根据该目标对象选择操作确定目标对象指示信息,例如控制终端显示无人机的拍摄装置的拍摄画面,目标对象选择操作可以为对拍摄画面中的目标对象进行框选的画框操作,画框操作框选的对象可以为目标对象,该画框操作框选的对象的指示信息为目标对象指示信息,所述目标对象指示信息可以为目标对象在拍摄画面中的位置;然后控制终端控制无人机对该目标对象指示信息指示的目标对象进行视频拍摄。
其中,控制终端控制无人机对该目标对象指示信息指示的目标对象进行视频拍摄的一种实现方式为:控制终端向无人机发送目标对象指示信息。相应地,无人机接收控制终端发送的目标对象指示信息后,无人机控制拍摄装置对目标对象指示信息指示的目标对象进行视频拍摄。
在一些实施例中,控制终端还可以控制无人机按照预设的轨迹飞行。相应地,无人机可以在接收到控制终端发送的按照预设的轨迹飞行的指令后,获取预设的轨迹,然后按照 预设的轨迹飞行。其中,本实施例的控制终端在控制无人机按照预设的轨迹飞行的过程中,控制无人机对目标对象进行视频拍摄,相应地,无人机在按照预设的轨迹飞行的过程中,控制拍摄装置对目标对象进行视频拍摄。
该预设的轨迹可以是预先保存在无人机中,也可以是预先保存在控制终端中,若预设的轨迹保存在无人机中,则无人机从本地获取预设的轨迹,若预设的轨迹保存在控制终端中,则无人机接收控制终端发送的预设的轨迹。可选地,所述预设的轨迹中至少包括多个航点,其中,所述航点中至少包括位置信息,因此,无人机按照各个航点的位置信息飞行到相应地位置。可选地,所述航点还包括拍摄姿态和/或成像参数,因此,无人机按照各个航点的拍摄姿态和/或成像参数,调整拍摄姿态和/或成像参数。
其中,上述的航点可以是用户在控制终端显示的地图上进行打点操作得到,某些情况中,在用户操作控制终端以控制无人机飞到一些地点,无人机再记录这些地点为航点,记录这些地点的位置信息,还可以记录无人机在这些地点的拍摄姿态和/或成像参数。
下面对无人机与目标对象之间的距离改变时,无人机获得的视频中的各视频图像中所述目标对象的尺寸之间的误差小于预设值进行描述。
在一种实现方式中,要实现所述无人机与所述目标对象之间的距离改变时,所述无人机获得的视频中的各视频图像中所述目标对象的尺寸之间的误差小于预设值,无人机可以在所述无人机与所述目标对象之间的距离改变时,调整拍摄装置的当前焦距,然后根据调整后的当前焦距对目标对象进行视频拍摄,获得视频。其中,无人机可以自己判断是否调整无人机的拍摄装置的焦距,即若无人机与所述目标对象之间的距离改变,则无人机调整拍摄装置的当前焦距;或者,无人机受控于控制终端来调整拍摄装置的焦距。
其中,
Figure PCTCN2018089398-appb-000001
其中,w为目标对象在拍摄图像中的尺寸,f为焦距,Z为无人机与目标对象之间的距离,H为目标对象的实际尺寸。若无人机与目标对象之间的距离Z发生改变,要保持w不变,则可以调整f。
下面以无人机自己判断调整拍摄装置的焦距为例进行说明。
在一实施例中,无人机可以根据无人机与目标对象之间的当前距离,调整无人机的拍摄装置的当前焦距。即若无人机与目标对象之间的距离变化,则无人机的拍摄装置的焦距也随该距离的变化而变化。其中,所述当前焦距与所述当前距离成正比,若无人机与目标对象之间的当前距离增大,则无人机调大拍摄装置的当前焦距,若无人机与目标对象之间的距离减少,则无人机调小拍摄装置的当前焦距。
可选地,本实施例的无人机在接收到变焦拍摄开始指令时,获取所述拍摄装置的初始焦距以及无人机与所述目标对象之间的初始距离。该初始焦距是指无人机在接收到变焦拍摄开始指令时拍摄装置的焦距,初始距离是指无人机在接收到变焦拍摄开始指令时无人机与所述目标对象之间的距离。因此,无人机调整拍摄装置的当前焦距的一种实现方式为:根据初始焦距、初始距离以及当前距离,调整拍摄装置的当前焦距。这使得无人机根据调整后的当前焦距拍摄获得的视频图像中的目标对象的尺寸与无人机在接收到变焦拍摄开始指令时开始拍摄获得的视频图像中的目标对象的尺寸之间的误差小于预设值。
可选地,所述初始焦距与所述初始距离之间的比值,等于,所述当前焦距与所述当前距离之间的比值。
例如:
Figure PCTCN2018089398-appb-000002
以及
Figure PCTCN2018089398-appb-000003
其中,w 0为无人机在接收到变焦拍摄开始指令时开始拍摄获得的视频图像中的目标对象的初始尺寸,f 0为初始焦距,Z 0为初始距离,H为目标对象的实际尺寸,w 1为无人机在根据当前焦距拍摄获得的视频图像中的目标对象的当前尺寸,f 1为当前焦距,Z 1为当前距离。
其中,为了保证无人机获得的视频中各视频图像中目标对象的尺寸之间的误差小于预设值,可以令w 0=w 1,可以得到
Figure PCTCN2018089398-appb-000004
从而无人机可以确定出当前焦距以使得目标对象在视频图像中的尺寸尽可能保持不变。
因此,无人机根据无人机与目标对象之间的当前距离,调整当前焦距,使得拍摄获得的视频图像中的目标对象的尺寸尽可能保持不变。
在另一实施例中,无人机可以根据所述目标对象在所述无人机的拍摄画面中的当前尺寸,调整所述无人机的拍摄装置的当前焦距。即若目标对象在所述无人机的拍摄画面中的尺寸变化,说明无人机与目标对象之间的距离发生了变化,则无人机的拍摄装置的焦距也随该尺寸的变化而变化。其中,所述当前焦距与所述当前尺寸成反比,若目标对象在所述无人机的拍摄画面中的当前尺寸增大,说明目标对象与无人机之间的当前距离减小,则无人机调小拍摄装置的当前焦距,若目标对象在所述无人机的拍摄画面中的当前尺寸减少,说明目标对象与无人机之间的当前距离增大,则无人机调大拍摄装置的当前焦距。
可选地,本实施例的无人机在接收到变焦拍摄开始指令时,获取所述拍摄装置的初始焦距以及所述目标对象在所述拍摄装置的拍摄画面中的初始尺寸。该初始焦距是指无人机在接收到变焦拍摄开始指令时拍摄装置的焦距,初始尺寸是指无人机在接收到变焦拍摄开始指令时目标对象在所述拍摄装置的拍摄画面中的尺寸。因此,无人机调整拍摄装置的当前焦距的一种实现方式为:根据初始焦距、初始尺寸以及当前尺寸,调整拍摄装置的当前焦距。这使得无人机根据调整后的拍摄装置的当前焦距拍摄获得的视频图像中的目标对象的尺寸与无人机在接收到变焦拍摄开始指令时开始拍摄获得的视频图像中的目标对象的尺寸之间的误差小于预设值。
可选地,调整前的当前焦距与调整后的当前焦距的比值,等于,所述当前尺寸与所述初始尺寸之间的比值。
例如:
Figure PCTCN2018089398-appb-000005
以及
Figure PCTCN2018089398-appb-000006
其中,w 0为无人机在接收到变焦拍摄开始指令时开始拍摄获得的视频图像中的目标对象的初始尺寸,f 0为初始焦距,Z 0为初始距离,H为目标对象的实际尺寸,w 1为无人机在根据当前焦距拍摄获得的视频图像中的目标对象的当前尺寸,f 1为调整前的拍摄装置的当前焦距,即获得目标对象在视频图像中的尺寸为w 1时拍摄装置的焦距,Z 1为当前距离。因此,可以得到
Figure PCTCN2018089398-appb-000007
为了保证无人机获得的视频中各视频图像中目标对象的尺寸之间的误差小于预设值,则令
Figure PCTCN2018089398-appb-000008
其中,f’ 1为调整后的拍摄装置的当前焦距,即
Figure PCTCN2018089398-appb-000009
Figure PCTCN2018089398-appb-000010
则可以确定
Figure PCTCN2018089398-appb-000011
因此可以得到
Figure PCTCN2018089398-appb-000012
从而无人机可以获得调整后的当前焦距以使得目标对象在视频图像中的尺寸尽可能保持不变。
因此,无人机根据所述目标对象在所述拍摄装置的拍摄画面中的当前尺寸,调整当前焦距,使得拍摄获得的视频图像中的目标对象的尺寸尽可能保持不变。
在另一实施例中,无人机可以根据在接收到变焦拍摄开始指令后所述无人机的当前飞行距离,确定所述拍摄装置的当前焦距调整量,然后根据所述当前焦距调整量,调整所述拍摄装置的当前焦距。若目标对象静止,而无人机在远离或靠近目标对象飞行,无人机的当前飞行距离在改变,说明无人机与目标对象之间的距离变化,则无人机的拍摄装置的焦距也随该无人机的当前飞行距离的变化而变化。其中,当前焦距调整量与所述当前飞行距离成正比,若无人机的当前飞行距离增大,则当前焦距调整量增大,若无人机的当前飞行距离减少,则当前焦距调整量减少。
可选地,本实施例的无人机在接收到变焦拍摄开始指令时,获取所述拍摄装置的初始焦距以及所述无人机与所述目标对象之间的初始距离。该初始焦距是指无人机在接收到变焦拍摄开始指令时拍摄装置的焦距,初始距离是指无人机在接收到变焦拍摄开始指令时无人机与所述目标对象之间的距离。因此,无人机确定当前焦距调整量的一种实现方式为:根据初始焦距、初始距离和当前飞行距离,确定当前焦距调整量。无人机调整拍摄装置的当前焦距的一种实现方式为:根据初始焦距以及当前焦距调整量,调整拍摄装置的当前焦距。这使得无人机根据调整后的当前焦距拍摄获得的视频图像中的目标对象的尺寸与无人机在接收到变焦拍摄开始指令时开始拍摄获得的视频图像中的目标对象的尺寸之间的误差小于预设值。
可选地,所述初始焦距与所述初始距离之间的比值,等于,所述当前焦距调整与所述当前飞行距离之间的比值。
可选地,若所述无人机朝靠近所述目标对象的方向飞行,则调整后的所述当前焦距等于所述初始焦距与所述当前焦距调整量之差。若所述无人机朝远离所述目标对象的方向飞行,则调整后的所述当前焦距等于所述初始焦距与所述当前焦距调整量之和。
例如:
Figure PCTCN2018089398-appb-000013
以及
Figure PCTCN2018089398-appb-000014
其中,w 0为无人机在接收到变焦拍摄开始指令时开始拍摄获得的视频图像中的目标对象的初始尺寸,f 0为初始焦距,Z 0为初始距离,H为目标对象的实际尺寸,w 1为无人机在根据当前焦距拍摄获得的视频图像中的目标对象的当前尺寸,f 1为当前焦距,Z 1为当前距离。
其中,为了保证无人机获得的视频中各视频图像中目标对象的尺寸之间的误差小于预设值,可以令w 0=w 1,可以得到
Figure PCTCN2018089398-appb-000015
下面以无人机远离目标对象飞行为例进行说明,则Z 1=Z 0+ΔZ,f 1=f 1+Δf,Δf为当前焦距调整量,ΔZ为当前飞行距离。其中,无人机靠近目标对象飞行类似,此处不再赘述。所以可以确定
Figure PCTCN2018089398-appb-000016
从而无人机可以确定出当前焦距以使得目标对象在视频图像中的尺寸尽可能保持不变。
因此,无人机根据无人机与目标对象之间的当前飞行距离,调整当前焦距,使得拍摄获得的视频图像中的目标对象的尺寸尽可能保持不变。
下面无人机受控于控制终端来调整拍摄装置的焦距为例进行说明。
在一实施例中,控制终端可以根据无人机与目标对象之间的当前距离,调整无人机的当前焦距。即若无人机与目标对象之间的距离变化,则无人机的焦距也随该距离的变化而变化。其中,所述当前焦距与所述当前距离成正比,若无人机与目标对象之间的当前距离增大,则控制终端调大无人机的当前焦距,若无人机与目标对象之间的距离减少,则控制终端调小无人机的当前焦距。其中,控制终端调整无人机的当前焦距的一种实现方式为:控制终端向无人机发送焦距调整指令,该焦距调整指令包括调整后的当前焦距。相应地,无人机接收控制终端发送的焦距调整指令,并根据焦距调整指令,调整拍摄装置的当前焦距,例如将拍摄装置的当前焦距调整为该焦距调整指令中包括的调整后的当前焦距,然后无人机根据调整后的拍摄装置的当前焦距,控制拍摄装置对目标对象进行视频拍摄,获得拍摄视频。
其中,所述当前距离可以是控制终端接收无人机发送的。
可选地,本实施例的控制终端在检测到变焦拍摄开始操作时,获取所述无人机的初始焦距以及无人机与所述目标对象之间的初始距离,例如:控制终端可以接收无人机发送的所述初始焦距和所述初始距离。该初始焦距是指控制终端在检测到变焦拍摄开始操作时无人机的焦距,初始距离是指控制终端在检测到变焦拍摄开始操作时无人机与所述目标对象之间的距离。因此,控制终端调整无人机的当前焦距的一种实现方式为:根据初始焦距、初始距离以及当前距离,调整无人机的当前焦距。这使得无人机根据调整后的当前焦距拍摄获得的视频图像中的目标对象的尺寸与控制终端在检测到变焦拍摄开始操作时无人机拍摄获得的视频图像中的目标对象的尺寸之间的误差小于预设值。
可选地,所述初始焦距与所述初始距离之间的比值,等于,所述当前焦距与所述当前距离之间的比值。从而控制终端可以调整无人机的当前焦距以使得目标对象在无人机获得的视频图像中的尺寸尽可能保持不变。
因此,控制终端根据无人机与目标对象之间的当前距离,调整无人机的当前焦距,使得无人机拍摄获得的视频图像中的目标对象的尺寸尽可能保持不变。
在另一实施例中,控制终端可以根据所述目标对象在所述无人机的拍摄画面中的当前尺寸,调整所述无人机的当前焦距。即若目标对象在所述无人机的拍摄画面中的尺寸变化,说明无人机与目标对象之间的距离发生了变化,则无人机的焦距也随该尺寸的变化而变化。其中,所述当前焦距与所述当前尺寸成反比,若目标对象在所述无人机的拍摄画面中的当前尺寸增大,说明目标对象与无人机之间的当前距离减小,则控制终端调小无人机的当前焦距,若目标对象在所述无人机的拍摄画面中的当前尺寸减少,说明目标对象与无人机之间的当前距离增大,则控制终端调大无人机的当前焦距。
可选地,所述当前尺寸可以是控制终端接收无人机发送的,或者,当前尺寸可以是控制终端接收无人机发送的拍摄画面并根据该拍摄画面确定的。
可选地,本实施例的控制终端在接收到变焦拍摄开始指令时,获取所述无人机的初始焦距以及所述目标对象在所述无人机的拍摄画面中的初始尺寸,例如:控制终端可以接收无人机发送的所述初始焦距,控制终端可以接收无人机发送的所述初始尺寸,或者,控制终端可以接收无人机发送的拍摄画面并根据该拍摄画面确定所述初始尺寸。该初始焦距是指控制终端在检测到变焦拍摄开始操作时无人机的焦距,初始尺寸是指控制终端在检测到 变焦拍摄开始指令时目标对象在所述无人机的拍摄画面中的尺寸。因此,控制终端调整无人机的当前焦距的一种实现方式为:根据初始焦距、初始尺寸以及当前尺寸,调整无人机的当前焦距。这使得无人机根据调整后的当前焦距拍摄获得的视频图像中的目标对象的尺寸与控制终端在检测到变焦拍摄开始操作时无人机开始拍摄获得的视频图像中的目标对象的尺寸之间的误差小于预设值。
可选地,调整前的当前焦距与调整后的当前焦距的比值,等于,所述当前尺寸与所述初始尺寸之间的比值,从而控制终端可以获得无人机调整后的当前焦距以使得目标对象在视频图像中的尺寸尽可能保持不变。
因此,控制终端根据所述目标对象在所述拍摄装置的拍摄画面中的当前尺寸,调整无人机的当前焦距,使得拍摄获得的视频图像中的目标对象的尺寸尽可能保持不变。
在另一实施例中,控制终端可以根据在接收到变焦拍摄开始指令后所述无人机的当前飞行距离,确定所述无人机的当前焦距调整量,然后根据所述当前焦距调整量,调整所述无人机的当前焦距。控制终端根据所述当前焦距调整量,调整所述无人机的当前焦距的一种实现方案为:控制终端向无人机发送焦距调整指令,所述焦距调整指令包括当前焦距调整量,相应地,无人机接收焦距调整指令,根据当前焦距调整量,调整无人机的拍摄装置的当前焦距,具体实现过程可以参见上述实施例中的描述,此处不再赘述。或者,控制终端根据所述当前焦距调整量,调整所述无人机的当前焦距的另一种实现方案为:控制终端根据当前焦距调整量,确定无人机的当前焦距,然后向无人机发送焦距调整指令,所述焦距调整指令包括调整后的当前焦距,相应地,无人机接收焦距调整指令,将无人机的拍摄装置的当前焦距调整为上述调整后的当前焦距。
其中,若目标对象静止,而无人机在远离或靠近目标对象飞行,无人机的当前飞行距离在改变,说明无人机与目标对象之间的距离变化,则无人机的焦距也随该无人机的当前飞行距离的变化而变化。其中,当前焦距调整量与所述当前飞行距离成正比,若无人机的当前飞行距离增大,则当前焦距调整量增大,若无人机的当前飞行距离减少,则当前焦距调整量减少。
可选地,本实施例的控制终端在接收到变焦拍摄开始指令时,获取所述拍摄装置的初始焦距以及所述无人机与所述目标对象之间的初始距离,例如:控制终端可以接收无人机发送的所述初始焦距和所述初始距离。该初始焦距是指无人机在接收到变焦拍摄开始指令时拍摄装置的焦距,初始距离是指无人机在接收到变焦拍摄开始指令时无人机与所述目标对象之间的距离。因此,控制终端确定当前焦距调整量的一种实现方式为:根据初始焦距、初始距离和当前飞行距离,确定当前焦距调整量。控制终端调整无人机的当前焦距的一种实现方式为:根据初始焦距以及当前焦距调整量,调整无人机的当前焦距。这使得无人机根据调整后的当前焦距拍摄获得的视频图像中的目标对象的尺寸与控制终端在检测到变焦拍摄开始操作时无人机开始拍摄获得的视频图像中的目标对象的尺寸之间的误差小于预设值。
可选地,所述初始焦距与所述初始距离之间的比值,等于,所述当前焦距调整与所述当前飞行距离之间的比值。
可选地,若所述无人机朝靠近所述目标对象的方向飞行,则调整后的所述当前焦距等于所述初始焦距与所述当前焦距调整量之差。若所述无人机朝远离所述目标对象的方向飞 行,则调整后的所述当前焦距等于所述初始焦距与所述当前焦距调整量之和。
因此,控制终端根据无人机与目标对象之间的当前飞行距离,调整无人机的当前焦距,使得拍摄获得的视频图像中的目标对象的尺寸尽可能保持不变。
在另一种实现方式中,要实现所述无人机与所述目标对象之间的距离改变时,所述无人机获得的视频中的各视频图像中所述目标对象的尺寸之间的误差小于预设值,无人机可以在接收到变焦拍摄开始指令后,控制拍摄装置以固定的焦距对目标对象进行视频拍摄,获得拍摄画面;对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像,从而生成所述视频。或者,控制终端在控制无人机以固定的焦距对目标对象进行视频拍摄,并控制无人机对拍摄画面进行缩放处理,以使无人机获得所述视频。或者,控制终端在控制无人机以固定的焦距对目标对象进行视频拍摄,并接收无人机发送的拍摄画面,控制终端对接收的拍摄画面进行缩放处理,获得所述视频中的拍摄图像。
下面以无人机对拍摄画面进行缩放处理的实现方案进行描述,控制终端的实现方案与无人机的实现方案类似,此处不再赘述。
在一实施例中,无人机在接收到变焦拍摄开始指令时,还获取所述目标对象在拍摄装置的拍摄画面中的初始尺寸,其中,初始尺寸是指无人机在接收到变焦拍摄开始指令时目标对象在拍摄装置的拍摄画面中的尺寸。相应地,无人机对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像的一种实现方式为:无人机按照所述初始尺寸,对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像。以便视频中的拍摄图像中目标对象的尺寸尽可能接近所述初始尺寸。
可选地,所述无人机按照所述初始尺寸,对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像的一种可能的实现方案可以为:无人机在以固定的焦距进行视频拍摄时,可以确定拍摄装置的拍摄画面中目标对象的尺寸,然后将所述拍摄画面中目标对象的尺寸与初始尺寸进行对比。
如果所述拍摄画面中目标对象的尺寸小于所述初始尺寸,则无人机根据所述初始尺寸,对所述拍摄画面进行放大处理,其中,放大后的拍摄画面中目标对象的尺寸等于所述初始尺寸;以及将所述放大后的拍摄画面的尺寸裁剪为拍摄图像的尺寸,获得所述视频中的拍摄图像。例如:拍摄画面中目标对象的尺寸为初始尺寸的二分之一,再将拍摄画面整个放大两倍,这样拍摄画面中的目标对象的尺寸也会随之放大两倍,这样放大后的拍摄画面中目标对象的尺寸等于初始尺寸,然后将放大后的拍摄画面裁剪为拍摄图像的尺寸(例如:640*480像素)。
如果所述拍摄画面中目标对象的尺寸大于所述初始尺寸,则根据所述初始尺寸,对所述拍摄画面进行缩小处理,其中,缩小后的拍摄画面中目标对象的尺寸等于所述初始尺寸;以及将所述缩小后的拍摄画面裁剪为拍摄图像的尺寸,或者,将所述缩小后的拍摄画面拼接为拍摄图像的尺寸,获得所述视频中的拍摄图像。例如:拍摄画面中目标对象的尺寸为初始尺寸的两倍,再将拍摄画面整个缩小两倍,这样拍摄画面中的目标对象的尺寸也会随之缩小两倍,这样缩小后的拍摄画面中目标对象的尺寸等于初始尺寸,然后将缩小后的拍摄画面的尺寸是否大于拍摄图像的尺寸。如果缩小后的拍摄画面的尺寸大于拍摄图像的尺寸,则将缩小后的拍摄画面裁剪为拍摄图像的尺寸。如果缩小后的拍摄画面的尺寸小于拍摄图像的尺寸,则将缩小后的拍摄画面拼接为拍摄图像的尺寸,例如:无人机上还设有另 一拍摄装置,获取该另一拍摄装置拍摄的拍摄画面,然后将缩小后的拍摄画面或者缩小后的拍摄画面中的目标对象拼接在另一拍摄装置拍摄的拍摄画面中,再将拼接后的拍摄画面裁剪为拍摄图像的尺寸(例如:640*480像素)。如果缩小后的拍摄画面的尺寸等于拍摄图像的尺寸,则将缩小后的拍摄画面确定为拍摄图像的尺寸。
如果所述拍摄画面中目标对象的尺寸等于所述初始尺寸,则无人机无需对拍摄画面进行缩放处理,即可根据该拍摄画面获得拍摄图像。
在一实施例中,无人机根据在接收到变焦拍摄开始指令后无人机的当前飞行距离,对拍摄画面进行缩放处理,获得视频中的拍摄图像。以便视频中的拍摄图像中目标对象的尺寸尽可能接近无人机在接收到变焦拍摄开始指令时拍摄装置的拍摄画面中目标对象的初始尺寸。
可选地,无人机还可以在接收到变焦拍摄开始指令时,获取无人机与目标对象之间的初始距离,然后根据所述当前飞行距离和该初始距离,对当前拍摄画面进行缩放处理,获得视频中的当前拍摄图像。本实施例中,由于无人机的拍摄装置是以固定的焦距进行视频拍摄,所以拍摄装置的拍摄画面中目标对象的尺寸与无人机的当前飞行距离有关。
若无人机朝远离目标对象的方向飞行,则目标对象在拍摄画面中的尺寸会变小,则对当前拍摄画面放大(当前飞行距离与初始距离的比值)倍,例如:当前飞行距离与初始距离的比值为0.1,则对当前拍摄画面放大0.1倍,其中,放大后的拍摄画面中目标对象的尺寸等于所述初始尺寸;以及将所述放大后的拍摄画面的尺寸裁剪为拍摄图像的尺寸,获得所述视频中的拍摄图像。
若无人机朝靠近目标对象的方向飞行,则目标对象在拍摄画面中的尺寸会变大,则对当前拍摄画面缩小(当前飞行距离与初始距离的比值)倍,例如:当前飞行距离与初始距离的比值为0.1,则对当前拍摄画面缩小0.1倍,其中,缩小后的拍摄画面中目标对象的尺寸等于所述初始尺寸;以及将所述缩小后的拍摄画面裁剪为拍摄图像的尺寸,或者,将所述缩小后的拍摄画面拼接为拍摄图像的尺寸,获得所述视频中的拍摄图像。
例如
Figure PCTCN2018089398-appb-000017
以及
Figure PCTCN2018089398-appb-000018
其中,w 0为无人机在接收到变焦拍摄开始指令时开始拍摄获得的视频图像中的目标对象的初始尺寸,f为固定的焦距,Z 0为初始距离,H为目标对象的实际尺寸,w 1为无人机在飞行当前飞行距离时拍摄装置的拍摄画面中目标对象的当前尺寸,Z 1为无人机与目标对象之间的当前距离。以无人机朝远离目标对象的方向飞行为例,可以得到w 0Z 0=w 1Z 1=w 1(Z 0+ΔZ),ΔZ为无人机的当前飞行距离,从而可以确定
Figure PCTCN2018089398-appb-000019
因此需要将当前拍摄画面放大
Figure PCTCN2018089398-appb-000020
可使得当前拍摄画面中的目标对象的尺寸等于初始尺寸。
在一实施例中,无人机根据无人机与目标对象之间的当前距离,对拍摄画面进行缩放处理,获得视频中的拍摄图像。以便视频中的拍摄图像中目标对象的尺寸尽可能接近无人机在接收到变焦拍摄开始指令时拍摄装置的拍摄画面中目标对象的初始尺寸。
可选地,无人机还可以在接收到变焦拍摄开始指令时,获取无人机与目标对象之间的初始距离,然后根据所述当前距离和该初始距离,对当前拍摄画面进行缩放处理,获得视频中的当前拍摄图像。本实施例中,由于无人机的拍摄装置是以固定的焦距进行视频拍摄, 所以拍摄装置的拍摄画面中目标对象的尺寸与无人机的当前距离有关。
若当前距离与初始距离的比值大于1,则目标对象在拍摄画面中的尺寸会变小,则对当前拍摄画面放大(当前距离与初始距离的比值再减1)倍,例如:当前飞行距离与初始距离的比值为1.1,则对当前拍摄画面放大0.1倍,其中,放大后的拍摄画面中目标对象的尺寸等于所述初始尺寸;以及将所述放大后的拍摄画面的尺寸裁剪为拍摄图像的尺寸,获得所述视频中的拍摄图像。
若无人机朝靠近目标对象的方向飞行,则目标对象在拍摄画面中的尺寸会变大,则对当前拍摄画面缩小(1减去(当前飞行距离与初始距离的比值))倍,例如:当前飞行距离与初始距离的比值为0.9,则对当前拍摄画面缩小0.1倍,其中,缩小后的拍摄画面中目标对象的尺寸等于所述初始尺寸;以及将所述缩小后的拍摄画面裁剪为拍摄图像的尺寸,或者,将所述缩小后的拍摄画面拼接为拍摄图像的尺寸,获得所述视频中的拍摄图像。
例如根据上述例子所示,可以得到w 0Z 0=w 1Z 1,从而可以确定
Figure PCTCN2018089398-appb-000021
因此需要将当前拍摄画面放大
Figure PCTCN2018089398-appb-000022
倍或者缩小
Figure PCTCN2018089398-appb-000023
倍可使得当前拍摄画面中的目标对象的尺寸等于初始尺寸。
需要说明的是,无人机在从放大后的拍摄画面或缩小后的拍摄画面中裁剪拍摄图像时,可以从放大后的拍摄画面或缩小后的拍摄画面中裁剪中间区域的图像为拍摄图像;或者,可以根据目标对象在拍摄画面中的位置,从放大后的拍摄画面或缩小后的拍摄画面中裁剪出包括目标对象的图像区域为拍摄图像;或者,可以从放大后的拍摄画面或缩小后的拍摄画面中中间区域开始裁剪出拍摄图像,然后依次往下或往上裁剪出拍摄图像。
在上述各实施例的基础上,可选地,在无人机对目标对象进行视频拍摄的过程中,用户可以控制无人机随时暂停视频拍摄。具体地,在无人机进行视频拍摄的过程中,控制终端通过交互装置检测暂停变焦拍摄操作;当用户需要控制无人机暂停变焦拍摄时,用户可以对交互装置进行暂停变焦拍摄操作,例如:控制终端可以在无人机对目标对象进行视频拍摄时显示暂停变焦拍摄图标,用户可以通过交互装置对该暂停变焦拍摄图标进行触点操作。相应地,控制终端可以通过交互装置检测到暂停变焦拍摄操作,在检测到该暂停变焦拍摄操作时,控制无人机暂停对目标对象进行视频拍摄,例如:控制终端在检测到暂停变焦拍摄操作时,向无人机发送暂停变焦拍摄指令,相应地,无人机接收控制终端发送的暂停变焦拍摄指令,并根据该暂停变焦拍摄指令,控制拍摄装置暂停对目标对象进行视频拍摄。
可选地,在无人机暂时变焦拍摄后,用户还可以控制无人机恢复变焦拍摄,具体地,在无人机暂停变焦拍摄后,控制终端通过交互装置检测恢复变焦拍摄操作;当用户需要控制无人机恢复变焦拍摄时,用户可以对交互装置进行恢复变焦拍摄操作,例如:控制终端可以在无人机暂停变焦拍摄后显示恢复变焦拍摄图标,用户可以通过交互装置对该恢复变焦拍摄图标进行触点操作。相应地,控制终端可以通过交互装置检测到恢复变焦拍摄操作,在检测到该恢复变焦拍摄操作时,控制无人机恢复变焦拍摄,例如:控制终端在检测到恢复变焦拍摄操作时,向无人机发送恢复变焦拍摄指令,相应地,无人机接收控制终端发送的恢复变焦拍摄指令,并根据该恢复变焦拍摄指令,继续控制拍摄装置对目标对象进行视 频拍摄。
可选地,上述的开始变焦拍摄图标、上述的暂停变焦拍摄图标、上述的恢复变焦拍摄图标可以为控制终端显示的同一图标,该图标在无人机处于不同的操作下具有不同的功能。
可选地,控制终端或无人机还可以在拍摄图像中标示出目标对象的边界框,以显示该边界框内的对象为目标对象。可选地,目标对象在拍摄图像中的尺寸可以根据边界框的尺寸来确定。
综上所述,本发明实施例中,用户可以通过操作控制终端以控制无人机改变焦距对目标对象进行视频拍摄,以使所述无人机与所述目标对象之间的距离改变时,获得的视频中的各视频图像中所述目标对象的尺寸之间的误差小于预设值,或者,用户可以通过操作控制终端以控制无人机以固定的焦距对目标对象进行视频拍摄,然后无人机对图像进行处理,以使所述无人机与所述目标对象之间的距离改变时,获得的视频中的各视频图像中所述目标对象的尺寸之间的误差小于预设值。因此,无人机可受控于控制终端来实现变焦拍摄的功能,使无人机适应各种不同的拍摄应用场景,为用户带来了不同的拍摄体验。即便用户是不懂变焦专业知识的小白,也很容易通过无人机来拍摄获得变焦视频。
本发明实施例中还提供了一种计算机存储介质,该计算机存储介质中存储有程序指令,所述程序执行时可包括上述各实施例中可移动平台的拍摄控制方法的部分或全部步骤。
图4为本发明一实施例提供的控制终端的一种结构示意图,如图4所示,本实施例的控制终端400可以用于控制可移动平台,控制终端400可以包括:交互装置401和处理器402。上述处理器402可以是中央处理单元(Central Processing Unit,CPU),该处理器402还可以是其他通用处理器、数字信号处理器(Digital Signal Processor,DSP)、专用集成电路(Application Specific Integrated Circuit,ASIC)、现成可编程门阵列(Field-Programmable Gate Array,FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
交互装置401,用于检测变焦拍摄开始操作;
处理器402,用于根据所述交互装置401检测到的变焦拍摄开始操作,控制可移动平台对目标对象进行视频拍摄,以使所述可移动平台与所述目标对象之间的距离改变时,所述可移动平台获得的视频中的各视频图像中所述目标对象的尺寸之间的误差小于预设值。
可选地,所述处理器402,具体用于:若所述可移动平台与所述目标对象之间的距离改变,则调整所述可移动平台的当前焦距;根据调整后的可移动平台的当前焦距,控制所述可移动平台对所述目标对象进行视频拍摄,所述视频为所述可移动平台以可变的焦距对目标对象进行视频拍摄得到的。
在一些实施例中,所述处理器402,具体用于:根据所述可移动平台与所述目标对象之间的当前距离,调整所述可移动平台的当前焦距。
可选地,所述当前焦距与所述当前距离成正比。
可选地,所述处理器402,还用于:在所述交互装置401检测到变焦拍摄开始操作时,获取所述可移动平台的初始焦距以及可移动平台与所述目标对象之间的初始距离;
所述处理器402在根据所述可移动平台与所述目标对象之间的当前距离,调整所述可移动平台的当前焦距时,具体用于:根据所述可移动平台的初始焦距、可移动平台与所述 目标对象之间的初始距离以及所述可移动平台与所述目标对象之间的当前距离,调整所述可移动平台的当前焦距。
可选地,所述初始焦距与所述初始距离之间的比值,等于,所述当前焦距与所述当前距离之间的比值。
在一些实施例中,所述处理器402,具体用于:根据所述目标对象在所述可移动平台的拍摄图像中的当前尺寸,调整所述可移动平台的当前焦距。
可选地,所述当前焦距与所述当前尺寸成反比。
可选地,所述处理器402,还用于:在所述交互装置401检测到变焦拍摄开始操作时,获取所述目标对象在可移动平台的拍摄画面中的初始尺寸;
所述处理器402在根据所述目标对象在所述可移动平台的拍摄画面中的当前尺寸,调整所述可移动平台的当前焦距时,具体用于:根据所述初始尺寸、所述当前尺寸以及调整前的当前焦距,调整所述可移动平台的当前焦距。
可选地,调整前的当前焦距与调整后的当前焦距的比值,等于,所述当前尺寸与所述初始尺寸之间的比值。
在一些实施例中,所述处理器402,具体用于:根据交互装置401检测到变焦拍摄开始操作后所述可移动平台的当前飞行距离,确定所述可移动平台的当前焦距调整量;根据所述当前焦距调整量,调整所述可移动平台的当前焦距。
可选地,所述当前焦距调整量与所述当前飞行距离成正比。
可选地,所述处理器402,还用于:在所述交互装置401检测到变焦拍摄开始操作时,获取所述可移动平台的初始焦距以及所述可移动平台与所述目标对象之间的初始距离;
所述处理器402,在根据交互装置401检测到变焦拍摄开始操作后所述可移动平台的当前飞行距离,确定所述可移动平台的当前焦距调整量时,具体用于:根据所述初始焦距、所述初始距离以及所述当前飞行距离,确定所述当前焦距调整量;
所述处理器402在根据所述当前焦距调整量,调整所述可移动平台的当前焦距时,具体用于:根据所述可移动平台的初始焦距以及所述当前焦距调整量,调整所述可移动平台的当前焦距。
可选地,所述初始焦距与所述初始距离之间的比值,等于,所述当前焦距调整与所述当前飞行距离之间的比值。
可选地,若所述可移动平台朝靠近所述目标对象的方向飞行,则调整后的当前焦距等于所述初始焦距与所述当前焦距调整量之差;
若所述可移动平台朝远离所述目标对象的方向飞行,则调整后的当前焦距等于所述初始焦距与所述当前焦距调整量之和。
在一些实施例中,所述处理器402,具体用于:控制可移动平台以固定的焦距对目标对象进行视频拍摄;所述视频为所述可移动平台以固定的焦距对目标对象进行视频拍摄后生成的。
可选地,所述处理器402,具体用于:控制所述可移动平台的拍摄姿态以跟踪所述目标对象进行视频拍摄。
可选地,所述处理器402,还用于在控制可移动平台对目标对象进行视频拍摄之前,根据预设图像模板,确定视频拍摄的拍摄画面中与所述预设图像模板最接近的对象为目标 对象。
可选地,所述交互装置401,还用于在所述处理器402控制可移动平台对目标对象进行视频拍摄之前,检测目标对象选择操作;
处理器402,还用于根据所述交互装置401检测到的所述目标对象选择操作,确定目标对象指示信息;
所述处理器402,具体用于:控制所述可移动平台对所述目标对象指示信息指示的目标对象进行视频拍摄。
可选地,所述处理器402还用于:控制所述可移动平台按照预设的轨迹飞行;
所述处理器402在控制可移动平台对目标对象进行视频拍摄时,具体用于:在所述可移动平台按照预设的轨迹飞行的过程中,控制所述可移动平台对目标对象进行视频拍摄。
可选地,所述预设的轨迹中至少包括多个航点,其中,所述航点中至少包括位置信息。
可选地,所述航点还包括拍摄姿态和/或成像参数。
在一些实施例中,所述控制终端400还包括:通信装置403。
通信装置403,用于接收所述可移动平台发送的所述视频。
在一些实施例中,所述控制终端400还包括:显示装置404。
显示装置404,用于显示所述变焦视频。可选地,该交互装置401与显示装置404可以集成为控制终端400的触摸显示屏。
在另一些实施例中,所述交互装置401,还用于检测分享操作;
所述处理器402,还用于根据所述交互装置401检测到的分享操作,对所述视频进行分享。
可选地,本实施例的控制终端400还可以包括存储器(图中未示出),存储器用于存储程序代码,当程序代码被执行时,所述控制终端400可以实现上述控制终端的技术方案。
本实施例的控制终端,可以用于执行本发明上述各方法实施例中控制终端的技术方案,其实现原理和技术效果类似,此处不再赘述。
图5为本发明一实施例提供的可移动平台的一种结构示意图,如图5所示,本实施例的可移动平台500可以包括:通信装置501、处理器502和拍摄装置503。
通信装置501,用于接收控制终端发送的变焦拍摄开始指令,所述变焦拍摄开始指令是所述控制终端通过交互装置检测到变焦拍摄开始操作确定的;
处理器502,用于根据所述变焦拍摄开始指令,控制拍摄装置503对目标对象进行视频拍摄,获得视频;
在所述可移动平台500与所述目标对象之间的距离改变时所述视频中的各视频图像中所述目标对象的尺寸之间的误差小于预设值。
在一些实施例中,所述通信装置501,还用于若所述可移动平台500与所述目标对象之间的距离改变,则接收所述控制终端发送的焦距调整指令;
所述处理器502,具体用于:根据焦距调整指令,调整所述拍摄装置503的当前焦距;根据调整后的拍摄装置503的当前焦距,控制所述拍摄装置503对所述目标对象进行视频拍摄,获得所述拍摄视频。
可选地,所述焦距调整指令包括调整后的当前焦距,或者,当前焦距调整量。
在一些实施例中,所述处理器502,具体用于:若所述可移动平台500与所述目标对 象之间的距离改变,则调整所述拍摄装置503的当前焦距;根据调整后的拍摄装置503的当前焦距,控制所述拍摄装置503对所述目标对象进行视频拍摄,获得所述视频。
在一些实施例中,所述处理器502,具体用于:根据所述可移动平台500与所述目标对象之间的当前距离,调整所述拍摄装置503的当前焦距。
可选地,所述当前焦距与所述当前距离成正比。
可选地,所述处理器502,还用于在所述通信装置501接收到变焦拍摄开始指令时,获取所述拍摄装置503的初始焦距以及可移动平台500与所述目标对象之间的初始距离;
所述处理器502,在根据所述可移动平台500与所述目标对象之间的当前距离,调整所述拍摄装置503的当前焦距时,具体用于:根据所述初始焦距、所述初始距离以及所述当前距离,调整所述拍摄装置503的当前焦距。
可选地,所述初始焦距与所述初始距离之间的比值,等于,所述当前焦距与所述当前距离之间的比值。
在一些实施例中,所述处理器502,具体用于:根据所述目标对象在所述拍摄装置503的拍摄画面中的当前尺寸,调整所述拍摄装置503的当前焦距。
可选地,所述当前焦距与所述当前尺寸成反比。
可选地,所述处理器502还用于:在所述通信装置501接收到变焦拍摄开始指令时,获取所述目标对象在所述拍摄装置503的拍摄画面中的初始尺寸;
所述处理器502,在根据所述目标对象在所述可移动平台500的拍摄画面中的当前尺寸,调整所述拍摄装置503的当前焦距时,具体用于:根据所述初始尺寸、所述当前尺寸以及调整前的当前焦距,调整所述拍摄装置503的当前焦距。
可选地,调整前的当前焦距与调整后的当前焦距的比值,等于,所述当前尺寸与所述初始尺寸之间的比值。
在一些实施例中,所述处理器502,具体用于:根据在所述通信装置501接收到变焦拍摄开始指令后所述可移动平台500的当前飞行距离,确定所述拍摄装置503的当前焦距调整量;根据所述当前焦距调整量,调整所述拍摄装置503的当前焦距。
可选地,所述当前焦距调整量与所述当前飞行距离成正比。
可选地,所述处理器502,还用于:在所述通信装置501接收到变焦拍摄开始指令时,获取所述拍摄装置503的初始焦距以及所述可移动平台500与所述目标对象之间的初始距离;
所述处理器502,在根据在通信装置501接收到变焦拍摄开始指令后所述可移动平台500的当前飞行距离,确定所述拍摄装置503的当前焦距调整量时,具体用于:根据所述初始焦距、所述初始距离以及所述当前飞行距离,确定所述当前焦距调整量;
所述处理器502在根据所述当前焦距调整量,调整所述拍摄装置503的当前焦距时,具体用于:根据所述拍摄装置503的初始焦距以及所述当前焦距调整量,调整所述拍摄装置503的当前焦距。
可选地,所述初始焦距与所述初始距离之间的比值,等于,所述当前焦距调整与所述当前飞行距离之间的比值。
可选地,若所述可移动平台500朝靠近所述目标对象的方向飞行,则调整后的当前焦距等于所述初始焦距与所述当前焦距调整量之差;
若所述可移动平台500朝远离所述目标对象的方向飞行,则调整后的当前焦距等于所述初始焦距与所述当前焦距调整量之和。
在一些实施例中,所述处理器502,具体用于:
控制所述拍摄装置503以固定的焦距对目标对象进行视频拍摄,获得拍摄画面;
对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像。
在一实施例中,所述处理器502,具体用于:根据在所述通信装置501接收到变焦拍摄开始指令后所述可移动平台500的当前飞行距离,对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像。
可选地,所述处理器502,还用于:在所述通信装置501接收到变焦拍摄开始指令时,获取所述可移动平台500与所述目标对象之间的初始距离;
所述处理器502在根据在所述通信装置501接收到变焦拍摄开始指令后所述可移动平台500的当前飞行距离,对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像时,具体用于:根据所述初始距离和所述当前飞行距离,对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像。
在一实施例中,所述处理器502,具体用于:根据所述可移动平台500与所述目标对象之间的当前距离,对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像。
可选地,所述处理器502,还用于:在所述通信装置501接收到变焦拍摄开始指令时,获取所述可移动平台500与所述目标对象之间的初始距离;
所述处理器502在根据所述可移动平台500与所述目标对象之间的当前距离,对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像时,具体用于:根据所述初始距离和所述当前距离,对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像。
在一实施例中,所述处理器502,还用于:在所述通信装置501接收到变焦拍摄开始指令时,获取所述目标对象在所述拍摄装置503的拍摄画面中的初始尺寸;
所述处理器502在对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像时,具体用于:按照所述初始尺寸,对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像。
可选地,所述处理器502,具体用于:
对所述拍摄画面进行放大处理;以及将所述放大后的拍摄画面的尺寸裁剪为拍摄图像的尺寸,获得所述视频中的拍摄图像;其中,放大后的拍摄画面中目标对象的尺寸等于所述初始尺寸;或者,
所述拍摄画面进行缩小处理;以及将所述缩小后的拍摄画面裁剪为拍摄图像的尺寸,或者,将所述缩小后的拍摄画面拼接为拍摄图像的尺寸,获得所述视频中的拍摄图像;其中,缩小后的拍摄画面中目标对象的尺寸等于所述初始尺寸。
可选地,所述处理器502,具体用于:调整所述拍摄装置503的拍摄姿态以跟踪所述目标对象进行视频拍摄。
可选地,所述处理器502,还用于在控制拍摄装置503对目标对象进行视频拍摄之前,根据预设图像模板,确定视频拍摄的拍摄画面中与所述预设图像模板最接近的对象为目标对象。
可选地,所述通信装置501,还用于在处理器502控制拍摄装置503对目标对象进行视频拍摄之前,接收所述控制终端发送的目标对象指示信息;
所述处理器502,具体用于:控制所述拍摄装置503对所述目标对象指示信息指示的目标对象进行视频拍摄。
可选地,所述处理器502,还用于控制所述可移动平台500按照预设的轨迹飞行;
所述处理器502,在控制所述拍摄装置503对目标对象进行视频拍摄时,具体用于:在所述可移动平台500按照预设的轨迹飞行的过程中,控制所述拍摄装置503对目标对象进行视频拍摄。
可选地,所述预设的轨迹中至少包括多个航点,其中,所述航点中至少包括位置信息。
可选地,所述航点还包括拍摄姿态和/或成像参数。
可选地,所述通信装置501,还用于向所述控制终端发送所述视频。
可选地,本实施例的可移动平台500还可以包括存储器(图中未示出),存储器用于存储程序代码,当程序代码被执行时,所述可移动平台500可以实现上述无人机的技术方案。
可选地,可移动平台500可以包括无人机,所述处理器502可以包括飞行控制器。
本实施例的可移动平台,可以用于执行本发明上述各方法实施例中可移动平台的技术方案,其实现原理和技术效果类似,此处不再赘述。
图6为本发明一实施例提供的可移动平台的拍摄系统的一种结构示意图,如图6所示,本实施例可移动平台的拍摄系统600可以包括:控制终端601和可移动平台602。其中,控制终端601可以采用图4所示实施例的结构,其对应地,可以执行上述各方法实施例中控制终端的技术方案,其实现原理和技术效果类似,此处不再赘述。可移动平台602可以采用图5所示实施例的结构,其对应地,可以执行上述各方法实施例中可移动平台的技术方案,其实现原理和技术效果类似,此处不再赘述。
本领域普通技术人员可以理解:实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成,前述的程序可以存储于一计算机可读取存储介质中,该程序在执行时,执行包括上述方法实施例的步骤;而前述的存储介质包括:只读内存(Read-Only Memory,ROM)、随机存取存储器(Random Access Memory,RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是:以上各实施例仅用以说明本发明的技术方案,而非对其限制;尽管参照前述各实施例对本发明进行了详细的说明,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,或者对其中部分或者全部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发明各实施例技术方案的范围。

Claims (112)

  1. 一种可移动平台的拍摄控制方法,其特征在于,包括:
    通过交互装置检测到变焦拍摄开始操作;
    根据所述变焦拍摄开始操作,控制可移动平台对目标对象进行视频拍摄,以使所述可移动平台与所述目标对象之间的距离改变时,所述可移动平台获得的视频中的各视频图像中所述目标对象的尺寸之间的误差小于预设值。
  2. 根据权利要求1所述的方法,其特征在于,
    所述控制可移动平台对目标对象进行视频拍摄,包括:
    若所述可移动平台与所述目标对象之间的距离改变,则调整所述可移动平台的当前焦距;
    根据调整后的可移动平台的当前焦距,控制所述可移动平台对所述目标对象进行视频拍摄,所述视频为所述可移动平台以可变的焦距对目标对象进行视频拍摄得到的。
  3. 根据权利要求2所述的方法,其特征在于,所述调整所述可移动平台的当前焦距,包括:
    根据所述可移动平台与所述目标对象之间的当前距离,调整所述可移动平台的当前焦距。
  4. 根据权利要求3所述的方法,其特征在于,所述当前焦距与所述当前距离成正比。
  5. 根据权利要求3或4所述的方法,其特征在于,还包括:
    在检测到变焦拍摄开始操作时,获取所述可移动平台的初始焦距以及可移动平台与所述目标对象之间的初始距离;
    所述根据所述可移动平台与所述目标对象之间的当前距离,调整所述可移动平台的当前焦距,包括:
    根据所述可移动平台的初始焦距、可移动平台与所述目标对象之间的初始距离以及所述可移动平台与所述目标对象之间的当前距离,调整所述可移动平台的当前焦距。
  6. 根据权利要求5所述的方法,其特征在于,所述初始焦距与所述初始距离之间的比值,等于,所述当前焦距与所述当前距离之间的比值。
  7. 根据权利要求2所述的方法,其特征在于,所述调整所述可移动平台的当前焦距,包括:
    根据所述目标对象在所述可移动平台的拍摄图像中的当前尺寸,调整所述可移动平台的当前焦距。
  8. 根据权利要求7所述的方法,其特征在于,所述当前焦距与所述当前尺寸成反比。
  9. 根据权利要求7或8所述的方法,其特征在于,所述方法还包括:
    在检测到变焦拍摄开始操作时,获取所述目标对象在可移动平台的拍摄画面中的初始尺寸;
    所述根据所述目标对象在所述可移动平台的拍摄画面中的当前尺寸,调整所述可移动平台的当前焦距,包括:
    根据所述初始尺寸、所述当前尺寸以及调整前的当前焦距,调整所述可移动平台的当前焦距。
  10. 根据权利要求9所述的方法,其特征在于,调整前的当前焦距与调整后的当前焦 距的比值,等于,所述当前尺寸与所述初始尺寸之间的比值。
  11. 根据权利要求2所述的方法,其特征在于,所述调整所述可移动平台的当前焦距,包括:
    根据检测到变焦拍摄开始操作后所述可移动平台的当前飞行距离,确定所述可移动平台的当前焦距调整量;
    根据所述当前焦距调整量,调整所述可移动平台的当前焦距。
  12. 根据权利要求11所述的方法,其特征在于,所述当前焦距调整量与所述当前飞行距离成正比。
  13. 根据权利要求11或12所述的方法,其特征在于,还包括:
    在检测到变焦拍摄开始操作时,获取所述可移动平台的初始焦距以及所述可移动平台与所述目标对象之间的初始距离;
    所述根据检测到变焦拍摄开始操作后所述可移动平台的当前飞行距离,确定所述可移动平台的当前焦距调整量,包括:
    根据所述初始焦距、所述初始距离以及所述当前飞行距离,确定所述当前焦距调整量;
    所述根据所述当前焦距调整量,调整所述可移动平台的当前焦距,包括:
    根据所述可移动平台的初始焦距以及所述当前焦距调整量,调整所述可移动平台的当前焦距。
  14. 根据权利要求13所述的方法,其特征在于,所述初始焦距与所述初始距离之间的比值,等于,所述当前焦距调整与所述当前飞行距离之间的比值。
  15. 根据权利要求13或14所述的方法,其特征在于,若所述可移动平台朝靠近所述目标对象的方向飞行,则调整后的所述当前焦距等于所述初始焦距与所述当前焦距调整量之差;
    若所述可移动平台朝远离所述目标对象的方向飞行,则调整后的所述当前焦距等于所述初始焦距与所述当前焦距调整量之和。
  16. 根据权利要求1所述的方法,其特征在于,所述控制可移动平台对目标对象进行视频拍摄,包括:
    控制可移动平台以固定的焦距对目标对象进行视频拍摄;
    所述视频为所述可移动平台以固定的焦距对目标对象进行视频拍摄后生成的。
  17. 根据权利要求1-16任一项所述的方法,其特征在于,所述控制可移动平台对目标对象进行视频拍摄,包括:
    控制所述可移动平台的拍摄姿态以跟踪所述目标对象进行视频拍摄。
  18. 根据权利要求1-17任一项所述的方法,其特征在于,所述控制可移动平台对目标对象进行视频拍摄之前,还包括:
    根据预设图像模板,确定视频拍摄的拍摄画面中与所述预设图像模板最接近的对象为目标对象。
  19. 根据权利要求1-17任一项所述的方法,其特征在于,所述控制可移动平台对目标对象进行视频拍摄之前,还包括:
    通过所述交互装置检测到目标对象选择操作;
    根据所述目标对象选择操作,确定目标对象指示信息;
    所述控制可移动平台对目标对象进行视频拍摄,包括:
    控制所述可移动平台对所述目标对象指示信息指示的目标对象进行视频拍摄。
  20. 根据权利要求1-19任一项所述的方法,其特征在于,所述方法还包括:
    控制所述可移动平台按照预设的轨迹飞行;
    所述控制可移动平台对目标对象进行视频拍摄,包括:
    在所述可移动平台按照预设的轨迹飞行的过程中,控制所述可移动平台对目标对象进行视频拍摄。
  21. 根据权利要求20所述的方法,其特征在于,所述预设的轨迹中至少包括多个航点,其中,所述航点中至少包括位置信息。
  22. 根据权利要求21所述的方法,其特征在于,所述航点还包括拍摄姿态和/或成像参数。
  23. 根据权利要求1-22任一项所述的方法,其特征在于,所述方法还包括:
    接收所述可移动平台发送的所述视频。
  24. 根据权利要求23所述的方法,其特征在于,还包括:
    通过显示装置显示所述变焦视频。
  25. 根据权利要求23所述的方法,其特征在于,还包括:
    通过交互装置检测到分享操作;
    根据所述分享操作,对所述视频进行分享。
  26. 一种可移动平台的拍摄控制方法,其特征在于,包括:
    接收控制终端发送的变焦拍摄开始指令,所述变焦拍摄开始指令是所述控制终端通过交互装置检测到变焦拍摄开始操作确定的;
    根据所述变焦拍摄开始指令,控制可移动平台的拍摄装置对目标对象进行视频拍摄,获得视频;
    在所述可移动平台与所述目标对象之间的距离改变时所述视频中的各视频图像中所述目标对象的尺寸之间的误差小于预设值。
  27. 根据权利要求26所述的方法,其特征在于,还包括:
    若所述可移动平台与所述目标对象之间的距离改变,则接收所述控制终端发送的焦距调整指令;
    所述控制可移动平台的拍摄装置对目标对象进行视频拍摄,获得拍摄视频,包括:
    根据焦距调整指令,调整所述拍摄装置的当前焦距;
    根据调整后的拍摄装置的当前焦距,控制所述拍摄装置对所述目标对象进行视频拍摄,获得所述拍摄视频。
  28. 根据权利要求27所述的方法,其特征在于,所述焦距调整指令包括调整后的当前焦距,或者,当前焦距调整量。
  29. 根据权利要求26所述的方法,其特征在于,所述控制可移动平台的拍摄装置对目标对象进行视频拍摄,获得视频,包括:
    若所述可移动平台与所述目标对象之间的距离改变,则调整所述拍摄装置的当前焦距;
    根据调整后的拍摄装置的当前焦距,控制所述拍摄装置对所述目标对象进行视频拍摄,获得所述视频。
  30. 根据权利要求29所述的方法,其特征在于,所述调整所述拍摄装置的当前焦距,包括:
    根据所述可移动平台与所述目标对象之间的当前距离,调整所述拍摄装置的当前焦距。
  31. 根据权利要求30所述的方法,其特征在于,所述当前焦距与所述当前距离成正比。
  32. 根据权利要求30或31所述的方法,其特征在于,还包括:
    在接收到变焦拍摄开始指令时,获取所述拍摄装置的初始焦距以及可移动平台与所述目标对象之间的初始距离;
    所述根据所述可移动平台与所述目标对象之间的当前距离,调整所述拍摄装置的当前焦距,包括:
    根据所述初始焦距、所述初始距离以及所述当前距离,调整所述拍摄装置的当前焦距。
  33. 根据权利要求32所述的方法,其特征在于,所述初始焦距与所述初始距离之间的比值,等于,所述当前焦距与所述当前距离之间的比值。
  34. 根据权利要求29所述的方法,其特征在于,所述调整所述拍摄装置的当前焦距,包括:
    根据所述目标对象在所述拍摄装置的拍摄画面中的当前尺寸,调整所述拍摄装置的当前焦距。
  35. 根据权利要求34所述的方法,其特征在于,所述当前焦距与所述当前尺寸成反比。
  36. 根据权利要求34或35所述的方法,其特征在于,所述方法还包括:
    在接收到变焦拍摄开始指令时,获取所述目标对象在所述拍摄装置的拍摄画面中的初始尺寸;
    所述根据所述目标对象在所述可移动平台的拍摄画面中的当前尺寸,调整所述拍摄装置的当前焦距,包括:
    根据所述初始尺寸、所述当前尺寸以及调整前的当前焦距,调整所述拍摄装置的当前焦距。
  37. 根据权利要求36所述的方法,其特征在于,调整前的当前焦距与调整后的当前焦距的比值,等于,所述当前尺寸与所述初始尺寸之间的比值。
  38. 根据权利要求29所述的方法,其特征在于,所述调整所述拍摄装置的当前焦距,包括:
    根据在接收到变焦拍摄开始指令后所述可移动平台的当前飞行距离,确定所述拍摄装置的当前焦距调整量;
    根据所述当前焦距调整量,调整所述拍摄装置的当前焦距。
  39. 根据权利要求38所述的方法,其特征在于,所述当前焦距调整量与所述当前飞行距离成正比。
  40. 根据权利要求38或39所述的方法,其特征在于,还包括:
    在接收到变焦拍摄开始指令时,获取所述拍摄装置的初始焦距以及所述可移动平台与所述目标对象之间的初始距离;
    所述根据在接收到变焦拍摄开始指令后所述可移动平台的当前飞行距离,确定所述拍 摄装置的当前焦距调整量,包括:
    根据所述初始焦距、所述初始距离以及所述当前飞行距离,确定所述当前焦距调整量;
    所述根据所述当前焦距调整量,调整所述拍摄装置的当前焦距,包括:
    根据所述拍摄装置的初始焦距以及所述当前焦距调整量,调整所述拍摄装置的当前焦距。
  41. 根据权利要求40所述的方法,其特征在于,所述初始焦距与所述初始距离之间的比值,等于,所述当前焦距调整与所述当前飞行距离之间的比值。
  42. 根据权利要求40或41所述的方法,其特征在于,若所述可移动平台朝靠近所述目标对象的方向飞行,则调整后的所述当前焦距等于所述初始焦距与所述当前焦距调整量之差;
    若所述可移动平台朝远离所述目标对象的方向飞行,则调整后的所述当前焦距等于所述初始焦距与所述当前焦距调整量之和。
  43. 根据权利要求26所述的方法,其特征在于,所述控制可移动平台的拍摄装置对目标对象进行视频拍摄,获得视频,包括:
    控制所述拍摄装置以固定的焦距对目标对象进行视频拍摄,获得拍摄画面;
    对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像。
  44. 根据权利要求43所述的方法,其特征在于,
    所述对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像,包括:
    根据在接收到变焦拍摄开始指令后所述可移动平台的当前飞行距离,对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像。
  45. 根据权利要求44所述的方法,其特征在于,所述方法还包括:
    在接收到变焦拍摄开始指令时,获取所述可移动平台与所述目标对象之间的初始距离;
    所述根据在接收到变焦拍摄开始指令后所述可移动平台的当前飞行距离,对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像,包括:
    根据所述初始距离和所述当前飞行距离,对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像。
  46. 根据权利要求43所述的方法,其特征在于,所述对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像,包括:
    根据所述可移动平台与所述目标对象之间的当前距离,对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像。
  47. 根据权利要求46所述的方法,其特征在于,所述方法还包括:
    在接收到变焦拍摄开始指令时,获取所述可移动平台与所述目标对象之间的初始距离;
    根据所述可移动平台与所述目标对象之间的当前距离,对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像,包括:
    根据所述初始距离和所述当前距离,对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像。
  48. 根据权利要求43所述的方法,其特征在于,所述方法还包括:
    在接收到变焦拍摄开始指令时,获取所述目标对象在所述拍摄装置的拍摄画面中的初始尺寸;
    所述对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像,包括:
    按照所述初始尺寸,对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像。
  49. 根据权利要求44-48任一项所述的方法,其特征在于,所述对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像,包括:
    对所述拍摄画面进行放大处理;以及将所述放大后的拍摄画面的尺寸裁剪为拍摄图像的尺寸,获得所述视频中的拍摄图像;其中,放大后的拍摄画面中目标对象的尺寸等于在接收到变焦拍摄开始指令时所述目标对象在拍摄装置的拍摄画面中的初始尺寸;或者,
    对所述拍摄画面进行缩小处理;以及将所述缩小后的拍摄画面裁剪为拍摄图像的尺寸,或者,将所述缩小后的拍摄画面拼接为拍摄图像的尺寸,获得所述视频中的拍摄图像;其中,缩小后的拍摄画面中目标对象的尺寸等于在接收到变焦拍摄开始指令时所述目标对象在拍摄装置的拍摄画面中的初始尺寸。
  50. 根据权利要求26-49任一项所述的方法,其特征在于,所述控制可移动平台的拍摄装置对目标对象进行视频拍摄,包括:
    调整所述拍摄装置的拍摄姿态以跟踪所述目标对象进行视频拍摄。
  51. 根据权利要求26-50任一项所述的方法,其特征在于,所述控制可移动平台的拍摄装置对目标对象进行视频拍摄之前,还包括:
    根据预设图像模板,确定视频拍摄的拍摄画面中与所述预设图像模板最接近的对象为目标对象。
  52. 根据权利要求26-50任一项所述的方法,其特征在于,所述控制可移动平台的拍摄装置对目标对象进行视频拍摄之前,还包括:
    接收所述控制终端发送的目标对象指示信息;
    所述控制可移动平台的拍摄装置对目标对象进行视频拍摄,包括:
    控制所述拍摄装置对所述目标对象指示信息指示的目标对象进行视频拍摄。
  53. 根据权利要求26-52任一项所述的方法,其特征在于,所述方法还包括:
    按照预设的轨迹飞行;
    所述控制可移动平台的拍摄装置对目标对象进行视频拍摄,包括:
    在按照预设的轨迹飞行的过程中,控制所述拍摄装置对目标对象进行视频拍摄。
  54. 根据权利要求53所述的方法,其特征在于,所述预设的轨迹中至少包括多个航点,其中,所述航点中至少包括位置信息。
  55. 根据权利要求54所述的方法,其特征在于,所述航点还包括拍摄姿态和/或成像参数。
  56. 根据权利要求26-55任一项所述的方法,其特征在于,还包括:
    向所述控制终端发送所述视频。
  57. 一种控制终端,其特征在于,包括:
    交互装置,用于检测变焦拍摄开始操作;
    处理器,用于根据所述交互装置检测到的变焦拍摄开始操作,控制可移动平台对目标对象进行视频拍摄,以使所述可移动平台与所述目标对象之间的距离改变时,所述可移动平台获得的视频中的各视频图像中所述目标对象的尺寸之间的误差小于预设值。
  58. 根据权利要求57所述的控制终端,其特征在于,所述处理器,具体用于:
    若所述可移动平台与所述目标对象之间的距离改变,则调整所述可移动平台的当前焦距;
    根据调整后的可移动平台的当前焦距,控制所述可移动平台对所述目标对象进行视频拍摄,所述视频为所述可移动平台以可变的焦距对目标对象进行视频拍摄得到的。
  59. 根据权利要求58所述的控制终端,其特征在于,所述处理器,具体用于:根据所述可移动平台与所述目标对象之间的当前距离,调整所述可移动平台的当前焦距。
  60. 根据权利要求59所述的控制终端,其特征在于,所述当前焦距与所述当前距离成正比。
  61. 根据权利要求59或60所述的控制终端,其特征在于,所述处理器,还用于:
    在所述交互装置检测到变焦拍摄开始操作时,获取所述可移动平台的初始焦距以及可移动平台与所述目标对象之间的初始距离;
    所述处理器在根据所述可移动平台与所述目标对象之间的当前距离,调整所述可移动平台的当前焦距时,具体用于:
    根据所述可移动平台的初始焦距、可移动平台与所述目标对象之间的初始距离以及所述可移动平台与所述目标对象之间的当前距离,调整所述可移动平台的当前焦距。
  62. 根据权利要求61所述的控制终端,其特征在于,所述初始焦距与所述初始距离之间的比值,等于,所述当前焦距与所述当前距离之间的比值。
  63. 根据权利要求58所述的控制终端,其特征在于,所述处理器,具体用于:根据所述目标对象在所述可移动平台的拍摄图像中的当前尺寸,调整所述可移动平台的当前焦距。
  64. 根据权利要求63所述的控制终端,其特征在于,所述当前焦距与所述当前尺寸成反比。
  65. 根据权利要求63或64所述的控制终端,其特征在于,所述处理器,还用于:在所述交互装置检测到变焦拍摄开始操作时,获取所述目标对象在可移动平台的拍摄画面中的初始尺寸;
    所述处理器在根据所述目标对象在所述可移动平台的拍摄画面中的当前尺寸,调整所述可移动平台的当前焦距时,具体用于:根据所述初始尺寸、所述当前尺寸以及调整前的当前焦距,调整所述可移动平台的当前焦距。
  66. 根据权利要求65所述的控制终端,其特征在于,调整前的当前焦距与调整后的当前焦距的比值,等于,所述当前尺寸与所述初始尺寸之间的比值。
  67. 根据权利要求58所述的控制终端,其特征在于,所述处理器,具体用于:
    根据所述交互装置检测到变焦拍摄开始操作后所述可移动平台的当前飞行距离,确定所述可移动平台的当前焦距调整量;
    根据所述当前焦距调整量,调整所述可移动平台的当前焦距。
  68. 根据权利要求67所述的控制终端,其特征在于,所述当前焦距调整量与所述当前飞行距离成正比。
  69. 根据权利要求67或68所述的控制终端,其特征在于,所述处理器,还用于:
    在所述交互装置检测到变焦拍摄开始操作时,获取所述可移动平台的初始焦距以及所述可移动平台与所述目标对象之间的初始距离;
    所述处理器,在根据检测到变焦拍摄开始操作后所述可移动平台的当前飞行距离,确定所述可移动平台的当前焦距调整量时,具体用于:根据所述初始焦距、所述初始距离以及所述当前飞行距离,确定所述当前焦距调整量;
    所述处理器在根据所述当前焦距调整量,调整所述可移动平台的当前焦距时,具体用于:根据所述可移动平台的初始焦距以及所述当前焦距调整量,调整所述可移动平台的当前焦距。
  70. 根据权利要求69所述的控制终端,其特征在于,所述初始焦距与所述初始距离之间的比值,等于,所述当前焦距调整与所述当前飞行距离之间的比值。
  71. 根据权利要求69或70所述的控制终端,其特征在于,若所述可移动平台朝靠近所述目标对象的方向飞行,则调整后的当前焦距等于所述初始焦距与所述当前焦距调整量之差;
    若所述可移动平台朝远离所述目标对象的方向飞行,则调整后的当前焦距等于所述初始焦距与所述当前焦距调整量之和。
  72. 根据权利要求57所述的控制终端,其特征在于,所述处理器,具体用于:
    控制可移动平台以固定的焦距对目标对象进行视频拍摄;
    所述视频为所述可移动平台以固定的焦距对目标对象进行视频拍摄后生成的。
  73. 根据权利要求57-72任一项所述的控制终端,其特征在于,所述处理器,具体用于:
    控制所述可移动平台的拍摄姿态以跟踪所述目标对象进行视频拍摄。
  74. 根据权利要求57-73任一项所述的控制终端,其特征在于,所述处理器,还用于在控制可移动平台对目标对象进行视频拍摄之前,根据预设图像模板,确定视频拍摄的拍摄画面中与所述预设图像模板最接近的对象为目标对象。
  75. 根据权利要求57-73任一项所述的控制终端,其特征在于,所述交互装置,还用于在所述处理器控制可移动平台对目标对象进行视频拍摄之前,检测目标对象选择操作;
    所述处理器,还用于根据所述交互装置检测到的所述目标对象选择操作,确定目标对象指示信息;
    所述处理器,具体用于:控制所述可移动平台对所述目标对象指示信息指示的目标对象进行视频拍摄。
  76. 根据权利要求57-75任一项所述的控制终端,其特征在于,所述处理器还用于:控制所述可移动平台按照预设的轨迹飞行;
    所述处理器在控制可移动平台对目标对象进行视频拍摄时,具体用于:在所述可移动平台按照预设的轨迹飞行的过程中,控制所述可移动平台对目标对象进行视频拍摄。
  77. 根据权利要求76所述的控制终端,其特征在于,所述预设的轨迹中至少包括多个航点,其中,所述航点中至少包括位置信息。
  78. 根据权利要求77所述的控制终端,其特征在于,所述航点还包括拍摄姿态和/或成像参数。
  79. 根据权利要求57-78任一项所述的控制终端,其特征在于,还包括:
    通信装置,用于接收所述可移动平台发送的所述视频。
  80. 根据权利要求79所述的控制终端,其特征在于,还包括:
    显示装置,用于显示所述变焦视频。
  81. 根据权利要求79所述的控制终端,其特征在于,所述交互装置,还用于检测分享操作;
    所述处理器,还用于根据所述交互装置检测到的分享操作,对所述视频进行分享。
  82. 一种可移动平台,其特征在于,包括:
    通信装置,用于接收控制终端发送的变焦拍摄开始指令,所述变焦拍摄开始指令是所述控制终端通过交互装置检测到变焦拍摄开始操作确定的;
    处理器,用于根据所述变焦拍摄开始指令,控制可移动平台的拍摄装置对目标对象进行视频拍摄,获得视频;
    在所述可移动平台与所述目标对象之间的距离改变时所述视频中的各视频图像中所述目标对象的尺寸之间的误差小于预设值。
  83. 根据权利要求82所述的可移动平台,其特征在于,所述通信装置,还用于若所述可移动平台与所述目标对象之间的距离改变,则接收所述控制终端发送的焦距调整指令;
    所述处理器,具体用于:根据焦距调整指令,调整所述拍摄装置的当前焦距;根据调整后的拍摄装置的当前焦距,控制所述拍摄装置对所述目标对象进行视频拍摄,获得所述拍摄视频。
  84. 根据权利要求83所述的可移动平台,其特征在于,所述焦距调整指令包括调整后的当前焦距,或者,当前焦距调整量。
  85. 根据权利要求82所述的可移动平台,其特征在于,所述处理器,具体用于:
    若所述可移动平台与所述目标对象之间的距离改变,则调整所述拍摄装置的当前焦距;
    根据调整后的拍摄装置的当前焦距,控制所述拍摄装置对所述目标对象进行视频拍摄,获得所述视频。
  86. 根据权利要求85所述的可移动平台,其特征在于,所述处理器,具体用于:根据所述可移动平台与所述目标对象之间的当前距离,调整所述拍摄装置的当前焦距。
  87. 根据权利要求86所述的可移动平台,其特征在于,所述当前焦距与所述当前距离成正比。
  88. 根据权利要求86或87所述的可移动平台,其特征在于,
    所述处理器,还用于在所述通信装置接收到变焦拍摄开始指令时,获取所述拍摄装置的初始焦距以及可移动平台与所述目标对象之间的初始距离;
    所述处理器,在根据所述可移动平台与所述目标对象之间的当前距离,调整所述拍摄装置的当前焦距时,具体用于:根据所述初始焦距、所述初始距离以及所述当前距离,调整所述拍摄装置的当前焦距。
  89. 根据权利要求88所述的可移动平台,其特征在于,所述初始焦距与所述初始距离之间的比值,等于,所述当前焦距与所述当前距离之间的比值。
  90. 根据权利要求85所述的可移动平台,其特征在于,所述处理器,具体用于:根据所述目标对象在所述拍摄装置的拍摄画面中的当前尺寸,调整所述拍摄装置的当前焦距。
  91. 根据权利要求90所述的可移动平台,其特征在于,所述当前焦距与所述当前尺寸成反比。
  92. 根据权利要求90或91所述的可移动平台,其特征在于,所述处理器还用于:在 所述通信装置接收到变焦拍摄开始指令时,获取所述目标对象在所述拍摄装置的拍摄画面中的初始尺寸;
    所述处理器,在根据所述目标对象在所述可移动平台的拍摄画面中的当前尺寸,调整所述拍摄装置的当前焦距时,具体用于:根据所述初始尺寸、所述当前尺寸以及调整前的当前焦距,调整所述拍摄装置的当前焦距。
  93. 根据权利要求92所述的可移动平台,其特征在于,调整前的当前焦距与调整后的当前焦距的比值,等于,所述当前尺寸与所述初始尺寸之间的比值。
  94. 根据权利要求85所述的可移动平台,其特征在于,所述处理器,具体用于:
    根据在所述通信装置接收到变焦拍摄开始指令后所述可移动平台的当前飞行距离,确定所述拍摄装置的当前焦距调整量;
    根据所述当前焦距调整量,调整所述拍摄装置的当前焦距。
  95. 根据权利要求94所述的可移动平台,其特征在于,所述当前焦距调整量与所述当前飞行距离成正比。
  96. 根据权利要求94或95所述的可移动平台,其特征在于,所述处理器,还用于:在所述通信装置接收到变焦拍摄开始指令时,获取所述拍摄装置的初始焦距以及所述可移动平台与所述目标对象之间的初始距离;
    所述处理器,在根据在所述通信装置接收到变焦拍摄开始指令后所述可移动平台的当前飞行距离,确定所述拍摄装置的当前焦距调整量时,具体用于:根据所述初始焦距、所述初始距离以及所述当前飞行距离,确定所述当前焦距调整量;
    所述处理器在根据所述当前焦距调整量,调整所述拍摄装置的当前焦距时,具体用于:根据所述拍摄装置的初始焦距以及所述当前焦距调整量,调整所述拍摄装置的当前焦距。
  97. 根据权利要求96所述的可移动平台,其特征在于,所述初始焦距与所述初始距离之间的比值,等于,所述当前焦距调整与所述当前飞行距离之间的比值。
  98. 根据权利要求96或97所述的可移动平台,其特征在于,若所述可移动平台朝靠近所述目标对象的方向飞行,则调整后的所述当前焦距等于所述初始焦距与所述当前焦距调整量之差;
    若所述可移动平台朝远离所述目标对象的方向飞行,则调整后的所述当前焦距等于所述初始焦距与所述当前焦距调整量之和。
  99. 根据权利要求82所述的可移动平台,其特征在于,所述处理器,具体用于:
    控制所述拍摄装置以固定的焦距对目标对象进行视频拍摄,获得拍摄画面;
    对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像。
  100. 根据权利要求99所述的可移动平台,其特征在于,所述处理器,具体用于:
    根据在所述通信装置接收到变焦拍摄开始指令后所述可移动平台的当前飞行距离,对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像。
  101. 根据权利要求100所述的可移动平台,其特征在于,所述处理器,还用于:在所述通信装置接收到变焦拍摄开始指令时,获取所述可移动平台与所述目标对象之间的初始距离;
    所述处理器在根据在所述通信装置接收到变焦拍摄开始指令后所述可移动平台的当前飞行距离,对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像时,具体用于: 根据所述初始距离和所述当前飞行距离,对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像。
  102. 根据权利要求99所述的可移动平台,其特征在于,所述处理器,具体用于:根据所述可移动平台与所述目标对象之间的当前距离,对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像。
  103. 根据权利要求102所述的可移动平台,其特征在于,所述处理器,还用于:在所述通信装置接收到变焦拍摄开始指令时,获取所述可移动平台与所述目标对象之间的初始距离;
    所述处理器在根据所述可移动平台与所述目标对象之间的当前距离,对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像时,具体用于:根据所述初始距离和所述当前距离,对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像。
  104. 根据权利要求99所述的可移动平台,其特征在于,所述处理器,还用于:在所述通信装置接收到变焦拍摄开始指令时,获取所述目标对象在所述拍摄装置的拍摄画面中的初始尺寸;
    所述处理器在对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像时,具体用于:按照所述初始尺寸,对所述拍摄画面进行缩放处理,获得所述视频中的拍摄图像。
  105. 根据权利要求99-104任一项所述的可移动平台,其特征在于,所述处理器,具体用于:
    对所述拍摄画面进行放大处理;以及将所述放大后的拍摄画面的尺寸裁剪为拍摄图像的尺寸,获得所述视频中的拍摄图像;其中,放大后的拍摄画面中目标对象的尺寸等于所述初始尺寸;或者,
    对所述拍摄画面进行缩小处理;以及将所述缩小后的拍摄画面裁剪为拍摄图像的尺寸,或者,将所述缩小后的拍摄画面拼接为拍摄图像的尺寸,获得所述视频中的拍摄图像;其中,缩小后的拍摄画面中目标对象的尺寸等于所述初始尺寸。
  106. 根据权利要求82-105任一项所述的可移动平台,其特征在于,所述处理器,具体用于:
    调整所述拍摄装置的拍摄姿态以跟踪所述目标对象进行视频拍摄。
  107. 根据权利要求82-106任一项所述的可移动平台,其特征在于,所述处理器,还用于在控制可移动平台的拍摄装置对目标对象进行视频拍摄之前,根据预设图像模板,确定视频拍摄的拍摄画面中与所述预设图像模板最接近的对象为目标对象。
  108. 根据权利要求82-106任一项所述的可移动平台,其特征在于,所述通信装置,还用于在所述处理器控制拍摄装置对目标对象进行视频拍摄之前,接收所述控制终端发送的目标对象指示信息;
    所述处理器,具体用于:控制所述拍摄装置对所述目标对象指示信息指示的目标对象进行视频拍摄。
  109. 根据权利要求82-108任一项所述的可移动平台,其特征在于,所述处理器,还用于控制所述可移动平台按照预设的轨迹飞行;
    所述处理器,在控制所述拍摄装置对目标对象进行视频拍摄时,具体用于:在所述可移动平台按照预设的轨迹飞行的过程中,控制所述拍摄装置对目标对象进行视频拍摄。
  110. 根据权利要求109所述的可移动平台,其特征在于,所述预设的轨迹中至少包括多个航点,其中,所述航点中至少包括位置信息。
  111. 根据权利要求110所述的可移动平台,其特征在于,所述航点还包括拍摄姿态和/或成像参数。
  112. 根据权利要求82-111任一项所述的可移动平台,其特征在于,所述通信装置,还用于向所述控制终端发送所述视频。
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