WO2020107289A1 - 拍摄方法、装置及无人机 - Google Patents

拍摄方法、装置及无人机 Download PDF

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Publication number
WO2020107289A1
WO2020107289A1 PCT/CN2018/118013 CN2018118013W WO2020107289A1 WO 2020107289 A1 WO2020107289 A1 WO 2020107289A1 CN 2018118013 W CN2018118013 W CN 2018118013W WO 2020107289 A1 WO2020107289 A1 WO 2020107289A1
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Prior art keywords
offset
value
difference
threshold
exposure
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PCT/CN2018/118013
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English (en)
French (fr)
Inventor
梁大奖
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Priority to PCT/CN2018/118013 priority Critical patent/WO2020107289A1/zh
Priority to CN202110515665.6A priority patent/CN113141471A/zh
Priority to CN201880040861.9A priority patent/CN110771148B/zh
Publication of WO2020107289A1 publication Critical patent/WO2020107289A1/zh
Anticipated expiration legal-status Critical
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H04N23/71—Circuitry for evaluating the brightness variation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time

Definitions

  • the present invention relates to the field of shooting technology, and in particular, to a shooting method, device, and drone.
  • Time-lapse photography is an important function of digital cameras.
  • the principle is to extract a frame in the video stream at a fixed time interval or obtain a photo frame. After reaching the shooting duration set by the user, all frames are finally combined. Form a video with a fixed frame rate.
  • the exposure parameters of each frame of time-lapse photography can be determined based on an automatic exposure algorithm (Auto Exposure, AE) used to determine the exposure parameters of each frame of ordinary video.
  • Auto Exposure, AE automatic exposure algorithm
  • the exposure value determined by the AE algorithm is BV
  • the exposure value of the exposure parameter combination used in the current frame of the time-lapse photography is BV'
  • time-lapse photography has the characteristics of fast light changes.
  • the fast change of light means that the 1 second duration of ordinary video corresponds to 1 second duration of the real world, and the 1 second duration of time-lapse photography video varies according to the time interval selected by the user, and the duration corresponding to the real world can reach several minutes or even Tens of minutes. Therefore, the speed of light changes between adjacent frames in time-lapse photography is much faster than ordinary video.
  • Embodiments of the present invention provide a shooting method, device, and unmanned aerial vehicle, used to solve the problem in the prior art that due to the fast change of light between adjacent frames in time-lapse photography, the brightness of the captured video flickers The problem.
  • an embodiment of the present invention provides a shooting method, including:
  • the third exposure of the current frame of the time-lapse photography is determined according to the second exposure value and the first offset Value, the absolute value of the first offset is positively correlated with the degree of difference, and the absolute value of the first offset is less than the degree of difference.
  • an embodiment of the present invention provides a shooting device, including: a processor and a memory;
  • the memory is used to store program codes
  • the processor calls the program code, and when the program code is executed, it is used to perform the following operations:
  • the third exposure of the current frame of the time-lapse photography is determined according to the second exposure value and the first offset Value, the absolute value of the first offset is positively correlated with the degree of difference, and the absolute value of the first offset is less than the degree of difference.
  • an embodiment of the present invention provides a drone, a rack, and the shooting device according to any one of the above-mentioned second aspects, the shooting device is fixed to the rack.
  • an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program includes at least one piece of code, and the at least one piece of code can be executed by a computer To control the computer to execute the shooting method described in any one of the first aspect above.
  • an embodiment of the present invention provides a computer program that, when executed by a computer, is used to implement the shooting method described in any one of the first aspects above.
  • the shooting method, device and drone determine whether the difference between the first exposure value of the current frame and the second exposure value of the previous frame determined by the automatic exposure algorithm is less than or equal to the preset The first threshold; if the difference between the first exposure value and the second exposure value is less than or equal to the first threshold, it means that the ambient brightness change is small, and the current time-lapse photography is determined according to the second exposure value and the first offset
  • the absolute value of the first offset is positively correlated with the degree of difference
  • the absolute value of the first offset is less than the degree of difference, so that the third exposure value will be less than the first exposure value.
  • the limitation of the exposure difference between the current frame and the previous frame In the scene where the light change speed between adjacent frames is fast, the brightness difference between the current frame and the previous frame can be limited to ensure that the time-lapse photography is obtained The brightness of the video changes smoothly, so you can avoid the problem of flickering in the video.
  • FIGS. 1A and 1B are schematic diagrams of ambient brightness provided by an embodiment of the present invention.
  • FIG. 2 is a schematic flowchart of a shooting method provided by an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a relationship between a first exposure value and a second exposure value provided by an embodiment of the present invention
  • FIG. 4 is a schematic flowchart of a shooting method provided by another embodiment of the present invention.
  • FIG. 5 is a schematic flowchart of a shooting method according to another embodiment of the present invention.
  • FIG. 6 is a schematic flowchart of a shooting method according to another embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of a shooting device provided by an embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of a drone provided by an embodiment of the present invention.
  • the shooting method provided by the embodiment of the present invention is applied to time-lapse photography, which can avoid the problem of brightness flickering in the captured video due to the fast change of light between adjacent frames in time-lapse photography.
  • the scene where the speed of light changes between adjacent frames can be fast, for example, as shown in FIG. 1A and FIG. 1B, where FIG. 1A is that the brightness gradually becomes brighter or gradually darker, and FIG. Faster.
  • the exposure value determined according to the automatic exposure algorithm (Auto Exposure, AE) is used as the exposure value of the current frame of time-lapse photography, and then the combination of exposure parameters used in the current frame of time-lapse photography is determined according to the exposure value, Combination of exposure parameters.
  • the exposure values determined by the automatic exposure algorithm differ greatly between the two adjacent frames.
  • An embodiment of the present invention provides a shooting method to determine the third exposure of the current frame of time-lapse photography according to the degree of difference between the first exposure value of the current frame determined by the automatic exposure algorithm and the second exposure value of the previous frame of the time-lapse photography Value to make the video brightness smooth and avoid the problem of brightness flicker.
  • the exposure value of the current frame is determined according to the second exposure value and offset of the previous frame of the time-lapse photography, and the specific offset may be the first offset described below Amount, second offset, etc.
  • FIG. 2 is a schematic flowchart of a shooting method according to an embodiment of the present invention.
  • the execution subject of this embodiment may be a shooting device, and may specifically be a processor of the shooting device.
  • the method of this embodiment may include:
  • Step 201 Determine whether the difference between the first exposure value of the current frame determined by the automatic exposure algorithm and the second exposure value of the previous frame of the time-lapse photography is less than or equal to the preset first threshold, and if so, step 202 is performed if If no, go to step 203.
  • the first exposure value can be achieved by AE.
  • the first exposure value refers to a combination of exposure parameters. Exposure parameters include shutter time, aperture value (Fnum), and sensitivity (ISO). The exposure parameters of each frame of ordinary video are given by AE.
  • the first exposure value obtained by the AE algorithm can be achieved by the following formula (1):
  • N is a constant, the value can be close to 0.3, BV represents the first exposure value.
  • the first exposure value determined by the automatic exposure algorithm is accurate and reflects the required exposure value under the current ambient brightness, that is, the combination relationship between achieving appropriate video brightness and exposure parameters. It should be noted that the specific method for the automatic exposure algorithm to determine the first exposure value corresponding to the current frame can be implemented not only by the above formula (1), but also by other methods, which are not specifically limited herein in the embodiments of the present invention.
  • the second exposure value of the previous frame of the time-lapse photography can be determined according to the exposure parameter combination used in the previous frame of the time-lapse photography.
  • the relationship between the first exposure value and the second exposure value on the time axis can be shown in FIG. 3.
  • the first threshold may be a value set according to experience, or the first threshold may be determined according to how smoothly the video brightness changes.
  • the first threshold may be positively related to the smoothness of the change in video brightness.
  • the first threshold may be a positive value.
  • the range of the first threshold is between 0.15 and 0.25.
  • the degree of difference between the first exposure value and the second exposure value may specifically be the absolute value of the difference between the first exposure value and the second exposure value.
  • the difference between the first exposure value BV n and the second exposure value TL_BV n-1 can be recorded as CurDeltaBV. That is, BV n , TL_BV n-1 and CurDeltaBV can satisfy the following formula (2).
  • CurDeltaBV BV n -TL_BV n-1 formula (2)
  • step 202 it can be determined whether
  • Step 202 Determine a third exposure value of the current frame of time-lapse photography according to the second exposure value and the first offset, the absolute value of the first offset is positively correlated with the degree of difference, and the first The absolute value of an offset is less than the degree of difference.
  • the difference between the first exposure value and the second exposure value is less than or equal to the first threshold, it means that the ambient brightness change is small.
  • the third exposure of the current frame of the delay photography The value converges to the first exposure value at a small convergence rate.
  • a first offset is introduced, the absolute value of the first offset is positively correlated with the degree of difference, and the absolute value of the first offset is less than the degree of difference.
  • the first offset can be set based on empirical values when the above requirements are met.
  • the first offset can also be determined according to the degree of difference and the difference factor, for example, various mathematical transformations can be performed according to the degree of difference and the difference factor to obtain the first offset.
  • the first offset can be determined by the ratio of the degree of difference and the difference factor.
  • the difference factor is a number greater than 1, as shown in formula (3):
  • UsedDelBVT1 CurDeltaBV/SpeedFactor formula (3)
  • UsedDelBVT1 is the first offset
  • SpeedFactor is the difference factor
  • the difference factor ranges from 5 to 7, for example, the difference factor may be equal to 6.
  • the second exposure value can be corrected by the first offset to obtain the third exposure value, even if the third exposure value is toward the first exposure Value convergence.
  • the second exposure value and the first offset can obtain a third exposure value through various mathematical operations.
  • the third exposure value can be obtained by adding the two, as shown in formula (4).
  • TL_BV n UsedDelBVT1+TL_BV n-1 formula (4)
  • TL_BV n is the third exposure value of the current frame in time-lapse photography
  • UsedDelBVT1 is the first offset
  • TL_BV n-1 is the second exposure value. Therefore, the difference between the obtained third exposure value and the second exposure value is relatively small, that is, relative to the prior art, this embodiment can make the video brightness change smoothly.
  • Step 203 Determine the third exposure value of the current frame of the time-lapse photography according to the first count value, where the first count value is used to indicate the number of times that the degree of difference continues to be greater than the first threshold until the current shooting.
  • the difference between the first exposure value and the second exposure value is greater than the first threshold, it means that the ambient brightness changes relatively quickly. Therefore, the trend of brightness change is obtained according to the first count value, and according to the first count
  • the size of the value adjusts the absolute value of the offset. For example, when the first count value is gradually increasing, it means that the brightness continues to become brighter or darker. At this time, the absolute value of the offset can be gradually increased, so that the third exposure value is toward the first exposure at a faster rate The value converges to ensure the authenticity of the current screen brightness and the brightness stability.
  • the shooting method provided in the embodiment of the present application determines whether the difference between the first exposure value of the current frame determined by the automatic exposure algorithm and the second exposure value of the previous frame in the time-lapse photography is less than or equal to the preset first threshold;
  • the degree of difference between the first exposure value and the second exposure value is less than or equal to the first threshold, indicating that the ambient brightness change is small
  • the third exposure value of the current frame of the time-lapse photography is determined according to the second exposure value and the first offset
  • the absolute value of the first offset is positively correlated with the degree of difference, and the absolute value of the first offset is less than the degree of difference, so that the third exposure value approaches the first exposure value at a smaller speed
  • the limitation of the exposure difference of the previous frame can limit the brightness difference between the current frame and the previous frame in the scene where the light change speed between adjacent frames is fast, which can ensure the video brightness obtained by time-lapse photography The change is smooth, so that you can avoid the problem of flickering brightness in the video.
  • FIG. 4 is a schematic flowchart of a shooting method provided by another embodiment of the present invention.
  • the method includes:
  • Step 401 Determine whether the first count value is less than or equal to the first count threshold. If yes, perform step 402. If no, perform step 403.
  • the first count value is used to indicate the number of times that the current shooting difference continues to be greater than the first threshold.
  • the setting of the first counting threshold can be determined according to empirical parameters, for example, it can be determined according to the change trend of the ambient brightness.
  • the setting method of the first counting threshold is not particularly limited.
  • the degree of difference when the degree of difference is greater than the first threshold, it is determined how many times the degree of difference continues to be greater than the first threshold. That is, the number of times the difference corresponding to the frame before the current frame of the time-lapse photography continues to be greater than the first threshold.
  • the current frame is the sixth frame image
  • the degree of difference corresponding to the first frame is greater than the first threshold
  • the degree of difference corresponding to the second frame is less than the first threshold
  • the degree of difference corresponding to the third frame Less than the first threshold
  • the degree of difference corresponding to the fourth frame is greater than the first threshold
  • the degree of difference corresponding to the fifth frame is greater than the first threshold
  • the first count value is 2.
  • this embodiment will not repeat them here.
  • step 402 When the first count value is less than or equal to the first count threshold, it means that although the ambient brightness changes greatly, there is no continuous trend (corresponding to the above scene shown in FIG. 1B or the initial time of the scene shown in FIG. 1A above) Therefore, a relatively small offset is used to ensure a stable brightness, and step 402 can be performed.
  • the first count value is greater than the first count threshold, it means that the ambient brightness changes greatly, and a continuous trend is formed at the same time, so a larger offset can be used to make the third exposure value to the first exposure value more quickly To converge so that the brightness of the video is close to the brightness of the real environment, step 403 can be performed.
  • the first count threshold may be obtained according to the shooting time interval of time-lapse photography, specifically, may be inversely proportional to the shooting time interval of time-lapse photography. Further, the first count threshold can be obtained by the quotient of the accumulation time of exposure adjustment and the shooting time interval of time-lapse photography, wherein the accumulation time of exposure adjustment is obtained according to experience, and represents the existing exposure value after the accumulation of time in the real world
  • the convergence rate cannot compensate for changes in exposure values caused by changes in ambient brightness.
  • the shooting time interval of time-lapse photography is 1s, 2s, 3s...45s, 60s
  • the exposure adjustment accumulation time can be set to 60s.
  • Step 402 Determine the third exposure value of the current frame of the time-lapse photography according to the second exposure value and the second offset; the absolute value of the second offset is positively related to the first threshold.
  • the second offset value is used to correct the second exposure value.
  • the second offset may be equal to the quotient of the first threshold and the difference factor.
  • the quotient of the first threshold and the difference factor is greater than the quotient of the difference degree and the difference factor, so the first offset is less than the second offset, so that the third exposure value is greater than step 202 The speed approaches the first exposure value.
  • the implementation manner of determining the third exposure value according to the second exposure value and the second offset is similar to the implementation manner of determining the third exposure value according to the second exposure value and the first offset, and will not be repeated here in this embodiment .
  • Step 403 Determine whether the historical difference degree and the absolute value of the difference degree difference are less than or equal to a second threshold; the historical difference degree is the difference degree when the first count value is counted for the first time, if yes, step 404 is executed If not, go to step 405.
  • the historical difference degree is the corresponding difference degree when the first count value is counted for the first time. Taking the current frame as the sixth frame image and the first count threshold as 1, for example, the historical difference degree is the difference degree corresponding to the fourth frame.
  • the second threshold may be a threshold set according to an experience value. Alternatively, the second threshold may be equal to zero.
  • the difference is greater than the second threshold, it means that the gap between the exposure value of the current frame and the exposure value of the historical frame is widening.
  • Step 405 is performed.
  • the difference is less than the second threshold, the exposure value and history of the current frame are explained. The gap between the exposure values of the frames is not widened, and step 404 is executed.
  • Step 404 Determine the third exposure value of the current frame of the time-lapse photography according to the second exposure value and the third offset, where the third offset is the offset used when determining the exposure value of the previous frame of the time-lapse photography the amount.
  • the offset used when determining the exposure value of the previous frame in time-lapse photography is used as the third offset, according to the second exposure
  • the third exposure value is determined by the value and the third offset.
  • the specific determination method is similar to the determination method of the second exposure value and the first offset to determine the third exposure value, and details are not described herein again in this embodiment.
  • the third exposure value when the third exposure value is determined according to the second exposure value and the third offset, it may also be determined whether the degree of difference is less than a preset third threshold, and the third threshold is greater than the first threshold. Further optionally, the third threshold ranges from 0.55 to 0.65.
  • the third exposure value is directly determined according to the second exposure value and the third offset. That is, when the brightness of the current screen is dark or bright, a large offset is maintained, so that the convergence speed of the third exposure value close to the first exposure value becomes faster.
  • a fourth offset is determined according to the third offset, and a third exposure value for the current frame of time-lapse photography is determined according to the second exposure value and the fourth offset; fourth
  • the absolute value of the offset is positively related to the absolute value of the third offset, and the absolute value of the fourth offset is less than the absolute value of the third offset.
  • the third threshold may be a threshold greater than the first threshold determined according to empirical parameters.
  • a fourth offset slightly smaller than the third offset is used, and the fourth offset can be determined according to the third offset, for example, the absolute value of the fourth offset It is equal to the difference between the absolute value of the third offset and 0.01.
  • the third exposure value of the current frame of time-lapse photography is determined according to the second exposure value and the fourth offset, and the specific implementation method is to determine the first exposure of the current frame of time-lapse photography according to the second exposure value and the first offset
  • the implementation of the value is similar, and this embodiment will not repeat them here. Since the absolute value of the fourth offset is smaller than the absolute value of the third offset, the convergence speed of the third exposure value close to the first exposure value becomes slow, and the brightness is ensured to be stable.
  • Step 405 Determine a fifth offset according to the third offset, and determine a third exposure value for the current frame of time-lapse photography according to the second exposure value and the fifth offset; the fifth The absolute value of the offset is positively related to the absolute value of the third offset, and the absolute value of the fifth offset is greater than the absolute value of the third offset.
  • the fifth offset is determined according to the third offset, so that the absolute value of the fifth offset is greater than the absolute value of the third offset, for example, the absolute value of the third offset can be The values are added to obtain the fifth offset.
  • the absolute value of the fifth offset is equal to the sum of the absolute value of the third offset and 0.01.
  • the shooting method provided by the embodiment of the present application when the degree of difference is greater than the first threshold, by cutting off the number of times the current degree of difference in shooting continues to be greater than the first threshold, when the ambient brightness changes greatly, when the brightness change trend is formed, pass Compared with the historical difference, the absolute value of the offset used to determine the exposure value of the previous frame in time-lapse photography is increased or decreased to control the third exposure value to converge toward the first exposure value faster Or slow down to ensure that the brightness change of the video obtained by time-lapse photography is stable, so that the problem of brightness flickering of the video shot can be avoided.
  • FIG. 5 is a schematic flowchart of a shooting method according to another embodiment of the present invention.
  • the method includes:
  • Step 501 Determine whether the first count value is less than or equal to the first count threshold; if so, perform step 502; if not, perform step 503;
  • Step 502 Determine the third exposure value of the current frame of the time-lapse photography according to the second exposure value and the second offset; the absolute value of the second offset is positively correlated with the first threshold.
  • Step 503 Determine whether the historical difference degree and the absolute value of the difference degree difference are less than or equal to the second threshold; the historical difference degree is the difference degree when the first count value is first counted; if so, step 504 is performed, If not, go to step 505.
  • Step 504 Determine the third exposure value of the current frame of the time-lapse photography according to the second exposure value and the third offset, where the third offset is the offset used when determining the exposure value of the previous frame of the time-lapse photography the amount.
  • steps 501 to 504 are similar to steps 401 to 404 in the embodiment shown in FIG. 4 and will not be repeated here in this embodiment.
  • Step 505 Determine whether the second count value is greater than the second count threshold; wherein, the second count value is the number of times the first count value continues to reach the first count threshold, and the first count value is cleared when the second count value is accumulated; If yes, go to step 507, if no, go to step 506.
  • a second count value is introduced, and the second calculated value is used to record the number of times the first count value continues to reach the first count threshold. Specifically, when the first count value reaches the first count threshold, the first count value is cleared, and the second count value starts to accumulate at this time. For example, the first count threshold is 5, when the first count value is 5, the first count value is cleared, the second count value is accumulated, and the second count value is 1. When the absolute value of the difference between the historical difference and the difference is greater than the second threshold, it is determined whether the second count value is greater than the second count threshold.
  • Step 506 Determine the third exposure value of the current frame of the time-lapse photography according to the second exposure value and the third offset.
  • the absolute value of the historical difference degree and the difference degree difference is greater than the second threshold, indicating that the ambient brightness has changed.
  • the second exposure value and the third offset are used to determine the third exposure value of the current frame of the time-lapse photography.
  • the two can obtain the third exposure value by vector addition.
  • a third offset smaller than the sixth offset is used to increase the convergence speed of the third exposure value close to the first exposure value, while ensuring stable brightness.
  • Step 507 Determine a sixth offset according to the third offset and the change in the first exposure value between two adjacent frames previously determined by the automatic exposure algorithm, and according to the second exposure value and The sixth offset determines the third exposure value of the current frame of time-lapse photography; and, the absolute value of the sixth offset and the absolute value of the third offset and the absolute value of the change There is a positive correlation, and the absolute value of the sixth offset is greater than the absolute value of the third offset.
  • the absolute value of the historical difference degree and the difference degree difference is greater than the second threshold, it indicates that the ambient brightness has changed.
  • the degree of difference continues to be greater than the first threshold (the second count value is greater than the second count threshold)
  • the ambient brightness continues to change (the scene shown in FIG. 1B), and the third exposure value continues to deviate from the first exposure value, and the deviation time is longer. At this time, it is necessary to compensate the exposure amount that the ambient brightness decreases or rises.
  • the sixth offset is determined according to the third offset and the change in the first exposure value between two adjacent frames determined before the automatic exposure algorithm.
  • the absolute value of the sixth offset is equal to the sum of the absolute value of the third offset and the absolute value of the variable.
  • the third exposure value is then determined based on the sixth offset and the second exposure value.
  • the two can obtain the third exposure value by adding the vectors, so as to compensate for the exposure of the environment brightness falling or rising when the current screen brightness is dark or bright (the first of two adjacent frames) The amount of change in the exposure value) to increase the speed at which the third exposure value approaches the first exposure value while ensuring smooth brightness.
  • the embodiment of the present invention introduces a second count value for recording the number of times the first count value continues to reach the first count threshold, and when the second count value is greater than the second calculation threshold, the two adjacent
  • the amount of change in the first exposure value between frames compensates for the decrease in exposure or the increase in ambient brightness (the amount of change in the first exposure value of two adjacent frames) to compensate for the speed at which the third exposure value approaches the first exposure value, At the same time to ensure that the brightness is stable.
  • FIG. 6 is a schematic flowchart of a shooting method according to another embodiment of the present invention. As shown in Figure 6, the method includes:
  • Step 601 Determine whether the first count value is less than or equal to the first count threshold; if yes, perform step 602; if not, perform step 603.
  • Step 602 Determine the third exposure value of the current frame of the time-lapse photography according to the second exposure value and the second offset; the absolute value of the second offset is positively related to the first threshold.
  • Step 603 Determine whether the historical difference degree and the absolute value of the difference degree difference are less than or equal to the second threshold; the historical difference degree is the difference degree when the first count value is counted for the first time; if yes, perform step 604, If not, go to step 605.
  • Step 604 Determine the third exposure value of the current frame of the time-lapse photography according to the second exposure value and the third offset, where the third offset is the offset used when determining the exposure value of the previous frame of the time-lapse photography the amount.
  • Step 605 Determine whether the second count value is greater than the second count threshold; wherein, the second count value is the number of times the first count value continues to reach the first count threshold, and the first count value is cleared when the second count value is accumulated; If yes, go to step 607, if no, go to step 606.
  • Step 606 Determine the third exposure value of the current frame of the time-lapse photography according to the second exposure value and the third offset.
  • steps 601 to 606 are similar to steps 501 to 506 in the embodiment shown in FIG. 5, and will not be repeated here in this embodiment.
  • Step 607 Determine whether the degree of difference is greater than a third threshold, and the third threshold is greater than the first threshold; if yes, perform step 608, and if not, perform step 609.
  • Step 608 Determine a sixth offset according to the third offset and the change in the first exposure value between two adjacent frames previously determined by the automatic exposure algorithm, and according to the second exposure value and The sixth offset determines the third exposure value of the current frame of time-lapse photography.
  • the absolute value of the sixth offset is positively related to the absolute value of the third offset and the absolute value of the change, and the absolute value of the sixth offset is greater than the The absolute value of the third offset.
  • the third threshold may be a threshold greater than the first threshold determined according to empirical parameters.
  • the current difference is greater than the third threshold, indicating the brightness The change trend is more obvious (the scene shown in Figure 1A).
  • the third exposure value continues to deviate from the first exposure value, and the degree of deviation becomes larger. At this time, the current picture level is brighter or darker than the current ambient brightness.
  • the amount that is, the offset with a larger absolute value, makes the third exposure value converge faster toward the first exposure value.
  • the sixth offset may be obtained by vector addition of the third offset and the change.
  • the sixth offset may be determined according to the third offset, the change, and the seventh offset, where the absolute value of the seventh offset is positively related to the degree of difference, and the third offset may be The amount, the amount of change, and the seventh offset are obtained by adding the vector to the sixth offset.
  • Step 609 Determine a fifth offset according to the third offset, and determine a third exposure value for the current frame of time-lapse photography according to the second exposure value and the fifth offset; the fifth The absolute value of the offset is positively related to the absolute value of the third offset, and the absolute value of the fifth offset is greater than the absolute value of the third offset.
  • the fifth offset is determined according to the offset used in the previous frame, that is, the third offset.
  • the absolute value of the fifth offset may be greater than the absolute value of the third offset.
  • the second exposure value and the fifth offset are obtained by vector addition to the third exposure value.
  • the photographing method provided in the embodiment of the present invention is based on when the absolute value of the historical difference degree and the difference degree difference is greater than the second threshold, and when it is determined that the degree of difference continues to be greater than the first threshold (the second count value is greater than the second count threshold ), when the current degree of difference suddenly increases and is greater than the third threshold, a larger absolute value is used to make the third exposure value converge faster toward the first exposure value, thereby ensuring the stability of brightness , To ensure that the screen brightness is closer to the true value.
  • a computer-readable storage medium is also provided in an embodiment of the present invention, and the computer-readable storage medium stores program instructions, and the program may include part or all of the steps of the shooting method in the foregoing method embodiments when the program is executed .
  • An embodiment of the present invention provides a computer program.
  • the computer program When the computer program is executed by a computer, it is used to implement the shooting method in any of the above method embodiments.
  • the shooting device 700 of this embodiment may include: a memory 701 and a processor 702; the above memory 701 and the processor 702 are connected by a bus.
  • the memory 701 may include a read-only memory and a random access memory, and provide instructions and data to the processor 702.
  • a portion of the memory 701 may also include non-volatile random access memory.
  • the memory 701 is used to store program codes.
  • the processor 702 calls the program code, and when the program code is executed, it is used to perform the following operations:
  • the photographing device provided in this embodiment may be used to execute the technical solutions of the above method embodiments of the present invention, and its implementation principles and technical effects are similar, and are not described here again.
  • FIG. 8 is a schematic structural diagram of a drone provided by an embodiment of the present invention.
  • the drone 800 of this embodiment includes: a frame 801 and a shooting device 802.
  • the shooting device 802 is fixed to the ⁇ 801.
  • the photographing device 802 may adopt the structure of the embodiment shown in FIG. 7, and accordingly, the technical solutions of the foregoing method embodiments may be executed.
  • the implementation principles and technical effects are similar, and are not described here again.
  • the imaging device 802 is fixed to the rack 801 through the gimbal 803 as an example.
  • the specific manner of fixing the photographing device 802 to the rack 801 is not limited by the present invention.
  • FIG. 8 is only a schematic diagram of the drone, and the specific structure of the drone is not limited by the present invention.

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Abstract

一种拍摄方法、装置及无人机。该方法包括：判断自动曝光算法确定的当前帧的第一曝光值与延时摄影上一帧的第二曝光值的差异程度是否小于或等于预设的第一阈值；若第一曝光值与第二曝光值的差异程度小于或等于第一阈值，则根据第二曝光值和第一偏移量确定延时摄影当前帧的第三曝光值，第一偏移量的绝对值与差异程度正相关，且第一偏移量的绝对值小于差异程度。本发明可以避免所拍摄的视频出现亮度闪烁的问题。

Description

拍摄方法、装置及无人机 技术领域
本发明涉及拍摄技术领域，尤其涉及一种拍摄方法、装置及无人机。
背景技术
延时摄影是数码相机的一个重要功能，原理是每隔一个固定的时间间隔，抽取视频流中的一帧，或获取一次拍照帧，达到用户设定的拍摄时长后，最终将所有帧合起来组成一个具有固定帧率的视频。
现有技术中，延时摄影每帧的曝光参数可以基于用于确定普通视频每帧的曝光参数的自动曝光算法(Auto Exposure，AE)确定。假设AE算法确定的曝光值为BV，延时摄影当前帧使用的曝光参数组合的曝光值为BV'，则确定BV'的方案可以为BV＝BV'，进一步的，可以基于确定的BV'选取延时摄影当前帧的曝光参数。并且，不同于普通视频，延时摄影具有光线变化快的特点。其中，光线变化快是指普通视频的1秒时长对应现实世界的1秒时长，而延时摄影视频的1秒时长，根据用户选择的时间间隔不一样，对应现实世界的时长可以达到几分钟甚至几十分钟。因此，在延时摄影中的相邻帧之间的光线变化速度比普通视频快得多。
但是，现有技术中，存在由于延时摄影中的相邻帧之间的光线变化速度较快，而导致所拍摄的视频出现亮度闪烁的问题。
发明内容
本发明实施例提供一种拍摄方法、装置及无人机，用于解决现有技术中由于延时摄影中的相邻帧之间的光线变化速度较快，而导致所拍摄的视频出现亮度闪烁的问题。
第一方面，本发明实施例提供一种拍摄方法，包括：
判断自动曝光算法确定的当前帧的第一曝光值与延时摄影上一帧的第二曝光值的差异程度是否小于或等于预设的第一阈值；
若所述第一曝光值与所述第二曝光值的差异程度小于或等于所述第一阈 值，则根据所述第二曝光值和第一偏移量确定延时摄影当前帧的第三曝光值，所述第一偏移量的绝对值与所述差异程度正相关，且所述第一偏移量的绝对值小于所述差异程度。
第二方面，本发明实施例提供一种拍摄装置，包括：处理器和存储器；
所述存储器，用于存储程序代码；
所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：
判断自动曝光算法确定的当前帧的第一曝光值与延时摄影上一帧的第二曝光值的差异程度是否小于或等于预设的第一阈值；
若所述第一曝光值与所述第二曝光值的差异程度小于或等于所述第一阈值，则根据所述第二曝光值和第一偏移量确定延时摄影当前帧的第三曝光值，所述第一偏移量的绝对值与所述差异程度正相关，且所述第一偏移量的绝对值小于所述差异程度。
第三方面，本发明实施例提供一种无人机，机架，以及上述第二方面任一项所述的拍摄装置，所述拍摄装置固定于所述机架。
第四方面，本发明实施例提供一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序包含至少一段代码，所述至少一段代码可由计算机执行，以控制所述计算机执行上述第一方面任一项所述的拍摄方法。
第五方面，本发明实施例提供一种计算机程序，当所述计算机程序被计算机执行时，用于实现上述第一方面任一项所述的拍摄方法。
本发明实施例提供的拍摄方法、装置及无人机，通过判断自动曝光算法确定的当前帧的第一曝光值与延时摄影上一帧的第二曝光值的差异程度是否小于或等于预设的第一阈值；若第一曝光值与第二曝光值的差异程度小于或等于第一阈值，说明环境亮度变化较小，此时根据第二曝光值和第一偏移量确定延时摄影当前帧的第三曝光值，第一偏移量的绝对值与差异程度正相关，且第一偏移量的绝对值小于差异程度，使得第三曝光值将会小于第一曝光值，实现了对当前帧与上一帧的曝光量差异的限制，在相邻帧之间的光线变化速度较快的场景下，可以限制所拍摄的当前帧与上一帧的亮度差异，能够保证延时摄影得到的视频亮度变化平稳，从而可以避免所拍摄的视频出现亮度闪 烁的问题。
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1A、图1B为本发明一实施例提供的环境亮度的示意图；
图2为本发明一实施例提供的拍摄方法的流程示意图；
图3为本发明实施例提供的第一曝光值和第二曝光值的关系示意图；
图4为本发明另一实施例提供的拍摄方法的流程示意图；
图5为本发明又一实施例提供的拍摄方法的流程示意图；
图6为本发明又一实施例提供的拍摄方法的流程示意图
图7本发明实施例提供的拍摄装置的一种结构示意图；
图8为本发明实施例提供的无人机的一种结构示意图。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，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、完整地描述，显然，所描述的实施例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作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。
本发明实施例提供的拍摄方法应用于在延时摄影，可以避免由于延时摄影中的相邻帧之间的光线变化速度较快，而导致所拍摄的视频出现亮度闪烁的问题。其中，相邻帧之间的光线变化速度较快的场景，例如可以如图1A和图1B所示，其中图1A为亮度逐渐变亮或逐渐变暗，图1B为亮度忽明忽暗，变化较快。
现有技术中，将根据自动曝光算法(Auto Exposure，AE)确定的曝光值作为延时摄影当前帧的曝光值，然后根据该曝光值确定延时摄影当前帧使用的曝光参数组合，并根据确定的曝光参数组合进行拍摄。在相邻帧之间的光 线变化速度较快的场景下，自动曝光算法所确定的相邻两帧的曝光值相差较大。在采用现有技术中将自动曝光算法确定的曝光值作为延时摄影当前帧的曝光值时，会因为曝光值相差较大，而导致所拍摄的视频出现亮度闪烁的问题。
本发明实施例提供一种拍摄方法，根据自动曝光算法确定的当前帧的第一曝光值与延时摄影上一帧的第二曝光值的差异程度，来确定延时摄影当前帧的第三曝光值，从而使得视频亮度平稳，避免亮度闪烁的问题。
需要说明的是，本发明实施例中，当前帧的曝光值是根据延时摄影前一帧的第二曝光值和偏移量来确定，具体偏移量可以是下述中的第一偏移量、第二偏移量等。
图2为本发明一实施例提供的拍摄方法的流程示意图，本实施例的执行主体可以为拍摄装置，具体可以为拍摄装置的处理器。如图2所示，本实施例的方法可以包括：
步骤201、判断自动曝光算法确定的当前帧的第一曝光值与延时摄影上一帧的第二曝光值的差异程度是否小于或等于预设的第一阈值，若是，则执行步骤202，若否，则执行步骤203。
本步骤中，第一曝光值可通过AE来实现。第一曝光值指的是曝光参数的组合。曝光参数包括快门时间(shutter time)、光圈值(Fnum)和感光度(ISO)。普通视频每帧的曝光参数由AE给出。可选地，通过AE算法得到的第一曝光值可通过如下公式(1)实现：
Figure PCTCN2018118013-appb-000001
其中，N为常量，值可以接近于0.3，BV代表第一曝光值。
本领域技术人员可以理解，自动曝光算法确定的第一曝光值是准确的，反映了当前环境亮度下所需要的曝光值，即达到合适的视频亮度，曝光参数之间的组合关系。需要说明的是，对于自动曝光算法确定当前帧对应的第一曝光值的具体方式，不仅可以通过上述的公式(1)实现，还可以通过其它方式实现，本发明实施例此处不作特别限定。
由于延时摄影的上一帧已经拍摄，因此根据延时摄影上一帧使用的曝光参数组合，可以确定延时摄像上一帧的第二曝光值。第一曝光值和第二曝光值在时间轴上的关系可如图3所示。
在本实施例中，该第一阈值可以为根据经验设定的值，或者，该第一阈值可以根据视频亮度变化的平稳程度确定。例如，该第一阈值可以与视频亮度变化的平稳程度正相关。该第一阈值可以为正值。本实施例对第一阈值的实现方式不做特别限制。可选地，第一阈值的范围为0.15至0.25之间。
可选地，第一曝光值与第二曝光值的差异程度，具体可以为第一曝光值与第二曝光值的差值的绝对值。第一曝光值BV n与第二曝光值TL_BV n-1之差可以记为CurDeltaBV。即，BV n、TL_BV n-1和CurDeltaBV可以满足如下公式(2)。
CurDeltaBV＝BV n-TL_BV n-1   公式(2)
进一步的，可以判断|CurDeltaBV|是否小于或等于第一阈值(可以记为BV_TH_1)，若该差值小于第一阈值，则执行步骤202，若该差值大于第一阈值，则执行步骤203。
步骤202、根据所述第二曝光值和第一偏移量确定延时摄影当前帧的第三曝光值，所述第一偏移量的绝对值与所述差异程度正相关，且所述第一偏移量的绝对值小于所述差异程度。
本步骤中，若第一曝光值与第二曝光值的差异程度小于或等于第一阈值，说明环境亮度变化较小，此时为了保证视频亮度平稳，可以使延时摄影当前帧的第三曝光值以较小的收敛速度向第一曝光值收敛。
在本实施例中，引入第一偏移量，该第一偏移量的绝对值与该差异程度正相关，且第一偏移量的绝对值小于差异程度。该第一偏移量可以在满足上述要求的情况下，根据经验值进行设定。可选地，该第一偏移量还可以根据差异程度和差异因子来确定，例如可以根据差异程度和差异因子进行各种数学变换，来得到该第一偏移量。例如，可以通过差异程度与差异因子的比值，来确定第一偏移量，此时，该差异因子为大于1的数，具体可参见公式(3)所示：
UsedDelBVT1＝CurDeltaBV/SpeedFactor   公式(3)
其中，UsedDelBVT1为第一偏移量，SpeedFactor为差异因子。
可选的，差异因子的范围为5至7之间，例如差异因子可以等于6。
在根据第二曝光值和第一偏移量确定第三曝光值时，可以通过第一偏移量对该第二曝光值进行修正，得到第三曝光值，即使第三曝光值朝向第一曝光值收敛。
第二曝光值和第一偏移量可以通过各种数学运算，得到第三曝光值。例如，在第二曝光值和第一偏移量均为矢量时，将二者相加可以得到第三曝光值，具体可参见公式(4)所示。
TL_BV n＝UsedDelBVT1+TL_BV n-1   公式(4)
其中，TL_BV n为延时摄影当前帧的第三曝光值，UsedDelBVT1为第一偏移量，TL_BV n-1为第二曝光值。由此，得到的第三曝光值与第二曝光值的差距较小，即相对于现有技术而言，本实施例能够使得视频亮度变换平稳。
步骤203、根据第一计数值，确定延时摄影当前帧的第三曝光值，其中，所述第一计数值用于表示截止当前拍摄所述差异程度持续大于所述第一阈值的次数。
本步骤中，若第一曝光值与第二曝光值的差异程度大于第一阈值，则说明环境亮度变化相对较快，因此，根据该第一计数值来获取亮度变化的趋势，根据第一计数值的大小来调整偏移量的绝对值。例如，第一计数值在逐渐增大的过程中，说明亮度在持续变亮或变暗，此时可以逐渐增大偏移量的绝对值，使得第三曝光值以较快速度朝向第一曝光值收敛，以保证当前画面亮度的真实性的同时，保证亮度稳定。
本申请实施例提供的拍摄方法，通过判断自动曝光算法确定的当前帧的第一曝光值与延时摄影上一帧的第二曝光值的差异程度是否小于或等于预设的第一阈值；若第一曝光值与第二曝光值的差异程度小于或等于第一阈值，说明环境亮度变化较小，此时根据第二曝光值和第一偏移量确定延时摄影当前帧的第三曝光值，第一偏移量的绝对值与差异程度正相关，且第一偏移量的绝对值小于差异程度，使得第三曝光值以较小速度趋近第一曝光值，实现了对当前帧与上一帧的曝光量差异的限制，在相邻帧之间的光线变化速度较快的场景下，可以限制所拍摄的当前帧与上一帧的亮度差异，能够保证延时摄影得到的视频亮度变化平稳，从而可以避免所拍摄的视频出现亮度闪烁的问题。
图4为本发明另一实施例提供的拍摄方法的流程示意图，本实施例在上述图2实施例的基础上，对根据第一计算值确定第三曝光值的具体实现方式进行详细说明。如图4所示，该方法包括：
步骤401、判断第一计数值是否小于或等于第一计数阈值，若是，则执 行步骤402，若否，则执行步骤403。
本步骤中，所述第一计数值用于表示截止当前拍摄差异程度持续大于所述第一阈值的次数。
第一计数阈值的设定可以根据经验参数来确定，例如，可以根据环境亮度变化趋势来确定，本实施例对第一计数阈值的设定方式不做特别限制。
在具体实现过程中，当该差异程度大于第一阈值时，则确定差异程度持续大于第一阈值的次数。即延时摄影当前帧之前的帧对应的差异程度持续大于第一阈值的次数。例如，当前帧为第6帧图像，该当前帧之前存在5帧图像，第1帧对应的差异程度大于第一阈值，第2帧对应的差异程度小于第一阈值，第3帧对应的差异程度小于第一阈值，第4帧对应的差异程度大于第一阈值，第5帧对应的差异程度大于第一阈值，则第一计数值为2。对于其它的示例，本实施例此处不再赘述。
当第一计数值小于或等于第一计数阈值时，说明环境亮度虽然变化较大，但还没有持续的趋势(对应上述的图1B所示场景，或者上述的图1A所示场景的初始时间)，因此采用相对较小的偏移量，保证亮度平稳，可执行步骤402。当第一计数值大于第一计数阈值时，说明环境亮度变化较大，同时还形成了持续的趋势，因此可采用较大的偏移量，更快速的使第三曝光值向第一曝光值收敛，从而使视频亮度靠近真实环境亮度，可执行步骤403。
可选的，第一计数阈值可以根据延时摄影的拍摄时间间隔得到，具体地，可以与延时摄影的拍摄时间间隔成反比。进一步的，第一计数阈值可以通过曝光调整积累时间与延时摄影的拍摄时间间隔之商获得，其中曝光调整积累时间根据经验获得，表征在现实世界中经过多长时间积累后现有的曝光值收敛速度无法补偿环境亮度变化带来的曝光值的改变。其中，当延时摄影的拍摄时间间隔为1s、2s、3s……45s、60s时，曝光调整积累时间可以设置为60s。
步骤402、根据所述第二曝光值和第二偏移量确定延时摄影当前帧的第三曝光值；所述第二偏移量的绝对值与所述第一阈值正相关。
本步骤中，当第一计数值小于或等于第一计数阈值时，考虑环境亮度变化较大，但还未形成持续的趋势，因此，为了使当前画面亮度更快靠近真实环境亮度，且避免视频出现亮度闪烁的问题，则采用第二偏移量对第二曝光值进行修正。
可选的，所述第二偏移量可以等于所述第一阈值与所述差异因子之商。具体地，由上述实施例可知，第一阈值与差异因子之商，大于差异程度与差异因子之商，因此第一偏移量小于第二偏移量，从而使得第三曝光值以大于步骤202的速度趋近第一曝光值。
根据第二曝光值和第二偏移量确定第三曝光值的实现方式，与根据第二曝光值和第一偏移量确定第三曝光值的实现方式类似，本实施例此处不再赘述。
步骤403、判断历史差异程度与所述差异程度差值的绝对值是否小于或等于第二阈值；所述历史差异程度为所述第一计数值首次计数时的差异程度，若是，则执行步骤404，若否，则执行步骤405。
本步骤中，当第一计数值大于第一计数阈值时，判断历史差异程度与差异程度差值的绝对值是否小于或等于第二阈值。该历史差异程度为第一计数值首次计数时对应的差异程度。以上述当前帧为第6帧图像，第一计数阈值是1为例，则历史差异程度为第4帧对应的差异程度。
第二阈值可以为根据经验值设定的阈值。可选地，第二阈值可以等于0。当该差值大于第二阈值时，说明当前帧的曝光值与历史帧的曝光值的差距在拉大，执行步骤405，当该差值小于第二阈值时，说明当前帧的曝光值与历史帧的曝光值的差距没有拉大，执行步骤404。
步骤404、根据所述第二曝光值和第三偏移量确定延时摄影当前帧的第三曝光值，所述第三偏移量为确定延时摄影上一帧曝光值时使用的偏移量。
本步骤中，由于当前帧的曝光值与历史帧的曝光值的差距没有拉大，则将确定延时摄影上一帧曝光值时使用的偏移量作为第三偏移量，根据第二曝光值和第三偏移量确定第三曝光值，具体的确定方式与第二曝光值与第一偏移量确定第三曝光值的确定方式类似，本实施例此处不再赘述。
可选地，在根据第二曝光值和第三偏移量确定第三曝光值时，还可以判断该差异程度是否小于预设的第三阈值，第三阈值大于第一阈值。进一步可选地，第三阈值的范围为0.55至0.65之间。
若差异程度大于第三阈值，则直接根据第二曝光值和第三偏移量来确定第三曝光值。即在当前画面亮度偏暗或偏亮的情况下，保持较大的偏移量，使得第三曝光值接近第一曝光值的收敛速度变快。
若差异程度小于所述第三阈值，则根据第三偏移量确定第四偏移量，并根据第二曝光值和第四偏移量确定延时摄影当前帧的第三曝光值；第四偏移量的绝对值与第三偏移量的绝对值正相关，且第四偏移量的绝对值小于第三偏移量的绝对值。
其中，第三阈值可以为根据经验参数确定的大于第一阈值的阈值。当差异程度小于第三阈值时，则采用比第三偏移量稍小的第四偏移量，可以根据第三偏移量确定第四偏移量，例如，第四偏移量的绝对值等于第三偏移量的绝对值与0.01之差。然后，根据第二曝光值和第四偏移量确定延时摄影当前帧的第三曝光值，具体实现方式与根据第二曝光值和第一偏移量确定延时摄影当前帧的第一曝光值的实现方式类似，本实施例此处不再赘述。通过第四偏移量的绝对值小于第三偏移量的绝对值，使得第三曝光值接近第一曝光值的收敛速度变慢，保证亮度平稳。
步骤405、根据所述第三偏移量确定第五偏移量，并根据所述第二曝光值和所述第五偏移量确定延时摄影当前帧的第三曝光值；所述第五偏移量的绝对值与所述第三偏移量的绝对值正相关，且所述第五偏移量的绝对值大于所述第三偏移量的绝对值。
本步骤中，由于当前帧的曝光值与历史帧的曝光值的差距在拉大，因此需要增加偏移量的绝对值，使得第三曝光值接近第一曝光值的收敛速度变快，同时保证亮度平稳。
因此，根据第三偏移量确定第五偏移量，使得第五偏移量的绝对值大于第三偏移量的绝对值，例如，可将第三偏移量的绝对值与预设正值进行相加，得到第五偏移量。可选地，第五偏移量的绝对值等于所述第三偏移量的绝对值与0.01之和。
本申请实施例提供的拍摄方法，在差异程度大于第一阈值时，通过截止当前拍摄差异程度持续大于所述第一阈值的次数，在环境亮度变化较大时，在形成亮度变化趋势时，通过与历史差异程度的比较结果，对确定延时摄影上一帧曝光值时使用的偏移量的绝对值进行增大或减小处理，以控制第三曝光值朝第一曝光值收敛的速度加快或减慢，以保证延时摄影得到的视频亮度变化平稳，从而可以避免所拍摄的视频出现亮度闪烁的问题。
图5为本发明又一实施例提供的拍摄方法的流程示意图。本实施例在图 4实施例的基础上，对历史差异程度与差异程度差值的绝对值大于第二阈值的情况进行详细说明。如图5所示，该方法包括：
步骤501、判断第一计数值是否小于或等于第一计数阈值；若是，执行步骤502，若否，执行步骤503；
步骤502、根据所述第二曝光值和第二偏移量确定延时摄影当前帧的第三曝光值；所述第二偏移量的绝对值与所述第一阈值正相关。
步骤503、判断历史差异程度与所述差异程度差值的绝对值是否小于或等于第二阈值；所述历史差异程度为所述第一计数值首次计数时的差异程度；若是，执行步骤504，若否，执行步骤505。
步骤504、根据所述第二曝光值和第三偏移量确定延时摄影当前帧的第三曝光值，所述第三偏移量为确定延时摄影上一帧曝光值时使用的偏移量。
其中，步骤501至步骤504与图4所示实施例中的步骤401至步骤404类似，本实施例此处不再赘述。
步骤505、判断第二计数值是否大于第二计数阈值；其中，第二计数值为第一计数值持续达到第一计数阈值的次数，且第一计数值在第二计数值累加时清零；若是，执行步骤507，若否，则执行步骤506。
本步骤中，引入第二计数值，该第二计算值是用于记录第一计数值持续达到第一计数阈值的次数。具体地，当第一计数值达到第一计数阈值时，则第一计数值清零，此时第二计数值开始累加。例如，第一计数阈值为5，当第一计数值为5时，对第一计数值进行清零，对第二计数值进行累加，第二计数值为1。当历史差异程度与该差异程度的差值的绝对值大于第二阈值时，则判断第二计数值是否大于第二计数阈值。
步骤506、根据所述第二曝光值和所述第三偏移量确定延时摄影当前帧的第三曝光值。
本步骤中，在历史差异程度与差异程度差值的绝对值大于第二阈值，说明环境亮度发生变化，当第二计数值不大于第二计数阈值时，说明这种变化还没有形成较强的趋势(图1B所示场景)，因此采用第二曝光值和第三偏移量(上一帧的偏移量)确定延时摄影当前帧的第三曝光值。例如，二者可以通过矢量相加的方式来获取第三曝光值。采用比第六偏移量小的第三偏移量来增加第三曝光值接近第一曝光值的收敛速度，同时保证亮度平稳。
步骤507、根据所述第三偏移量和所述自动曝光算法之前确定的相邻两帧间的第一曝光值的变化量，确定第六偏移量，并根据所述第二曝光值和所述第六偏移量确定延时摄影当前帧的第三曝光值；并且，所述第六偏移量的绝对值与所述第三偏移量的绝对值和所述变化量的绝对值正相关，且所述第六偏移量的绝对值大于所述第三偏移量的绝对值。
本步骤中，在历史差异程度与差异程度差值的绝对值大于第二阈值，说明环境亮度发生变化，在该差异程度持续大于第一阈值时(第二计数值大于第二计数阈值)，说明环境亮度在持续变化(图1B所示场景)，而该第三曝光值在持续偏离第一曝光值，且偏离时间较长，此时需要补偿环境亮度下降或上升的曝光量。
因此，根据第三偏移量和自动曝光算法之前确定的相邻两帧间的第一曝光值的变化量，确定第六偏移量。例如，第六偏移量的绝对值等于第三偏移量的绝对值与该变量量的绝对值之和。然后根据第六偏移量和第二曝光值确定第三曝光值。例如，二者可以通过矢量相加的方式来获取第三曝光值，从而在当前画面亮度偏暗或偏亮的情况下，补偿环境亮度下降或上升的曝光量(相邻两帧件的第一曝光值的变化量)，来提高第三曝光值接近第一曝光值的速度，同时保证亮度平稳。
本发明实施例通过引入用于记录第一计数值持续达到第一计数阈值的次数的第二计数值，并在第二计数值大于第二计算阈值时，通过自动曝光算法之前确定的相邻两帧间的第一曝光值的变化量，补偿环境亮度下降或上升的曝光量(相邻两帧件的第一曝光值的变化量)，来补偿第三曝光值接近第一曝光值的速度，同时保证亮度平稳。
图6为本发明又一实施例提供的拍摄方法的流程示意图。如图6所示，该方法包括：
步骤601、判断第一计数值是否小于或等于第一计数阈值；若是，执行步骤602，若否，执行步骤603。
步骤602、根据所述第二曝光值和第二偏移量确定延时摄影当前帧的第三曝光值；所述第二偏移量的绝对值与所述第一阈值正相关。
步骤603、判断历史差异程度与所述差异程度差值的绝对值是否小于或等于第二阈值；所述历史差异程度为所述第一计数值首次计数时的差异程度； 若是，执行步骤604，若否，执行步骤605。
步骤604、根据所述第二曝光值和第三偏移量确定延时摄影当前帧的第三曝光值，所述第三偏移量为确定延时摄影上一帧曝光值时使用的偏移量。
步骤605、判断第二计数值是否大于第二计数阈值；其中，第二计数值为第一计数值持续达到第一计数阈值的次数，且第一计数值在第二计数值累加时清零；若是，执行步骤607，若否，则执行步骤606。
步骤606、根据所述第二曝光值和所述第三偏移量确定延时摄影当前帧的第三曝光值。
其中，步骤601至步骤606与图5所示实施例中的步骤501至步骤506类似，本实施例此处不再赘述。
步骤607、判断所述差异程度是否大于第三阈值，所述第三阈值大于所述第一阈值；若是，则执行步骤608，若否，则执行步骤609。
步骤608、根据所述第三偏移量和所述自动曝光算法之前确定的相邻两帧间的第一曝光值的变化量，确定第六偏移量，并根据所述第二曝光值和所述第六偏移量确定延时摄影当前帧的第三曝光值。
本步骤中，所述第六偏移量的绝对值与所述第三偏移量的绝对值和所述变化量的绝对值正相关，且所述第六偏移量的绝对值大于所述第三偏移量的绝对值。
其中，第三阈值可以为根据经验参数确定的大于第一阈值的阈值。
在历史差异程度与差异程度差值的绝对值大于第二阈值，且该差异程度持续大于第一阈值时(第二计数值大于第二计数阈值)，在当前差异程度大于第三阈值，说明亮度变化趋势较为明显(图1A所示场景)，第三曝光值在持续偏离第一曝光值，且偏离程度变大，此时，当前画面程度相对于当前环境亮度偏亮或偏暗，可以结合自动曝光算法之前确定的相邻两帧间的第一曝光值的变化量，来补偿环境亮度上升或下降的曝光量，同时该变化量结合上一帧所使用的偏移量，确定第六偏移量，即采用绝对值较大的偏移量，使得第三曝光值朝第一曝光值的收敛速度变快。
例如，可以第三偏移量与该变化量通过矢量相加的方式获取第六偏移量。再或者还可以根据第三偏移量、该变化量和第七偏移量，确定第六偏移量，其中，该第七偏移量的绝对值与差异程度正相关，可以第三偏移量、该变化 量和第七偏移量通过矢量相加的方式获取第六偏移量。
步骤609、根据所述第三偏移量确定第五偏移量，并根据所述第二曝光值和所述第五偏移量确定延时摄影当前帧的第三曝光值；所述第五偏移量的绝对值与所述第三偏移量的绝对值正相关，且所述第五偏移量的绝对值大于所述第三偏移量的绝对值。
本步骤中，在历史差异程度与差异程度差值的绝对值大于第二阈值，且该差异程度持续大于第一阈值时(第二计数值大于第二计数阈值)，在当前差异程度小于第三阈值，说明第三曝光值在持续偏离第一曝光值，但偏离程度在可接受的范围内，因此根据上一帧所使用的偏移量，即第三偏移量确定第五偏移量，该第五偏移量的绝对值大于第三偏移量的绝度值即可。可选地，第二曝光值和第五偏移量通过矢量相加的方式得到第三曝光值。
本发明实施例提供的拍摄方法，通过在历史差异程度与差异程度差值的绝对值大于第二阈值时，且在确定该差异程度持续大于第一阈值时(第二计数值大于第二计数阈值)，在当前差异程度突然增大，大于第三阈值时，采用绝对值较大的偏移量，使得第三曝光值朝第一曝光值的收敛速度变快，从而在保证亮度稳定的前提下，保证画面亮度更接近真实值。
本发明实施例中还提供了一种计算机可读存储介质，该计算机可读存储介质中存储有程序指令，所述程序执行时可包括如上述各方法实施例中的拍摄方法的部分或全部步骤。
本发明实施例提供一种计算机程序，当所述计算机程序被计算机执行时，用于实现上述任一方法实施例中的拍摄方法。
图7本发明实施例提供的拍摄装置的一种结构示意图，如图7所示，本实施例的拍摄装置700可以包括：存储器701和处理器702；上述存储器701和处理器702通过总线连接。存储器701可以包括只读存储器和随机存取存储器，并向处理器702提供指令和数据。存储器701的一部分还可以包括非易失性随机存取存储器。
所述存储器701，用于存储程序代码。
所述处理器702，调用所述程序代码，当程序代码被执行时，用于执行以下操作：
本实施例提供的拍摄装置，可以用于执行本发明上述方法实施例的技术 方案，其实现原理和技术效果类似，此处不再赘述。
图8为本发明实施例提供的无人机的一种结构示意图，如图8所示，本实施例的无人机800包括：机架801和拍摄装置802，所述拍摄装置802固定于所述机架801。其中，拍摄装置802可以采用图7所示实施例的结构，其相应地，可以执行上述各方法实施例的技术方案，其实现原理和技术效果类似，此处不再赘述。
需要说明的是，图8中以拍摄装置802通过云台803固定于机架801为例。对于拍摄装置802固定于机架801的具体方式，本发明不作限定。
需要说明的是，图8所示的无人机仅为无人机的示意图，对于无人机的具体结构，本发明不作限定。
本领域普通技术人员可以理解：实现上述各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，执行包括上述各方法实施例的步骤；而前述的存储介质包括：ROM、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 (37)

  1. 一种拍摄方法，其特征在于，包括：
    判断自动曝光算法确定的当前帧的第一曝光值与延时摄影上一帧的第二曝光值的差异程度是否小于或等于预设的第一阈值；
    若所述第一曝光值与所述第二曝光值的差异程度小于或等于所述第一阈值，则根据所述第二曝光值和第一偏移量确定延时摄影当前帧的第三曝光值，所述第一偏移量的绝对值与所述差异程度正相关，且所述第一偏移量的绝对值小于所述差异程度。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    若所述第一曝光值与所述第二曝光值的差异程度大于所述第一阈值，则判断第一计数值是否小于或等于第一计数阈值；所述第一计数值用于表示截止当前拍摄所述差异程度持续大于所述第一阈值的次数；
    若所述第一计数值小于或等于所述第一计数阈值，则根据所述第二曝光值和第二偏移量确定延时摄影当前帧的第三曝光值；所述第二偏移量的绝对值与所述第一阈值正相关。
  3. 根据权利要求2所述的方法，其特征在于，所述方法还包括：
    若所述第一计数值大于所述第一计数阈值，则判断历史差异程度与所述差异程度差值的绝对值是否小于或等于第二阈值；所述历史差异程度为所述第一计数值首次计数时的差异程度；
    若所述历史差异程度与所述差异程度差值的绝对值小于或等于所述第二阈值，则根据所述第二曝光值和第三偏移量确定延时摄影当前帧的第三曝光值，所述第三偏移量为确定延时摄影上一帧曝光值时使用的偏移量。
  4. 根据权利要求3所述的方法，其特征在于，所述根据所述第二曝光值和第三偏移量确定延时摄影当前帧的第三曝光值包括：
    判断所述差异程度是否小于预设的第三阈值，所述第三阈值大于所述第一阈值；
    若所述差异程度小于所述第三阈值，则根据所述第三偏移量确定第四偏移量，并根据所述第二曝光值和所述第四偏移量确定延时摄影当前帧的第三曝光值；所述第四偏移量的绝对值与所述第三偏移量的绝对值正相关，且所述第四偏移量的绝对值小于所述第三偏移量的绝对值。
  5. 根据权利要求4所述的方法，其特征在于，所述根据所述第三偏移量确定第四偏移量，包括：
    所述第四偏移量的绝对值等于所述第三偏移量的绝对值与0.01之差。
  6. 根据权利要求3-5任一项所述的方法，其特征在于，所述方法还包括：
    若所述历史差异程度与所述差异程度差值的绝对值大于所述第二阈值，则根据所述第三偏移量确定第五偏移量，并根据所述第二曝光值和所述第五偏移量确定延时摄影当前帧的第三曝光值；所述第五偏移量的绝对值与所述第三偏移量的绝对值正相关，且所述第五偏移量的绝对值大于所述第三偏移量的绝对值。
  7. 根据权利要求6所述的方法，其特征在于，所述根据所述第三偏移量确定第五偏移量，包括：
    所述第五偏移量的绝对值等于所述第三偏移量的绝对值与0.01之和。
  8. 根据权利要求3-5任一项所述的方法，其特征在于，所述方法还包括：
    若所述历史差异程度与所述差异程度差值的绝对值大于所述第二阈值，则判断第二计数值是否大于第二计数阈值；其中，所述第二计数值为所述第一计数值持续达到所述第一计数阈值的次数，且所述第一计数值在所述第二计数值累加时清零；
    若所述第二计数值小于所述第二计数阈值，则根据所述第二曝光值和所述第三偏移量确定延时摄影当前帧的第三曝光值。
  9. 根据权利要求8所述的方法，其特征在于，所述方法还包括：
    若所述第二计数值大于或等于所述第二计数阈值，则根据所述第三偏移量和所述自动曝光算法之前确定的相邻两帧间的第一曝光值的变化量，确定第六偏移量，并根据所述第二曝光值和所述第六偏移量确定延时摄影当前帧的第三曝光值；并且，所述第六偏移量的绝对值与所述第三偏移量的绝对值和所述变化量的绝对值正相关，且所述第六偏移量的绝对值大于所述第三偏移量的绝对值。
  10. 根据权利要求8所述的方法，其特征在于，所述方法还包括：
    若所述第二计数值大于或等于所述第二计数阈值，则判断所述差异程度是否大于第三阈值，所述第三阈值大于所述第一阈值；
    若所述差异程度小于所述第三阈值，则根据所述第三偏移量确定第五偏 移量，并根据所述第二曝光值和所述第五偏移量确定延时摄影当前帧的第三曝光值；所述第五偏移量的绝对值与所述第三偏移量的绝对值正相关，且所述第五偏移量的绝对值大于所述第三偏移量的绝对值。
  11. 根据权利要求10所述的方法，其特征在于，所述方法还包括：
    若所述差异程度大于或等于所述第三阈值，则根据所述第三偏移量和所述自动曝光算法之前确定的相邻两帧间的第一曝光值的变化量，确定第六偏移量，并根据所述第二曝光值和所述第六偏移量确定延时摄影当前帧的第三曝光值；并且，所述第六偏移量的绝对值与所述第三偏移量的绝对值和所述变化量的绝对值正相关，且所述第六偏移量的绝对值大于所述第三偏移量的绝对值。
  12. 根据权利要求9或11所述的方法，其特征在于，所述根据所述第三偏移量和所述自动曝光算法之前确定的相邻两帧间的第一曝光值的变化量，确定第六偏移量，包括：
    根据所述第三偏移量、所述变化量和第七偏移量，确定所述第六偏移量；所述第七偏移量的绝对值与所述差异程度正相关。
  13. 根据权利要求12所述的方法，其特征在于，所述第七偏移量的绝对值等于所述差异程度。
  14. 根据权利要求4、5、10、11任一项所述的方法，其特征在于，所述第三阈值的范围为0.55至0.65之间。
  15. 根据权利要求1-14任一项所述的方法，其特征在于，所述第一阈值的范围为0.15至0.25之间。
  16. 根据权利要求1-15任一项所述的方法，其特征在于，所述第一偏移量等于所述差异程度与差异因子的比值，所述差异因子为大于1的数。
  17. 根据权利要求16所述的方法，其特征在于，所述差异因子的范围为5至7之间。
  18. 一种拍摄装置，其特征在于，包括：处理器和存储器；
    所述存储器，用于存储程序代码；
    所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：
    判断自动曝光算法确定的当前帧的第一曝光值与延时摄影上一帧的第二 曝光值的差异程度是否小于或等于预设的第一阈值；
    若所述第一曝光值与所述第二曝光值的差异程度小于或等于所述第一阈值，则根据所述第二曝光值和第一偏移量确定延时摄影当前帧的第三曝光值，所述第一偏移量的绝对值与所述差异程度正相关，且所述第一偏移量的绝对值小于所述差异程度。
  19. 根据权利要求18所述的装置，其特征在于，所述处理器，还用于：
    若所述第一曝光值与所述第二曝光值的差异程度大于所述第一阈值，则判断第一计数值是否小于或等于第一计数阈值；所述第一计数值用于表示截止当前拍摄所述差异程度持续大于所述第一阈值的次数；
    若所述第一计数值小于或等于所述第一计数阈值，则根据所述第二曝光值和第二偏移量确定延时摄影当前帧的第三曝光值；所述第二偏移量的绝对值与所述第一阈值正相关。
  20. 根据权利要求19所述的装置，其特征在于，所述处理器还用于：
    若所述第一计数值大于所述第一计数阈值，则判断历史差异程度与所述差异程度差值的绝对值是否小于或等于第二阈值；所述历史差异程度为所述第一计数值首次计数时的差异程度；
    若所述历史差异程度与所述差异程度差值的绝对值小于或等于所述第二阈值，则根据所述第二曝光值和第三偏移量确定延时摄影当前帧的第三曝光值，所述第三偏移量为确定延时摄影上一帧曝光值时使用的偏移量。
  21. 根据权利要求20所述的装置，其特征在于，所述处理器用于根据所述第二曝光值和第三偏移量确定延时摄影当前帧的第三曝光值，具体包括：
    判断所述差异程度是否小于预设的第三阈值，所述第三阈值大于所述第一阈值；
    若所述差异程度小于所述第三阈值，则根据所述第三偏移量确定第四偏移量，并根据所述第二曝光值和所述第四偏移量确定延时摄影当前帧的第三曝光值；所述第四偏移量的绝对值与所述第三偏移量的绝对值正相关，且所述第四偏移量的绝对值小于所述第三偏移量的绝对值。
  22. 根据权利要求21所述的装置，其特征在于，所述处理器用于根据所述第三偏移量确定第四偏移量，具体包括：
    所述第四偏移量的绝对值等于所述第三偏移量的绝对值与0.01之差。
  23. 根据权利要求20-22任一项所述的装置，其特征在于，所述处理器还用于：
    若所述历史差异程度与所述差异程度差值的绝对值大于所述第二阈值，则根据所述第三偏移量确定第五偏移量，并根据所述第二曝光值和所述第五偏移量确定延时摄影当前帧的第三曝光值；所述第五偏移量的绝对值与所述第三偏移量的绝对值正相关，且所述第五偏移量的绝对值大于所述第三偏移量的绝对值。
  24. 根据权利要求23所述的装置，其特征在于，所述处理器用于根据所述第三偏移量确定第五偏移量，具体包括：
    所述第五偏移量的绝对值等于所述第三偏移量的绝对值与0.01之和。
  25. 根据权利要求20-22任一项所述的装置，其特征在于，所述处理器还用于：
    若所述历史差异程度与所述差异程度差值的绝对值大于所述第二阈值，则判断第二计数值是否大于第二计数阈值；其中，所述第二计数值为所述第一计数值持续达到所述第一计数阈值的次数，且所述第一计数值在所述第二计数值累加时清零；
    若所述第二计数值小于所述第二计数阈值，则根据所述第二曝光值和所述第三偏移量确定延时摄影当前帧的第三曝光值。
  26. 根据权利要求25所述的装置，其特征在于，所述处理器还用于：
    若所述第二计数值大于或等于所述第二计数阈值，则根据所述第三偏移量和所述自动曝光算法之前确定的相邻两帧间的第一曝光值的变化量，确定第六偏移量，并根据所述第二曝光值和所述第六偏移量确定延时摄影当前帧的第三曝光值；并且，所述第六偏移量的绝对值与所述第三偏移量的绝对值和所述变化量的绝对值正相关，且所述第六偏移量的绝对值大于所述第三偏移量的绝对值。
  27. 根据权利要求25所述的装置，其特征在于，所述处理器还用于：
    若所述第二计数值大于或等于所述第二计数阈值，则判断所述差异程度是否大于第三阈值，所述第三阈值大于所述第一阈值；
    若所述差异程度小于所述第三阈值，则根据所述第三偏移量确定第五偏移量，并根据所述第二曝光值和所述第五偏移量确定延时摄影当前帧的第三 曝光值；所述第五偏移量的绝对值与所述第三偏移量的绝对值正相关，且所述第五偏移量的绝对值大于所述第三偏移量的绝对值。
  28. 根据权利要求27所述的装置，其特征在于，所述处理器还用于：
    若所述差异程度大于或等于所述第三阈值，则根据所述第三偏移量和所述自动曝光算法之前确定的相邻两帧间的第一曝光值的变化量，确定第六偏移量，并根据所述第二曝光值和所述第六偏移量确定延时摄影当前帧的第三曝光值；并且，所述第六偏移量的绝对值与所述第三偏移量的绝对值和所述变化量的绝对值正相关，且所述第六偏移量的绝对值大于所述第三偏移量的绝对值。
  29. 根据权利要求26或28所述的装置，其特征在于，所述处理器用于根据所述第三偏移量和所述自动曝光算法之前确定的相邻两帧间的第一曝光值的变化量，确定第六偏移量，具体包括：
    根据所述第三偏移量、所述变化量和第七偏移量，确定所述第六偏移量；所述第七偏移量的绝对值与所述差异程度正相关。
  30. 根据权利要求29所述的装置，其特征在于，所述第七偏移量的绝对值等于所述差异程度。
  31. 根据权利要求21、22、27、28任一项所述的装置，其特征在于，所述第三阈值的范围为0.55至0.65之间。
  32. 根据权利要求18-31任一项所述的装置，其特征在于，所述第一阈值的范围为0.15至0.25之间。
  33. 根据权利要求18-32任一项所述的装置，其特征在于，所述第一偏移量等于所述差异程度与差异因子的比值，所述差异因子为大于1的数。
  34. 根据权利要求33所述的装置，其特征在于，所述差异因子的范围为5至7之间。
  35. 一种无人机，其特征在于，包括机架，以及权利要求18-34任一项所述的拍摄装置，所述拍摄装置固定于所述机架。
  36. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序包含至少一段代码，所述至少一段代码可由计算机执行，以控制所述计算机执行如权利要求1-17任一项所述的拍摄方法。
  37. 一种计算机程序，其特征在于，当所述计算机程序被计算机执行时，用于实现如权利要求1-17任一项所述的拍摄方法。
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