WO2020107291A1 - 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
WO2020107291A1
WO2020107291A1 PCT/CN2018/118023 CN2018118023W WO2020107291A1 WO 2020107291 A1 WO2020107291 A1 WO 2020107291A1 CN 2018118023 W CN2018118023 W CN 2018118023W WO 2020107291 A1 WO2020107291 A1 WO 2020107291A1
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Prior art keywords
exposure
brightness
value
pixel
histogram
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PCT/CN2018/118023
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English (en)
French (fr)
Inventor
俞利富
王浩伟
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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/CN2018/118023 priority Critical patent/WO2020107291A1/zh
Priority to CN201880072753.XA priority patent/CN111357276A/zh
Publication of WO2020107291A1 publication Critical patent/WO2020107291A1/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
    • H04N23/741—Circuitry for compensating brightness variation in the scene by increasing the dynamic range of the image compared to the dynamic range of the electronic image sensors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • 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
    • 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
    • H04N23/76—Circuitry for compensating brightness variation in the scene by influencing the image signals

Definitions

  • the present invention relates to the field of shooting technology, and in particular, to a shooting method, device, and drone.
  • Exposure Value can represent a combination of all exposure parameters that can give the same exposure.
  • the exposure parameters may include aperture, shutter, and sensitivity.
  • the exposure value is first determined by the automatic exposure algorithm, and the exposure value used for shooting is determined according to the difference between the exposure value determined by the automatic exposure algorithm and the calibrated exposure value corresponding to a specific reflectance, And determine the exposure parameter combination according to the determined exposure value used for shooting.
  • the exposure value determined by the automatic exposure algorithm is lower than the calibration exposure value, the exposure value used for shooting is increased; when the exposure value determined by the automatic exposure algorithm is higher than the calibration exposure value, the exposure value used for shooting is reduced. It can be seen that the accuracy of the exposure value determined by the automatic exposure algorithm determines whether the final exposure is reasonable.
  • the light metering area has a narrow dynamic range and the difference between the emissivity and the specific reflectance is large, there is a problem that the exposure value determined by the automatic exposure algorithm is inaccurate.
  • Embodiments of the present invention provide a photographing method, device, and drone, to solve the problem in the prior art that when the light metering area has a narrow dynamic range and the reflectance differs from the specific reflectance by a large amount, the Accurate and cause overexposure or underexposure.
  • an embodiment of the present invention provides a shooting method, including:
  • the exposure correction amount is determined according to the first pixel and the second pixel in the brightness histogram and the average brightness of the brightness histogram; the maximum value of the brightness range of the first pixel is smaller than the other in the brightness histogram The brightness of the pixel, the minimum value of the brightness range of the second pixel is greater than the brightness of other pixels in the brightness histogram;
  • the exposure parameter combination is determined according to the exposure correction amount and the exposure value determined by the automatic exposure algorithm.
  • 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 exposure correction amount is determined according to the first pixel and the second pixel in the brightness histogram and the average brightness of the brightness histogram; the maximum value of the brightness range of the first pixel is smaller than the other in the brightness histogram The brightness of the pixel, the minimum value of the brightness range of the second pixel is greater than the brightness of other pixels in the brightness histogram;
  • the exposure parameter combination is determined according to the exposure correction amount and the exposure value determined by the automatic exposure algorithm.
  • an embodiment of the present invention provides a drone, including 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 that stores a computer program, where the computer program includes at least one piece of code that can be executed by a computer to control The computer executes 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.
  • Embodiments of the present invention provide a shooting method, device, and drone, which determine the exposure correction amount according to the first pixel and the second pixel in the brightness histogram of the current picture, and the average brightness of the brightness histogram.
  • the first pixel The maximum value of the brightness range of is less than the brightness of other pixels in the brightness histogram, the minimum value of the brightness range of the second pixel is greater than the brightness of other pixels in the brightness histogram; according to the exposure correction amount and the exposure value determined by the automatic exposure algorithm, the exposure is determined
  • the combination of parameters because the first and second pixels in the brightness histogram and the average brightness of the brightness histogram can reflect the characteristics of the brightness histogram, and the characteristics of the brightness histogram can reflect the true brightness of the ambient light in the metering area to a certain extent Therefore, the exposure correction amount is based on the actual situation of the current screen environment brightness, and the determined amount that can correct the inaccurate exposure value determined by the automatic exposure algorithm is determined based on the above exposure correction amount and the automatic exposure
  • FIG. 1 is a schematic flowchart of a shooting method provided by an embodiment of the present invention
  • 2A is a schematic diagram of a brightness histogram of a non-narrow dynamic range scene provided by an embodiment of the present invention
  • 2B is a schematic diagram 1 of a brightness histogram of a narrow dynamic range scene provided by an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a first pixel and a second pixel provided by an embodiment of the present invention.
  • 4A is a schematic diagram 2 of a brightness histogram of a narrow dynamic range scene provided by an embodiment of the present invention
  • 4B is a schematic diagram 3 of a brightness histogram of a narrow dynamic range scene provided by an embodiment of the present invention.
  • 5A is a schematic diagram of a brightness histogram of a current picture of a scene with a narrow dynamic range provided by an embodiment of the present invention
  • 5B is a schematic diagram of a brightness histogram of an image captured in a place with a narrow dynamic range provided by an embodiment of the present invention
  • FIG. 6 is a schematic flowchart of a shooting method provided by 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 can be applied to shooting in a scene with a narrow dynamic range, which can avoid that when the metering area has a narrow dynamic range and the reflectance of the metering area differs greatly from the specific reflectance, the automatic exposure algorithm determines Of the exposure value is not accurate and causes overexposure or underexposure.
  • the automatic exposure algorithm may determine the exposure value based on the following formula (1) (hereinafter may be recorded as the first exposure value)
  • BV represents the first exposure value and shutter time represents the shutter time
  • Fnum represents the aperture value
  • ISO represents the sensitivity
  • N is a constant value can be close to 0.3.
  • the first exposure value can be understood as the ambient brightness obtained by the automatic exposure algorithm metering.
  • the photometric system of the camera is designed according to the reflectance such as a specific emissivity. But this result is: the photometric result of the general scene is correct or basically correct, and extreme scenes need exposure compensation.
  • the specific reflectivity may specifically be 18%, and for a specific emissivity, there is a corresponding calibrated exposure value, and the image taken at the calibrated exposure value may be considered to meet the requirements of the shooting effect.
  • the second exposure value when determining the exposure value used for shooting (hereinafter may be referred to as the second exposure value) according to the difference between the first exposure value and the calibration exposure value, it is determined based on the specific reflectance of the reflectance of the light metering area. That is, when the reflectance of the light metering area is close to a specific reflectance, the exposure parameter determined by the second exposure value obtained from the first exposure value is used, and the captured image meets the requirements of the shooting effect.
  • the reflectance of the photometric area differs greatly from the specific reflectance, using the exposure parameter determined by the second exposure value obtained from the first exposure value, the captured image does not meet the requirements of the shooting effect.
  • the reflectance is the ratio of the brightness of the reflected light to the brightness of the incident light, for the same ambient brightness, the greater the reflectance, the larger the first exposure value determined by the automatic exposure algorithm, so the smaller the second exposure value, the smaller the reflectance Then, the smaller the first exposure value determined by the automatic exposure algorithm, and the larger the second exposure value.
  • the ambient brightness corresponding to the first exposure value will be greater than the real ambient brightness.
  • the same shooting effect will reduce the exposure, resulting in the problem of underexposure; when the reflectance of the metering area differs greatly from the specific reflectance, and the reflectance of the metering area is less than the specific reflectance, it will cause the first exposure
  • the ambient brightness corresponding to the value is smaller than the real ambient brightness. In order to achieve the same shooting effect, the exposure will be reduced, resulting in the problem of overexposure.
  • the dynamic range refers to the ratio of the maximum value and the minimum value of the optical signal received by the sensor, and can also be expressed as a logarithm of 10 (decibels, referred to as dB) or a logarithm of 2 as the base.
  • the sensor element used in the camera for example, complementary metal oxide semiconductor (CMOS), complementary metal oxide semiconductor) or charge coupler (CCD, charge coupler) generally has a dynamic range of 60 dB. On this basis, when the dynamic range is less than 10dB, it can be considered as a narrow dynamic range scene.
  • CMOS complementary metal oxide semiconductor
  • CCD charge coupler
  • the above-mentioned problems in a narrow dynamic range scene are mainly solved by adopting the processing method of the following method 1 or method 2 to the captured image.
  • method 1 a piecewise linear function or a non-linear function is used to map the pixels on the image with a narrow dynamic range, so as to increase or decrease the brightness of the image with a narrow dynamic range.
  • method 1 has the problem that the inflection point of the histogram and the adjustment scale cannot be effectively set due to the unknown improvement of the dynamic range distribution of the image.
  • Method 2 Using the idea of histogram equalization, rearrange the gray scales so that the number of pixels in each gray scale is equal. Specifically, the histogram dense area of pixels is expanded to the maximum extent to make the brightness of the picture more balanced.
  • the method 2 has a problem that the picture is seriously distorted due to the adjustment range and amplitude being too strong.
  • the shooting method provided by the present invention is to adjust the exposure value before shooting, rather than adjusting the shot image after shooting.
  • FIG. 1 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 in this embodiment may include:
  • Step 101 Obtain the brightness histogram of the current picture.
  • step 101 may specifically be generating a brightness histogram of the current picture according to the current picture.
  • the current picture can specifically refer to the currently focused picture, where focusing refers to adjusting the focus distance when using the camera. Focusing is also called focusing and focusing. Focusing is to change the distance and distance of the camera through the camera's focusing mechanism to make the subject Clear imaging process.
  • the current picture is the picture of the current metering area.
  • the current picture may be composed of many pixels, and the brightness value of each pixel may be between 0 and 255, wherein a larger brightness value may indicate a brighter brightness.
  • the horizontal axis of the brightness histogram represents brightness, from left to right, gradually transitioning from all black to all white, and the vertical axis represents the number of pixels in this brightness range.
  • the brightness histogram of the non-narrow dynamic range scene may be shown in FIG. 2A, for example, and the brightness histogram of the narrow dynamic range scene may be shown in FIG. 2B.
  • Step 102 Determine the exposure correction amount according to the first pixel and the second pixel in the brightness histogram and the average value of the brightness in the brightness histogram.
  • the maximum value of the luminance range of the first pixel is less than the luminance of other pixels in the luminance histogram
  • the minimum value of the luminance range of the second pixel is greater than the luminance of other pixels in the luminance histogram.
  • the pixels belonging to the area a in FIG. 3 can be understood as the first pixels
  • the pixels belonging to the area b in FIG. 3 can be understood as the second pixels
  • P M is the average luminance value of the luminance histogram.
  • the area a is the contour curve of the brightness histogram from the minimum brightness value to the brightness value P XL and the area surrounded by the horizontal axis;
  • the area b is the contour curve and the horizontal axis of the brightness histogram from the brightness value P YH to the maximum brightness value The area of the siege.
  • the first pixel, the second pixel in the luminance histogram and the average luminance value of the luminance histogram can characterize the characteristics of the luminance histogram.
  • the number of the first pixel and the second pixel are fixed or the percentage of all pixels is fixed, the smaller the distance between the critical brightness value corresponding to the first pixel and the average brightness value, the corresponding The smaller the distance between the critical brightness value and the average brightness value, the greater the degree of concentration, and the larger the average brightness value, the brighter the overall brightness histogram. The larger the average brightness value, the brighter the overall brightness histogram.
  • the luminance histogram when the luminance histogram is a histogram corresponding to a scene with a narrow dynamic range, the luminance histogram is usually a histogram with single peak convergence, and its peak value may be one.
  • the degree of concentration of the brightness histogram can be expressed by the proportion of pixels within a certain brightness range centered on the brightness value corresponding to the peak value. For example, the proportion of pixels in the 20 brightness value ranges centered on the brightness value corresponding to the peak in the brightness histogram 1 is less than the 20 brightness value ranges centered on the brightness value corresponding to the peak in the brightness histogram 2
  • the proportion of pixels within can indicate that the concentration of the luminance histogram 1 is less than that of the luminance histogram 2.
  • the characteristics of the brightness histogram of the current picture can reflect the true situation of the ambient brightness of the metering area to a certain extent. Specifically, the greater the degree of concentration of the brightness histogram may indicate that the brightness of the light metering area is more concentrated. The larger the average brightness value of the brightness histogram, the brighter the overall ambient brightness of the light metering area, and the smaller the average brightness value of the brightness histogram, the darker the overall ambient brightness of the light metering area. Also, overexposure is usually caused by exposure based on too large exposure values when the actual ambient brightness is already sufficiently bright, and underexposure is usually based on underexposure when the actual ambient brightness is already dark. Value is caused by exposure.
  • FIG. 2B and FIG. 4A it can be seen that the absolute value of the exposure correction amount determined according to the brightness histogram shown in FIG. 2B is larger than the absolute value of the exposure correction amount determined according to the brightness histogram shown in FIG. 4A.
  • FIGS. 2B and 4B it can be seen that the absolute value of the exposure correction amount determined according to the brightness histogram shown in FIG. 2B is larger than the absolute value of the exposure correction amount determined according to the brightness histogram shown in FIG. 4B. .
  • the exposure correction amount determined here not only corrects the problem that the exposure value determined by the automatic exposure algorithm due to reflectivity is inaccurate, but whether the exposure value determined by the automatic exposure algorithm is accurate or inaccurate, based on Exposure correction amount
  • the exposure parameter combination determined after the correction of the exposure value determined by the automatic exposure algorithm is taken, the captured images can meet the requirements of the shooting results, and there is no problem of overexposure or underexposure.
  • the exposure correction amount may be a positive number or a negative number. Further optionally, when the exposure correction amount is a positive number, it may indicate that the exposure value determined by the automatic exposure algorithm is small; when the exposure correction amount is a negative number, it may indicate that the exposure value determined by the automatic exposure algorithm is large.
  • the above exposure correction amount determined according to the first pixel, the second pixel, and the average brightness value may satisfy the following condition: when the brightness histogram is a histogram corresponding to a non-narrow dynamic range scene, the exposure correction The amount is less than the difference threshold; when the brightness histogram is a histogram corresponding to a narrow dynamic range scene, the exposure correction amount is greater than the difference threshold.
  • the exposure correction amount is less than the difference threshold value may indicate that the exposure correction amount has little effect on the exposure value used for shooting, and can be ignored.
  • the exposure correction amount is less than the difference threshold, so that the exposure correction amount can neglect the impact caused by the shooting of the non-narrow dynamic range scene, thereby Does not affect the shooting effect of non-narrow dynamic range scenes.
  • the exposure correction amount is greater than the difference threshold can indicate that the exposure correction amount will have a certain impact on the exposure value used for shooting, and can not be ignored.
  • the exposure correction amount is greater than the difference threshold, so that the exposure correction amount can affect the shooting effect of the narrow dynamic range scene to avoid overexposure or The problem of underexposure.
  • Step 103 Determine the exposure parameter combination according to the exposure correction amount and the exposure value determined by the automatic exposure algorithm.
  • the exposure value used for shooting may be determined according to the exposure correction amount and the exposure value determined by the automatic exposure algorithm, and the exposure parameter combination may be determined according to the exposure value used for shooting.
  • a mathematical operation may be performed based on the exposure correction amount and the exposure value determined by the automatic exposure algorithm to obtain the exposure value used for shooting. Further optionally, when the exposure correction amount is a positive number indicating that the exposure value determined by the automatic exposure algorithm is small, and the exposure correction amount is a negative number indicating that the exposure value determined by the automatic exposure algorithm is too large, the exposure correction may be corrected The sum of the amount and the exposure value determined by the automatic exposure algorithm is used as the exposure value for shooting.
  • the exposure value used for shooting in addition to the exposure value determined based on the exposure correction amount and the automatic exposure algorithm, it may also be based on other amounts determined by other methods, which is not limited in the present invention.
  • the exposure correction amount is based on the actual situation of the ambient brightness of the current picture, the determined amount that can correct the inaccurate exposure value determined by the automatic exposure algorithm, so based on the above exposure correction amount and the exposure value determined by the automatic exposure algorithm
  • the experimental comparison for solving the problem of overexposure through the exposure correction amount can be shown in FIG. 5A and FIG. 5B. Specifically, when the acquired brightness histogram of the current screen is shown in FIG. 5A, the brightness histogram of the image obtained by shooting the current screen is shown in FIG. 5B.
  • the exposure correction amount is determined according to the first pixel and the second pixel in the brightness histogram of the current screen and the average brightness of the brightness histogram, and the maximum value of the brightness range of the first pixel is less than the brightness The brightness of other pixels in the histogram, the minimum value of the brightness range of the second pixel is greater than the brightness of other pixels in the brightness histogram; according to the exposure correction amount and the exposure value determined by the automatic exposure algorithm, determine the exposure parameter combination, because the brightness histogram
  • the average brightness of the first pixel and the second pixel and the brightness histogram can reflect the characteristics of the brightness histogram, and the characteristics of the brightness histogram can reflect the true situation of the ambient brightness of the metering area to a certain extent, so the exposure correction is based on The actual situation of the ambient brightness of the current picture, the determined amount that can correct the inaccurate exposure value determined by the automatic exposure algorithm, so the exposure parameter combination determined based on the above exposure correction amount and the exposure value determined by the automatic exposure algorithm
  • the exposure correction is based
  • FIG. 6 is a schematic flowchart of a shooting method provided by another embodiment of the present invention. This embodiment mainly describes an optional implementation of determining the first pixel and the second pixel based on the method embodiment described in FIG. the way. As shown in FIG. 6, the method of this embodiment may include:
  • Step 601 Obtain the brightness histogram of the current picture.
  • the brightness histogram of the current picture may be gamma corrected to obtain the processed brightness histogram.
  • the above determination of the exposure correction amount according to the first pixel and the second pixel in the luminance histogram and the average value of the luminance in the luminance histogram includes: according to the first pixel and the second pixel in the processed luminance histogram, And the average brightness value of the processed brightness histogram.
  • the luminance histogram may also be normalized.
  • Step 602 Determine the first scale factor and the second scale factor.
  • the first scale factor represents the proportion of the first pixel in the luminance histogram
  • the second scale factor represents the proportion of the second pixel in the luminance histogram
  • the first scale factor and the second scale factor are preset before shooting. Specifically, the first scale factor and the second scale factor are related to a target histogram corresponding to the brightness histogram, and the target histogram is a brightness histogram expected in the current shooting scene.
  • the first scale factor is larger, and the second scale factor is smaller; when the brightness of the image to be captured is dark
  • the first scale factor is smaller, and the second scale factor is larger.
  • the target histogram can be obtained based on experience.
  • the range of the first scale factor is 10% to 20%.
  • the second scale factor ranges from 10% to 20%.
  • PM represents the mean brightness value of the brightness histogram. Taking the brightness value from 0 to 255 as an example, PM satisfies the following formula (2).
  • N i represents the number of pixels corresponding to the brightness value i.
  • the concentration degree of the luminance histogram can be reflected by P XL , P YH, and P M.
  • the degree of concentration may be smaller; the smaller the distance between P XL , P YH, and P M , the greater the degree of concentration.
  • the first scale factor and the second scale factor may be preset scale factors.
  • step 602 may include: using a first preset factor as the first scale factor, and using a second preset factor as the second scale factor.
  • the first scale factor and the second scale factor are target scale factors selected by the user from a plurality of preset preset scale factors.
  • step 602 may include: determining, according to the user's selection input, the target first preset factor among the plurality of first preset factors as the first scale factor, and using The target second preset factor is used as the second scale factor.
  • the first scale factor and the second scale factor are target scale factors selected by the user from a plurality of preset scale factors, the flexibility of determining the first scale factor and the second scale factor is improved .
  • the first preset factor and the second preset factor can be determined through experiments.
  • Step 603 Determine the first pixel according to the first scale factor, and determine the second pixel according to the second scale factor.
  • the number of first pixels can be determined according to the first scale factor. For example, assuming that the total number of pixels in the luminance histogram is 1000 and the first scale factor is equal to 20%, it can be determined that the number of first pixels is 200. Further, according to the maximum value of the brightness range of the first pixel is less than the brightness of other pixels in the brightness histogram, the first pixel can be determined, as shown in FIG.
  • the first pixel may be the corresponding pixel in the area a.
  • the number of second pixels can be determined according to the second scale factor. For example, assuming that the total number of pixels in the luminance histogram is 1000 and the second scale factor is equal to 20%, it can be determined that the number of second pixels is 200. Further, according to the minimum value of the brightness range of the second pixel is greater than the brightness of other pixels in the brightness histogram, the second pixel can be determined, as shown in FIG.
  • the second pixel may be the corresponding pixel in the area b.
  • the exposure correction amount can be determined through the following steps 604-606.
  • Step 604 Determine, according to the first pixel in the brightness histogram, the critical brightness value corresponding to the first pixel as the first brightness value.
  • the critical brightness value corresponding to the first pixel is the maximum value of the brightness range of the first pixel.
  • the critical brightness value corresponding to the first pixel may specifically be P XL .
  • Step 605 Determine, according to the second pixel in the brightness histogram, the critical brightness value corresponding to the second pixel as the second brightness value.
  • the critical brightness value corresponding to the second pixel is the minimum value of the brightness range of the second pixel.
  • the critical brightness value corresponding to the second pixel may specifically be P YH .
  • Step 606 Determine the exposure correction amount according to the first brightness value, the second brightness value, and the brightness average of the brightness histogram.
  • the exposure correction amount can be obtained through various mathematical operations according to a luminance value, the second luminance value, and the average luminance value of the luminance histogram.
  • the determining the exposure correction amount according to the first brightness value, the second brightness value, and the brightness average value of the brightness histogram includes:
  • the first brightness value P xL , the second brightness value P yH , the brightness average value P M of the brightness histogram, and the exposure correction amount EV detal satisfy the following formula (3);
  • A, B, C, a, b and c are constants, A and B are less than C, a and b are greater than c, with Are all positive.
  • A is equal to B. Further optionally, B is equal to C/2.
  • a is equal to b. Further optionally, b is equal to 2c.
  • C may be equal to the average brightness value of an image obtained by shooting an object with a reflectivity of 18% under normal illumination.
  • formula (3) is only an example of a specific implementation of determining the exposure correction amount based on the first brightness value, the second brightness value, and the brightness average of the brightness histogram. It can be understood that, in a specific implementation, a person skilled in the art may modify formula (3) according to the specific meanings of the first brightness value, the second brightness value, and the mean brightness value of the brightness histogram.
  • Step 607 Determine the exposure parameter combination according to the exposure correction amount and the exposure value determined by the automatic exposure algorithm.
  • step 607 may specifically include: determining the corrected exposure correction amount according to the exposure correction amount and the exposure correction amount determined in the previous N times; N is a positive integer ; Determine the exposure parameter combination according to the corrected exposure correction amount and the exposure value determined by the automatic exposure algorithm.
  • the corrected exposure correction amount satisfies the following formula (4)
  • EV detal (n) represents the exposure correction amount
  • EV detal (i) and i takes n-1, n-2, ..., nN, N) represent the exposure correction amount determined the previous N times.
  • N can represent the number of smooth frames, for example it can be equal to 12.
  • formula (4) is only an example of determining the corrected exposure correction amount based on the exposure correction amount and the exposure correction amount determined the previous N times.
  • the formula (4) may also be modified.
  • a corresponding weight value can be set for EV detal (i) in formula (4).
  • EV detal (i) may correspond to a different weight value, for example, the larger the value of i, the larger the weight value.
  • the exposure correction amount may be used to directly correct the exposure amount determined by the automatic exposure algorithm.
  • step 607 may specifically include: determining the corrected exposure value according to the exposure correction amount and the exposure value determined by the automatic exposure algorithm; and determining the exposure parameter combination according to the corrected exposure value.
  • the corrected exposure value may be determined according to the exposure value and exposure correction amount determined by the automatic exposure algorithm, and determined according to the difference in exposure value between the corrected exposure value and the calibrated exposure value Exposure parameter combination.
  • step 607 may specifically include: determining the corrected exposure value according to the corrected exposure correction amount and the exposure value determined by the automatic exposure algorithm; Determine the exposure parameter combination.
  • the exposure correction amount may be used to directly correct the exposure parameters.
  • step 607 may specifically include: determining an exposure parameter combination according to the exposure value determined by the automatic exposure algorithm; and adjusting at least one exposure parameter in the exposure parameter combination according to the exposure correction amount.
  • the exposure parameter combination may be determined according to the exposure value difference between the exposure value determined by the automatic exposure algorithm and the calibration exposure value, and at least one exposure parameter in the exposure parameter combination may be adjusted according to the exposure correction amount.
  • step 607 may specifically include: determining an exposure parameter combination according to the exposure value determined by the automatic exposure algorithm; and according to the corrected exposure correction amount, at least one exposure parameter in the exposure parameter combination Make adjustments.
  • adjusting at least one exposure parameter in the exposure parameter combination may be understood as adjusting the exposure parameter in the exposure parameter combination to achieve the effect of the exposure correction value.
  • the first pixel in the brightness histogram of the current picture is determined according to the first scale factor, and the brightness histogram is determined according to the second scale factor
  • the second pixel determines the exposure correction amount based on the average brightness of the first pixel, the second pixel, and the brightness histogram, and determines the exposure parameter combination according to the exposure correction amount and the exposure value determined by the automatic exposure algorithm.
  • the average brightness of one pixel and the second pixel and the brightness histogram can reflect the characteristics of the brightness histogram, and the characteristics of the brightness histogram can reflect the true situation of the ambient brightness of the metering area to a certain extent, so the exposure correction is based on the current picture
  • the actual situation of the ambient brightness of the environment, the determined amount that can correct the inaccurate exposure value determined by the automatic exposure algorithm, so the combination of the exposure parameters determined based on the above exposure correction amount and the exposure value determined by the automatic exposure algorithm When shooting images, you can avoid overexposure or underexposure.
  • 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 exposure correction amount is determined according to the first pixel and the second pixel in the brightness histogram and the average brightness of the brightness histogram; the maximum value of the brightness range of the first pixel is smaller than the other in the brightness histogram The brightness of the pixel, the minimum value of the brightness range of the second pixel is greater than the brightness of other pixels in the brightness histogram;
  • the exposure parameter combination is determined according to the exposure correction amount and the exposure value determined by the automatic exposure algorithm.
  • processor 702 is also used to:
  • the first scale factor and the second scale factor are related to the target histogram corresponding to the brightness histogram; the target histogram is expected to be obtained in the current shooting scene Brightness histogram; the first scale factor represents the proportion of the first pixel in the brightness histogram, and the second scale factor represents the proportion of the second pixel in the brightness histogram;
  • the first pixel is determined according to the first scale factor, and the second pixel is determined according to the second scale factor.
  • the processor 702 is configured to determine the exposure correction amount according to the first pixel and the second pixel in the brightness histogram and the average brightness value of the brightness histogram, specifically including:
  • the critical brightness value corresponding to the first pixel is the first brightness value
  • the critical brightness value corresponding to the second pixel is the second brightness value
  • the exposure correction amount is determined according to the first luminance value, the second luminance value, and the average luminance value of the luminance histogram.
  • the processor 702 is used to determine the first scale factor and the second scale factor, specifically including:
  • the first preset factor is used as the first scale factor
  • the second preset factor is used as the second scale factor
  • the processor 702 is used to determine the first scale factor and the second scale factor, specifically including:
  • the target first preset factor among the plurality of first preset factors is used as the first scale factor
  • the target second preset factor among the plurality of second preset factors is used as the Describe the second scale factor
  • the range of the first scale factor is 10% to 20%.
  • the second scale factor ranges from 10% to 20%.
  • the processor 702 is configured to determine an exposure correction amount according to the first brightness value, the second brightness value, and the brightness average of the brightness histogram, specifically including:
  • the first brightness value P xL , the second brightness value P yH , the brightness average value P M of the brightness histogram, and the exposure correction amount EV detal satisfy the following formula:
  • A, B, C, a, b and c are constants, A and B are less than C, a and b are greater than c, with Are all positive.
  • A is equal to B.
  • B is equal to C/2.
  • a is equal to b.
  • b is equal to 2c.
  • the processor 702 is configured to determine a combination of exposure parameters according to the exposure correction amount and the exposure value determined by the automatic exposure algorithm, specifically including:
  • N is a positive integer
  • the exposure parameter combination is determined according to the corrected exposure correction amount and the exposure value determined by the automatic exposure algorithm.
  • the processor 702 is configured to determine a combination of exposure parameters according to the corrected exposure correction amount and the exposure value determined by the automatic exposure algorithm, specifically including:
  • the processor 702 is configured to determine a combination of exposure parameters according to the corrected exposure correction amount and the exposure value determined by the automatic exposure algorithm, specifically including:
  • At least one exposure parameter in the exposure parameter combination is adjusted.
  • processor 702 is also used to:
  • the determining the exposure correction amount according to the first pixel and the second pixel in the brightness histogram and the average brightness of the brightness histogram includes:
  • the exposure correction amount is determined according to the first pixel and the second pixel in the processed luminance histogram and the average luminance of the processed luminance histogram.
  • the photographing device provided in this embodiment may be used to execute the technical solutions of the foregoing method embodiments of the present invention, and its implementation principles and technical effects are similar, and are not repeated here.
  • 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。方法包括：根据当前画面的亮度直方图中的第一像素和第二像素，以及亮度直方图的亮度均值，确定曝光修正量，第一像素的亮度范围的最大值小于亮度直方图中其他像素的亮度，第二像素的亮度范围的最小值大于亮度直方图中其他像素的亮度，并根据曝光修正量以及自动曝光算法确定的曝光值，确定曝光参数组合。解决了当测光区域窄动态范围且反射率与特定反射率差异较大时，由于测光系统的测光不准确而导致过曝或欠曝的问题。

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
在摄影中，曝光值(Exposure Value，EV)可以代表能够给出同样曝光的所有曝光参数的组合。其中，曝光参数可以包括光圈、快门、感光度。
现有技术中，在相机曝光的过程中，首先是由自动曝光算法确定曝光值，根据自动曝光算法确定的曝光值与特定反射率对应的标定曝光值之间的差异确定拍摄使用的曝光值，并根据确定的拍摄使用的曝光值确定曝光参数组合。其中，当自动曝光算法确定的曝光值低于标定曝光值时，提升拍摄使用的曝光值；当自动曝光算法确定的曝光值高于标定曝光值时，降低拍摄使用的曝光值。可以看出，自动曝光算法确定的曝光值的准确程度决定了最终曝光是否合理。目前，当测光区域窄动态范围且发射率与特定反射率之间差异较大时，存在自动曝光算法确定的曝光值不准确的问题。
因此，现有技术中，存在当测光区域窄动态范围且反射率与特定反射率差异较大时，由于自动曝光算法确定的曝光值不准确而导致过曝或欠曝的问题。
发明内容
本发明实施例提供一种拍摄方法、装置及无人机，用以解决现有技术中当测光区域窄动态范围且反射率与特定反射率差异较大时，由于测光系统的测光不准确而导致过曝或欠曝的问题。
第一方面，本发明实施例提供一种拍摄方法，包括：
获取当前画面的亮度直方图；
根据所述亮度直方图中的第一像素和第二像素，以及所述亮度直方图的亮度均值，确定曝光修正量；所述第一像素的亮度范围的最大值小于所述亮度直方图中其他像素的亮度，所述第二像素的亮度范围的最小值大于所述亮 度直方图中其他像素的亮度；
根据所述曝光修正量以及自动曝光算法确定的曝光值，确定曝光参数组合。
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：
获取当前画面的亮度直方图；
根据所述亮度直方图中的第一像素和第二像素，以及所述亮度直方图的亮度均值，确定曝光修正量；所述第一像素的亮度范围的最大值小于所述亮度直方图中其他像素的亮度，所述第二像素的亮度范围的最小值大于所述亮度直方图中其他像素的亮度；
根据所述曝光修正量以及自动曝光算法确定的曝光值，确定曝光参数组合。
第三方面，本发明实施例提供一种无人机，包括机架，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，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。
本发明实施例提供一种拍摄方法、装置及无人机，通过根据当前画面的亮度直方图中的第一像素和第二像素，以及亮度直方图的亮度均值，确定曝光修正量，第一像素的亮度范围的最大值小于亮度直方图中其他像素的亮度，第二像素的亮度范围的最小值大于亮度直方图中其他像素的亮度；根据曝光修正量以及自动曝光算法确定的曝光值，确定曝光参数组合，由于亮度直方图中的第一像素和第二像素以及亮度直方图的亮度均值可以体现亮度直方图的特点，而亮度直方图的特点可以一定程度上反映测光区域的环境亮度的真实情况，因此曝光修正量是根据当前画面的环境亮度的真实情况，所确定出 的能够对于自动曝光算法确定的不准确的曝光值进行修正的量，因此基于上述曝光修正量和自动曝光算法确定的曝光值所确定的曝光参数组合对当前画面进行拍摄时，可以避免过曝或欠曝的问题。
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1为本发明一实施例提供的拍摄方法的流程示意图；
图2A为本发明实施例提供的非窄动态范围场景的亮度直方图的示意图；
图2B为本发明实施例提供的窄动态范围场景的亮度直方图的示意图一；
图3为本发明实施例提供的第一像素和第二像素的示意图；
图4A为本发明实施例提供的窄动态范围场景的亮度直方图的示意图二；
图4B为本发明实施例提供的窄动态范围场景的亮度直方图的示意图三；
图5A为本发明实施例提供的窄动态范围场景的当前画面的亮度直方图的示意图；
图5B为本发明实施例提供的窄动态范围场所拍摄的图像的亮度直方图的示意图；
图6为本发明另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可以应用于窄动态范围场景能够的拍摄中， 可以避免由于测光区域窄动态范围且测光区域的反射率与特定反射率差异较大时，由于自动曝光算法确定的曝光值不准确而导致过曝或欠曝的问题。
可选的，自动曝光算法可以基于如下公式(1)可以确定出曝光值(以下可以记为第一曝光值)
Figure PCTCN2018118023-appb-000001
其中，BV表示第一曝光值与shutter time表示快门时间、Fnum表示光圈值、ISO表示感光度，N为常量，值可以接近于0.3。
需要说明的是，第一曝光值可以理解为自动曝光算法测光得到的环境亮度。
其中，由于通过对自然界的拍摄对象的发射光进行大量的统计，确定了多数的拍摄场景综合的反射率时特定反射率。因此，按照特定发射率这样的反射率来设计相机的测光系统。但这样的结果是：一般场景的测光结果是正确或基本正确的，极端场景就需要进行曝光补偿了。
可选的，特定反射率具体可以为18％，并且，对于特定发射率其存在对应的标定曝光值，该标定曝光值下所拍摄的图像可以认为是满足拍摄效果要求的。具体的，在根据第一曝光值与标定曝光值的差异，确定拍摄使用的曝光值(以下可以记为第二曝光值)时，是基于测光区域的反射率为特定反射率确定的。即，当测光区域的反射率接近特定反射率时，使用根据第一曝光值得到的第二曝光值所确定的曝光参数，所拍摄的图像是满足拍摄效果要求的。
但是，当测光区域的反射率与特定反射率相差较大时，使用根据第一曝光值得到的第二曝光值所确定的曝光参数，所拍摄的图像是不满足拍摄效果要求的。由于反射率为反射光亮度与入射光亮度之比，因此对于同样的环境亮度，反射率越大则自动曝光算法确定的第一曝光值越大，从而第二曝光值越小，反射率越小则自动曝光算法确定的第一曝光值越小，从而第二曝光值越大。
因此，当测光区域的反射率与特定反射率的差异较大，且测光区域的反射率大于特定反射率时，会导致第一曝光值对应的环境亮度比真实的环境亮度大，为了达到同样的拍摄效果会减小曝光，从而导致欠曝的问题；当测光区域的反射率与特定反射率的差异较大，且测光区域的反射率小于特定反射 率时，会导致第一曝光值对应的环境亮度比真实的环境亮度小，为了达到同样的拍摄效果会减小曝光，从而导致过曝的问题。
其中，动态范围指的是传感器接收到的光信号的最大值和最小值的比值，也可以用以10为底的对数(分贝，简称dB)或者以2为底的对数表示。相机所采用的传感器元件(例如，互补金属氧化物半导体(CMOS，Complementary Metal Oxide Semiconductor)或者，电荷耦合器(CCD，Charge Couple Device))一般有60dB的动态范围。在此基础上，当动态范围小于10dB时可以认为是窄动态范围场景。
对于窄动态范围场景，当测光区域的反射率与特定反射率差异较大时，如前述所述会存在由于自动曝光算法确定的曝光值不准确而导致过曝或欠曝的问题。
目前，主要通过对所拍摄的图像采用如下方式1或方式2的处理方式，解决窄动态范围场景下的上述问题。其中，方式1，使用分段线性函数或者非线性函数将窄动态范围的图像上的像素进行映射，从而对窄动态范围的图像进行亮度提升或者下降。但是，方式1存在由于要改善图像的动态范围分布未知，导致无法有效设置直方图的拐点和调整比例的问题。方式2，采用类似直方图均衡化的思想，将灰阶重排，使得各个灰阶的像素个数相当，具体的，是将像素的直方图密集区最大限度的展开，使得画面亮度更加均衡。但是，方式2存在由于调节范围和幅度太强，而导致画面出现严重失真的问题。
本发明实施例中，在获取当前画面的亮度直方图后，根据所述亮度直方图中亮度范围的最大值小于亮度直方图中其他像素的亮度的第一像素，和所述亮度直方图中亮度范围的最小值小于亮度直方图中其他像素的亮度的第二像素，以及所述亮度直方图的亮度均值，确定曝光修正量，在基于所述曝光修正量和自动曝光算法确定的曝光值所确定曝光参数组合进行拍摄后得到的图像可以解决过曝或欠曝的问题。可以看出，与目前的处理方式相比，本发明提供的拍摄方法是在拍摄之前调整曝光值，而不是在拍摄之后对所拍摄的图像进行调整。
图1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1所示，本实施 例的方法可以包括：
步骤101，获取当前画面的亮度直方图。
本步骤中，可选的，步骤101具体可以为根据当前画面，生成当前画面的亮度直方图。当前画面具体可以是指当前对焦的画面，其中，对焦是指使用相机时调整好焦点距离，对焦也叫对光、聚焦，对焦是通过相机对焦机构变动物距和相距的位置，使被拍物成像清晰的过程。这里，当前画面即为当前测光区域的画面。
其中，当前画面可以由很多像素组成，每个像素的亮度值可以在0至255之间，其中亮度值越大可以表示亮度越亮。亮度直方图的横轴代表亮度，由左向右，从全黑逐渐过渡到全白，纵轴代表处于这个亮度范围的像素的数量。这里，非窄动态范围场景的亮度直方图例如可以如图2A所示，窄动态范围场景的亮度直方图可以如图2B所示。
步骤102，根据所述亮度直方图中的第一像素和第二像素，以及所述亮度直方图的亮度均值，确定曝光修正量。
本步骤中，所述第一像素的亮度范围的最大值小于所述亮度直方图中其他像素的亮度，所述第二像素的亮度范围的最小值大于所述亮度直方图中其他像素的亮度。如图3所示，图3属于区域a的像素可以理解为第一像素，图3中属于区域b的像素可以理解为第二像素，P M为亮度直方图的亮度均值。其中，区域a为从最小亮度值至亮度值P XL的亮度直方的图轮廓曲线与横轴围城的区域；区域b为从亮度值P YH至最大亮度值的亮度直方图的轮廓曲线与横轴围城的区域。
其中，所述亮度直方图中的第一像素、第二像素以及所述亮度直方图的亮度均值可以表征所述亮度直方图的特点。可选的，当第一像素和第二像素的个数均固定或占所有像素的百分比均固定时，第一像素对应的临界亮度值与亮度均值之间的距离越小，第二像素对应的临界亮度值与亮度均值之间的距离越小，可以表示集中程度越大，亮度均值越大可以表示亮度直方图整体越亮。亮度均值越大可以表示亮度直方图整体越亮。
其中，当亮度直方图为窄动态范围场景对应的直方图时，亮度直方图通常为单峰收敛的直方图，其峰值可以为1个。亮度直方图的集中程度可以通过以峰值对应的亮度值为中心的一定亮度范围内的像素所占的比例表示。例 如，亮度直方图1中当以峰值对应的亮度值为中心的20个亮度值范围内的像素所占的比例，小于亮度直方图2中以峰值对应的亮度值为中心的20个亮度值范围内的像素所占的比例，则可以表示亮度直方图1的集中程度小于亮度直方图2。
其中，当前画面的亮度直方图的特点可以一定程度上反映测光区域的环境亮度的真实情况。具体的，所述亮度直方图的集中程度越大，可以表示测光区域的亮度越集中。所述亮度直方图的亮度均值越大，可以表示测光区域的整体环境亮度越亮，所述亮度直方图的亮度均值越小，可以表示测光区域的整体环境亮度越暗。并且，过曝通常是在真实的环境亮度已经足够亮的情况下，基于过大的曝光值进行曝光而导致，欠曝通常是在真实的环境亮度已经较暗的情况下，基于过小的曝光值进行曝光而导致。
在测光区域的反射率与特定反射率之间的差异较大，且差异固定的基础上，若亮度直方图的集中程度越大，亮度直方图的亮度均值越大，则引起的过曝的问题越严重，若亮度直方图的集中程度越大，亮度直方图的亮度均值越小，则引起的欠曝的问题越严重。因此，为了解决过曝或欠曝的问题，可以根据能够表征亮度直方图的特点的第一像素、第二像素和亮度均值确定的曝光修正量。
例如，对比图2B和图4A可以看出，根据图2B所示的亮度直方图确定的曝光修正量的绝对值，较根据图4A所示的亮度直方图确定的曝光修正量的绝对值大。又例如，对比图2B和图4B可以看出，根据图2B所示的亮度直方图确定的曝光修正量的绝对值，较根据图4B所示的亮度直方图确定的曝光修正量的绝对值大。
需要说明的是，对于窄动态范围场景，当测光区域的反射率与特定反射率差异较小时，即使不根据曝光修正量对自动曝光算法确定的曝光值进行修正，也不会存在过曝或欠曝的问题。但是为了调整的方便，这里确定的曝光修正量并不仅仅只修正由于反射率引起的自动曝光算法确定的曝光值不准确的问题，而是无论自动曝光算法确定的曝光值准确或者不准确，基于曝光修正量对自动曝光算法确定的曝光值进行修正后所确定的曝光参数组合进行拍摄时，所拍摄的图像均可以满足拍摄结果要求，且不存在过曝或欠曝的问题。
可选的，所述曝光修正量可以为正数或负数。进一步可选的，当所述曝 光修正量为正数时，可以表示自动曝光算法确定的曝光值偏小；当所述曝光修正量为负数时，可以表示自动曝光算法确定的曝光值偏大。
可选的，上述根据第一像素、第二像素以及亮度均值所确定的曝光修正量，可以满足如下条件：当所述亮度直方图为非窄动态范围场景对应的直方图时，所述曝光修正量小于差异阈值；当所述亮度直方图为窄动态范围场景对应的直方图时，所述曝光修正量大于所述差异阈值。
其中，曝光修正量小于差异阈值可以表示曝光修正量对拍摄使用的曝光值的影响较小，可以忽略不计。这里，当所述亮度直方图为非窄动态范围场景对应的直方图时，所述曝光修正量小于差异阈值，使得曝光修正量对于非窄动态范围场景的拍摄所造成的影响可以忽略不计，从而不影响非窄动态范围场景的拍摄效果。
其中，曝光修正量大于差异阈值可以表示曝光修正量对拍摄使用的曝光值会造成一定的影响，不可忽略。这里，当所述亮度直方图为窄动态范围场景对应的亮度直方图时，所述曝光修正量大于所述差异阈值，使得曝光修正量可以影响窄动态范围场景的拍摄效果，以避免过曝或欠曝的问题。
步骤103，根据所述曝光修正量以及自动曝光算法确定的曝光值，确定曝光参数组合。
本步骤中，具体的，可以根据所述曝光修正量以及自动曝光算法确定的曝光值，确定拍摄使用的曝光值，并根据拍摄使用的曝光值确定曝光参数组合。
可选的，可以基于所述曝光修正量和所述自动曝光算法确定的曝光值进行数学运算，得到拍摄使用的曝光值。进一步可选的，当所述曝光修正量为正数表示自动曝光算法确定的曝光值偏小，所述曝光修正量为负数表示自动曝光算法确定的曝光值偏大时，可以将所述曝光修正量与所述自动曝光算法确定的曝光值之和，作为拍摄使用的曝光值。
需要说明的是，在确定拍摄使用的曝光值时，除了基于所述曝光修正量以及自动曝光算法确定的曝光值之外，还可以基于通过其他方式确定的其他量，本发明对此不作限定。
由于曝光修正量是根据当前画面的环境亮度的真实情况，所确定出的能够对于自动曝光算法确定的不准确的曝光值进行修正的量，因此基于上述曝 光修正量和自动曝光算法确定的曝光值所确定的曝光参数组合对当前画面进行拍摄时，可以避免过曝或欠曝的问题。本发明实施例中，通过曝光修正量，解决过曝问题的实验对比可以如图5A和图5B所示。具体的，当获取到的当前画面的亮度直方图如图5A所示时，对当前画面进行拍摄得到的图像的亮度直方图如图5B所示。
本实施例提供的拍摄方法，通过根据当前画面的亮度直方图中的第一像素和第二像素，以及亮度直方图的亮度均值，确定曝光修正量，第一像素的亮度范围的最大值小于亮度直方图中其他像素的亮度，第二像素的亮度范围的最小值大于亮度直方图中其他像素的亮度；根据曝光修正量以及自动曝光算法确定的曝光值，确定曝光参数组合，由于亮度直方图中的第一像素和第二像素以及亮度直方图的亮度均值可以体现亮度直方图的特点，而亮度直方图的特点可以一定程度上反映测光区域的环境亮度的真实情况，因此曝光修正量是根据当前画面的环境亮度的真实情况，所确定出的能够对于自动曝光算法确定的不准确的曝光值进行修正的量，因此基于上述曝光修正量和自动曝光算法确定的曝光值所确定的曝光参数组合对当前画面进行拍摄时，可以避免过曝或欠曝的问题。
图6为本发明另一实施例提供的拍摄方法的流程示意图，本实施例在图1所述方法实施例的基础上，主要描述了确定第一像素和第二像素的一种可选的实现方式。如图6所示，本实施例的方法可以包括：
步骤601，获取当前画面的亮度直方图。
本步骤中，可选的，为了提高亮度直方图的对比度，在得到当前画面的亮度直方图后，可以对当前画面的亮度直方图进行伽马矫正，得到处理后的所述亮度直方图。相应的，上述根据亮度直方图中的第一像素和第二像素，以及亮度直方图的亮度均值，确定曝光修正量，包括：根据处理后的亮度直方图中的第一像素和第二像素，以及处理后的亮度直方图的亮度均值。
进一步可选的，为了便于计算，在对亮度直方图进行伽马校正之前，还可以对亮度直方图进行归一化处理。
步骤602，确定第一比例因子和第二比例因子。
本步骤中，所述第一比例因子表示所述亮度直方图中第一像素所占的比例，所述第二比例因子表示所述亮度直方图中第二像素所占的比例。
需要说明的是，所述第一比例因子和所述第二比例因子是在拍摄前预设的。具体的，所述第一比例因子和所述第二比例因子与所述亮度直方图对应的目标直方图相关，所述目标直方图为当前拍摄场景下期望得到的亮度直方图。可选的，当期望拍得的图像的亮度直方图中高光成分越多时，所述第一比例因子越大，所述第二比例因子越小；当期望拍得的图像的亮度直方图中暗部成分越多时，所述第一比例因子越小，所述第二比例因子越大。
可选的，所述目标直方图可以根据经验得到。
可选的，所述第一比例因子的范围为10％至20％。
可选的，所述第二比例因子的范围为10％至20％。
如图3所示，其中，P XL为所述第一像素对应的临界亮度值(以下可以记为第一亮度值)，P YH为所述第二像素对应的临界亮度值(以下可以记为第二亮度值)，P M表示亮度直方图的亮度均值。以亮度值为0至255为例，P M满足如下公式(2)。
Figure PCTCN2018118023-appb-000002
其中，N i表示亮度值i对应的像素个数。
可选的，预设第一比例因子和第二比例因子的情况下，通过P XL、P YH和P M可以体现亮度直方图的集中程度。具体的，当P XL、P YH与P M之间的距离越大时，可以表示集中程度越小；P XL、P YH与P M之间的距离越小时，可以表示集中程度越大。
需要说明的是，为了使得P XL、P YH和P M可以正确体现亮度直方图的集中程度，P XL、P YH和P M之间需要满足P XL<P M<P YH的关系。
可选的，所述第一比例因子和所述第二比例因子可以为预设的比例因子。具体的，步骤602可以包括：将第一预设因子作为所述第一比例因子，将第二预设因子作为所述第二比例因子。
或者，可选的，所述第一比例因子和所述第二比例因子为用户在预设的多个预设比例因子中选择的目标比例因子。具体的，步骤602可以包括：根据用户的选择输入，确定将多个第一预设因子中的目标第一预设因子作为所述第一比例因子，并将多个第二预设因子中的目标第二预设因子作为所述第 二比例因子。这里，通过所述第一比例因子和所述第二比例因子为用户在预设的多个预设比例因子中选择的目标比例因子，提高了第一比例因子和第二比例因子确定的灵活性。
其中，所述第一预设因子和所述第二预设因子可以通过实验确定。
需要说明的是，步骤602与步骤601之间没有先后顺序的限制。
步骤603，根据所述第一比例因子确定第一像素，并根据所述第二比例因子确定第二像素。
本步骤中，由于第一比例因子是表示所述亮度直方图中第一像素所占的比例，因此根据第一比例因子可以确定第一像素的个数。例如，假设亮度直方图的像素总数为1000个，第一比例因子等于20％，则可以确定第一像素的个数为200个。进一步的，根据第一像素的亮度范围的最大值小于所述亮度直方图中其他像素的亮度，可以确定出第一像素，如图3所示，假设第一比例因子等于区域a与从最小亮度值至亮度最大值的亮度直方的图轮廓曲线与横轴围城的区域的面积比值，则第一像素可以为区域a中对应的像素。
由于第二比例因子是表示所述亮度直方图中第二像素所占的比例，因此根据第二比例因子可以确定第二像素的个数。例如，假设亮度直方图的像素总数为1000个，第二比例因子等于20％，则可以确定第二像素的个数为200个。进一步的，根据第二像素的亮度范围的最小值大于所述亮度直方图中其他像素的亮度，可以确定出第二像素，如图3所示，假设第二比例因子等于区域b与从最小亮度值至亮度最大值的亮度直方的图轮廓曲线与横轴围城的区域的面积比值，则第二像素可以为区域b中对应的像素。
进一步可选的，可以通过如下步骤604-步骤606确定曝光修正量。
步骤604，根据所述亮度直方图中的第一像素，确定所述第一像素对应的临界亮度值为第一亮度值。
本步骤中，所述第一像素对应的临界亮度值即为所述第一像素的亮度范围的最大值。例如，对于图3所述的第一像素，则所述第一像素对应的临界亮度值具体可以为P XL。
步骤605，根据所述亮度直方图中的第二像素，确定所述第二像素对应的临界亮度值为第二亮度值。
本步骤中，所述第二像素对应的临界亮度值即为所述第二像素的亮度范 围的最小值。例如，对于图3所述的第二像素，则所述第二像素对应的临界亮度值具体可以为P YH。
步骤606，根据所述第一亮度值、所述第二亮度值和所述亮度直方图的亮度均值，确定曝光修正量。
本步骤中，具体的，可以根据一亮度值、所述第二亮度值和所述亮度直方图的亮度均值可以通过各种数学运算，得到曝光修正量。
可选的，所述根据所述第一亮度值、所述第二亮度值和所述亮度直方图的亮度均值，确定曝光修正量，包括：
所述第一亮度值P xL、所述第二亮度值P yH、所述亮度直方图的亮度均值P M和所述曝光修正量EV detal，满足如下公式(3)；
Figure PCTCN2018118023-appb-000003
其中，A、B、C、a、b和c为常数，A和B均小于C，a和b均大于c，
Figure PCTCN2018118023-appb-000004
和
Figure PCTCN2018118023-appb-000005
的结果均为正数。
可选的，A等于B。进一步可选的，B等于C/2。
可选的，a等于b。进一步可选的，b等于2c。
可选的，C可以等于正常光照下，拍摄反射率为18％的物体所得到的图像的亮度均值。
需要说明的是，公式(3)仅为根据第一亮度值、第二亮度值和所述亮度直方图的亮度均值，确定曝光修正量的一种具体实现的举例。可以理解的是，在具体实现时，本领域技术人员可以根据第一亮度值、第二亮度值和所述亮度直方图的亮度均值的具体含义，对公式(3)进行变形。
步骤607，根据所述曝光修正量以及自动曝光算法确定的曝光值，确定曝光参数组合。
本步骤中，可选的，为了实现帧间平滑，步骤607具体可以包括：根据所述曝光修正量以及前N次确定的曝光修正量，确定修正后的所述曝光修正量；N为正整数；根据修正后的所述曝光修正量以及自动曝光算法确定的曝光值，确定曝光参数组合。
例如，修正后的所述曝光修正量满足如下公式(4)
Figure PCTCN2018118023-appb-000006
其中，EV detal(n)表示所述曝光修正量，EV detal(i)且i取n-1、n-2、……、n-N，N)表示前N次确定的曝光修正量。N可以表示平滑帧数，例如可以等于12。
需要说明的是，公式(4)仅为根据所述曝光修正量以及前N次确定的曝光修正量，确定修正后的所述曝光修正量的一种举例。可选的，在具体实现时还可以对公式(4)进行变形。可选的，可以为公式(4)中EV detal(i)设置对应的权重值。进一步可选的，i取值不同时，EV detal(i)可以对应不同的权重值，例如i越大时，权重值可以越大。
可选的，所述曝光修正量可以用于直接修正自动曝光算法确定的曝光量。具体的，步骤607具体可以包括：根据所述曝光修正量和自动曝光算法确定的曝光值，确定修正后的所述曝光值；根据修正后的所述曝光值，确定曝光参数组合。
进一步可选的，可以根据自动曝光算法确定的曝光值以及曝光修正量，确定修正后的所述曝光值，并根据修正后的所述曝光值与标定曝光值之间的曝光值差值，确定曝光参数组合。
进一步的，对于帧间平滑，步骤607具体可以包括：根据修正后的所述曝光修正量和自动曝光算法确定的曝光值，确定修正后的所述曝光值；根据修正后的所述曝光值，确定曝光参数组合。
或者，可选的，所述曝光修正量可以用于直接修正曝光参数。具体的，步骤607具体可以包括：根据自动曝光算法确定的曝光值，确定曝光参数组合；根据所述曝光修正量，对所述曝光参数组合中的至少一个曝光参数进行调整。
进一步可选的，可以根据自动曝光算法确定的曝光值与标定曝光值之间的曝光值差值，确定曝光参数组合，并根据曝光修正量对曝光参数组合中的至少一个曝光参数进行调整。
进一步的，对于帧间平滑，步骤607具体可以包括：根据自动曝光算法确定的曝光值，确定曝光参数组合；根据修正后的所述曝光修正量，对所述曝光参数组合中的至少一个曝光参数进行调整。
需要说明的是，这里，对曝光参数组合中的至少一个曝光参数进行调整的可以理解为通过调整曝光参数组合中的曝光参数，从而实现曝光修正值的作用。
本实施例提供的拍摄方法，通过确定第一比例因子和第二比例因子，根 据第一比例因子确定当前画面的亮度直方图中的第一像素，并根据第二比例因子确定亮度直方图中的第二像素，根据第一像素、第二像素以及亮度直方图的亮度均值确定曝光修正量，并根据曝光修正量以及自动曝光算法确定的曝光值，确定曝光参数组合，由于亮度直方图中的第一像素和第二像素以及亮度直方图的亮度均值可以体现亮度直方图的特点，而亮度直方图的特点可以一定程度上反映测光区域的环境亮度的真实情况，因此曝光修正量是根据当前画面的环境亮度的真实情况，所确定出的能够对于自动曝光算法确定的不准确的曝光值进行修正的量，因此基于上述曝光修正量和自动曝光算法确定的曝光值所确定的曝光参数组合对当前画面进行拍摄时，可以避免过曝或欠曝的问题。
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：
获取当前画面的亮度直方图；
根据所述亮度直方图中的第一像素和第二像素，以及所述亮度直方图的亮度均值，确定曝光修正量；所述第一像素的亮度范围的最大值小于所述亮度直方图中其他像素的亮度，所述第二像素的亮度范围的最小值大于所述亮度直方图中其他像素的亮度；
根据所述曝光修正量以及自动曝光算法确定的曝光值，确定曝光参数组合。
可选的，所述处理器702还用于：
确定第一比例因子和第二比例因子；所述第一比例因子和所述第二比例因子与所述亮度直方图对应的目标直方图相关；所述目标直方图为当前拍摄场景下期望得到的亮度直方图；所述第一比例因子表示所述亮度直方图中第一像素所占的比例，所述第二比例因子表示所述亮度直方图中第二像素所占的比例；
根据所述第一比例因子确定所述第一像素，并根据所述第二比例因子确定所述第二像素。
可选的，所述处理器702用于根据所述亮度直方图中的第一像素和第二像素，以及所述亮度直方图的亮度均值，确定曝光修正量，具体包括：
根据所述亮度直方图中的第一像素，确定所述第一像素对应的临界亮度值为第一亮度值；
根据所述亮度直方图中的第二像素，确定所述第二像素对应的临界亮度值为第二亮度值；
根据所述第一亮度值、所述第二亮度值和所述亮度直方图的亮度均值，确定曝光修正量。
可选的，所述处理器702用于确定第一比例因子和第二比例因子，具体包括：
将第一预设因子作为所述第一比例因子，将第二预设因子作为所述第二比例因子。
可选的，所述处理器702用于确定第一比例因子和第二比例因子，具体包括：
根据用户的选择输入，确定将多个第一预设因子中的目标第一预设因子作为所述第一比例因子，并将多个第二预设因子中的目标第二预设因子作为所述第二比例因子。
可选的，所述第一比例因子的范围为10％至20％。
可选的，所述第二比例因子的范围为10％至20％。
可选的，所述处理器702用于根据所述第一亮度值、所述第二亮度值和所述亮度直方图的亮度均值，确定曝光修正量，具体包括：
所述第一亮度值P xL、所述第二亮度值P yH、所述亮度直方图的亮度均值P M 和所述曝光修正量EV detal，满足如下公式：
Figure PCTCN2018118023-appb-000007
其中，A、B、C、a、b和c为常数，A和B均小于C，a和b均大于c，
Figure PCTCN2018118023-appb-000008
和
Figure PCTCN2018118023-appb-000009
的结果均为正数。
可选的，A等于B。
可选的，B等于C/2。
可选的，a等于b。
可选的，b等于2c。
可选的，所述处理器702用于根据所述曝光修正量以及自动曝光算法确定的曝光值，确定曝光参数组合，具体包括：
根据所述曝光修正量以及前N次确定的曝光修正量，确定修正后的所述曝光修正量；N为正整数；
根据修正后的所述曝光修正量以及自动曝光算法确定的曝光值，确定曝光参数组合。
可选的，所述处理器702用于根据修正后的所述曝光修正量以及自动曝光算法确定的曝光值，确定曝光参数组合，具体包括：
根据修正后的所述曝光修正量和自动曝光算法确定的曝光值，确定修正后的所述曝光值；
根据修正后的所述曝光值，确定曝光参数组合。
可选的，所述处理器702用于根据修正后的所述曝光修正量以及自动曝光算法确定的曝光值，确定曝光参数组合，具体包括：
根据自动曝光算法确定的曝光值，确定曝光参数组合；
根据修正后的所述曝光修正量，对所述曝光参数组合中的至少一个曝光参数进行调整。
可选的，所述处理器702还用于：
对当前画面的亮度直方图进行伽马矫正，得到处理后的所述亮度直方图；
所述根据所述亮度直方图中的第一像素和第二像素，以及所述亮度直方图的亮度均值，确定曝光修正量，包括：
根据处理后的所述亮度直方图中的第一像素和第二像素，以及处理后的 所述亮度直方图的亮度均值，确定曝光修正量。
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 (35)

  1. 一种拍摄方法，其特征在于，包括：
    获取当前画面的亮度直方图；
    根据所述亮度直方图中的第一像素和第二像素，以及所述亮度直方图的亮度均值，确定曝光修正量；所述第一像素的亮度范围的最大值小于所述亮度直方图中其他像素的亮度，所述第二像素的亮度范围的最小值大于所述亮度直方图中其他像素的亮度；
    根据所述曝光修正量以及自动曝光算法确定的曝光值，确定曝光参数组合。
  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：
    确定第一比例因子和第二比例因子；所述第一比例因子和所述第二比例因子与所述亮度直方图对应的目标直方图相关；所述目标直方图为当前拍摄场景下期望得到的亮度直方图；所述第一比例因子表示所述亮度直方图中第一像素所占的比例，所述第二比例因子表示所述亮度直方图中第二像素所占的比例；
    根据所述第一比例因子确定所述第一像素，并根据所述第二比例因子确定所述第二像素。
  3. 根据权利要求2所述的方法，其特征在于，所述根据所述亮度直方图中的第一像素和第二像素，以及所述亮度直方图的亮度均值，确定曝光修正量，包括：
    根据所述亮度直方图中的第一像素，确定所述第一像素对应的临界亮度值为第一亮度值；
    根据所述亮度直方图中的第二像素，确定所述第二像素对应的临界亮度值为第二亮度值；
    根据所述第一亮度值、所述第二亮度值和所述亮度直方图的亮度均值，确定曝光修正量。
  4. 根据权利要求2或3所述的方法，其特征在于，所述确定第一比例因子和第二比例因子，包括：
    将第一预设因子作为所述第一比例因子，将第二预设因子作为所述第二比例因子。
  5. 根据权利要求2或3所述的方法，其特征在于，所述确定第一比例因子和第二比例因子，包括：
    根据用户的选择输入，确定将多个第一预设因子中的目标第一预设因子作为所述第一比例因子，并将多个第二预设因子中的目标第二预设因子作为所述第二比例因子。
  6. 根据权利要求2-5任一项所述的方法，其特征在于，所述第一比例因子的范围为10％至20％。
  7. 根据权利要求2-6任一项所述的方法，其特征在于，所述第二比例因子的范围为10％至20％。
  8. 根据权利要求3所述的方法，其特征在于，所述根据所述第一亮度值、所述第二亮度值和所述亮度直方图的亮度均值，确定曝光修正量，包括：
    所述第一亮度值P xL、所述第二亮度值P yH、所述亮度直方图的亮度均值P M和所述曝光修正量EV detal，满足如下公式：
    Figure PCTCN2018118023-appb-100001
    其中，A、B、C、a、b和c为常数，A和B均小于C，a和b均大于c，
    Figure PCTCN2018118023-appb-100002
    和
    Figure PCTCN2018118023-appb-100003
    的结果均为正数。
  9. 根据权利要求8所述的方法，其特征在于，A等于B。
  10. 根据权利要求9所述的方法，其特征在于，B等于C/2。
  11. 根据权利要求8-10任一项所述的方法，其特征在于，a等于b。
  12. 根据权利要求11所述的方法，其特征在于，b等于2c。
  13. 根据权利要求1-12任一项所述的方法，其特征在于，所述根据所述曝光修正量以及自动曝光算法确定的曝光值，确定曝光参数组合，包括：
    根据所述曝光修正量以及前N次确定的曝光修正量，确定修正后的所述曝光修正量；N为正整数；
    根据修正后的所述曝光修正量以及自动曝光算法确定的曝光值，确定曝光参数组合。
  14. 根据权利要求13所述的方法，其特征在于，所述根据修正后的所述曝光修正量以及自动曝光算法确定的曝光值，确定曝光参数组合，包括：
    根据修正后的所述曝光修正量和自动曝光算法确定的曝光值，确定修正 后的所述曝光值；
    根据修正后的所述曝光值，确定曝光参数组合。
  15. 根据权利要求13所述的方法，其特征在于，所述根据修正后的所述曝光修正量以及自动曝光算法确定的曝光值，确定曝光参数组合，包括：
    根据自动曝光算法确定的曝光值，确定曝光参数组合；
    根据修正后的所述曝光修正量，对所述曝光参数组合中的至少一个曝光参数进行调整。
  16. 根据权利要求1-15任一项所述的方法，其特征在于，所述根据所述亮度直方图中的第一像素和第二像素，以及所述亮度直方图的亮度均值，确定曝光修正量之前，还包括：
    对当前画面的亮度直方图进行伽马矫正，得到处理后的所述亮度直方图；
    所述根据所述亮度直方图中的第一像素和第二像素，以及所述亮度直方图的亮度均值，确定曝光修正量，包括：
    根据处理后的所述亮度直方图中的第一像素和第二像素，以及处理后的所述亮度直方图的亮度均值，确定曝光修正量。
  17. 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：
    获取当前画面的亮度直方图；
    根据所述亮度直方图中的第一像素和第二像素，以及所述亮度直方图的亮度均值，确定曝光修正量；所述第一像素的亮度范围的最大值小于所述亮度直方图中其他像素的亮度，所述第二像素的亮度范围的最小值大于所述亮度直方图中其他像素的亮度；
    根据所述曝光修正量以及自动曝光算法确定的曝光值，确定曝光参数组合。
  18. 根据权利要求17所述的装置，其特征在于，所述处理器还用于：
    确定第一比例因子和第二比例因子；所述第一比例因子和所述第二比例因子与所述亮度直方图对应的目标直方图相关；所述目标直方图为当前拍摄场景下期望得到的亮度直方图；所述第一比例因子表示所述亮度直方图中第 一像素所占的比例，所述第二比例因子表示所述亮度直方图中第二像素所占的比例；
    根据所述第一比例因子确定所述第一像素，并根据所述第二比例因子确定所述第二像素。
  19. 根据权利要求18所述的装置，其特征在于，所述处理器用于根据所述亮度直方图中的第一像素和第二像素，以及所述亮度直方图的亮度均值，确定曝光修正量，具体包括：
    根据所述亮度直方图中的第一像素，确定所述第一像素对应的临界亮度值为第一亮度值；
    根据所述亮度直方图中的第二像素，确定所述第二像素对应的临界亮度值为第二亮度值；
    根据所述第一亮度值、所述第二亮度值和所述亮度直方图的亮度均值，确定曝光修正量。
  20. 根据权利要求18或19所述的装置，其特征在于，所述处理器用于确定第一比例因子和第二比例因子，具体包括：
    将第一预设因子作为所述第一比例因子，将第二预设因子作为所述第二比例因子。
  21. 根据权利要求18或19所述的装置，其特征在于，所述处理器用于确定第一比例因子和第二比例因子，具体包括：
    根据用户的选择输入，确定将多个第一预设因子中的目标第一预设因子作为所述第一比例因子，并将多个第二预设因子中的目标第二预设因子作为所述第二比例因子。
  22. 根据权利要求18-21任一项所述的装置，其特征在于，所述第一比例因子的范围为10％至20％。
  23. 根据权利要求18-22任一项所述的装置，其特征在于，所述第二比例因子的范围为10％至20％。
  24. 根据权利要求19所述的装置，其特征在于，所述处理器用于根据所述第一亮度值、所述第二亮度值和所述亮度直方图的亮度均值，确定曝光修正量，具体包括：
    所述第一亮度值P xL、所述第二亮度值P yH、所述亮度直方图的亮度均值P M 和所述曝光修正量EV detal，满足如下公式：
    Figure PCTCN2018118023-appb-100004
    其中，A、B、C、a、b和c为常数，A和B均小于C，a和b均大于c，
    Figure PCTCN2018118023-appb-100005
    和
    Figure PCTCN2018118023-appb-100006
    的结果均为正数。
  25. 根据权利要求24所述的装置，其特征在于，A等于B。
  26. 根据权利要求25所述的装置，其特征在于，B等于C/2。
  27. 根据权利要求24-26任一项所述的装置，其特征在于，a等于b。
  28. 根据权利要求27所述的装置，其特征在于，b等于2c。
  29. 根据权利要求17-28任一项所述的装置，其特征在于，所述处理器用于根据所述曝光修正量以及自动曝光算法确定的曝光值，确定曝光参数组合，具体包括：
    根据所述曝光修正量以及前N次确定的曝光修正量，确定修正后的所述曝光修正量；N为正整数；
    根据修正后的所述曝光修正量以及自动曝光算法确定的曝光值，确定曝光参数组合。
  30. 根据权利要求29所述的装置，其特征在于，所述处理器用于根据修正后的所述曝光修正量以及自动曝光算法确定的曝光值，确定曝光参数组合，具体包括：
    根据修正后的所述曝光修正量和自动曝光算法确定的曝光值，确定修正后的所述曝光值；
    根据修正后的所述曝光值，确定曝光参数组合。
  31. 根据权利要求29所述的装置，其特征在于，所述处理器用于根据修正后的所述曝光修正量以及自动曝光算法确定的曝光值，确定曝光参数组合，具体包括：
    根据自动曝光算法确定的曝光值，确定曝光参数组合；
    根据修正后的所述曝光修正量，对所述曝光参数组合中的至少一个曝光参数进行调整。
  32. 根据权利要求17-31任一项所述的装置，其特征在于，所述处理器还用于：
    对当前画面的亮度直方图进行伽马矫正，得到处理后的所述亮度直方图；
    所述处理器用于根据所述亮度直方图中的第一像素和第二像素，以及所述亮度直方图的亮度均值，确定曝光修正量，具体包括：
    根据处理后的所述亮度直方图中的第一像素和第二像素，以及处理后的所述亮度直方图的亮度均值，确定曝光修正量。
  33. 一种无人机，其特征在于，包括机架，以及权利要求17-32任一项所述的拍摄装置，所述拍摄装置固定于所述机架。
  34. 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1-16任一项所述的拍摄方法。
  35. 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1-16任一项所述的拍摄方法。
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