WO2021035675A1 - 一种拍摄方法、装置及拍摄设备 - Google Patents

一种拍摄方法、装置及拍摄设备 Download PDF

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Publication number
WO2021035675A1
WO2021035675A1 PCT/CN2019/103626 CN2019103626W WO2021035675A1 WO 2021035675 A1 WO2021035675 A1 WO 2021035675A1 CN 2019103626 W CN2019103626 W CN 2019103626W WO 2021035675 A1 WO2021035675 A1 WO 2021035675A1
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WIPO (PCT)
Prior art keywords
shutter
shooting
component
photographing
control
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Application number
PCT/CN2019/103626
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English (en)
French (fr)
Inventor
麻军平
张强
王黎
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2019/103626 priority Critical patent/WO2021035675A1/zh
Priority to CN201980030368.3A priority patent/CN112106341B/zh
Publication of WO2021035675A1 publication Critical patent/WO2021035675A1/zh

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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
    • H04N23/50—Constructional details
    • H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N17/00—Diagnosis, testing or measuring for television systems or their details
    • H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
    • 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 electronic technology, in particular to a photographing method, device and photographing equipment.
  • an image processing device is usually used to control the shooting process.
  • the processing flow includes: the image processing device sends a shutter control instruction to the control component, and the control component controls the motor on the lens after receiving the shutter control instruction, and then drives the shutter to open or open through the motor. Closed; when the shutter is opened, light enters the image sensor of the imaging device to start shooting.
  • the image processing device sends a control command to the control component, and the control component responds to the control command and the three steps of the motor driving the shutter have a certain delay, which will affect the measurement accuracy. Therefore, how to accurately record the shooting time so as to improve the detection accuracy becomes a problem to be solved.
  • the embodiment of the present invention provides a shooting method, which can record the shooting moment of the shooting device more accurately, which is beneficial to improving the measurement accuracy.
  • an embodiment of the present invention provides a shooting method applied to an image processing device, including:
  • the shutter response information includes the shutter response time
  • the shutter response time is the actual shooting moment of the shooting device.
  • an embodiment of the present invention provides a modeling method applied to a movable platform, including:
  • the shooting device Match the recording parameters of the shooting device with the actual shooting time of the shooting device, and perform modeling based on the matching recording parameters of the shooting device and the actual shooting time of the shooting device, wherein the shooting The actual shooting time of the device is the shutter response time, the shutter response time is included in the shutter response information, and the shutter response information is generated when the shutter detection component of the shooting device detects that the shutter of the shooting device is open of.
  • an embodiment of the present invention provides an image processing device, including: a memory and a processor;
  • the memory is used to store program codes
  • the processor calls the program code, and when the program code is executed, is used to perform the following operations:
  • the shutter response information includes the shutter response time
  • the shutter response time is the actual shooting moment of the shooting device.
  • an embodiment of the present invention provides a photographing device, including an image processing device, a control component, a driving component, a shutter, a photosensitive device, and a lens; the image processing device is connected to the control component, and the control component is connected to the The driving component is connected, and the driving component is connected to the shutter; the shutter and the photosensitive device are installed inside the lens; wherein,
  • the image processing device is configured to send a shutter opening instruction to the control component, and the shutter opening instruction is used to control the opening of the shutter;
  • the control component is configured to send a shutter opening instruction to the driving component after receiving the shutter opening instruction
  • the driving assembly is used to control the shutter to open
  • the photosensitive device is configured to generate shutter response information when detecting that the shutter is opened, the shutter response information including the shutter response time;
  • the image processing device is also used to determine that the shutter response time is the actual shooting time of the shooting device.
  • an embodiment of the present invention provides a photographing device, including an image processing device, a control component, a driving component, a shutter, and a lens; the image processing device is connected to the control component, and the control component is connected to the driving component. The components are connected, and the driving component is connected with the shutter; wherein,
  • the image processing device is used to send a shutter opening instruction to the control component
  • the control component is configured to send drive control information to the drive component in response to the shutter opening instruction
  • the driving component is used to control the shutter to open when the driving control information is received
  • the image processing device is further configured to determine shutter response information of the control component when it is detected that the control component sends driving control information to the driving component, and the shutter response information includes the shutter response time;
  • the image processing device is also used to determine that the shutter response time is the actual shooting time of the shooting device.
  • an embodiment of the present invention provides a movable platform, including a body and the photographing device provided in the above-mentioned other aspect; wherein, the photographing device is connected to the movable platform through a pan-tilt.
  • the embodiment of the present invention provides a photographing method.
  • the method sends a shutter opening instruction to a control component, and when the shutter opening is detected by the shutter detection component, the shutter response information of the shutter detection component is determined, and then the shutter response information is determined according to the shutter detection component.
  • the shutter response time included in the shutter response information determines the actual shooting moment of the shooting device. With this method, the shooting moment of the shooting device can be recorded more accurately, which is beneficial to improve the measurement accuracy.
  • FIG. 1 is a schematic structural diagram of a photographing device provided by an embodiment of the present invention.
  • FIG. 2 is a flowchart of a shooting method provided by an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of another photographing device provided by an embodiment of the present invention.
  • FIG. 4 is a flowchart of another shooting method provided by an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of another photographing device provided by an embodiment of the present invention.
  • FIG. 6 is a flowchart of another shooting method provided by an embodiment of the present invention.
  • FIG. 7 is a flowchart of a modeling method provided by an embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of an image processing device provided by an embodiment of the present invention.
  • an embodiment of the present invention proposes a shooting method, which can be used to determine the shooting time of an image by controlling the shooting device
  • the component sends a shutter opening instruction, the shutter opening instruction is used to control the opening of the shutter; when the shutter detection component of the shooting device detects that the shutter of the shooting device is open, the shutter response of the shutter detection component is determined
  • Information the shutter response information includes a shutter response time; it is determined that the shutter response time is the actual shooting moment of the shooting device.
  • the shooting time obtained by the shooting method can be used in photogrammetry.
  • shooting equipment such as cameras, cameras, etc.
  • shooting equipment can be used to image the measurement target from different angles, and enough materials can be obtained through multiple imaging, and then through post-three-dimensional reconstruction, a three-dimensional map of the measurement target can be drawn.
  • photogrammetry by mounting shooting equipment on movable platforms has become a common technology, but there are still some problems that need to be solved.
  • the process moves at any time. If the position information of the movable platform and the photographing time of the shooting equipment mounted on the movable platform cannot be accurately recorded, it may cause errors in measurement accuracy. Therefore, with the shooting method provided by the embodiment of the present invention, the shooting time of the shooting device can be recorded more accurately, which is beneficial to improving the measurement accuracy of the photogrammetry.
  • FIG. 1 is a schematic structural diagram of a photographing device provided by an embodiment of the present invention.
  • the photographing device 100 includes an image processing device 110, a control component 120, a driving component 130, a lens 140, and a shutter detection component 150, as shown in FIG.
  • the shutter is installed inside the lens 140, and the connection relationship between the components is as follows: the image processing device 110 is connected to the control component 120, the control component 120 is connected to the driving component 130, and the driving component 130 is connected to the shutter inside the lens 140 , The lens 140 is connected with the shutter detection component 150, and the shutter detection component 150 is connected with the image processing device 110, as shown in FIG. 1.
  • the photographing equipment further includes an image sensor 160, wherein the image sensor 160 is connected to the lens, and the image sensor 160 is also connected to the image processing device 110.
  • the shooting device 100 may include, but is not limited to, a camera, a video camera with image shooting function, etc., and the shooting device may be mounted on a movable platform (including but not limited to drones, unmanned vehicles, Mobile robots, etc.) to obtain multiple images during the movement of the movable platform.
  • the image processing device 110 is the core of the photographing equipment 100, and is also called a system-on-chip (SoC), which combines a central processing unit (Central Processing Unit, CPU), a graphics processing unit (GPU), and a memory , Various interface control modules and various interconnection buses are integrated on a single chip to realize the functions of a complete electronic system.
  • SoC system-on-chip
  • the image processing device 110 may be used to process the image information acquired by the photographing device 100, for example, to digitize the image information, to enhance and restore the image, and so on.
  • the image processing device 110 may also be used to send or receive instructions, for example, to send a shutter opening instruction to the control component 120.
  • the image processing device 110 may also be used to process sent or received instructions, for example, after receiving the shutter response information, record the shutter response time included in the shutter response information.
  • the control component 120 is usually called a micro control unit (Micro Control Unit, MCU), also called a single chip micro-computer (Single Chip Micro-computer) or a single-chip microcomputer. It is a combination of CPU, random access memory (RAM), and read-only memory. (Read Only Memory, ROM), timer counter and multiple input/output (Input/Output, I/O) interfaces are integrated on a chip, which can be used for different combinations of control for different applications.
  • the control component 120 can be used to control the opening or closing of devices in the photographing device 100.
  • the control component 120 can be used to control the opening or closing of the shutter.
  • the driving component 130 is usually used as a power source for electrical appliances or various machines.
  • the driving component 130 may include but is not limited to a motor. Its working principle is to convert or transmit electrical energy through electromagnetic induction to drive other components to perform corresponding functions.
  • the driving component 130 can be used to drive the devices in the photographing apparatus 100 to start operation.
  • the driving component 130 can be used to drive the shutter to open or close.
  • the lens 140 is an important part of the photographing device 100, and includes a lens unit composed of one or more optical lenses for photographing and imaging.
  • the optical lens may be glass or plastic, which is not limited here.
  • the lens 140 may also include a shutter, and the shutter is installed inside the lens 140.
  • the shutter is a device used in the photographing device 100 to control the time for light to irradiate the photosensitive element. It can be understood that the photographing device 100 shown in FIG. 1 is a simplified model, and the photographing device 100 may also include other components, which are not limited in this embodiment.
  • the shutter detection component 150 is used to detect whether the shutter of the photographing device is open, and if it detects that the shutter is open, it generates shutter response information to notify the image processing device 110 of the shutter response time.
  • the shutter detection component 150 may include a photosensitive device, which is used to convert a light signal into an electrical signal, and may include, but is not limited to, a photosensitive resistor, a photosensitive diode, a photosensitive triode, and the like.
  • the shutter detection component 150 may further include a driving component 130. When the driving component 130 drives the shutter to open, shutter response information may be generated to notify the image processing device 110 of the shutter response time.
  • the image sensor 160 is a device that converts an optical image into an electrical signal, and can be used to obtain image information.
  • the image sensor 160 includes but is not limited to a charge coupled device (CCD) and a complementary metal oxide semiconductor (Complementary Metal Oxide Semiconductor, CMOS), which is not limited in this embodiment.
  • CCD charge coupled device
  • CMOS complementary metal oxide semiconductor
  • the image sensor 160 can obtain the captured image information and transmit the image information to the image processing device 110.
  • an embodiment of the present invention provides a shooting method, specifically, a method for determining an image shooting time. Please refer to FIG. 2.
  • the method may be executed by the image processing apparatus shown in FIG. 1, and specifically may include the following steps:
  • the image processing device sends a shutter opening instruction to the control component of the photographing device, where the shutter opening instruction is used to control the opening of the shutter.
  • the image processing device may send a shutter control instruction to the control component of the photographing device, and the shutter control instruction may be used to control the opening of the shutter.
  • the shutter control instruction may be a shutter opening instruction.
  • the user's operation triggers the generation of the shutter opening instruction and sends it to the image processing device, so that the image processing device obtains the user's photography instruction.
  • the image processing apparatus may send a control instruction to the control component.
  • the image processing device may send a shutter opening instruction to the control component to control the shutter opening.
  • the shutter opening instruction is used to control the driving component to drive the shutter to open.
  • the user can also trigger the generation of control instructions through voice control, gesture control, etc., which is not limited here.
  • the shutter control instruction may be a shutter closing instruction.
  • the user's operation triggers the generation of the shutter closing instruction so that the image processing apparatus obtains the user's instruction to close the shutter.
  • the image shooting system may also send a shooting instruction to the lens, where the shooting instruction is used to instruct the lens to shoot a target image.
  • the lens may include a lens unit and an image sensor.
  • the image sensor receives the external light and starts to take light, and combines the lens unit to shoot and image, that is, the lens responds to the shooting instruction to shoot the target image.
  • the shooting moment when the lens shoots the target image is the moment when the control component controls the lens to shoot the target image in response to the shooting instruction.
  • the image processing apparatus determines shutter response information of the shutter detection component, and the shutter response information includes the shutter response time.
  • the control component can control the driving component to drive the shutter to open according to the shutter opening instruction.
  • the shutter detection component can detect that the shutter is opened and generate shutter response information, where the shutter response information includes the shutter response time.
  • the shutter detection component records the time when the shutter opens as the shutter response time, and further generates shutter response information.
  • S203 The image processing apparatus determines that the shutter response time is the actual shooting time of the shooting device.
  • the image processing apparatus After the image processing apparatus receives the shutter response information, it can determine the actual shooting time of the shooting device according to the shutter response time recorded in the shutter response information. Among them, the image processing device determines that the time corresponding to the shutter response time is the actual shooting time of the shooting device. After the shutter is opened, light enters the image sensor (such as a CCD or CMOS photosensitive element), and the image sensor starts photosensitive work. Therefore, the moment is closer to the moment when the lens captures the target image, thereby better improving the shooting measurement accuracy.
  • the image sensor such as a CCD or CMOS photosensitive element
  • the embodiment of the present invention provides a shooting method, which can be applied to an image processing device.
  • the image processing device sends a shutter opening instruction to a control component, and when the shutter detection component detects that the shutter is opened, it determines that the shutter detection According to the shutter response information of the component, the actual shooting time of the shooting device is determined according to the shutter response time included in the shutter response information. It can be seen that with this method, the shutter detection component can respond quickly when the shutter is opened, and notify the image processing device, so that the image processing device can more accurately record the shooting time of the shooting device, which is beneficial to improve the measurement accuracy.
  • the photographing equipment 300 includes an image processing device 310, a control component 320, a driving component 330, a lens 340, a shutter 341, and a photosensitive device 342; further, the photographing equipment 300 may also include an image sensor 350, as shown in FIG. 3.
  • the shutter 341 and the photosensitive device 342 are installed inside the lens 340, and the photosensitive device 342 may be installed behind the shutter 341 to convert the optical signal into an electrical signal.
  • the connection relationship between the devices is shown in Figure 3, including: the image processing device 310 is connected to the control component 320, the control component 320 is connected to the driving component 330, the driving component 330 is connected to the shutter 341, and the photosensitive device 342 is connected to the image.
  • the processing device 310 is connected, the lens 340 is connected to the image sensor 350, and the image sensor 350 is connected to the image processing device 310.
  • the control component 320, the driving component 330, the lens 340, and the image sensor 350 in this embodiment, reference may be made to the corresponding description in the embodiment shown in FIG. 1, which will not be repeated in this embodiment.
  • an embodiment of the present invention provides another photographing method, specifically, a method for determining an image photographing moment.
  • the method may be executed by the image processing apparatus shown in FIG. 3, and specifically may include the following steps:
  • S401 The image processing device sends a shutter opening instruction to the control component of the photographing device, where the shutter opening instruction is used to control the opening of the shutter.
  • the shutter opening instruction is used to control the opening of the shutter.
  • the image processing apparatus determines shutter response information of the photosensitive device, and the shutter response information includes the shutter response time.
  • the photographing device in this embodiment detects whether the shutter is open through a photosensitive device, where the photosensitive device can quickly respond to light and generate shutter response information. For example, once the shutter is opened and light enters the lens, the photosensitive device will immediately detect the light signal and generate shutter response information based on the light signal.
  • the shutter response information includes the shutter response time, and the shutter response time represents the shutter opening time recorded by the photosensitive device at the moment when the shutter is opened.
  • S403 The image processing apparatus determines that the shutter response time is the actual shooting time of the shooting device.
  • S403 in this embodiment reference may be made to S203 in the embodiment in FIG. 2, and details are not described herein again.
  • the embodiment of the present invention provides a photographing method, which can be applied to an image processing device.
  • the image processing device sends a shutter opening instruction to a control component, and when the shutter is opened by a photosensitive device, it determines whether the photosensitive device is open.
  • the shutter response information determines the actual shooting time of the shooting device according to the shutter response time included in the shutter response information. It can be seen that using this method, the photosensitive device can quickly respond to the light at the moment of the shutter, generate shutter response information, and notify the image processing device, so that the image processing device can more accurately record the shooting time of the shooting equipment, which is beneficial to improve the measurement Accuracy.
  • the photographing device 500 includes an image processing device 510, a control component 520, a driving component 530, a lens 540, and a shutter 541; further, the photographing device 500 may also include an image sensor 550, as shown in FIG. 5.
  • the shutter 541 is installed inside the lens 540, and the connection relationship between the components is as follows: the image processing device 510 is connected to the control component 520, the control component 520 is connected to the driving component 530, the driving component 530 is connected to the shutter 541, and the lens 540 is connected to the image sensor 550, and the image sensor 550 is connected to the image processing device 510.
  • the photographing device 500 in this embodiment does not include a photosensitive device, and the photographing device 500 uses an image sensor 550 to receive light and form images.
  • the image processing device 510, the control component 520, the driving component 530, the lens 540, and the image sensor 550 in this embodiment reference may be made to the corresponding description in the embodiment shown in FIG. 1, which will not be repeated in this embodiment.
  • the image sensor 550 can also be used to detect the control information sent by the control component to the driving component, and determine whether the shutter is opened or closed according to the control information. For example, when the image sensor detects that the control component sends the shutter open information to the drive component, it determines that the shutter is open, and records the time when the shutter opens information. In this way, the image capturing moment can be determined as the moment when the drive assembly drives the shutter to open, which is closer to the moment when the lens captures the target image, thereby better improving the shooting measurement accuracy.
  • an embodiment of the present invention provides another photographing method, specifically, a method for determining an image photographing moment.
  • the method may be executed by the image processing apparatus shown in FIG. 5, and specifically may include the following steps:
  • the image processing device sends a shutter opening instruction to the control component, so that the control component sends driving control information to the driving component in response to the shutter opening instruction.
  • the shutter opening command is used to control the driving component to drive the shutter to open. For example, when the camera is not taking a picture, the shutter is in a closed state.
  • the driving component can open the shutter.
  • the image processing device sends a shutter opening instruction to the control component, and the control component sends driving control information to the driving component according to the shutter opening instruction; and according to the driving control information, the driving component opens the driving shutter.
  • the image shooting system may also send a shooting instruction to the lens, where the shooting instruction is used to instruct the lens to shoot a target image.
  • the lens may include a lens unit and an image sensor.
  • the image sensor receives the external light and starts to take light, and combines the lens unit to shoot and image, that is, the lens responds to the shooting instruction to shoot the target image.
  • the shooting moment when the lens shoots the target image is the moment when the control component controls the lens to shoot the target image in response to the shooting instruction.
  • the image processing apparatus determines shutter response information of the control component, where the shutter response information includes shutter response time.
  • the control component When the shutter is opened, the control component will generate shutter response information, where the shutter response information includes the shutter response time, and the shutter response time is the transmission time for the control component to send drive control information to the drive component in response to the shutter opening instruction, which is
  • the driving component opens the shutter time according to the driving control information. For example, after the image processing device sends a shutter opening instruction to the control module, it detects whether the control module sends drive control information to the drive module. If it detects that the control module sends drive control information to the drive module, it determines that the shutter is open, and the recording control module sends drive control information to the drive module.
  • the transmission time for the component to send drive control information is the shutter response time.
  • the driving component may be a motor.
  • the control component sends drive control information to the motor in response to the shutter opening instruction
  • the sending time is the time for the motor to open the shutter according to the drive control information.
  • the opening time of the shutter can be determined by a signal that controls the operation of the motor.
  • the drive control information may be a trigger signal to trigger the motor to work.
  • the trigger signal can be a one-bit wide signal. In this way, the time point at which the bit width of the trigger signal changes can be used as the time point when the shutter is opened.
  • the image processing device can determine the prepared exposure time point according to the change in the trigger signal. .
  • S603 The image processing apparatus determines that the shutter response time is the actual shooting moment of the shooting device. For S603 in this embodiment, reference may be made to S203 in the embodiment in FIG. 2, and details are not described herein again.
  • the embodiment of the present invention provides a photographing method, which can be applied to an image processing device, by sending a shutter opening instruction to a control component, so that the control component sends driving control information to the driving component in response to the shutter opening instruction ,
  • To control the driving component to open the shutter determine the shutter response information of the control component, where the shutter response information includes the shutter response time; determine that the shutter response time is the actual shooting moment of the photographing device.
  • the image processing device determines the shooting time of the shooting device according to the detected time when the control component sends the drive control information to the drive component in response to the shutter opening instruction, so that the image processing device can more accurately record the shooting of the shooting device. At any time, it is helpful to improve the measurement accuracy. It can be understood that the accuracy of the shooting time determined by the shooting method in this embodiment is lower than the accuracy of the shooting time determined by the shooting method in the embodiment shown in FIG. 2.
  • the embodiment of the present invention provides a modeling method. Please refer to Fig. 7.
  • the method can be executed by a movable platform. Specifically, taking the movable platform as a drone as an example, The modeling method may include the following steps:
  • the movable platform obtains the recording parameters of the photographing device.
  • the recording parameters of the shooting equipment are used to record the relevant parameters of the UAV during the flight, which may include but not limited to the movement trajectory, attitude information and movement information of the UAV.
  • the movement trajectory of the drone includes the position information and fixed-point information of the drone during the flight.
  • the flight route of the drone is generally pre-planned, and the drone flies according to the pre-planned flight route.
  • And can take pictures at multiple preset waypoints, then the recording parameters of the drone can include flight route and waypoint information.
  • the attitude information of the UAV may include information such as the movement angle of the UAV.
  • the recording parameters of the UAV may include information such as the flight angle of the UAV during the flight.
  • the movement information of the drone may include information such as the flight duration of the drone.
  • the movable platform determines the actual shooting moment of the shooting device.
  • the drone can be connected to a shooting device through a pan/tilt.
  • the shooting device can be the shooting device in the embodiment shown in FIG. 1, FIG. 3, or FIG. 5.
  • the target can be photographed during the movement. Take continuous shooting.
  • the shooting method in the embodiment shown in FIG. 2, FIG. 4, or FIG. 6 can be used to determine the actual shooting moment of the shooting device. The description in the embodiment shown in FIG. 4 or FIG. 6 will not be repeated here.
  • the movable platform matches the recording parameters of the shooting device with the actual shooting time of the shooting device, and performs modeling based on the matching recording parameters of the shooting device and the actual shooting time of the shooting device.
  • the location of the drone at the shooting time recorded in the recording parameters and the angle of the shooting device can be correspondingly searched according to the shooting time. Import the matched information into the 3D reconstruction software to model the target. It is understandable that the method for acquiring the actual shooting time of the shooting device in this embodiment adopts the shooting method shown in FIG. 2, FIG. 4, or FIG. 6, and the image shooting time determined by the above method is closer to the actual shooting time of the shooting device. At the moment, the error is small, which helps to improve the accuracy of the three-dimensional reconstruction of the target.
  • the embodiment of the present invention provides a modeling method, which determines the actual shooting time of the shooting device by acquiring the recording parameters of the shooting device, matching the recording parameters and the shooting time, and according to the matching The recording parameters and the shooting moment are modeled. Using this method is beneficial to improve the accuracy of modeling.
  • the embodiment of the present invention provides an image processing device for executing corresponding steps in the shooting method in the embodiment shown in FIG. 2.
  • the image processing apparatus includes a memory 801 and a processor 802; the memory 801 is used to store program codes; the processor 802 calls the program codes, and when the program codes are executed, they are used to perform the following operations:
  • the shutter response information includes the shutter response time
  • the shutter response time is the actual shooting moment of the shooting device.
  • the shutter detection component includes a photosensitive device; the processor 802 is further configured to:
  • the shutter response information of the photosensitive device is determined.
  • the shutter response time is the detection time when the photosensitive device detects that the shutter is opened.
  • the shutter detection component includes a driving component of the photographing device; the processor 802 is further configured to:
  • the control component sends drive control information to the drive component in response to the shutter opening instruction, and the drive control information is used to control the drive component to open the shutter;
  • the shutter response information of the control component is determined, and the shutter response information includes the shutter response time.
  • the shutter response time is a transmission time for the control component to send driving control information to the driving component.
  • the processor 802 is further configured to:
  • the shutter response time is the shooting moment of the target image, wherein the shooting moment of the target image is the moment when the control component controls the lens to shoot the target image in response to the shooting instruction.
  • control component includes a single-chip microcomputer.
  • the drive assembly includes a motor.
  • the photosensitive device includes one or more of a photoresistor, a photodiode, and a phototransistor.
  • the shutter detection component in the device can respond quickly when the shutter is opened, so that the image processing device can more accurately record the shooting time of the shooting device, which is beneficial to improve the measurement accuracy.
  • An embodiment of the present invention provides a movable platform, which includes a fuselage and a shooting device as shown in FIG. 1, FIG. 3, or FIG. 5.
  • the photographing device is connected to the movable platform through the pan-tilt, and is used to photograph images and execute the photographing method as in the above-mentioned embodiment.
  • the movable platform includes unmanned aerial vehicles, unmanned vehicles, unmanned ships, robots, and so on.
  • the movable platform provided in this embodiment may be used to implement the modeling method in the embodiment shown in FIG. 7, and may specifically include the following steps:
  • the shooting device Match the recording parameters of the shooting device with the actual shooting time of the shooting device, and perform modeling based on the matching recording parameters of the shooting device and the actual shooting time of the shooting device, wherein the shooting The actual shooting time of the device is the shutter response time, the shutter response time is included in the shutter response information, and the shutter response information is generated when the shutter detection component of the shooting device detects that the shutter of the shooting device is open of.
  • the mobile platform adopts the above modeling method, which is beneficial to improve the accuracy of modeling.
  • the embodiment of the present invention also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the implementation in the embodiments corresponding to FIG. 2, FIG. 4, and FIG.
  • the related functions described can also implement the functions of the device for determining the image shooting time described in FIG. 8, which will not be repeated here.
  • the computer-readable storage medium may be an internal storage unit of the device described in any of the foregoing embodiments, such as a hard disk or memory of the device.
  • the computer-readable storage medium may also be an external storage device of the device, such as a plug-in hard disk equipped on the device, a smart memory card (Smart Media Card, SMC), or a Secure Digital (SD) card. , Flash Card, etc.
  • the computer-readable storage medium may also include both an internal storage unit of the device and an external storage device.
  • the computer-readable storage medium is used to store the computer program and other programs and data required by the terminal.
  • the computer-readable storage medium can also be used to temporarily store data that has been output or will be output.
  • the program can be stored in a computer readable storage medium. During execution, it may include the procedures of the above-mentioned method embodiments.
  • the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

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Abstract

一种拍摄方法，该方法可以应用于图像处理装置，包括：(S201)图像处理装置向拍摄设备的控制组件发送快门打开指令，所述快门打开指令用于控制所述快门的开启；(S202)当通过所述拍摄设备的快门检测组件检测到所述拍摄设备的快门打开时，图像处理装置确定所述快门检测组件的快门响应信息，所述快门响应信息包括快门响应时间；(S203)图像处理装置确定所述快门响应时间为所述拍摄设备的实际拍摄时刻。采用该方法，快门检测组件能够在快门打开时进行快速响应，并通知到图像处理装置，使图像处理装置可以更准确地记录拍摄设备的拍摄时刻，有利于提高测量精度。

Description

一种拍摄方法、装置及拍摄设备 技术领域
本发明涉及电子技术领域，尤其涉及一种拍摄方法、装置及拍摄设备。
背景技术
在进行图像采集时，通常需要从不同角度拍摄目标以获取多个图像，采集到的多个图像可以应用于三维重建、图像监控等应用场景中。但是，当利用可移动平台进行图像采集时，可移动平台的移动速度较快，若不能准确地记录可移动平台的位置信息和拍摄时刻，可能会降低测量精度。在成像设备中，通常采用图像处理装置控制拍摄过程，处理流程包括：图像处理装置向控制组件发送快门控制指令，控制组件接收该快门控制指令后控制镜头上的电机，再通过电机驱动快门打开或关闭；当快门打开后，光线进入到成像设备的图像传感器，从而开始进行拍摄。但是，在上述过程中，图像处理装置发送控制指令到控制组件，控制组件响应控制指令以及电机驱动快门这三个步骤都存在一定的延迟，将影响测量精度。因此，如何准确记录拍摄时刻，从而提高检测精度成为待解决的问题。
发明内容
本发明实施例提供一种拍摄方法，可以更准确地记录拍摄设备的拍摄时刻，有利于提高测量精度。
一方面，本发明实施例提供一种拍摄方法，应用于图像处理装置，包括：
向拍摄设备的控制组件发送快门打开指令，所述快门打开指令用于控制所述快门的开启；
当通过所述拍摄设备的快门检测组件检测到所述拍摄设备的快门打开时，确定所述快门检测组件的快门响应信息，所述快门响应信息包括快门响应时间；
确定所述快门响应时间为所述拍摄设备的实际拍摄时刻。
另一方面，本发明实施例提供一种建模方法，应用于可移动平台，包括：
获取所述拍摄设备的记录参数；
确定所述拍摄设备的实际拍摄时刻；
对所述拍摄设备的记录参数和所述拍摄设备的实际拍摄时刻进行匹配，并根据匹配后的所述拍摄设备的记录参数和所述拍摄设备的实际拍摄时刻进行建模，其中，所述拍摄设备的实际拍摄时刻为快门响应时间，所述快门响应时间包含于所述快门响应信息中，所述快门响应信息为当所述拍摄设备的快门检测组件检测到所述拍摄设备的快门打开时生成的。
另一方面，本发明实施例提供一种图像处理装置，包括：存储器和处理器；
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：
向拍摄设备的控制组件发送快门打开指令，所述快门打开指令用于控制所述快门的开启；
当通过所述拍摄设备的快门检测组件检测到所述拍摄设备的快门打开时，确定所述快门检测组件的快门响应信息，所述快门响应信息包括快门响应时间；
确定所述快门响应时间为所述拍摄设备的实际拍摄时刻。
另一方面，本发明实施例提供一种拍摄设备，包括图像处理装置、控制组件、驱动组件、快门、光敏器件和镜头；所述图像处理装置与所述控制组件相连接，所述控制组件与所述驱动组件相连接，所述驱动组件与所述快门相连接；所述快门和所述光敏器件安装在所述镜头内部；其中，
所述图像处理装置，用于向所述控制组件发送快门打开指令，所述快门打开指令用于控制所述快门的开启；
所述控制组件，用于接收所述快门打开指令后，向所述驱动组件发送快门打开指令；
所述驱动组件，用于控制所述快门打开；
所述光敏器件，用于当检测到快门打开时，生成快门响应信息，所述快门响应信息包括快门响应时间；
所述图像处理装置还用于确定所述快门响应时间为所述拍摄设备的实际 拍摄时刻。
另一方面，本发明实施例提供一种拍摄设备，包括图像处理装置、控制组件、驱动组件、快门和镜头；所述图像处理装置与所述控制组件相连接，所述控制组件与所述驱动组件相连接，所述驱动组件与所述快门相连接；其中，
所述图像处理装置，用于向所述控制组件发送快门打开指令；
所述控制组件，用于响应于所述快门打开指令，向所述驱动组件发送驱动控制信息；
所述驱动组件，用于当接收到所述驱动控制信息时，控制所述快门打开；
所述图像处理装置还用于当检测到控制组件向驱动组件发送驱动控制信息时，确定所述控制组件的快门响应信息，所述快门响应信息包括快门响应时间；
所述图像处理装置还用于确定所述快门响应时间为所述拍摄设备的实际拍摄时刻。
另一方面，本发明实施例提供一种可移动平台，包括机身和上述另一方面提供的拍摄设备；其中，所述拍摄设备通过云台与所述可移动平台相连接。
本发明实施例提出一种拍摄方法，该方法通过向控制组件发送快门打开指令，并且当通过快门检测组件检测到所述快门打开时，确定所述快门检测组件的快门响应信息，再根据所述快门响应信息包括的快门响应时间确定所述拍摄设备的实际拍摄时刻。采用该方法，可以更准确地记录拍摄设备的拍摄时刻，有利于提高测量精度。
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，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例提供的一种拍摄设备的结构示意图；
图2是本发明实施例提供的一种拍摄方法的流程图；
图3是本发明实施例提供的另一种拍摄设备的结构示意图；
图4是本发明实施例提供的另一种拍摄方法的流程图；
图5是本发明实施例提供的另一种拍摄设备的结构示意图；
图6是本发明实施例提供的另一种拍摄方法的流程图；
图7是本发明实施例提供的一种建模方法的流程图；
图8是本发明实施例提供的一种图像处理装置的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有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。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
为了解决现有技术中的可移动平台运动过程中进行拍摄不能准确记录拍摄时刻的问题，本发明实施例提出一种拍摄方法，该方法可以用于确定图像的拍摄时刻，通过向拍摄设备的控制组件发送快门打开指令，所述快门打开指令用于控制所述快门的开启；当通过所述拍摄设备的快门检测组件检测到所述拍摄设备的快门打开时，确定所述快门检测组件的快门响应信息，所述快门响应信息包括快门响应时间；确定所述快门响应时间为所述拍摄设备的实际拍摄时刻。其中，采用该拍摄方法得到的拍摄时刻可以应用于摄影测量学中。在摄影测量学中，可以使用拍摄设备(如相机、摄影机等)对测量目标从不同角度成像，通过多次成像得到足够的素材，然后通过后期三维重建，能够绘制出测量目标的三维立体图。其中，通过在可移动平台(如无人机、无人车等)上挂载拍摄设备进行摄影测量已经成为一种常见的技术，但仍存在一些问题需要解决，例如可移动平台在进行拍摄的过程中是随时移动的，若不能准确地记录可移动平台的位置信息以及该可移动平台上挂载的拍摄设备的拍照时间的话，可能会造成测量精度的误差。因此，采用本发明实施例提供的拍摄方法，可以更准确地记录拍摄设备的拍摄时刻，有利于提高摄影测量的测量精度。以下结合附图对本发明实施例的相关内容进行阐述。
图1为本发明实施例提供的一种拍摄设备的结构示意图，该拍摄设备100包括图像处理装置110、控制组件120、驱动组件130、镜头140和快门检测组件150，如图1所示。其中，快门安装在镜头140的内部，各器件间的连接关系以下：图像处理装置110与控制组件120相连接，控制组件120与驱动组件130相连接，驱动组件130与镜头140内部的快门相连接，镜头140与快门检测组件150相连接，快门检测组件150与图像处理装置110相连接，如图1所示。进一步地，该拍摄设备还包括图像传感器160，其中，图像传感器160与镜头连接，图像传感器160还与图像处理装置110相连接。在一种实施方式中，拍摄设备100可以包括但不限于相机、具有图像拍摄功能的摄像机等设备，并且该拍摄设备可以挂载于可移动平台(包括但不限于无人机、无人车、移动机器人等)，以获取可移动平台移动过程中的多个图像。
图像处理装置110为拍摄设备100的核心，又称为系统级芯片(System on Chip，SoC)，是将中央处理器(Central Processing Unit，CPU)，图形处理器(Graphics Processing Unit，GPU)，存储器，各种接口控制模块和各种互联总线等集成在单一芯片上，用于实现一个完整的电子系统的功能。其中，图像处理装置110可以用于对拍摄设备100获取的图像信息进行处理，例如，将图像信息数字化，对图像进行增强和复原等。图像处理装置110也可以用于发送或接收指令，例如，向控制组件120发送快门打开指令。图像处理装置110还可以用于对发送或接收的指令进行处理，例如，当接收到快门响应信息后，记录该快门响应信息包括的快门响应时间。
控制组件120通常称为微控制单元(Micro Control Unit，MCU)，又称单片微型计算机(Single Chip Micro-computer)或者单片机，是将CPU，随机存储器(Random Access Memory，RAM)，只读存储器(Read Only Memory，ROM)，定时计数器和多种输入/输出(Input/Output，I/O)接口集成在一块芯片上，可以为不同的应用场合做不同组合控制。其中，控制组件120可以用于控制拍摄设备100中的器件的打开或关闭，例如，控制组件120可以用于控制快门的打开或关闭。
驱动组件130通常作为用电器或各种机械的动力源，其中，驱动组件130 可以包括但不限于电机等，其工作原理为通过电磁感应将电能进行转换或传递，以驱动其他组件执行相应的功能。其中，驱动组件130可以用于驱动拍摄设备100中的器件开始运作，例如，驱动组件130可以用于驱动快门打开或关闭。
镜头140为拍摄设备100中重要的部件，包括由一块或者多块光学透镜组成的透镜单元，用于拍摄成像。其中，光学透镜可以是玻璃，也可以是塑料，在此不作限定。进一步地，镜头140还可以包括快门，快门安装在镜头140的内部。其中，快门是拍摄设备100中用来控制光线照射感光元件时间的装置。可以理解的是，图1所示的拍摄设备100为简化后的模型，该拍摄设备100还可以包括其他组件，本实施例不作限定。
快门检测组件150用于检测拍摄设备的快门是否打开，若检测到快门打开，则生成快门响应信息以通知图像处理装置110所述快门响应时间。其中，快门检测组件150可以包括光敏器件，所述光敏器件用于将光信号转换为电信号，可以包括但不限于光敏电阻、光敏二极管和光敏三极管等。快门检测组件150还可以包括驱动组件130，当驱动组件130驱动快门打开时，可以生成快门响应信息以通知图像处理装置110所述快门响应时间。
图像传感器160是一种将光学图像转换成电信号的设备，可以用于获取图像信息。其中，图像传感器160包括但不限于电荷耦合元件(Charge Coupled Device，CCD)和互补金属氧化物半导体(Complementary Metal Oxide Semiconductor，CMOS)，本实施例在此不作限定。当通过镜头140拍摄图像后，图像传感器160可以获取拍摄的图像信息，并将图像信息传输至图像处理装置110。
结合图1所示的实施例中的拍摄设备的描述，本发明实施例提供一种拍摄方法，具体地，一种图像拍摄时刻确定的方法。请参见图2，该方法可以由图1所示的图像处理装置来执行，具体可以包括以下步骤：
S201，图像处理装置向拍摄设备的控制组件发送快门打开指令，所述快门打开指令用于控制所述快门的开启。
图像处理装置可以向拍摄设备的控制组件发送快门控制指令，该快门控制 指令可以用于控制快门的开启。其中，所述快门控制指令可以是快门打开指令，当用户使用拍摄设备准备拍照时，通过用户的操作触发生成快门打开指令，并发送至图像处理装置，从而使得图像处理装置获取用户拍照的指令。例如，用户按下拍摄设备的拍摄按钮，响应于用户按下拍摄设备的拍摄按钮这一操作，图像处理装置可以向控制组件发送控制指令。例如，图像处理装置可以向控制组件发送快门打开指令以控制快门打开。其中，快门打开指令用于控制驱动组件驱动快门打开。当然，用户也可以通过声音控制、手势控制等方式触发生成控制指令，在此不作限定。在一种实施例中，所述快门控制指令可以是快门关闭指令，当用户拍照完成时，通过用户的操作触发生成快门关闭指令以使图像处理装置获取用户关闭快门的指令。
可选的，图像拍摄系统向控制组件发送快门打开指令后，还可以向镜头发送拍摄指令，所述拍摄指令用于指示所述镜头拍摄目标图像。在一种实施例中，镜头可以包括透镜单元和图像传感器。其中，镜头在检测到快门打开时，图像传感器接收到外接光线并开始感光，结合透镜单元拍摄成像，即镜头响应于所述拍摄指令，拍摄目标图像。其中，镜头拍摄目标图像的拍摄时刻为控制组件响应于所述拍摄指令，控制镜头拍摄目标图像的时刻。
S202，当通过所述拍摄设备的快门检测组件检测到所述拍摄设备的快门打开时，图像处理装置确定所述快门检测组件的快门响应信息，所述快门响应信息包括快门响应时间。
当图像处理装置向控制组件发送快门打开指令后，控制组件可以根据该快门打开指令控制驱动组件驱动快门打开。当快门打开后，快门检测组件可以检测到快门打开，并生成快门响应信息，其中，快门响应信息包括快门响应时间。例如，当驱动组件驱动快门打开时，快门检测组件将记录快门打开的时刻作为快门响应时间，并进一步生成快门响应信息。
S203，图像处理装置确定所述快门响应时间为所述拍摄设备的实际拍摄时刻。
当图像处理装置接收到快门响应信息后，可以根据快门响应信息中记录的快门响应时间，确定拍摄设备的实际拍摄时刻。其中，图像处理装置确定快门响应时间对应的时刻为拍摄设备的实际拍摄时刻，由于快门打开后，光线进入 到图像传感器(例如CCD或者CMOS感光元件)，图像传感器开始感光工作，此时开始工作，因此该时刻更接近于镜头拍摄目标图像的时刻，从而更好地提高拍摄测量精度。
本发明实施例提出一种拍摄方法，该方法可以应用于图像处理装置，图像处理装置通过向控制组件发送快门打开指令，并且当通过快门检测组件检测到所述快门打开时，确定所述快门检测组件的快门响应信息，再根据所述快门响应信息包括的快门响应时间确定所述拍摄设备的实际拍摄时刻。可见，采用该方法，快门检测组件能够在快门打开时进行快速响应，并通知到图像处理装置，使图像处理装置可以更准确地记录拍摄设备的拍摄时刻，有利于提高测量精度。
基于图1所示的一种拍摄设备，当快门检测组件为光敏器件时，拍摄设备的结构如图3所示。该拍摄设备300包括图像处理装置310、控制组件320、驱动组件330、镜头340、快门341和光敏器件342；进一步地，该拍摄设备300还可以包括图像传感器350，如图3所示。其中，快门341和光敏器件342安装在镜头340的内部，光敏器件342可以安装在快门341的后面，用于将光信号转换为电信号。各器件之间的连接关系如图3所示，包括：图像处理装置310与控制组件320相连接，控制组件320与驱动组件330相连接，驱动组件330与快门341相连接，光敏器件342与图像处理装置310相连接，镜头340与图像传感器350相连接，图像传感器350与图像处理装置310相连接。本实施例中的图像处理装置310，控制组件320，驱动组件330，镜头340和图像传感器350可以参考图1所示的实施例中对应的描述，本实施例不再赘述。
结合图3所示的实施例中的拍摄设备的描述，本发明实施例提供另一种拍摄方法，具体地，一种图像拍摄时刻的确定方法。请参见图4，该方法可以由图3所示的图像处理装置来执行，具体可以包括以下步骤：
S401，图像处理装置向拍摄设备的控制组件发送快门打开指令，所述快门打开指令用于控制所述快门的开启。本实施例中的S401可以参考图2实施例中的S201，在此不再赘述。
S402，当通过所述拍摄设备的光敏器件检测到所述拍摄设备的快门打开 时，图像处理装置确定所述光敏器件的快门响应信息，所述快门响应信息包括快门响应时间。
本实施例中的拍摄设备通过光敏器件检测快门是否打开，其中，光敏器件可以对光照进行快速响应，生成快门响应信息。例如，一旦快门打开，有光线进入镜头内部，光敏器件将立即检测到光信号，并根据光信号生成快门响应信息。该快门响应信息包括快门响应时间，快门响应时间表示快门打开的瞬间光敏器件记录下的快门打开时间。
S403，图像处理装置确定所述快门响应时间为所述拍摄设备的实际拍摄时刻。本实施例中的S403可以参考图2实施例中的S203，在此不再赘述。
本发明实施例提出一种拍摄方法，该方法可以应用于图像处理装置，图像处理装置通过向控制组件发送快门打开指令，并且当通过光敏器件检测到所述快门打开时，确定所述光敏器件的快门响应信息，再根据所述快门响应信息包括的快门响应时间确定所述拍摄设备的实际拍摄时刻。可见，采用该方法，光敏器件能够在快门的瞬间对光线进行快速响应，生成快门响应信息，并通知到图像处理装置，使图像处理装置可以更准确地记录拍摄设备的拍摄时刻，有利于提高测量精度。
基于图1所示的一种拍摄设备，当快门检测组件为驱动组件时，拍摄设备的结构如图5所示。该拍摄设备500包括图像处理装置510、控制组件520、驱动组件530、镜头540和快门541；进一步地，该拍摄设备500还可以包括图像传感器550，如图5所示。其中，快门541安装在镜头540的内部，各器件间的连接关系如下：图像处理装置510与控制组件520相连接，控制组件520与驱动组件530相连接，驱动组件530与快门541相连接，镜头540与图像传感器550相连接，图像传感器550与图像处理装置510相连接。与图3所示的拍摄设备300不同的是，本实施例中的拍摄设备500不包括光敏器件，拍摄设备500通过图像传感器550感光成像。本实施例中的图像处理装置510，控制组件520，驱动组件530，镜头540和图像传感器550可以参考图1所示的实施例中对应的描述，本实施例不再赘述。
在一种可行的实现方式中，图像传感器550还可以用于检测控制组件发送 给驱动组件的控制信息，并通过该控制信息来判断快门的是否打开或关闭。例如，当图像传感器检测到控制组件向驱动组件发送快门打开信息时，确定快门打开，并记录该快门打开信息的时刻。如此，可以将图像拍摄时刻确定为驱动组件驱动快门打开的时刻，该时刻更接近于镜头拍摄目标图像的时刻，从而更好地提高拍摄测量精度。
结合图5所示的实施例中的拍摄设备的描述，本发明实施例提供另一种拍摄方法，具体地，一种图像拍摄时刻的确定方法。请参见图6，该方法可以由图5所示的图像处理装置来执行，具体可以包括以下步骤：
S601，图像处理装置向控制组件发送快门打开指令，以使控制组件响应于快门打开指令向驱动组件发送驱动控制信息。
快门打开指令用于控制驱动组件驱动快门打开，例如，在相机不拍照时，快门处于关闭状态，当控制组件接收到快门打开指令后，可以通过驱动组件打开快门。具体的，图像处理装置向控制组件发送快门打开指令，控制组件根据所述快门打开指令，向驱动组件发送驱动控制信息；根据所述驱动控制信息，驱动组件将驱动快门打开。
可选的，图像拍摄系统向控制组件发送快门打开指令后，还可以向镜头发送拍摄指令，所述拍摄指令用于指示所述镜头拍摄目标图像。在一种实施例中，镜头可以包括透镜单元和图像传感器。其中，镜头在检测到快门打开时，图像传感器接收到外接光线并开始感光，结合透镜单元拍摄成像，即镜头响应于所述拍摄指令，拍摄目标图像。其中，镜头拍摄目标图像的拍摄时刻为控制组件响应于所述拍摄指令，控制镜头拍摄目标图像的时刻。
S602，图像处理装置确定所述控制组件的快门响应信息，所述快门响应信息包括快门响应时间。
当快门打开时，控制组件将生成快门响应信息，其中，快门响应信息包括了快门响应时间，所述快门响应时间为控制组件响应于快门打开指令向驱动组件发送驱动控制信息的发送时间，即为驱动组件根据所述驱动控制信息打开快门的时间。例如，当图像处理装置向控制组件发送快门打开指令之后，检测控制组件是否向驱动组件发送驱动控制信息，若检测到控制组件向驱动组件发送驱动控制信息，则确定快门打开，记录控制组件向驱动组件发送驱动控制信息 的发送时间为快门响应时间。
在一种实施方式中，驱动组件可以为电机。当控制组件响应于快门打开指令向电机发送驱动控制信息时，该发送时间即为电机根据该驱动控制信息打开快门的时间。具体地，可以通过控制电机工作的信号来确定快门打开的时间。例如，在一种实施例中，当控制组件接收到快门打开指令后，响应于该快门打开指令，向电机发送驱动控制信息，该驱动控制信息可以为一触发信号，以触发电机工作，当电机开始工作时，推动快门打开；例如，触发信号可以为一位宽信号。如此，可以通过该触发信号的位宽变化的时间点作为快门打开的时间点，通过将该触发信号反馈给图像处理装置，图像处理装置就可以根据该触发信号的变化，确定准备的曝光时间点。
S603，图像处理装置确定所述快门响应时间为所述拍摄设备的实际拍摄时刻。本实施例中的S603可以参考图2实施例中的S203，在此不再赘述。
本发明实施例提出一种拍摄方法，该方法可以应用于图像处理装置，通过向控制组件发送快门打开指令，以使所述控制组件响应于所述快门打开指令向所述驱动组件发送驱动控制信息，以控制所述驱动组件打开所述快门；确定所述控制组件的快门响应信息，所述快门响应信息包括快门响应时间；确定所述快门响应时间为所述拍摄设备的实际拍摄时刻。可见，采用该方法，图像处理装置根据检测到的控制组件响应于快门打开指令向驱动组件发送驱动控制信息的发送时间确定拍摄设备的拍摄时刻，使图像处理装置可以更准确地记录拍摄设备的拍摄时刻，有利于提高测量精度。可以理解的是，本实施例中的拍摄方法确定的拍摄时刻的精度低于图2所示的实施例中的拍摄方法确定的拍摄时刻的精度。
基于上述拍摄方法的实施例的描述，本发明实施例提供一种建模方法，请参见图7，该方法可以由可移动平台所执行，具体地，以可移动平台为无人机为例，该建模方法可以包括以下步骤：
S701，可移动平台获取所述拍摄设备的记录参数。
拍摄设备的记录参数用于记录无人机在飞行过程中的相关参数，可以包括但不限于无人机的运动轨迹、姿态信息和运动信息等。其中，无人机的运动轨 迹包括无人机在飞行过程中的位置信息以及定点信息，例如，无人机的飞行路线一般来说是预先规划的，无人机按照预先规划的飞行路线进行飞行，并且可以在预先设置的多个航点定点进行拍照，那么该无人机的记录参数可以包括飞行路线和航点信息。无人机的姿态信息可以包括无人机的移动角度等信息，例如，无人机的记录参数可以包括无人机在飞行过程中的飞行角度等信息。无人机的运动信息可以包括无人机的飞行时长等信息。
S702，可移动平台确定所述拍摄设备的实际拍摄时刻。
无人机可以通过云台与拍摄设备相连接，所述拍摄设备可以是图1、图3或图5所示的实施例中的拍摄设备，利用上述拍摄设备，可以在移动过程中对拍摄目标进行连续拍摄。为了更准确地获取拍摄设备的拍摄时刻，可以采用图2、图4或图6所示的实施例中的拍摄方法确定所述拍摄设备的实际拍摄时刻，具体的确定方法请参见图2、图4或图6所示的实施例中的描述，在此不再赘述。
S703，可移动平台对所述拍摄设备的记录参数和所述拍摄设备的实际拍摄时刻进行匹配，并根据匹配后的所述拍摄设备的记录参数和所述拍摄设备的实际拍摄时刻进行建模。
获取到无人机的记录参数以及拍摄设备的实际拍摄时刻后，可以根据拍摄时刻对应地查找记录参数中记录的拍摄时刻的无人机所处的位置，拍摄设备的角度等信息。将上述匹配后的信息导入三维重建软件，对目标进行建模。可以理解的是，本实施例中获取的拍摄设备的实际拍摄时刻的方法采用是图2、图4或图6所示的拍摄方法，上述方法确定的图像拍摄时刻更接近于拍摄设备的实际拍摄时刻，误差较小，从而有利于提高对目标进行三维重建的精度。
本发明实施例提供一种建模方法，该方法通过获取所述拍摄设备的记录参数，确定所述拍摄设备的实际拍摄时刻，对所述记录参数和所述拍摄时刻进行匹配，并根据匹配后的所述记录参数和所述拍摄时刻进行建模。采用该方法，有利于提高建模的精度。
本发明实施例提供一种图像处理装置，用于执行如图2所示的实施例中的拍摄方法中的相应步骤。请参见图8，该图像处理装置包括存储器801和处理 器802；存储器801用于存储程序代码；处理器802调用程序代码，当程序代码被执行时，用于执行以下操作：
向拍摄设备的控制组件发送快门打开指令，所述快门打开指令用于控制所述快门的开启；
当通过所述拍摄设备的快门检测组件检测到所述拍摄设备的快门打开时，确定所述快门检测组件的快门响应信息，所述快门响应信息包括快门响应时间；
确定所述快门响应时间为所述拍摄设备的实际拍摄时刻。
在一种实施例中，所述快门检测组件包括光敏器件；处理器802还用于：
当通过所述拍摄设备的光敏器件检测到所述拍摄装置的快门打开时，确定所述光敏器件的快门响应信息。
在一种实施例中，所述快门响应时间是所述光敏器件在检测到所述快门打开时的检测时间。
在一种实施例中，所述快门检测组件包括所述拍摄设备的驱动组件；处理器802还用于：
所述控制组件响应于所述快门打开指令向所述驱动组件发送驱动控制信息，所述驱动控制信息用于控制所述驱动组件打开所述快门；
确定所述控制组件的快门响应信息，所述快门响应信息包括快门响应时间。
在一种实施例中，所述快门响应时间是所述控制组件向所述驱动组件发送驱动控制信息的发送时间。
在一种实施例中，处理器802还用于：
向所述拍摄设备的镜头发送拍摄指令，所述拍摄指令用于指示所述镜头拍摄目标图像；
确定所述快门响应时间为所述目标图像的拍摄时刻，其中，所述目标图像的拍摄时刻为所述控制组件响应于所述拍摄指令，控制所述镜头拍摄所述目标图像的时刻。
在一种实施例中，所述控制组件包括单片机。
在一种实施例中，所述驱动组件包括电机。
在一种实施例中，所述光敏器件包括光敏电阻、光敏二极管、光敏三极管中的一种或多种。
采用本发明实施例提供的图像处理装置，该装置中的快门检测组件能够在快门打开时进行快速响应，使图像处理装置可以更准确地记录拍摄设备的拍摄时刻，有利于提高测量精度。
本发明实施例提供一种可移动平台，所述可移动平台包括机身和如图1、图3或图5所示的拍摄设备。其中，拍摄设备通过云台与可移动平台相连接，用于拍摄图像以及执行如上述实施例中的拍摄方法。在一种实施例中，可移动平台包括无人飞行器、无人车、无人船和机器人等。本实施例提供的可移动平台可以用于实现如图7所示的实施例中的建模方法，具体可以包括以下步骤：
获取所述拍摄设备的记录参数；
确定所述拍摄设备的实际拍摄时刻；
对所述拍摄设备的记录参数和所述拍摄设备的实际拍摄时刻进行匹配，并根据匹配后的所述拍摄设备的记录参数和所述拍摄设备的实际拍摄时刻进行建模，其中，所述拍摄设备的实际拍摄时刻为快门响应时间，所述快门响应时间包含于所述快门响应信息中，所述快门响应信息为当所述拍摄设备的快门检测组件检测到所述拍摄设备的快门打开时生成的。
可以理解的是，可移动平台采用上述建模方法，有利于提高建模的精度。
本发明实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现图2、图4和图6所对应实施例中描述的相关功能，也可实现图8所述的图像拍摄时刻确定装置的功能，在此不再赘述。
所述计算机可读存储介质可以是前述任一实施例所述的设备的内部存储单元，例如设备的硬盘或内存。所述计算机可读存储介质也可以是所述设备的外部存储设备，例如所述设备上配备的插接式硬盘，智能存储卡(Smart Media Card,SMC)，安全数字(Secure Digital,SD)卡，闪存卡(Flash Card)等。进一步地，所述计算机可读存储介质还可以既包括所述设备的内部存储单元也包括外部存储设备。所述计算机可读存储介质用于存储所述计算机程序以及所述 终端所需的其他程序和数据。所述计算机可读存储介质还可以用于暂时地存储已经输出或者将要输出的数据。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random Access Memory，RAM)等。
以上所揭露的仅为本发明较佳实施例而已，当然不能以此来限定本发明之权利范围，因此依本发明权利要求所作的等同变化，仍属本发明所涵盖的范围。

Claims (38)

  1. 一种拍摄方法，应用于图像处理装置，其特征在于，所述方法包括：
    向拍摄设备的控制组件发送快门打开指令，所述快门打开指令用于控制所述快门的开启；
    当通过所述拍摄设备的快门检测组件检测到所述拍摄设备的快门打开时，确定所述快门检测组件的快门响应信息，所述快门响应信息包括快门响应时间；
    确定所述快门响应时间为所述拍摄设备的实际拍摄时刻。
  2. 根据权利要求1所述的方法，其特征在于，所述快门检测组件包括光敏器件；所述当通过所述拍摄设备的快门检测组件检测到所述拍摄设备的快门打开时，确定所述快门检测组件的快门响应信息，包括：
    当通过所述拍摄设备的光敏器件检测到所述拍摄设备的快门打开时，确定所述光敏器件的所述快门响应信息。
  3. 根据权利要求2所述的方法，其特征在于，所述快门响应时间是所述光敏器件在检测到所述快门打开时的检测时间。
  4. 根据权利要求1所述的方法，其特征在于，所述快门检测组件包括所述拍摄设备的驱动组件；所述向拍摄设备的控制组件发送快门打开指令之后，所述方法还包括：
    所述控制组件响应于所述快门打开指令向所述驱动组件发送驱动控制信息，所述驱动控制信息用于控制所述驱动组件打开所述快门；
    所述当通过所述拍摄设备的快门检测组件检测到所述拍摄装置的快门打开时，确定所述快门检测组件的快门响应信息，包括：
    确定所述控制组件的快门响应信息，所述快门响应信息包括快门响应时间。
  5. 根据权利要求4所述的方法，其特征在于，所述快门响应时间是所述 控制组件向所述驱动组件发送驱动控制信息的发送时间。
  6. 根据权利要求1-5任一项所述的方法，其特征在于，所述向拍摄设备的控制组件发送快门打开指令之后，所述方法还包括：
    向所述拍摄设备的镜头发送拍摄指令，所述拍摄指令用于指示所述镜头拍摄目标图像；
    确定所述快门响应时间为所述目标图像的拍摄时刻，其中，所述目标图像的拍摄时刻为所述控制组件响应于所述拍摄指令，控制所述镜头拍摄所述目标图像的时刻。
  7. 根据权利要求1-6任一项所述的方法，其特征在于，所述控制组件包括单片机。
  8. 根据权利要求1-6任一项所述的方法，其特征在于，所述驱动组件包括电机。
  9. 根据权利要求2或3所述的方法，其特征在于，所述光敏器件包括光敏电阻、光敏二极管、光敏三极管中的一种或多种。
  10. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    获取所述拍摄设备的记录参数；
    确定所述拍摄设备的实际拍摄时刻；
    对所述记录参数和所述拍摄时刻进行匹配，并根据匹配后的所述记录参数和所述拍摄时刻进行建模，其中，所述拍摄时刻为快门响应时间，所述快门响应时间包含于所述快门响应信息中，所述快门响应信息为当所述拍摄设备的快门检测组件检测到所述拍摄设备的快门打开时生成的。
  11. 根据权利要求10所述的方法，其特征在于，所述记录参数包括所述可移动平台的运动轨迹、姿态信息和运动信息中的至少一种。
  12. 一种图像处理装置，其特征在于，所述装置包括存储器和处理器；
    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：
    向拍摄设备的控制组件发送快门打开指令，所述快门打开指令用于控制所述快门的开启；
    当通过所述拍摄设备的快门检测组件检测到所述拍摄设备的快门打开时，确定所述快门检测组件的快门响应信息，所述快门响应信息包括快门响应时间；
    确定所述快门响应时间为所述拍摄设备的实际拍摄时刻。
  13. 根据权利要求12所述的装置，其特征在于，所述快门检测组件包括光敏器件；所述处理器在当通过所述拍摄设备的快门检测组件检测到所述拍摄设备的快门打开时，确定所述快门检测组件的快门响应信息的步骤时，执行以下操作：
    当通过所述拍摄设备的光敏器件检测到所述拍摄装置的快门打开时，确定所述光敏器件的所述快门响应信息。
  14. 根据权利要求13所述的装置，其特征在于，所述快门响应时间是所述光敏器件在检测到所述快门打开时的检测时间。
  15. 根据权利要求12所述的装置，其特征在于，所述快门检测组件包括所述拍摄设备的驱动组件；所述处理器调用所述程序代码时，还执行以下操作：
    所述控制组件响应于所述快门打开指令向所述驱动组件发送驱动控制信息，所述驱动控制信息用于控制所述驱动组件打开所述快门；
    所述处理器在当通过所述拍摄设备的快门检测组件检测到所述拍摄装置的快门打开时，确定所述快门检测组件的快门响应信息时，执行以下操作：
    确定所述控制组件的快门响应信息，所述快门响应信息包括快门响应时 间。
  16. 根据权利要求15所述的装置，其特征在于，所述快门响应时间是所述控制组件向所述驱动组件发送驱动控制信息的发送时间。
  17. 根据权利要求12-16任一项所述的装置，其特征在于，所述处理器调用所述程序代码时，还执行以下操作：
    向所述拍摄设备的镜头发送拍摄指令，所述拍摄指令用于指示所述镜头拍摄目标图像；
    确定所述快门响应时间为所述目标图像的拍摄时刻，其中，所述目标图像的拍摄时刻为所述控制组件响应于所述拍摄指令，控制所述镜头拍摄所述目标图像的时刻。
  18. 根据权利要求12-17任一项所述的装置，其特征在于，所述控制组件包括单片机。
  19. 根据权利要求12-17任一项所述的装置，其特征在于，所述驱动组件包括电机。
  20. 根据权利要求13或14所述的装置，其特征在于，所述光敏器件包括光敏电阻、光敏二极管、光敏三极管中的一种或多种。
  21. 根据权利要求12所述的装置，其特征在于，所述处理器调用所述程序代码时，还执行以下操作：
    获取所述拍摄设备的记录参数；
    确定所述拍摄设备的实际拍摄时刻；
    对所述拍摄设备的记录参数和所述拍摄设备的实际拍摄时刻进行匹配，并根据匹配后的所述拍摄设备的记录参数和所述拍摄设备的实际拍摄时刻进行建模，其中，所述拍摄设备的实际拍摄时刻为快门响应时间，所述快门响应时 间包含于所述快门响应信息中，所述快门响应信息为当所述拍摄设备的快门检测组件检测到所述拍摄设备的快门打开时生成的。
  22. 根据权利要求21所述的装置，其特征在于，所述记录参数包括所述可移动平台的运动轨迹、姿态信息和运动信息中的至少一种。
  23. 一种拍摄设备，其特征在于，包括图像处理装置、控制组件、驱动组件、快门、光敏器件和镜头；所述图像处理装置与所述控制组件相连接，所述控制组件与所述驱动组件相连接，所述驱动组件与所述快门相连接；所述快门和所述光敏器件安装在所述镜头内部；其中，
    所述图像处理装置，用于向所述控制组件发送快门打开指令，所述快门打开指令用于控制所述快门的开启；
    所述控制组件，用于接收所述快门打开指令后，向所述驱动组件发送快门打开指令；
    所述驱动组件，用于控制所述快门打开；
    所述光敏器件，用于当检测到快门打开时，生成快门响应信息，所述快门响应信息包括快门响应时间；
    所述图像处理装置还用于确定所述快门响应时间为所述拍摄设备的实际拍摄时刻。
  24. 根据权利要求23所述的拍摄设备，其特征在于，所述快门响应时间是所述光敏器件在检测到快门打开时的检测时间。
  25. 根据权利要求23或24所述的拍摄设备，其特征在于，所述图像处理装置还用于发送拍摄指令，所述拍摄指令用于指示镜头拍摄目标图像；
    所述图像处理装置还用于确定所述快门响应时间为所述目标图像的拍摄时刻，所述目标图像的拍摄时刻为所述控制组件响应于所述拍摄指令，控制所述镜头拍摄所述目标图像的时刻。
  26. 根据权利要求23-25任一项所述的拍摄设备，其特征在于，所述光敏器件包括光敏电阻、光敏二极管、光敏三极管中的一种或多种。
  27. 根据权利要求23-25任一项所述的拍摄设备，其特征在于，所述控制组件包括单片机。
  28. 根据权利要求23-25任一项所述的拍摄设备，其特征在于，所述驱动组件包括电机。
  29. 一种拍摄设备，其特征在于，包括图像处理装置、控制组件、驱动组件、快门和镜头；所述图像处理装置与所述控制组件相连接，所述控制组件与所述驱动组件相连接，所述驱动组件与所述快门相连接；其中，
    所述图像处理装置，用于向所述控制组件发送快门打开指令；
    所述控制组件，用于响应于所述快门打开指令，向所述驱动组件发送驱动控制信息；
    所述驱动组件，用于当接收到所述驱动控制信息时，控制所述快门打开；
    所述图像处理装置还用于当检测到控制组件向驱动组件发送驱动控制信息时，确定所述控制组件的快门响应信息，所述快门响应信息包括快门响应时间；
    所述图像处理装置还用于确定所述快门响应时间为所述拍摄设备的实际拍摄时刻。
  30. 根据权利要求29所述的设备，其特征在于，所述快门响应时间是所述控制组件向驱动组件发送驱动控制信息的发送时间。
  31. 根据权利要求29或30所述的设备，其特征在于，所述图像处理装置还用于发送拍摄指令，所述拍摄指令用于指示镜头拍摄目标图像；
    所述图像处理装置还用于确定所述快门响应时间为所述目标图像的拍摄时刻，所述目标图像的拍摄时刻为所述控制组件响应于所述拍摄指令，控制所 述镜头拍摄所述目标图像的时刻。
  32. 根据权利要求29-31任一项所述的设备，其特征在于，所述控制组件包括单片机。
  33. 根据权利要求29-31任一项所述的设备，其特征在于，所述驱动组件包括电机。
  34. 一种可移动平台，其特征在于，包括：
    机身；
    权利要求23-33中任一项所述的拍摄设备。
  35. 根据权利要求34所述的可移动平台，其特征在于，所述拍摄设备通过云台与所述可移动平台相连接。
  36. 根据权利要求34所述的可移动平台，其特征在于，所述可移动平台包括无人飞行器、无人车和机器人中的至少一种。
  37. 根据权利要求34所述的可移动平台，其特征在于，所述可移动平台用于：
    获取所述拍摄设备的记录参数；
    确定所述拍摄设备的实际拍摄时刻；
    对所述拍摄设备的记录参数和所述拍摄设备的实际拍摄时刻进行匹配，并根据匹配后的所述拍摄设备的记录参数和所述拍摄设备的实际拍摄时刻进行建模，其中，所述拍摄设备的实际拍摄时刻为快门响应时间，所述快门响应时间包含于所述快门响应信息中，所述快门响应信息为当所述拍摄设备的快门检测组件检测到所述拍摄设备的快门打开时生成的。
  38. 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，所述计算机程序包括程序指令，所述程序指令当被处理器执行时使所述处理器执行权利要求1-11中任一项所述的拍摄方法。
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