WO2022041013A1 - 控制方法、手持云台、系统及计算机可读存储介质 - Google Patents

控制方法、手持云台、系统及计算机可读存储介质 Download PDF

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Publication number
WO2022041013A1
WO2022041013A1 PCT/CN2020/111527 CN2020111527W WO2022041013A1 WO 2022041013 A1 WO2022041013 A1 WO 2022041013A1 CN 2020111527 W CN2020111527 W CN 2020111527W WO 2022041013 A1 WO2022041013 A1 WO 2022041013A1
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Prior art keywords
image area
target image
real
captured image
size
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PCT/CN2020/111527
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English (en)
French (fr)
Inventor
苏兴
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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/CN2020/111527 priority Critical patent/WO2022041013A1/zh
Priority to CN202080007466.8A priority patent/CN113287297A/zh
Publication of WO2022041013A1 publication Critical patent/WO2022041013A1/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
    • H04N23/60—Control of cameras or camera modules
    • H04N23/67—Focus control based on electronic image sensor signals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/80—Camera processing pipelines; Components thereof

Definitions

  • the present application relates to the technical field of photographing control, and in particular, to a control method, a handheld PTZ, a system, and a computer-readable storage medium.
  • the sliding zoom of the shooting device can be realized by holding the gimbal, that is, Hitchcock-style zoom.
  • the position and focal length of the shooting device change synchronously during shooting, so that the subject remains unchanged in the screen, and the background appears zoomed , resulting in a stronger visual impact.
  • the implementation of Hitchcock-style zoom is mainly that the user manually moves the photographing device and manually adjusts the focal length of the photographing device, or the focal length of the photographing device automatically changes at a fixed rate, while the user manually adjusts the photographing at the fixed rate.
  • the movement speed of the device, the operation process is relatively cumbersome, and the shooting requirements are relatively high, which makes it inconvenient for users to easily shoot videos with Hitchcock effect, and the user experience is not good.
  • embodiments of the present application provide a control method, a handheld pan/tilt head, a system, and a computer-readable storage medium, which aim to improve the convenience of shooting Hitchcock-effect videos and improve user experience.
  • an embodiment of the present application provides a control method, which is applied to a handheld gimbal, where the handheld gimbal includes a handle portion and a gimbal, and the gimbal is used for carrying a photographing device, and the method includes:
  • the shooting device is controlled to zoom according to the size of the target image area in the real-time captured image and the reference size of the target image area, so that the size of the target image area in the real-time captured image and the reference size are smaller than the size of the target image area.
  • the difference between them is less than the preset size difference;
  • an embodiment of the present application further provides a handheld pan/tilt, the handheld pan/tilt includes a handle part and a pan/tilt, the pan/tilt is used for carrying a photographing device, and the handheld pan/tilt also includes a memory and a processor ;
  • the memory for storing computer programs
  • the processor is configured to execute the computer program and implement the following steps when executing the computer program:
  • the shooting device is controlled to zoom according to the size of the target image area in the real-time captured image and the reference size of the target image area, so that the size of the target image area in the real-time captured image and the reference size are smaller than the size of the target image area.
  • the difference between them is less than the preset size difference;
  • an embodiment of the present application further provides a shooting system, where the shooting system includes the above-mentioned handheld gimbal and a shooting device mounted on the handheld gimbal.
  • an embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the above-mentioned The steps of the control method.
  • the embodiments of the present application provide a control method, a handheld PTZ, a system, and a computer-readable storage medium, by acquiring a target image area in a real-time captured image of a shooting device, and according to the size and size of the target image area in the real-time captured image.
  • the reference size of the target image area controls the shooting device to zoom, so that the difference between the size of the target image area in the real-time captured image and the reference size is smaller than the preset size difference, and the target image area in the real-time captured image is
  • the position of the target image area and the reference position of the target image area are controlled by the gimbal to adjust the attitude, so that the difference between the position of the target image area in the real-time captured image and the reference position is smaller than the preset position difference, so that even those who do not know zoom professionally Knowledgeable users can also shoot dynamic zoom videos with Hitchcock effect by holding the gimbal, which greatly improves the convenience of shooting Hitchcock effect videos and improves user experience.
  • FIG. 1 is a schematic structural diagram of a handheld pan/tilt for implementing the control method provided by an embodiment of the present application
  • FIG. 2 is a schematic block diagram of a process of shooting a dynamic zoom video with a handheld PTZ in an embodiment of the present application
  • FIG. 3 is a schematic block diagram of another process of shooting a dynamic zoom video with a handheld PTZ in an embodiment of the present application
  • FIG. 4 is a schematic flowchart of steps of a control method provided by an embodiment of the present application.
  • FIG. 5 is a schematic diagram of a shooting effect selection page in an embodiment of the present application.
  • FIG. 6 is another schematic diagram of a shooting effect selection page in an embodiment of the present application.
  • FIG. 7 is a schematic diagram of second prompt information output in an embodiment of the present application.
  • FIG. 9 is a schematic diagram of the relationship between the angle of view change speed and the zoom magnification of the photographing device in the embodiment of the present application.
  • FIG. 10 is a schematic block diagram of the structure of a handheld cloud platform provided by an embodiment of the present application.
  • FIG. 11 is a schematic structural block diagram of a photographing system provided by an embodiment of the present application.
  • FIG. 1 is a schematic structural diagram of a handheld pan/tilt head implementing the control method provided by an embodiment of the present application.
  • the handheld pan/tilt in the embodiment of the present application will be described below with reference to FIG. 1 .
  • the handheld pan/tilt 100 includes a handle portion 101 and a pan/tilt 102 disposed on the handle portion 101 .
  • the pan/tilt 102 is used for carrying a photographing device 103 .
  • the photographing device 103 may be integrally provided with the pan/tilt 102 or may be externally connected. at PTZ 102.
  • the photographing device 103 may be a smartphone, or a camera, such as a single-lens reflex camera, or a camera.
  • the handheld platform 100 can carry the photographing device 103 for fixing the photographing device 103 and changing the height, inclination and/or direction of the photographing device 103, or for stably keeping the photographing device 103 in a certain posture and controlling the photographing device 103 to shoot.
  • the pan/tilt 102 includes three-axis motors, which are a pitch (pitch) axis motor 1021 , a roll (roll) axis motor 1022 and a yaw (yaw) axis motor 1023 .
  • the balanced posture of the photographing device 103 on the camera can be used to capture a stable and smooth picture.
  • An inertial measurement unit (IMU) is provided on the gimbal 102, which can be, for example, at least one of an accelerometer or a gyroscope, which can be used to measure the attitude and acceleration of the photographing device 103, so as to measure the attitude and acceleration according to the detected attitude. Adjust the balance posture of the photographing device 103 .
  • the handle portion 101 is further provided with a control key, so that the user can operate the control key to control the pan/tilt head 102 or the photographing device 103 .
  • the control key can be, for example, a key, a trigger, a knob or a rocker, etc., of course, other forms of physical keys are also included.
  • the joystick can be used to control the movement of at least one rotating shaft, and then control the movement of the photographing device 103 . It will be appreciated that the joystick can also be used for other functions. It can be understood that the number of control keys may be one or more.
  • control keys When the number of control keys is one, different operation modes can be used to generate different control instructions for the control key, for example, the number of times of pressing is different; when the number of control keys is multiple, for example, the first control key, second control key, third control key, etc., different control keys are used to generate different control instructions.
  • the handheld pan/tilt 10 includes a variety of working modes, such as following mode, target tracking mode, locking mode, motion mode, and/or sleep mode, and the like.
  • the handheld gimbal 100 performs different actions in different working modes. For example, if the handheld gimbal 100 is in the following mode, the following mode is used to control the photographing device 103 to follow the shooting, and the following mode may refer to the shooting mode in which the gimbal 102 follows the movement of the handle part 101; if the handheld gimbal 100 is in target tracking In the mode, after the target object is successfully recognized, the pan/tilt 102 starts to automatically rotate so that the angle of the photographing device 103 always rotates with the target object, keeping the target object in the captured image.
  • the method for determining the target object may be determined after the user performs an operation such as frame selection or click selection on the hand-held PTZ, or may be determined according to a specific posture in the real-time captured image, or may be determined by using the real-time captured image.
  • the position of the object to be tracked in the screen is determined. There is no specific limitation here.
  • the lock mode means that the three axes of the gimbal 102 are locked, and the three axes of the gimbal do not follow;
  • the motion mode means that the gimbal 102 follows at a preset speed, such as the maximum speed of the three axes of the gimbal;
  • sleep mode Mode means to control the handheld gimbal to enter the sleep state.
  • the following object of the gimbal may be the handle part, the target object, or other objects, which can be set as required, which is not specifically limited here.
  • the handheld pan/tilt 100 includes a processor, and the processor is used to process input control instructions, or send and receive signals.
  • the processor may be provided inside the handle portion 101 .
  • the processor may be a central processing unit (Central Processing Unit, CPU), and the processor may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (application specific integrated circuits) circuit, ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. It can be understood that the handheld gimbal in FIG. 1 and the above-mentioned naming of the components of the handheld gimbal are only for the purpose of identification, and therefore do not limit the embodiments of the present application.
  • the control method provided by the embodiment of the present application will be described in detail with reference to the handheld pan/tilt in FIG. 1 .
  • the handheld pan/tilt in FIG. 1 is only used to explain the control method provided by the embodiment of the present application, but does not constitute a limitation on the application scenario of the control method provided by the embodiment of the present application.
  • the sliding zoom of the shooting device can be realized by holding the gimbal, that is, Hitchcock-style zoom.
  • the position and focal length of the shooting device change synchronously during shooting, so that the subject remains unchanged in the screen, and the background appears zoomed , resulting in a stronger visual impact.
  • the implementation of Hitchcock-style zoom is mainly that the user manually moves the photographing device and manually adjusts the focal length of the photographing device, or the focal length of the photographing device automatically changes at a fixed rate, while the user manually adjusts the photographing at the fixed rate.
  • the movement speed of the device, the operation process is relatively cumbersome, and the shooting requirements are relatively high, which makes it inconvenient for users to easily shoot videos with Hitchcock effect, and the user experience is not good.
  • embodiments of the present application provide a control method, a hand-held pan/tilt, a system, and a computer-readable storage medium.
  • the control method is applied to a hand-held pan/tilt, so that a user can conveniently shoot images with Hitchcock effect. video.
  • the handheld PTZ 100 acquires the real-time captured image collected by the photographing device, and performs target recognition on the real-time captured image to obtain the size and position of the target image area in the real-time captured image, and then according to The size of the target image area in the real-time captured image and the reference size of the target image area perform zoom control on the shooting device so that the difference between the size of the target image area in the real-time captured image and the reference size is smaller than the preset size difference , and at the same time control the pan/tilt according to the position of the target image area in the real-time captured image and the reference position of the target image area to change the posture of the shooting device (pan/tilt), so that the position of the target image area in the real-time captured image is the same as the reference position.
  • the difference between the positions is smaller than the preset position difference, and finally the captured video is stored.
  • the zoom control process of the shooting equipment and the attitude adjustment process of the gimbal do not require manual control by the user. The user only needs to select the target object to follow to automatically shoot the Hitchcock effect video, which greatly improves the shooting of Hitchcock effect. The convenience of gram effect video.
  • users can also use drones to shoot videos with Hitchcock effect.
  • the drone is equipped with a shooting device.
  • the focal length of the shooting device is adjusted, so that the The error between the sizes of the target objects in each video image is smaller than a preset value.
  • the consistency of the target object being shot in the frame cannot be guaranteed.
  • the present application provides a control method applied to a handheld shooting scene, which performs zoom control on the shooting device according to the size of the target image area in the real-time shooting image and the reference size of the target image area, so that the The difference between the size of the target image area and the reference size is less than the preset size difference, and the gimbal is controlled according to the position of the target image area in the real-time captured image and the reference position of the target image area to change the shooting equipment ( PTZ) posture, so that the difference between the position of the target image area in the real-time captured image and the reference position is smaller than the preset position difference, so as to ensure the positional consistency of the target object in the screen and the target object in the screen. dimensional consistency.
  • PTZ shooting equipment
  • the background shrinkage or expansion of the dynamic zoom video is caused by the change of the field of view of the shooting device during the shooting process. , so the change rate of the field of view angle is very slow, resulting in a small background change rate in the stage with high zoom magnification in the video, while the target object remains unchanged, the entire picture changes slowly, and the dynamic zoom video has a poor look and feel. , because the dynamic zoom video has very high requirements on the position consistency of the target object in the screen, it is difficult to meet the higher requirements only based on the following control and stabilization control of the gimbal itself.
  • the dynamic zoom video is stabilized, so that the positional change relationship and size change relationship between each target image area and the reference target image area in the stabilized dynamic zoom video meet the preset relationship, and then Then, the stabilized dynamic zoom video is subjected to variable speed processing to obtain a target video, so that the change rates of the angle of view of two adjacent frames of images in the target video are consistent.
  • the difference between the viewing angle change rates of two adjacent frames of images is less than a preset difference, it is determined that the viewing angle change rates of the two adjacent frames of images are consistent.
  • the dynamic zoom video can also be subjected to variable speed processing first, so that the change rates of the angle of view of two adjacent frames of the dynamic zoom video after variable speed processing are consistent, and then the dynamic zoom video after variable speed processing is processed.
  • Perform stabilization processing to obtain the target video, so that the position change relationship and size change relationship between each target image area in the target video and the reference target image area meet the preset relationship, and the angle of view change rate of two adjacent frames of images. Consistent.
  • the present application does not specifically limit the execution sequence of the stabilization process and the speed change process.
  • FIG. 4 is a schematic flowchart of steps of a control method provided by an embodiment of the present application.
  • control method includes steps S101 to S103.
  • the target image area is an image area in the real-time photographed image that includes the target photographed object, and the target image area can be obtained from the real-time photographed image through a target recognition algorithm.
  • the handheld gimbal can be connected to the photographing device through a control line, such as a shutter release line.
  • the type of the shutter release cable is not limited here, for example, the shutter release cable may be a Universal Serial Bus (Universal Serial Bus, USB).
  • the handheld gimbal can also be connected to the shooting device wirelessly. For example, the handheld gimbal can be connected to the shooting device through Bluetooth.
  • the user before shooting a dynamic zoom video, the user is required to select a target shooting object.
  • the real-time shooting image of the shooting device is sent to the display device, so that the display device displays the real-time shooting of the shooting device. image; in response to the user's touch operation on the initial captured image in the displayed real-time captured image, obtain the target image area in the initial captured image, and use the object in the target image area as the target captured object to be followed.
  • the display device can be set on the handle part of the handheld PTZ, or can be set on the terminal equipment that is connected to the handheld PTZ.
  • the initial captured image is the real-time captured image touched by the user.
  • the display is displayed A target rectangular frame is displayed on the real-time captured image displayed by the device, and the target captured object is located within the target rectangular frame.
  • the target image area in the real-time captured image is the image area where the target rectangular frame is located.
  • S102 Control the shooting device to zoom according to the size of the target image area in the real-time captured image and the reference size of the target image area, so that the size of the target image area in the real-time captured image is the same as the reference size
  • the difference between the sizes is less than the preset size difference.
  • the reference size of the target image area may be a preset size set before starting to shoot the dynamic zoom video, or it may be determined according to the initial size of the target image area in the initial shooting image before starting to shoot the dynamic zoom video.
  • the reference position of the image area can be a preset position set before starting to shoot a dynamic zoom video, such as the central position of the screen, or it can be the initial position of the target image area in the initial shooting image before starting to shoot a dynamic zoom video definite.
  • the real-time captured image of the photographing device is sent to the display device, so that the display device displays the real-time captured image of the photographing device; in response to the user's touch operation on the initial captured image in the displayed real-time captured image, the The target image area in the initial captured image; the initial size and initial position of the target image area in the initial captured image are determined; the reference size of the target image area is determined according to the initial size, and the reference position of the target image area is determined according to the initial position.
  • the method of determining the reference size of the target image area according to the initial size may be: using the initial size as the reference size of the target image area; or determining the reference size range according to the initial size and the preset error size, and from Select a reference size within the reference size range as the reference size of the target image area.
  • the preset error size may be set based on the actual situation, which is not specifically limited in this embodiment of the present application. Exemplarily, the preset error size is A, the initial size is B, and the reference size range is [B-A, A+B].
  • the manner of determining the reference position of the target image area according to the initial position may be: using the initial position as the reference position of the target image area; or determining the reference position range according to the initial position and the preset error position, and from Select a reference position within the reference position range as the reference position of the target image area.
  • the preset error position may be set based on an actual situation, which is not specifically limited in this embodiment of the present application.
  • the reference size includes at least one of a reference length and a reference width
  • the preset size difference includes at least one of a preset length difference and a preset width difference
  • the size of the target image area is the same as the reference.
  • the difference between the sizes is less than the preset size difference includes that the difference between the length of the target image area and the reference length is less than the preset length difference, and/or the difference between the width of the target image area and the reference width is less than Preset width difference.
  • the method of controlling the photographing device to zoom according to the size of the target image area in the real-time photographed image and the reference size of the target image area may be: determining the size of the target image area in the real-time photographed image and the size of the target image area. Refer to the difference between the sizes to obtain the size change; according to the size change, control the shooting device to perform optical zoom or digital zoom, so that the size of the target image area in the real-time captured image is between the size of the target image area and the reference size of the target image area The difference is less than the preset size difference.
  • the photographing device is a smartphone or a digital camera
  • control the smartphone or digital camera to perform digital zooming according to the size change
  • the photographing device is a SLR camera
  • control the SLR camera to perform optical zooming according to the size change zoom
  • the method of controlling the photographing device to perform optical zooming or digital zooming may be: according to the size change, determining the zoom control amount of the photographing device, and generating a corresponding zoom according to the zoom control amount.
  • Control instruction send the zoom control instruction to the shooting device, so that the shooting device can perform optical zoom or digital zoom according to the zoom control amount in the zoom control instruction, so that the size of the target image area in the real-time captured image is the same as the size of the target image area.
  • the difference between the reference sizes is smaller than the preset size difference.
  • the reference position of the target image area includes at least one of the reference pixel abscissa and the reference pixel ordinate
  • the preset position difference includes at least one of the preset abscissa difference and the preset ordinate difference.
  • the difference between the position of the target image area in the captured image and the reference position is smaller than the preset position difference including the difference between the pixel abscissa of the target image area in the real-time captured image and the reference pixel abscissa is smaller than the preset abscissa
  • the coordinate difference value and the difference between the pixel ordinate of the target image area in the real-time captured image and the reference pixel ordinate are less than at least one of the preset ordinate difference values.
  • the manner of controlling the pan/tilt to perform attitude adjustment according to the position of the target image area in the real-time captured image and the reference position of the target image area may be: according to the position of the target image area in the real-time captured image and the target image area
  • the reference position of the gimbal is determined, and the target attitude of the gimbal is determined, and the current attitude of the gimbal is obtained; according to the target attitude and current attitude of the gimbal, the attitude change of the gimbal is determined, and the movement of the gimbal is controlled to change according to the attitude change.
  • the posture of the gimbal is such that the difference between the position of the target image area in the real-time captured image and the reference position is smaller than the preset position difference.
  • the dynamic zoom video since the dynamic zoom video has very high requirements on the consistency of the target shooting object in the frame, it is difficult to meet the higher requirements only based on the follow control and stabilization control of the gimbal itself.
  • the captured image is subjected to stabilization processing, so that the position change relationship and the size change relationship between the target image area in the stabilized real-time captured image and the reference target image area satisfy the preset relationship.
  • the preset relationship includes that the position difference between the target image area and the reference target image area is smaller than the preset position difference and the size difference between the target image area and the reference target image area is smaller than the preset size difference, and the reference target
  • the image area is the target image area in the initial photographed image
  • the initial photographed image is the real-time photographed image of the target photographing object selected by the user's touch.
  • the method of performing stabilization processing on the real-time captured image of the shooting device may be: extracting multiple first feature points in the target image area in the real-time captured image; A plurality of second feature points in the area are used to determine the position change relationship and size change relationship between the target image area in the real-time captured image and the reference target image area; The position change relationship and the size change relationship between the real-time captured images are zoomed, cropped and/or rotated, so that the positional change relationship between the target image area and the reference target image area in the stabilized real-time captured image is and the size change relationship satisfies the preset relationship.
  • first prompt information is output, where the first prompt information is used to prompt the user to stop the target photographing object corresponding to the target image area from moving.
  • the manner of outputting the first prompt information may be to display the first prompt text through the display device, so as to prompt the user not to move the target photographing object corresponding to the target image area. Since the embodiment of the present application controls the photographing device to zoom according to the size of the target image area, if the target photographing object moves in a relatively large range, or crouches or stands up, it will have a great impact on the photographing effect.
  • the prompt information used to prompt the user to let the target shooting object corresponding to the target image area not to move can ensure the effect of shooting dynamic zoom video and improve the user experience.
  • second prompt information is output, where the second prompt information is used to prompt the user to move forward or backward relative to the target photographing object corresponding to the target image area.
  • the method of outputting the second prompt information may be to display the second prompt text and/or prompt icon through the display device, prompting the user to move forward or backward relative to the target shooting object corresponding to the target image area, and the prompt icon includes the first prompt icon and second prompt icon.
  • the first prompt icon is different from the second prompt icon.
  • the first prompt icon is used to prompt the user to move forward relative to the target object corresponding to the target image area
  • the second prompt icon is used to prompt the user to move forward relative to the target image area.
  • the target shooting object corresponding to the target image area moves backward.
  • the display device or the shooting device displays a shooting effect selection page, and the shooting effect selection page displays a control icon 10.
  • the user can select the shooting effect through the shooting effect selection page.
  • the background is close, or the background is far away.
  • the shooting effect selected by the user is that the background is close.
  • the real-time shot image displayed by the display device or the shooting device displays a prompt text for prompting the user to move backward relative to the target shooting object corresponding to the target image area "Please Gradually move away from the target”, and the target image area 20 is the image area where the rectangular frame is located, and the target shooting object is displayed in the rectangular frame, and the shooting duration and the control icon 10 are also displayed.
  • the real-time captured image displayed by the display device or the photographing device is displayed with the prompt text “moving in the wrong direction, please adjust the direction and gradually move away from the target. ” and the alert icon 30.
  • the handheld PTZ acquires the target image area in the real-time photographed image of the photographing device; according to the size of the target image area in the real-time photographed image and the reference size of the target image area Controlling the photographing device to zoom so that the difference between the size of the target image area in the real-time photographed image and the reference size is smaller than the preset size difference; according to the position of the target image area in the real-time photographed image and the target image area
  • the reference position of the gimbal controls the gimbal to adjust the attitude, so that the difference between the position of the target image area in the real-time image and the reference position is smaller than the preset position difference; when the hand-held gimbal ends the recording, the dynamic zoom is obtained from the storage and recording video.
  • the shooting device enters the preset video recording mode, and the page displayed by the display device or the shooting device changes from FIG. 6 to FIG. 7.
  • control the shooting The device zooms so that the difference between the size of the target image area in the real-time captured image and the reference size is smaller than the preset size difference, and controls the gimbal to adjust the attitude so that the target image area in the real-time captured image is The difference between the position and the reference position is less than the preset position difference, and when the user clicks the displayed control icon 10 again, the handheld pan/tilt ends recording, and stores and/or plays the recorded dynamic zoom video.
  • the background shrinkage or expansion of the dynamic zoom video is caused by the change of the field of view of the shooting equipment during the shooting process, so the consistency of the field of view change rate in the whole video is particularly important, but the dynamic zoom obtained by shooting in the preset video mode is particularly important.
  • the change rate of the field of view of each image in the zoom video has a large deviation, and the shooting effect of the dynamic zoom video is poor.
  • the focal length or equivalent focal length of the shooting device also changes at a constant speed. The relationship can be shown in Figure 9.
  • a dynamic zoom video obtained by shooting in a preset video recording mode is obtained, and a variable speed process is performed on the dynamic zoom video, so that the rate of change of the angle of view of two adjacent frames of images in the dynamic zoom video after the variable speed process is changed.
  • performing variable speed processing on the dynamic zoom video includes performing acceleration processing and deceleration processing on the dynamic zoom video, and when the difference between the rate of change of the field of view of two adjacent frames of images is less than a preset difference The rate of change of the angle of view of the frame images is the same.
  • variable speed processing By performing variable speed processing on the dynamic zoom video, the change rate of the field of view of two adjacent frames of the dynamic zoom video after variable speed processing is consistent, which can effectively increase the background shrinkage or expansion of the video and improve the shooting effect of the dynamic zoom video. , to improve the user experience.
  • the method of performing variable speed processing on the dynamic zoom video may be as follows: acquiring a rate of change of the zoom magnification corresponding to the dynamic zoom video;
  • the rate of change of the field of view of two adjacent frames of images in the dynamic zoom video is the same.
  • the change rate of the zoom magnification corresponding to the dynamic zoom video can reflect the user's movement situation. Therefore, the dynamic zoom video can be processed with variable speed through the change rate of the zoom magnification corresponding to the dynamic zoom video to ensure the dynamic zoom video after the variable speed processing.
  • the rate of change of the field of view of the two adjacent frames of images is the same, which can effectively increase the background shrinkage or expansion of the video, improve the shooting effect of the dynamic zoom video, and improve the convenience of shooting.
  • the change rate of the zoom magnification corresponding to the dynamic zoom video includes a change rate of the zoom magnification of each group of video frame images in the dynamic zoom video
  • a group of video frame images includes at least two video frame images.
  • the method of performing variable speed processing on the dynamic zoom video may be: determining the variable speed magnification of each group of video frame images according to the change rate of the zoom magnification of each group of video frame images, and according to the change rate of each group of video frame images The variable speed processing is performed on each group of video frame images in the dynamic zoom video, so that the change rates of the field angles of two adjacent frame images in the dynamic zoom video after variable speed processing are consistent.
  • the mapping relationship between the change rate of the zoom magnification and the speed change magnification can be set according to the actual situation , which is not specifically limited in this application.
  • the method of performing variable speed processing on the dynamic zoom video may be: acquiring the moving speed of the handheld pan/tilt; and performing variable speed processing on the dynamic zoom video according to the moving speed of the handheld pan/tilt.
  • an inertial measurement unit is arranged on the handle of the handheld gimbal, and the moving speed of the handheld gimbal at different moments in the process of shooting a dynamic zoom video can be acquired through the inertial measurement unit.
  • the dynamic zoom video is processed with variable speed, and the change rate of the angle of view of the two adjacent frames of the dynamic zoom video after the variable speed processing can also be guaranteed to be consistent. It can effectively increase the shrinkage or expansion of the background of the video, improve the shooting effect of the dynamic zoom video, and improve the convenience of shooting.
  • the method of performing variable speed processing on the dynamic zoom video may be: acquiring the shooting time of each video frame image in the dynamic zoom video, and according to the preset duration and each video frame image. According to the shooting time of each video frame image, divide each video frame image into multiple video frame image groups; determine the shooting time period in which each video frame image group is located, and according to the shooting time period in which each video frame image group is located, the handheld gimbal is shooting The moving speed at different moments in the dynamic zoom video process and the mapping relationship between the moving speed and the variable speed magnification are determined to determine the corresponding variable speed magnification of each video frame image group; Each video frame image group in the dynamic zoom video is subjected to variable speed processing, so that the rate of change of the angle of view of two adjacent frame images in the dynamic zoom video after the variable speed processing is consistent.
  • the dynamic zoom video since the dynamic zoom video has very high requirements on the positional consistency of the target shooting object in the frame, it is difficult to meet the higher requirements only based on the follow control and stabilization control of the gimbal itself.
  • stabilization processing is performed on the dynamic zoom video after the variable speed processing, so that the positional change relationship and size change between the target image area and the reference target image area in each frame of the stabilized dynamic zoom video are changed.
  • the relationship satisfies the preset relationship.
  • the preset relationship includes that the position difference between the target image area and the reference target image area is smaller than the preset position difference and the size difference between the target image area and the reference target image area is smaller than the preset size difference.
  • the method of performing stabilization processing on the dynamic zoom video after variable speed processing may be: extracting multiple first feature points in the target image area of each frame of image; point and a plurality of second feature points in the reference target image area to determine the position change relationship and size change relationship between the target image area in each frame image and the reference target image area; The position change relationship and the size change relationship between the reference target image areas are scaled, cropped and/or rotated for each frame of image.
  • the target image area in the real-time captured image of the capture device is acquired, and the capture device is controlled to zoom according to the size of the target image area in the real-time captured image and the reference size of the target image area, so that the real-time capture device can zoom.
  • the difference between the size of the target image area in the captured image and the reference size is smaller than the preset size difference, and the gimbal is controlled to adjust the attitude according to the position of the target image area in the real-time captured image and the reference position of the target image area , so that the difference between the position of the target image area in the real-time captured image and the reference position is smaller than the preset position difference, so that even users who do not know zoom expertise can shoot Hitchcock with a handheld gimbal. effect video, which greatly improves the convenience of shooting Hitchcock effect video and improves the user experience.
  • FIG. 10 is a schematic block diagram of the structure of a handheld pan/tilt according to an embodiment of the present application.
  • the handheld pan/tilt 200 includes a handle portion and a pan/tilt 201 disposed on the handle portion.
  • the pan/tilt 201 is used for carrying a photographing device.
  • the handheld pan/tilt 200 further includes a processor 202 and a memory 203.
  • the pan/tilt 201, The processor 202 and the memory 203 are connected through a bus 204, and the bus 204 is, for example, an I2C (Inter-integrated Circuit) bus.
  • I2C Inter-integrated Circuit
  • the processor 202 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP) or the like.
  • MCU Micro-controller Unit
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • the memory 203 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.
  • ROM Read-Only Memory
  • the memory 203 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.
  • the processor 202 is configured to run the computer program stored in the memory 203, and implement the following steps when executing the computer program:
  • the shooting device is controlled to zoom according to the size of the target image area in the real-time captured image and the reference size of the target image area, so that the size of the target image area in the real-time captured image and the reference size are smaller than the size of the target image area.
  • the difference between them is less than the preset size difference;
  • the processor is also used to implement the following steps:
  • the processor is further configured to implement the following steps:
  • the reference size is determined according to the initial size, and the reference position is determined according to the initial position.
  • the processor is further configured to implement the following steps:
  • Stabilization processing is performed on the real-time captured image of the photographing device, so that the position change relationship and the size change relationship between the target image area and the reference target image area in the stabilized real-time captured image satisfy a preset relationship.
  • the performing stabilization processing on the real-time captured image of the capturing device includes:
  • the plurality of first feature points and the plurality of second feature points in the reference target image area determine the position change relationship between the target image area in the real-time captured image and the reference target image area and Dimensional change relationship;
  • scaling, cropping and/or rotation processing is performed on the real-time captured image.
  • the processor is further configured to implement the following steps:
  • First prompt information is output, where the first prompt information is used to prompt the user not to move the target shooting object corresponding to the target image area.
  • the processor is further configured to implement the following steps:
  • Output second prompt information where the second prompt information is used to prompt the user to move forward or backward relative to the target photographing object corresponding to the target image area.
  • the processor is further configured to implement the following steps:
  • a variable speed process is performed on the dynamic zoom video, so that the rate of change of the angle of view of two adjacent frames of the dynamic zoom video after the variable speed process is consistent.
  • the performing variable speed processing on the dynamic zoom video includes:
  • the performing variable speed processing on the dynamic zoom video includes:
  • the dynamic zoom video is subjected to variable speed processing according to the moving speed.
  • FIG. 11 is a schematic structural block diagram of a photographing system provided by an embodiment of the present application.
  • the photographing system 300 includes a handheld gimbal 310 and a photographing device 320 mounted on the handheld gimbal 310 , and the handheld gimbal 310 is communicatively connected with the photographing device 320 .
  • the handheld gimbal 310 can be connected to the photographing device 320 through a control wire, such as a shutter wire.
  • the type of the shutter release cable is not limited here, for example, the shutter release cable may be a Universal Serial Bus (Universal Serial Bus, USB).
  • the handheld PTZ 310 may also be connected to the photographing device 320 in a wireless manner, for example, the handheld PTZ 310 is connected to the photographing device 320 through Bluetooth.
  • Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and the computer program includes program instructions, and the processor executes the program instructions to realize the provision of the above embodiments. steps of the control method.
  • the computer-readable storage medium may be an internal storage unit of the handheld pan/tilt described in any of the foregoing embodiments, such as a hard disk or a memory of the handheld pan/tilt.
  • the computer-readable storage medium may also be an external storage device of the handheld PTZ, such as a plug-in hard disk equipped on the handheld PTZ, a smart memory card (Smart Media Card, SMC), a Secure Digital (Secure Digital) , SD) card, flash memory card (Flash Card), etc.

Abstract

一种控制方法、手持云台、系统及计算机可读存储介质，包括：获取目标图像区域(S101)；控制拍摄设备进行变焦，以使目标图像区域的尺寸与参考尺寸之间的差值小于预设尺寸差值(S102)；控制云台进行姿态调整，以使目标图像区域的位置与参考位置之间的差值小于预设位置差值(S103)。通过上述方法，提高了拍摄希区柯克效果的视频的便利性。

Description

控制方法、手持云台、系统及计算机可读存储介质 技术领域
本申请涉及拍摄控制技术领域，尤其涉及一种控制方法、手持云台、系统及计算机可读存储介质。
背景技术
目前，可以通过手持云台实现拍摄设备的滑动变焦，即希区柯克式变焦，具体是在拍摄时拍摄设备的位置和焦距同步变化，实现拍摄主体在画面内维持不变，而背景出现缩放，从而产生更加强烈的视觉冲击效果。然而，希区柯克式变焦的实现方式主要是用户手动移动拍摄设备，同时手动地调整拍摄设备的焦距，或者拍摄设备的焦距自动地按照固定速率变化，同时用户按照该固定速率手动地调整拍摄设备的运动速度，操作过程较为繁琐，对拍摄要求较高，不便于用户简易地拍摄希区柯克效果的视频，用户体验不好。
发明内容
基于此，本申请实施例提供了一种控制方法、手持云台、系统及计算机可读存储介质，旨在提高拍摄希区柯克效果的视频的便利性，提高用户体验。
第一方面，本申请实施例提供了一种控制方法，应用于手持云台，所述手持云台包括手柄部和云台，所述云台用于搭载拍摄设备，所述方法包括：
获取所述拍摄设备的实时拍摄图像中的目标图像区域；
根据所述实时拍摄图像中的目标图像区域的尺寸和所述目标图像区域的参考尺寸控制所述拍摄设备进行变焦，以使所述实时拍摄图像中的目标图像区域的尺寸与所述参考尺寸之间的差值小于预设尺寸差值；
根据所述实时拍摄图像中的目标图像区域的位置和所述目标图像区域的参考位置控制所述云台进行姿态调整，以使所述实时拍摄图像中的目标图像区域的位置与所述参考位置之间的差值小于预设位置差值。
第二方面，本申请实施例还提供了一种手持云台，所述手持云台包括手柄部和云台，所述云台用于搭载拍摄设备，所述手持云台还包括存储器和处理器；
所述存储器，用于存储计算机程序；
所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现 如下步骤：
获取所述拍摄设备的实时拍摄图像中的目标图像区域；
根据所述实时拍摄图像中的目标图像区域的尺寸和所述目标图像区域的参考尺寸控制所述拍摄设备进行变焦，以使所述实时拍摄图像中的目标图像区域的尺寸与所述参考尺寸之间的差值小于预设尺寸差值；
根据所述实时拍摄图像中的目标图像区域的位置和所述目标图像区域的参考位置控制所述云台进行姿态调整，以使所述实时拍摄图像中的目标图像区域的位置与所述参考位置之间的差值小于预设位置差值。
第三方面，本申请实施例还提供了一种拍摄系统，所述拍摄系统包括如上所述的手持云台和搭载于所述手持云台的拍摄设备。
第四方面，本申请实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时使所述处理器实现如上所述的控制方法的步骤。
本申请实施例提供了一种控制方法、手持云台、系统及计算机可读存储介质，通过获取拍摄设备的实时拍摄图像中的目标图像区域，并根据实时拍摄图像中的目标图像区域的尺寸和目标图像区域的参考尺寸控制拍摄设备进行变焦，以使实时拍摄图像中的目标图像区域的尺寸与该参考尺寸之间的差值小于预设尺寸差值，并根据实时拍摄图像中的目标图像区域的位置和目标图像区域的参考位置控制云台进行姿态调整，以使实时拍摄图像中的目标图像区域的位置与参考位置之间的差值小于预设位置差值，使得即便是不懂变焦专业知识的用户，也能够通过手持云台拍摄具有希区柯克效果的动态变焦视频，极大地提高了拍摄希区柯克效果的视频的便利性，提高用户体验。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请。
附图说明
为了更清楚地说明本申请实施例技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是实施本申请实施例提供的控制方法的手持云台的结构示意图；
图2是本申请实施例中的手持云台拍摄动态变焦视频的一过程示意框图；
图3是本申请实施例中的手持云台拍摄动态变焦视频的另一过程示意框图；
图4是本申请实施例提供的一种控制方法的步骤示意流程图；
图5是本申请实施例中的拍摄效果选择页面的一示意图；
图6是本申请实施例中的拍摄效果选择页面的另一示意图；
图7是本申请实施例中输出的第二提示信息的一示意图；
图8是本申请实施例中输出的第二提示信息的另一示意图；
图9是本申请实施例中拍摄设备的视场角变化速度与变焦倍率之间的关系示意图；
图10是本申请实施例提供的一种手持云台的结构示意性框图；
图11是本申请实施例提供的一种拍摄系统的结构示意性框图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请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申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
附图中所示的流程图仅是示例说明，不是必须包括所有的内容和操作/步骤，也不是必须按所描述的顺序执行。例如，有的操作/步骤还可以分解、组合或部分合并，因此实际执行的顺序有可能根据实际情况改变。
下面结合附图，对本申请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。
请参阅图1，图1是实施本申请实施例提供的控制方法的手持云台的结构示意图。以下将结合图1，对本申请实施例中的手持云台进行说明。
如图1所示，手持云台100包括手柄部101、设于手柄部101上的云台102，云台102用于搭载拍摄设备103，拍摄设备103可以与云台102一体设置，也可以外接于云台102。示例性的，拍摄设备103可以为智能手机，也可以为相机，例如为单反相机，还可以为摄像头。手持云台100可以承载拍摄设备103，用于固定拍摄设备103以及改变拍摄设备103的高度、倾角和/或方向，或者用于将拍摄设备103稳定地保持在某一姿态上，并控制拍摄设备103进行拍摄。
其中，云台102包括三轴电机，分别为俯仰(pitch)轴电机1021、横滚(roll)轴电机1022和平移(yaw)轴电机1023，所述三轴电机用于调整搭载于云台102上的拍摄设备103的平衡姿态，以便拍摄稳定流畅的画面。云台102上设 置有惯性测量单元(Inertial measurement unit，IMU)，可例如为加速度计或陀螺仪中的至少一种，可以用于测量拍摄设备103的姿态和加速度等，以便根据检测到的姿态调整拍摄设备103的平衡姿态。
在一实施例中，手柄部101上还设置有控制键，以便用户操作该控制键以控制云台102或拍摄设备103。该控制键可例如为按键、扳机、旋钮或者摇杆等，当然也包括其他形式的物理按键。其中，摇杆可以用于控制至少一个转轴的运动，进而控制拍摄设备103的运动。可以理解的是，遥杆也可以用于其他功能。可以理解的是，控制键的数量可以为一个或多个。当控制键的数量为一个时，可以针对该控制键采用不同的操作方式产生不同的控制指令，不同的操作方式比如为按压次数不同；当控制键的数量为多个时，比如包括第一控制键、第二控制键和第三控制键等，不同控制键用于产生不同的控制指令。
其中，手持云台10包括多种工作模式，比如包括：跟随模式、目标跟踪模式、锁定模式、运动模式和/或休眠模式等。手持云台100处于不同的工作模式执行不同的动作。例如，若手持云台100处于跟随模式，则采用跟随模式控制拍摄设备103进行跟随拍摄，所述跟随模式可以是指云台102跟随手柄部101运动的拍摄模式；若手持云台100处于目标跟踪模式，则在对目标对象识别成功后，云台102开始自动旋转使得拍摄装置103的角度始终跟随目标对象转动，保持目标物体在采集的画面中。其中，目标对象的确定方法可以是由用户在手持云台侧进行诸如框选或点选的操作后确定，也可以是根据实时拍摄图像中的特定姿势确定，还可以是利用实时拍摄图像中的待跟踪对象在画面中的位置确定。此处不做具体限定。
例如，锁定模式是指对云台102的三轴进行锁定，云台的三轴不跟随；运动模式是指云台102以预设速度跟随，比如以云台的三轴的最大速度跟随；休眠模式是指控制手持云台进入休眠状态。其中，在锁定模式或运动模式，云台的跟随对象可以是手柄部，也可以是目标对象，还可以是其它，具体可以根据需要设定，此处不做具体限定。
其中，手持云台100包括处理器，处理器用于对输入的控制指令进行处理，或者收发信号等。处理器可以设置在手柄部101的内部。可选地，该处理器可以是中央处理单元(Central Processing Unit，CPU)，该处理器还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(application specific integrated circuit，ASIC)、现场可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管 逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。可以理解的，图1中的手持云台以及上述对于手持云台各部件的命名仅仅出于标识的目的，并不因此对本申请实施例进行限制。
以下，将结合图1中的手持云台对本申请实施例提供的控制方法进行详细介绍。需知，图1中的手持云台仅用于解释本申请实施例提供的控制方法，但并不构成对本申请实施例提供的控制方法应用场景的限定。
目前，可以通过手持云台实现拍摄设备的滑动变焦，即希区柯克式变焦，具体是在拍摄时拍摄设备的位置和焦距同步变化，实现拍摄主体在画面内维持不变，而背景出现缩放，从而产生更加强烈的视觉冲击效果。然而，希区柯克式变焦的实现方式主要是用户手动移动拍摄设备，同时手动地调整拍摄设备的焦距，或者拍摄设备的焦距自动地按照固定速率变化，同时用户按照该固定速率手动地调整拍摄设备的运动速度，操作过程较为繁琐，对拍摄要求较高，不便于用户简易地拍摄希区柯克效果的视频，用户体验不好。
基于上述问题，本申请实施例提供了一种控制方法、手持云台、系统及计算机可读存储介质，该控制方法应用于手持云台，使得用户能够便利的拍摄具有拍摄希区柯克效果的视频。
示例性的，如图2所示，手持云台100获取拍摄设备采集到的实时拍摄图像，并对实时拍摄图像进行目标识别，以获取实时拍摄图像中的目标图像区域的尺寸和位置，然后根据实时拍摄图像中的目标图像区域的尺寸和目标图像区域的参考尺寸对拍摄设备进行变焦控制，以使实时拍摄图像中的目标图像区域的尺寸与参考尺寸之间的差值小于预设尺寸差值，同时根据实时拍摄图像中的目标图像区域的位置和目标图像区域的参考位置对云台进行控制，以改变拍摄设备(云台)的姿态，使得实时拍摄图像中的目标图像区域的位置与参考位置之间的差值小于预设位置差值，最后存储拍摄得到的视频。拍摄设备的变焦控制过程以及云台的姿态调整过程均不需要用户手动控制，用户只需要选择跟随的目标对象，就可以自动地拍摄希区柯克效果的视频，极大地提高了拍摄希区柯克效果的视频的便利性。
目前，用户也可以通过无人机来拍摄具有希区柯克效果的视频，无人机搭载有拍摄设备，当无人机与目标对象之间的距离改变时，调整拍摄设备的焦距，从而使得各视频图像中目标对象的尺寸之间的误差小于预设值。然而针对手持拍摄场景，由于拍摄者的移动不受控制，被拍摄的目标对象在画面内的一致性无法得到保证。基于此，本申请提供了一种应用于手持拍摄场景的控制方法， 根据实时拍摄图像中的目标图像区域的尺寸和目标图像区域的参考尺寸对拍摄设备进行变焦控制，以使实时拍摄图像中的目标图像区域的尺寸与参考尺寸之间的差值小于预设尺寸差值，同时根据实时拍摄图像中的目标图像区域的位置和目标图像区域的参考位置对云台进行控制，以改变拍摄设备(云台)的姿态，使得实时拍摄图像中的目标图像区域的位置与参考位置之间的差值小于预设位置差值，从而能够保证目标对象在画面内的位置一致性以及目标对象在画面内的尺寸一致性。
在一实施例中，动态变焦视频的背景收缩或扩张是由拍摄过程中的拍摄设备的视场角变化引起的，在一些场景下，例如手持云台远离目标对象的时候，由于变焦倍率较高，因此视场角的变化速度很慢，导致视频中的变焦倍率较高的阶段的背景变化率很小，而目标对象又维持不变，整个画面变化缓慢，动态变焦视频的观感较差，此外，由于动态变焦视频对目标对象在画面内的位置一致性要求非常高，仅基于云台自身的跟随控制和增稳控制难以满足更高的要求，因此，如图3所示，在存储拍摄得到的动态变焦视频后，对动态变焦视频进行增稳处理，使得增稳后的动态变焦视频中的各目标图像区域与基准目标图像区域之间的位置变化关系和尺寸变化关系满足预设关系，之后再对增稳后的动态变焦视频进行变速处理，得到目标视频，使得目标视频中的相邻两帧图像的视场角变化率一致。可选地，相邻两帧图像的视场角变化率的差值小于预设差值时，确定相邻两帧图像的视场角变化率一致。
可以理解的是，也可以先对动态变焦视频进行变速处理，使得经过变速处理后的动态变焦视频中的相邻两帧图像的视场角变化率一致，再对经过变速处理后的动态变焦视频进行增稳处理，得到目标视频，使得目标视频中的各目标图像区域与基准目标图像区域之间的位置变化关系和尺寸变化关系满足预设关系，且相邻两帧图像的视场角变化率一致。本申请对增稳处理和变速处理的执行顺序不做具体限定。
请参阅图4，图4是本申请实施例提供的一种控制方法的步骤示意流程图。
如图4所示，该控制方法包括步骤S101至步骤S103。
S101、获取所述拍摄设备的实时拍摄图像中的目标图像区域。
其中，目标图像区域为实时拍摄图像中包含目标拍摄对象的图像区域，可以通过目标识别算法从实时拍摄图像中获取目标图像区域。手持云台可以通过控制线与拍摄设备连接，该控制线例如为快门线。此处不限定快门线的种类，例如，该快门线可以是通用串行总线(Universal Serial Bus，USB)。手持云台 也可以通过无线的方式与拍摄设备连接，例如，手持云台通过蓝牙与拍摄设备连接。
在一实施例中，在拍摄动态变焦视频之前，需要用户选择目标拍摄对象，为方便用户选择目标拍摄对象，将拍摄设备的实时拍摄图像发送给显示装置，以使显示装置显示拍摄设备的实时拍摄图像；响应于用户对显示的实时拍摄图像中的初始拍摄图像的触控操作，获取初始拍摄图像中的目标图像区域，并将目标图像区域中的对象作为待跟随的目标拍摄对象。其中，显示装置可以设置于手持云台的手柄部，也可以设置于与手持云台通信连接的终端设备，初始拍摄图像为用户触控的实时拍摄图像，在用户选择目标拍摄对象之后，在显示装置显示的实时拍摄图像上显示目标矩形框，且目标拍摄对象位于目标矩形框内，此时，实时拍摄图像中的目标图像区域为目标矩形框所在的图像区域。
S102、根据所述实时拍摄图像中的目标图像区域的尺寸和所述目标图像区域的参考尺寸控制所述拍摄设备进行变焦，以使所述实时拍摄图像中的目标图像区域的尺寸与所述参考尺寸之间的差值小于预设尺寸差值。
其中，目标图像区域的参考尺寸可以为在开始拍摄动态变焦视频之前设置的预设尺寸，也可以是在开始拍摄动态变焦视频之前，根据目标图像区域在初始拍摄图像中的初始尺寸确定的，目标图像区域的参考位置可以为在开始拍摄动态变焦视频之前设置的预设位置，例如为画面的中央位置，也可以是在开始拍摄动态变焦视频之前，根据目标图像区域在初始拍摄图像中的初始位置确定的。
在一实施例中，将拍摄设备的实时拍摄图像发送给显示装置，以使显示装置显示拍摄设备的实时拍摄图像；响应于用户对显示的实时拍摄图像中的初始拍摄图像的触控操作，获取初始拍摄图像中的目标图像区域；确定目标图像区域在初始拍摄图像中的初始尺寸和初始位置；根据初始尺寸确定目标图像区域的参考尺寸，以及根据初始位置确定目标图像区域的参考位置。通过确定目标图像区域的参考尺寸和参考位置，便于后续基于参考尺寸和参考位置拍摄动态变焦视频。
在一实施例中，根据初始尺寸确定目标图像区域的参考尺寸的方式可以为：将该初始尺寸作为目标图像区域的参考尺寸；或者根据初始尺寸和预设误差尺寸，确定参考尺寸范围，并从参考尺寸范围内选择一个参考尺寸作为目标图像区域的参考尺寸。其中，预设误差尺寸可以基于实际情况进行设置，本申请实施例对此不做具体限定。示例性的，预设误差尺寸为A，初始尺寸为B，则参 考尺寸范围为[B-A，A+B]。
在一实施例中，根据初始位置确定目标图像区域的参考位置的方式可以为：将该初始位置作为目标图像区域的参考位置；或者根据初始位置和预设误差位置，确定参考位置范围，并从参考位置范围内选择一个参考位置作为目标图像区域的参考位置寸。其中，预设误差位置可以基于实际情况进行设置，本申请实施例对此不做具体限定。
在一实施例中，参考尺寸包括参考长度和参考宽度中的至少一项，预设尺寸差值包括预设长度差值和预设宽度差值中的至少一项，目标图像区域的尺寸与参考尺寸之间的差值小于预设尺寸差值包括目标图像区域的长度与参考长度之间的差值小于预设长度差值，和/或目标图像区域的宽度与参考宽度之间的差值小于预设宽度差值。
在一实施例中，根据实时拍摄图像中的目标图像区域的尺寸和目标图像区域的参考尺寸控制拍摄设备进行变焦的方式可以为：确定实时拍摄图像中的目标图像区域的尺寸与目标图像区域的参考尺寸之间的差值，得到尺寸变化量；根据该尺寸变化量，控制拍摄设备进行光学变焦或数码变焦，以使实时拍摄图像中的目标图像区域的尺寸与目标图像区域的参考尺寸之间的差值小于预设尺寸差值。例如，若拍摄设备为智能手机或数码相机，则根据该尺寸变化量，控制智能手机或数码相机进行数码变焦，而若拍摄设备为单反相机，则根据该该尺寸变化量，控制单反相机进行光学变焦。
在一实施例中，根据该尺寸变化量，控制拍摄设备进行光学变焦或数码变焦的方式可以为：根据该尺寸变化量，确定拍摄设备的变焦控制量，并根据该变焦控制量生成对应的变焦控制指令；向拍摄设备发送该变焦控制指令，以供拍摄设备根据该变焦控制指令中的变焦控制量进行光学变焦或数码变焦，以使实时拍摄图像中的目标图像区域的尺寸与目标图像区域的参考尺寸之间的差值小于预设尺寸差值。
S103、根据所述实时拍摄图像中的目标图像区域的位置和所述目标图像区域的参考位置控制所述云台进行姿态调整，以使所述实时拍摄图像中的目标图像区域的位置与所述参考位置之间的差值小于预设位置差值。
其中，目标图像区域的参考位置包括参考像素横坐标和参考像素纵坐标中的至少一项，预设位置差值包括预设横坐标差值和预设纵坐标差值中的至少一项，实时拍摄图像中的目标图像区域的位置与参考位置之间的差值小于预设位置差值包括实时拍摄图像中的目标图像区域的像素横坐标与参考像素横坐标之 间的差值小于预设横坐标差值以及实时拍摄图像中的目标图像区域的像素纵坐标与参考像素纵坐标之间的差值小于预设纵坐标差值中的至少一项。
在一实施例中，根据实时拍摄图像中的目标图像区域的位置和目标图像区域的参考位置控制云台进行姿态调整的方式可以为：根据实时拍摄图像中的目标图像区域的位置和目标图像区域的参考位置，确定云台的目标姿态，并获取云台的当前姿态；根据云台的目标姿态和当前姿态，确定云台的姿态变化量，并根据姿态变化量，控制云台运动，以改变云台的姿态，以使实时拍摄图像中的目标图像区域的位置与参考位置之间的差值小于预设位置差值。
在一实施例中，由于动态变焦视频对目标拍摄对象在画面内的一致性要求非常高，仅基于云台自身的跟随控制和增稳控制难以满足更高的要求，因此，对拍摄设备的实时拍摄图像进行增稳处理，使得增稳后的实时拍摄图像中的目标图像区域与基准目标图像区域之间的位置变化关系和尺寸变化关系满足预设关系。其中，预设关系包括目标图像区域与基准目标图像区域之间的位置差值小于预设位置差值和目标图像区域与基准目标图像区域之间的尺寸差值小于预设尺寸差值，基准目标图像区域为初始拍摄图像中的目标图像区域，初始拍摄图像为用户触控选择目标拍摄对象的实时拍摄图像。通过对实时拍摄图像进行增稳处理，可以保证目标图像区域的位置一致性和尺寸一致性。
在一实施例中，对拍摄设备的实时拍摄图像进行增稳处理的方式可以为：提取实时拍摄图像中目标图像区域内的多个第一特征点；根据多个第一特征点和基准目标图像区域内的多个第二特征点，确定实时拍摄图像中的目标图像区域与基准目标图像区域之间的位置变化关系和尺寸变化关系；根据实时拍摄图像中的目标图像区域与基准目标图像区域之间的位置变化关系和尺寸变化关系，对该实时拍摄图像进行缩放、裁切和/或旋转处理，使得增稳后的实时拍摄图像中的目标图像区域与基准目标图像区域之间的位置变化关系和尺寸变化关系满足预设关系。现有技术在进行增稳处理时，往往是提取整幅图像中的特征点，使得增稳处理后的视频在整体观感上更加稳定，然而，整幅图像中的目标图像区域的稳定性可能并不满足要求。在此实施例中，仅对目标图像区域内的特征点进行处理，可以更好的保证目标图像区域的位置一致性和尺寸一致性。
在一实施例中，输出第一提示信息，第一提示信息用于提示用户让目标图像区域对应的目标拍摄对象不要移动。其中，输出第一提示信息的方式可以为通过显示装置显示第一提示文字，以提示用户让目标图像区域对应的目标拍摄对象不要移动。由于本申请实施例是根据目标图像区域的尺寸来控制拍摄设备 进行变焦的，如果目标拍摄对象有比较大范围的移动，或者蹲下或者起立，会对拍摄效果造成很大的影响，因此通过输出用于提示用户让目标图像区域对应的目标拍摄对象不要移动的提示信息，可以保证拍摄动态变焦视频的效果，提高用户体验。
在一实施例中，输出第二提示信息，第二提示信息用于提示用户相对于目标图像区域对应的目标拍摄对象向前或者向后移动。其中，输出第二提示信息的方式可以为通过显示装置显示第二提示文字和/或提示图标，提示用户相对于目标图像区域对应的目标拍摄对象向前或者向后移动，提示图标包括第一提示图标和第二提示图标，第一提示图标与第二提示图标不同，第一提示图标用于提示用户相对于目标图像区域对应的目标拍摄对象向前移动，第二提示图标用于提示用户相对于目标图像区域对应的目标拍摄对象向后移动。通过输出用于提示用户相对于目标图像区域对应的目标拍摄对象向前或者向后移动的提示信息，可以保证拍摄动态变焦视频的效果，提高用户体验。
示例性的，如图5所示，显示装置或拍摄设备显示有拍摄效果选择页面，拍摄效果选择页面显示有控制图标10，在拍摄动态变焦视频之前，用户可以通过拍摄效果选择页面选择拍摄效果是背景靠近，还是背景远离。如图6所示，用户选择的拍摄效果为背景靠近。如图7所示，在拍摄动态变焦视频的过程中，显示装置或拍摄设备显示的实时拍摄图像内显示有用于提示用户相对于目标图像区域对应的目标拍摄对象向后移动的提示文字“请您逐渐远离目标”，且目标图像区域20为矩形框所在的图像区域，矩形框内显示有目标拍摄对象，还显示有拍摄时长和控制图标10。如图8所示，显示装置或拍摄设备显示的实时拍摄图像内显示有用于提示用户相对于目标图像区域对应的目标拍摄对象向后移动的提示文字“移动方向错误，请调整方向后逐步远离目标”和提示图标30。
在一实施例中，当拍摄设备处于预设录像模式时，手持云台获取拍摄设备的实时拍摄图像中的目标图像区域；根据实时拍摄图像中的目标图像区域的尺寸和目标图像区域的参考尺寸控制所述拍摄设备进行变焦，以使实时拍摄图像中的目标图像区域的尺寸与参考尺寸之间的差值小于预设尺寸差值；根据实时拍摄图像中的目标图像区域的位置和目标图像区域的参考位置控制云台进行姿态调整，以使实时拍摄图像中的目标图像区域的位置与参考位置之间的差值小于预设位置差值；当手持云台结束录像时，存储录制得到动态变焦视频。
例如，如图6所示，当用户点击显示的控制图标10后，拍摄设备进入预设录像模式，且显示装置或拍摄设备显示的页面由图6变化为图7，在拍摄过程 中，控制拍摄设备进行变焦，以使实时拍摄图像中的目标图像区域的尺寸与参考尺寸之间的差值小于预设尺寸差值，同时控制控制云台进行姿态调整，以使实时拍摄图像中的目标图像区域的位置与参考位置之间的差值小于预设位置差值，而当用户再次点击显示的控制图标10后，手持云台结束录像，并存储和/或播放录制得到动态变焦视频。
动态变焦视频的背景收缩或扩张是由拍摄过程中的拍摄设备的视场角变化引起的，因此视场角变化率在整个视频中的一致性尤其重要，但通过预设录像模式拍摄得到的动态变焦视频中的各图像的视场角变化率偏差较大，动态变焦视频的拍摄效果较差。例如，假设在拍摄过程中，用户手拿手持云台匀速靠近目标或者远离目标，因此，拍摄设备的焦距或者等效焦距也随之匀速变化，拍摄设备的视场角变化速度与变焦倍率之间的关系可以如图9所示，在变焦倍率较高时，视场角的变化速度很慢，导致动态变焦视频中的变焦倍率较高的阶段的视场角变化率很慢，而目标对象又维持不变，整个画面变化缓慢。
为解决上述问题，获取在预设录像模式下拍摄得到的动态变焦视频，并对该动态变焦视频进行变速处理，使得变速处理后的动态变焦视频中的相邻两帧图像的视场角变化率一致。可选地，对该动态变焦视频进行变速处理包括对该动态变焦视频进行加速处理和减速处理，相邻两帧图像的视场角变化率的差值小于预设差值时，确定相邻两帧图像的视场角变化率一致。通过对动态变焦视频进行变速处理，使得变速处理后的动态变焦视频中相邻两帧图像的视场角变化率一致，能够有效的增大视频的背景收缩或扩张，提高动态变焦视频的拍摄效果，提高用户体验。
在一实施例中，对该动态变焦视频进行变速处理的方式可以为：获取动态变焦视频对应的变焦倍率的变化率；根据该变焦倍率的变化率，对动态变焦视频进行变速处理，使得变速处理后的动态变焦视频中相邻两帧图像的视场角变化率一致。通过动态变焦视频对应的变焦倍率的变化率可以反映用户的运动情况，因此通过动态变焦视频对应的变焦倍率的变化率，对动态变焦视频进行变速处理，可以保证变速处理后的动态变焦视频中相邻两帧图像的视场角变化率一致，能够有效的增大视频的背景收缩或扩张，提高动态变焦视频的拍摄效果，提高拍摄便利性。
在一实施例中，动态变焦视频对应的变焦倍率的变化率包括动态变焦视频中的每组视频帧图像的变焦倍率的变化率，一组视频帧图像包括至少两个视频帧图像。根据该变焦倍率的变化率，对动态变焦视频进行变速处理的方式可以 为：根据每组视频帧图像的变焦倍率的变化率，确定每组视频帧图像的变速倍率，并根据每组视频帧图像的变速倍率对动态变焦视频中的每组视频帧图像进行变速处理，使得变速处理后的动态变焦视频中相邻两帧图像的视场角变化率一致。其中，变焦倍率的变化率越慢，则变速倍率越高，而变焦倍率的变化率越快，则变速倍率越低，变焦倍率的变化率与变速倍率之间的映射关系可根据实际情况进行设置，本申请对此不做具体限定。
在一实施例中，对该动态变焦视频进行变速处理的方式可以为：获取手持云台的移动速度；根据手持云台的移动速度，对动态变焦视频进行变速处理。其中，手持云台的手柄部设置有惯性测量单元，通过惯性测量单元可以采集得到手持云台在拍摄动态变焦视频过程中的不同时刻的移动速度。通过手持云台在拍摄动态变焦视频过程中的不同时刻的移动速度，对动态变焦视频进行变速处理，也可以保证变速处理后的动态变焦视频中相邻两帧图像的视场角变化率一致，能够有效的增大视频的背景收缩或扩张，提高动态变焦视频的拍摄效果，提高拍摄便利性。
在一实施例中，根据手持云台的移动速度，对动态变焦视频进行变速处理的方式可以为：获取动态变焦视频中的各视频帧图像的拍摄时刻，并根据预设时长和各视频帧图像的拍摄时刻，将各视频帧图像划分为多个视频帧图像组；确定各视频帧图像组所处的拍摄时间段，并根据各视频帧图像组所处的拍摄时间段、手持云台在拍摄动态变焦视频过程中的不同时刻的移动速度以及移动速度与变速倍率之间的映射关系，确定每个视频帧图像组各自对应的变速倍率；根据每个视频帧图像组各自对应的变速倍率，对动态变焦视频中的每个视频帧图像组进行变速处理，使得变速处理后的动态变焦视频中相邻两帧图像的视场角变化率一致。
在一实施例中，由于动态变焦视频对目标拍摄对象在画面内的位置一致性要求非常高，仅基于云台自身的跟随控制和增稳控制难以满足更高的要求，因此，在对动态变焦视频进行变速处理后，对变速处理后的动态变焦视频进行增稳处理，使得增稳处理后的动态变焦视频的各帧图像内目标图像区域与基准目标图像区域之间的位置变化关系和尺寸变化关系满足预设关系。其中，预设关系包括目标图像区域与基准目标图像区域之间的位置差值小于预设位置差值和目标图像区域与基准目标图像区域之间的尺寸差值小于预设尺寸差值。通过对实时拍摄图像进行增稳处理，可以保证目标图像区域的位置一致性和尺寸一致性。
在一实施例中，对变速处理后的动态变焦视频进行增稳处理的方式可以为：提取各帧图像的目标图像区域内的多个第一特征点；根据各帧图像的多个第一特征点和基准目标图像区域内的多个第二特征点，确定各帧图像中的目标图像区域与基准目标图像区域之间的位置变化关系和尺寸变化关系；根据各帧图像中的目标图像区域与基准目标图像区域之间的位置变化关系和尺寸变化关系，对各帧图像进行缩放、裁切和/或旋转处理。
上述实施例提供的控制方法，通过获取拍摄设备的实时拍摄图像中的目标图像区域，并根据实时拍摄图像中的目标图像区域的尺寸和目标图像区域的参考尺寸控制拍摄设备进行变焦，以使实时拍摄图像中的目标图像区域的尺寸与该参考尺寸之间的差值小于预设尺寸差值，并根据实时拍摄图像中的目标图像区域的位置和目标图像区域的参考位置控制云台进行姿态调整，以使实时拍摄图像中的目标图像区域的位置与参考位置之间的差值小于预设位置差值，使得即便是不懂变焦专业知识的用户，也能够通过手持云台拍摄希区柯克效果的视频，极大地提高了拍摄希区柯克效果的视频的便利性，提高用户体验。
请参阅图10，图10是本申请实施例提供的一种手持云台的结构示意性框图。
如图10所示，手持云台200包括手柄部、设于手柄部上的云台201，云台201用于搭载拍摄设备，手持云台200还包括处理器202和存储器203，云台201、处理器202和存储器203通过总线204连接，该总线204比如为I2C(Inter-integrated Circuit)总线。
具体地，处理器202可以是微控制单元(Micro-controller Unit，MCU)、中央处理单元(Central Processing Unit，CPU)或数字信号处理器(Digital Signal Processor，DSP)等。
具体地，存储器203可以是Flash芯片、只读存储器(ROM，Read-Only Memory)磁盘、光盘、U盘或移动硬盘等。
其中，所述处理器202用于运行存储在存储器203中的计算机程序，并在执行所述计算机程序时实现如下步骤：
获取所述拍摄设备的实时拍摄图像中的目标图像区域；
根据所述实时拍摄图像中的目标图像区域的尺寸和所述目标图像区域的参考尺寸控制所述拍摄设备进行变焦，以使所述实时拍摄图像中的目标图像区域的尺寸与所述参考尺寸之间的差值小于预设尺寸差值；
根据所述实时拍摄图像中的目标图像区域的位置和所述目标图像区域的参 考位置控制所述云台进行姿态调整，以使所述实时拍摄图像中的目标图像区域的位置与所述参考位置之间的差值小于预设位置差值。
所述处理器还用于实现以下步骤：
将所述拍摄设备的实时拍摄图像发送给显示装置，以使所述显示装置显示所述拍摄设备的实时拍摄图像，其中，所述显示装置设置于所述手柄部和/或与所述手持云台通信连接的终端设备。
在一实施例中，所述处理器还用于实现以下步骤：
响应于用户对显示的实时拍摄图像中初始拍摄图像的触控操作，获取所述初始拍摄图像中的目标图像区域；
确定所述目标图像区域在所述初始拍摄图像中的初始尺寸和初始位置；
根据所述初始尺寸确定所述参考尺寸，以及根据所述初始位置确定所述参考位置。
在一实施例中，所述处理器还用于实现以下步骤：
对所述拍摄设备的实时拍摄图像进行增稳处理，使得增稳后的所述实时拍摄图像中的目标图像区域与基准目标图像区域之间的位置变化关系和尺寸变化关系满足预设关系。
在一实施例中，所述对所述拍摄设备的实时拍摄图像进行增稳处理，包括：
提取所述实时拍摄图像中目标图像区域内的多个第一特征点；
根据所述多个第一特征点和所述基准目标图像区域内的多个第二特征点，确定所述实时拍摄图像中的目标图像区域与所述基准目标图像区域之间的位置变化关系和尺寸变化关系；
根据所述位置变化关系和所述尺寸变化关系，对所述实时拍摄图像进行缩放、裁切和/或旋转处理。
在一实施例中，所述处理器还用于实现以下步骤：
输出第一提示信息，所述第一提示信息用于提示用户让所述目标图像区域对应的目标拍摄对象不要移动。
在一实施例中，所述处理器还用于实现以下步骤：
输出第二提示信息，所述第二提示信息用于提示用户相对于所述目标图像区域对应的目标拍摄对象向前或者向后移动。
在一实施例中，所述处理器还用于实现以下步骤：
获取预设录像模式下拍摄得到的动态变焦视频；
对所述动态变焦视频进行变速处理，使得变速处理后的所述动态变焦视频 中相邻两帧图像的视场角变化率一致。
在一实施例中，所述对所述动态变焦视频进行变速处理，包括：
获取所述动态变焦视频对应的变焦倍率的变化率；
根据所述变焦倍率的变化率，对所述动态变焦视频进行变速处理。
在一实施例中，所述对所述动态变焦视频进行变速处理，包括：
获取所述手持云台的移动速度；
根据所述移动速度，对所述动态变焦视频进行变速处理。
需要说明的是，所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，上述描述的手持云台的具体工作过程，可以参考前述控制方法实施例中的对应过程，在此不再赘述。
请参阅图11，图11是本申请实施例提供的一种拍摄系统的结构示意性框图。
如图11所示，拍摄系统300包括手持云台310和搭载于手持云台310上的拍摄设备320，手持云台310与拍摄设备320通信连接。手持云台310可以通过控制线与拍摄设备320连接，该控制线例如为快门线。此处不限定快门线的种类，例如，该快门线可以是通用串行总线(Universal Serial Bus，USB)。手持云台310也可以通过无线的方式与拍摄设备320连接，例如，手持云台310通过蓝牙与拍摄设备320连接。
需要说明的是，所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，上述描述的拍摄系统的具体工作过程，可以参考前述控制方法实施例中的对应过程，在此不再赘述。
本申请实施例还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，所述计算机程序中包括程序指令，所述处理器执行所述程序指令，实现上述实施例提供的控制方法的步骤。
其中，所述计算机可读存储介质可以是前述任一实施例所述的手持云台的内部存储单元，例如所述手持云台的硬盘或内存。所述计算机可读存储介质也可以是所述手持云台的外部存储设备，例如所述手持云台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。
应当理解，在此本申请说明书中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本申请。如在本申请说明书和所附权利要求书中所使用的那样，除非上下文清楚地指明其它情况，否则单数形式的“一”、“一个”及“该” 意在包括复数形式。
还应当理解，在本申请说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。

Claims (22)

  1. 一种控制方法，其特征在于，应用于手持云台，所述手持云台包括手柄部和云台，所述云台用于搭载拍摄设备，所述方法包括：
    获取所述拍摄设备的实时拍摄图像中的目标图像区域；
    根据所述实时拍摄图像中的目标图像区域的尺寸和所述目标图像区域的参考尺寸控制所述拍摄设备进行变焦，以使所述实时拍摄图像中的目标图像区域的尺寸与所述参考尺寸之间的差值小于预设尺寸差值；
    根据所述实时拍摄图像中的目标图像区域的位置和所述目标图像区域的参考位置控制所述云台进行姿态调整，以使所述实时拍摄图像中的目标图像区域的位置与所述参考位置之间的差值小于预设位置差值。
  2. 根据权利要求1所述的控制方法，其特征在于，所述方法还包括：
    将所述拍摄设备的实时拍摄图像发送给显示装置，以使所述显示装置显示所述拍摄设备的实时拍摄图像，其中，所述显示装置设置于所述手柄部和/或与所述手持云台通信连接的终端设备。
  3. 根据权利要求2所述的控制方法，其特征在于，所述获取所述拍摄设备的实时拍摄图像中的目标图像区域之前，所述方法还包括：
    响应于用户对显示的实时拍摄图像中初始拍摄图像的触控操作，获取所述初始拍摄图像中的目标图像区域；
    确定所述目标图像区域在所述初始拍摄图像中的初始尺寸和初始位置；
    根据所述初始尺寸确定所述参考尺寸，以及根据所述初始位置确定所述参考位置。
  4. 根据权利要求1所述的控制方法，其特征在于，所述方法还包括：
    对所述拍摄设备的实时拍摄图像进行增稳处理，使得增稳后的所述实时拍摄图像中的目标图像区域与基准目标图像区域之间的位置变化关系和尺寸变化关系满足预设关系。
  5. 根据权利要求4所述的控制方法，其特征在于，所述对所述拍摄设备的实时拍摄图像进行增稳处理，包括：
    提取所述实时拍摄图像中目标图像区域内的多个第一特征点；
    根据所述多个第一特征点和所述基准目标图像区域内的多个第二特征点，确定所述实时拍摄图像中的目标图像区域与所述基准目标图像区域之间的位置 变化关系和尺寸变化关系；
    根据所述位置变化关系和所述尺寸变化关系，对所述实时拍摄图像进行缩放、裁切和/或旋转处理。
  6. 根据权利要求1所述的控制方法，其特征在于，所述方法还包括：
    输出第一提示信息，所述第一提示信息用于提示用户让所述目标图像区域对应的目标拍摄对象不要移动。
  7. 根据权利要求1所述的控制方法，其特征在于，所述方法还包括：
    输出第二提示信息，所述第二提示信息用于提示用户相对于所述目标图像区域对应的目标拍摄对象向前或者向后移动。
  8. 根据权利要求1-7中任一项所述的控制方法，其特征在于，在预设录像模式下执行如权利要求1-7中任一项所述的操作，所述方法还包括：
    获取所述预设录像模式下拍摄得到的动态变焦视频；
    对所述动态变焦视频进行变速处理，使得变速处理后的所述动态变焦视频中相邻两帧图像的视场角变化率一致。
  9. 根据权利要求8所述的控制方法，其特征在于，所述对所述动态变焦视频进行变速处理，包括：
    获取所述动态变焦视频对应的变焦倍率的变化率；
    根据所述变焦倍率的变化率，对所述动态变焦视频进行变速处理。
  10. 根据权利要求8所述的控制方法，其特征在于，所述对所述动态变焦视频进行变速处理，包括：
    获取所述手持云台的移动速度；
    根据所述移动速度，对所述动态变焦视频进行变速处理。
  11. 一种手持云台，其特征在于，所述手持云台包括手柄部和云台，所述云台用于搭载拍摄设备，所述手持云台还包括存储器和处理器；
    所述存储器，用于存储计算机程序；
    所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
    获取所述拍摄设备的实时拍摄图像中的目标图像区域；
    根据所述实时拍摄图像中的目标图像区域的尺寸和所述目标图像区域的参考尺寸控制所述拍摄设备进行变焦，以使所述实时拍摄图像中的目标图像区域的尺寸与所述参考尺寸之间的差值小于预设尺寸差值；
    根据所述实时拍摄图像中的目标图像区域的位置和所述目标图像区域的参 考位置控制所述云台进行姿态调整，以使所述实时拍摄图像中的目标图像区域的位置与所述参考位置之间的差值小于预设位置差值。
  12. 根据权利要求11所述的手持云台，其特征在于，所述处理器还用于实现以下步骤：
    将所述拍摄设备的实时拍摄图像发送给显示装置，以使所述显示装置显示所述拍摄设备的实时拍摄图像，其中，所述显示装置设置于所述手柄部和/或与所述手持云台通信连接的终端设备。
  13. 根据权利要求12所述的手持云台，其特征在于，所述处理器还用于实现以下步骤：
    响应于用户对显示的实时拍摄图像中初始拍摄图像的触控操作，获取所述初始拍摄图像中的目标图像区域；
    确定所述目标图像区域在所述初始拍摄图像中的初始尺寸和初始位置；
    根据所述初始尺寸确定所述参考尺寸，以及根据所述初始位置确定所述参考位置。
  14. 根据权利要求11所述的手持云台，其特征在于，所述处理器还用于实现以下步骤：
    对所述拍摄设备的实时拍摄图像进行增稳处理，使得增稳后的所述实时拍摄图像中的目标图像区域与基准目标图像区域之间的位置变化关系和尺寸变化关系满足预设关系。
  15. 根据权利要求14所述的手持云台，其特征在于，所述对所述拍摄设备的实时拍摄图像进行增稳处理，包括：
    提取所述实时拍摄图像中目标图像区域内的多个第一特征点；
    根据所述多个第一特征点和所述基准目标图像区域内的多个第二特征点，确定所述实时拍摄图像中的目标图像区域与所述基准目标图像区域之间的位置变化关系和尺寸变化关系；
    根据所述位置变化关系和所述尺寸变化关系，对所述实时拍摄图像进行缩放、裁切和/或旋转处理。
  16. 根据权利要求11所述的手持云台，其特征在于，所述处理器还用于实现以下步骤：
    输出第一提示信息，所述第一提示信息用于提示用户让所述目标图像区域对应的目标拍摄对象不要移动。
  17. 根据权利要求11所述的手持云台，其特征在于，所述处理器还用于实 现以下步骤：
    输出第二提示信息，所述第二提示信息用于提示用户相对于所述目标图像区域对应的目标拍摄对象向前或者向后移动。
  18. 根据权利要求11-17中任一项所述的手持云台，其特征在于，在预设录像模式下，所述处理器用于实现如权利要求11-17中任一项所述的步骤，所述处理器还用于实现以下步骤：
    获取所述预设录像模式下拍摄得到的动态变焦视频；
    对所述动态变焦视频进行变速处理，使得变速处理后的所述动态变焦视频中相邻两帧图像的视场角变化率一致。
  19. 根据权利要求18所述的手持云台，其特征在于，所述对所述动态变焦视频进行变速处理，包括：
    获取所述动态变焦视频对应的变焦倍率的变化率；
    根据所述变焦倍率的变化率，对所述动态变焦视频进行变速处理。
  20. 根据权利要求18所述的手持云台，其特征在于，所述对所述动态变焦视频进行变速处理，包括：
    获取所述手持云台的移动速度；
    根据所述移动速度，对所述动态变焦视频进行变速处理。
  21. 一种拍摄系统，其特征在于，所述拍摄系统包括如权利要求11-20中任一项所述的手持云台和搭载于所述手持云台的拍摄设备。
  22. 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，所述计算机程序被处理器执行时使所述处理器实现如权利要求1-10中任一项所述的控制方法的步骤。
PCT/CN2020/111527 2020-08-26 2020-08-26 控制方法、手持云台、系统及计算机可读存储介质 WO2022041013A1 (zh)

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