CN109743505B

CN109743505B - Video shooting method and device based on laser ranging and electronic equipment

Info

Publication number: CN109743505B
Application number: CN201910072201.5A
Authority: CN
Inventors: 马美雪
Original assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Current assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Priority date: 2019-01-25
Filing date: 2019-01-25
Publication date: 2021-01-19
Anticipated expiration: 2039-01-25
Also published as: CN109743505A

Abstract

The application provides a video shooting method and device based on laser ranging, electronic equipment and a storage medium, and belongs to the technical field of imaging. Wherein, the method comprises the following steps: in the video shooting process, obtaining distance values respectively output by a first target laser ranging sensor in a laser ranging module at the current moment and the previous moment, wherein the laser ranging module comprises a plurality of laser ranging sensors, and the first target laser ranging sensor is a laser ranging sensor corresponding to a preset trigger position; judging whether the difference value of the distance values respectively output by the first target laser ranging sensor at the current moment and the previous moment is larger than a preset value or not; if yes, the camera module is adjusted from the first shooting frame rate to the second shooting frame rate. Therefore, the video shooting method based on laser ranging can accurately control the adjusting time of the shooting frame rate of the camera module, improve the quality of video shooting with various shooting frame rates and improve user experience.

Description

Video shooting method and device based on laser ranging and electronic equipment

Technical Field

The present application relates to the field of imaging technologies, and in particular, to a video shooting method and apparatus based on laser ranging, an electronic device, and a storage medium.

Background

With the development of science and technology, various electronic devices (such as mobile phones, tablet computers and the like) are increasingly popularized. The cameras are arranged in most mobile phones and tablet computers, and along with the enhancement of the processing capacity of the mobile terminal and the development of the camera technology, the performance of the built-in cameras is more and more powerful, and the quality of shot images is more and more high. The existing electronic equipment is simple to operate and convenient to carry, and people using electronic equipment such as a mobile phone, a tablet computer and the like to take pictures in daily life become a normal state.

With the continuous improvement of the shooting function of the electronic equipment, a user can use the electronic equipment provided with the camera to shoot slow motion videos, but due to the limitation of the performance of the photosensitive chip and the hardware performance such as the memory of the electronic equipment, slow motion videos can be shot only for a short period of time.

In the related art, the electronic device is manually controlled to enter a slow motion shooting mode according to shooting requirements manually, so as to perform slow motion video shooting on a shooting object. However, in the slow motion video shooting mode, if the timing for the user to control the electronic device to enter the slow motion shooting mode is not good, the obtained slow motion video is very likely to have poor effect and quality, and user experience is affected.

Disclosure of Invention

The video shooting method and device based on laser ranging, the electronic device and the storage medium are used for solving the problem that in the related technology, if the slow motion video shooting mode is carried out through manual operation, if the opportunity for a user to control the electronic device to enter the slow motion shooting mode is not good, the obtained slow motion video is poor in effect and quality, and user experience is affected.

The embodiment of the application provides a video shooting method based on laser ranging on the one hand, which comprises the following steps: in the video shooting process, obtaining distance values respectively output by a first target laser ranging sensor in a laser ranging module at the current moment and the previous moment, wherein the laser ranging module comprises a plurality of laser ranging sensors, and the first target laser ranging sensor is a laser ranging sensor corresponding to a preset trigger position; judging whether the difference value of the distance values respectively output by the first target laser ranging sensor at the current moment and the previous moment is larger than a preset value or not; and if so, adjusting the camera module from the first shooting frame rate to a second shooting frame rate.

The video shooting device based on laser rangefinder that this application another aspect embodiment provided includes: the device comprises an acquisition module, a video acquisition module and a video processing module, wherein the acquisition module is used for acquiring distance values respectively output by a first target laser ranging sensor in a laser ranging module at the current moment and the previous moment, the laser ranging module comprises a plurality of laser ranging sensors, and the first target laser ranging sensor is a laser ranging sensor corresponding to a preset trigger position; the judging module is used for judging whether the difference value of the distance values respectively output by the first target laser ranging sensor at the current moment and the previous moment is larger than a preset value or not; and the adjusting module is used for adjusting the camera shooting module from the first shooting frame rate to the second shooting frame rate if the camera shooting module is in the first shooting frame rate.

An embodiment of another aspect of the present application provides an electronic device, which includes: the video shooting method based on laser ranging is characterized in that the video shooting method based on laser ranging is realized when the processor executes the program.

Wherein, laser rangefinder module includes a plurality of laser rangefinder sensors.

In yet another aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the video shooting method based on laser ranging as described above.

In another aspect of the present application, a computer program is provided, which is executed by a processor to implement the video shooting method based on laser ranging according to the embodiment of the present application.

The video shooting method, the video shooting device, the electronic device, the computer-readable storage medium and the computer program based on laser ranging can acquire distance values respectively output by a first target laser ranging sensor in a laser ranging module at a current moment and a previous moment in a video shooting process, wherein the laser ranging module comprises a plurality of laser ranging sensors, the first target laser ranging sensor is a laser ranging sensor corresponding to a preset trigger position, and then when a difference value between the distance values respectively output by the first target laser ranging sensor at the current moment and the previous moment is larger than a preset value, a camera module is adjusted from a first shooting frame rate to a second shooting frame rate. Therefore, the starting time when the shooting object reaches the preset trigger position is determined according to the distance values respectively output by the first target laser ranging sensor at the current moment and the previous moment, and the shooting frame rate of the camera module is adjusted when the shooting object reaches the preset trigger position, so that the adjusting time of the shooting frame rate of the camera module can be accurately controlled, the quality of video shooting with various shooting frame rates is improved, and the user experience is improved.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic flowchart of a video shooting method based on laser ranging according to an embodiment of the present disclosure;

fig. 2-1 is a schematic ranging diagram of a multi-point laser ranging module according to an embodiment of the present disclosure;

fig. 2-2 is a schematic diagram illustrating adjustment of the shooting frame rate of the camera module according to the distance values respectively output by the first target laser ranging sensor at the current time and the previous time;

fig. 3 is a schematic flowchart of another video shooting method based on laser ranging according to an embodiment of the present disclosure;

fig. 4-1 is a diagram illustrating an operation performed by a subject between a current time and a previous time;

FIG. 4-2 is a schematic diagram of implementing slow motion video capture;

fig. 5 is a schematic flowchart of another video shooting method based on laser ranging according to an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of the positions of the moving object in the shooting picture at different times relative to the positions of the ranging points of the laser ranging sensors;

fig. 7 is a schematic flowchart of another video shooting method based on laser ranging according to an embodiment of the present disclosure;

fig. 8 is a schematic diagram of the distance that a photographic subject moves between two moments;

fig. 9 is a schematic structural diagram of a video camera based on laser ranging according to an embodiment of the present disclosure;

fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present application;

fig. 11 is a schematic structural diagram of another electronic device according to an embodiment of the present application.

Detailed Description

Reference will now be made in detail to the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the like or similar elements throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.

The embodiment of the application aims at the problems that in the related art, a slow motion video shooting mode is carried out through manual operation, if the opportunity that a user controls an electronic device to enter a slow motion shooting mode is not good, the obtained slow motion video effect and quality are very poor, and user experience is affected, and the video shooting method based on laser ranging is provided.

The video shooting method based on laser ranging can acquire the distance values respectively output by a first target laser ranging sensor at the current moment and the previous moment in a laser ranging module in the video shooting process, wherein the laser ranging module comprises a plurality of laser ranging sensors, the first target laser ranging sensor is a laser ranging sensor corresponding to a preset trigger position, and then when the difference value of the distance values respectively output by the first target laser ranging sensor at the current moment and the previous moment is larger than the preset value, the camera shooting module is adjusted from a first shooting frame rate to a second shooting frame rate. Therefore, the starting time when the shooting object reaches the preset trigger position is determined according to the distance values respectively output by the first target laser ranging sensor at the current moment and the previous moment, and the shooting frame rate of the camera module is adjusted when the shooting object reaches the preset trigger position, so that the adjusting time of the shooting frame rate of the camera module can be accurately controlled, the quality of video shooting with various shooting frame rates is improved, and the user experience is improved.

The video photographing method, apparatus, electronic device, storage medium, and computer program based on laser ranging provided in the present application are described in detail below with reference to the accompanying drawings.

Fig. 1 is a schematic flowchart of a video shooting method based on laser ranging according to an embodiment of the present disclosure.

As shown in fig. 1, the video shooting method based on laser ranging includes the following steps:

step 101, in the video shooting process, obtaining distance values respectively output by a first target laser ranging sensor at the current moment and the previous moment in a laser ranging module, wherein the laser ranging module comprises a plurality of laser ranging sensors, and the first target laser ranging sensor is a laser ranging sensor corresponding to a preset trigger position.

In the embodiment of the application, a trigger position for triggering the adjustment of the video shooting frame rate can be preset, and according to a first target laser ranging sensor in a laser ranging module corresponding to the preset trigger position, whether a shooting object reaches the preset trigger position is judged according to distance values respectively output at the current moment and the previous moment, and when the shooting object is detected to reach the preset trigger position, the shooting frame rate of the camera shooting module is adjusted.

As a possible implementation mode, the laser ranging module comprising a plurality of laser ranging sensors is utilized to measure the distance value between the camera module and the shooting object, and the distance change between the shooting object and the camera module, namely the motion state of the shooting object, can be determined by acquiring the distance value respectively output by each laser ranging sensor in the laser ranging module at different moments.

It should be noted that, the laser ranging module may emit laser light through the light source, and perform amplitude modulation on the laser light emitted by the light source through the modulator to generate modulated light, and then obtain the modulated light returned by reflection of the object to be photographed through the laser ranging sensor, and determine a phase difference generated by the modulated light going back and forth once, and further determine and output a distance value represented by the phase difference according to the wavelength of the modulated light and the determined phase difference, that is, determine and output the distance value between the object to be photographed and the camera module.

Fig. 2-1 is a schematic ranging diagram of a multi-point laser ranging module according to an embodiment of the present disclosure. As shown in fig. 2-1, the laser ranging module includes 16 laser ranging sensors, and each laser ranging sensor corresponds to one ranging point in the space. Thus, the laser ranging module (i.e. the multi-point laser ranging module) comprising a plurality of laser ranging sensors can measure the distance between a plurality of points in the space and the camera module, and each figure in fig. 2-1 is the distance value between the front obstacle and the camera module measured by each laser ranging sensor at a certain moment.

During the in-service use, the quantity and the arrangement of the laser ranging sensor that include in the laser ranging module can be preset according to actual need, and this application embodiment does not limit this, for example, the quantity of laser ranging sensor can be 16 to arrange the overall arrangement according to the mode of 4 laser ranging sensors in every row.

In a possible implementation form of the embodiment of the application, in the process of video shooting, the laser ranging module is controlled to measure the distance value between the shooting object and the camera module at a preset time interval, and the distance values respectively output by the first target laser ranging sensor at the current moment and the previous moment are obtained, so that the relative position of the shooting object and the first target laser ranging sensor is determined according to the distance values respectively output by the first target laser ranging sensor at the current moment and the previous moment.

It should be noted that the time interval for controlling the laser ranging module to measure the distance value between the shooting object and the camera module can be preset to a very small value. During the in-service use, the time interval of controlling the distance value between laser rangefinder module measurement shooting object and the module of making a video recording can be predetermine according to actual need, and this application embodiment does not do the restriction to this. For example, the predetermined time interval may be on the order of microseconds, picoseconds, or the like.

Furthermore, the first target laser ranging sensor can be determined according to a preset trigger position and a conversion matrix between a preset laser ranging module and a preset image pickup module. That is, in a possible implementation form of the embodiment of the present application, before the step 101, the method may further include:

and determining a first target laser ranging sensor corresponding to a preset trigger position in the camera module in the laser ranging module according to a preset conversion matrix between the laser ranging module and the camera module.

It should be noted that the conversion matrix between the laser ranging module and the camera module may be determined through testing after the laser ranging module is designed, manufactured, and calibrated, that is, after the positions of the laser ranging sensors in the laser ranging module are determined.

As a possible implementation manner, the laser ranging sensors in the laser ranging module may be controlled to perform laser scanning on the detected area to obtain point cloud data of the laser ranging module, the camera module is controlled to obtain frame image data of the detected area according to laser signals reflected by the detected area, and then coordinate conversion parameters are calculated according to positions of laser spots corresponding to the laser ranging sensors in the laser ranging module in the frame image data of the camera module, and the point cloud data of the laser ranging module is projected into the frame image data of the camera module according to the coordinate conversion parameters to obtain a conversion matrix between the laser ranging module and the camera module.

It should be noted that the detected area is a rectangular area with a preset size, or a square area with a preset size, which is generated by the laser ranging module performing laser scanning, or a maximum frame area of a scanning view field of the laser ranging module. The laser scanning is carried out on the detected area, and the laser scanning method comprises the following scanning methods: a dot scanning method, a line scanning method, a square scanning method, and the like. The point scanning method is that four points are scanned at a time, and scanning is carried out from the outermost periphery of a screen to the middle of the screen; the line scanning method refers to scanning one horizontal line or one vertical line each time from one side of a screen to the other side of the screen; the square scanning method is to scan a square surrounded by four frames each time, scan the largest square at the outermost periphery of the screen, and gradually reduce the size of the square until the smallest square in the middle of the screen is scanned, or until a point in the middle of the screen is scanned.

Optionally, in the calibration of the camera module and the laser ranging module, the camera module is used for capturing the position illuminated by the emitted laser, and in order to calibrate the laser ranging module, the system calibration is realized by adopting the scanning modes such as point scanning, line scanning, square scanning and the like. Before calibration, the laser ranging module scans to generate a fixed pattern, such as a rectangle or other fixed pattern, which may be the largest frame of the scanning field of view of the laser ranging module. Through observing the position of the laser spot on the image of the camera module, the accurate emission view field frame of the laser ranging module is adjusted, so that a conversion matrix between the laser ranging module and the camera module is obtained. For example, the transformation matrix between the laser ranging module and the camera module can be in the following form:

{0 0 0 1 0 0 2 0 3 0 0 4

……

}

each line in the conversion matrix represents a line of pixels in the image of the camera module. 0 represents that no laser point falls into the pixel point in the image of the camera module, 1 represents the laser point corresponding to the first laser ranging sensor, 2 represents the laser point corresponding to the second laser ranging sensor, and so on. When the laser ranging module operates in real time, the laser receiver puts the collected parameter information of the distance, time, light intensity and the like of the shooting object in the shooting picture into the conversion matrix to form point cloud data of the laser ranging module which is well fused with the camera module.

It can be understood that when the preset trigger position is known, the corresponding element of the preset trigger position in the conversion matrix can be determined directly according to the conversion matrix between the preset trigger position and the preset laser ranging module and the preset image pickup module, and then the corresponding element of the preset trigger position in the conversion matrix is determined according to the corresponding element of the preset trigger position in the conversion matrix.

Further, the preset trigger position may be a default parameter in the corresponding shooting mode, or may be input by the user in real time according to the actual shooting requirement. That is, in a possible implementation form of the embodiment of the present application, before the step 101, the method may further include:

and acquiring the preset trigger position input by the user on the image preview interface.

As a possible implementation manner, before the video shooting starts, a user may be allowed to input a preset trigger position in the image preview interface through an input device (a touch screen, a mouse, a keyboard, and the like) of the electronic device according to a shooting requirement, so as to meet a personalized requirement of the user and improve usability. Therefore, the instruction input by the user in the image preview interface can be detected in real time, and when the instruction input by the user in the image preview interface for inputting the preset trigger position is detected, the preset trigger position input by the user in the image preview interface is obtained from the instruction input by the user.

As a possible implementation manner, the preset trigger position may also be preset, that is, the preset trigger position is preset in the electronic device as a shooting parameter of the corresponding shooting mode. For example, the camera module of the electronic device has a slow motion video shooting function, and the preset trigger position can be used as a shooting parameter of the slow motion shooting mode in the slow motion shooting mode, that is, after the user selects the slow motion shooting mode, the user can directly obtain the preset trigger position from the shooting parameter of the slow motion shooting mode.

102, judging whether the difference value of the distance values respectively output by the first target laser ranging sensor at the current moment and the previous moment is larger than a preset value, if so, executing a step 103; otherwise, the step 101 is executed.

And 103, adjusting the camera module from the first shooting frame rate to a second shooting frame rate.

In this embodiment of the application, whether the current time of the shooting object reaches the ranging point corresponding to the first target laser ranging sensor may be determined according to the distance values respectively output by the first target laser ranging sensor at the current time and the previous time. Specifically, whether the difference value between the distance values respectively output by the first target laser ranging sensor at the current moment and the distance value output by the first target laser ranging sensor at the previous moment is greater than a preset value or not can be judged, if so, it can be determined that the shooting object reaches the ranging point corresponding to the first target laser ranging sensor at the current moment, that is, the shooting object reaches a preset trigger position at the current moment, and the shooting frame rate of the camera module can be adjusted from the first shooting frame rate to the second shooting frame rate; if the difference value between the distance values respectively output by the first target laser ranging sensor at the current moment and the previous moment is not greater than the preset value, it can be determined that the shooting object does not reach the ranging point corresponding to the first target laser ranging sensor at the current moment, that is, the shooting object does not reach the preset trigger position at the current moment, the shooting frame rate of the shooting module does not need to be adjusted, and the distance values respectively output by the first target laser ranging sensor at the next moment and the current moment are continuously obtained, so that whether the shooting object reaches the preset trigger position at the next moment is judged.

It should be noted that, if the distance value output by the first target laser ranging sensor at a certain time is infinity, it may be determined that the shooting object does not reach the ranging point corresponding to the first target laser ranging sensor at the certain time; if the distance value output by the first target laser ranging sensor at a certain moment is a finite value, it can be determined that the shooting object reaches the ranging point corresponding to the first target laser ranging sensor at the moment. Therefore, if the distance value output by the first target laser ranging sensor at the current moment is a finite value and the distance value output at the previous moment is infinity, it can be determined that the shooting object just reaches the ranging point corresponding to the first target laser ranging sensor at the current moment. Therefore, the preset value can be a large value to ensure that the distance values respectively output by the first target laser ranging module at the current moment and the previous moment are limited, and one is infinite.

In the embodiment of the application, the adjustment mode of the shooting frame rate of the camera module can be determined according to the shooting effect realized by actual needs. For example, if slow motion video shooting is to be implemented and the first shooting frame rate is the same as the video playing frame rate, it may be determined that the second shooting frame rate is greater than the first shooting frame rate, that is, the shooting frame rate of the camera module is adjusted to a larger value; if the fast-motion video shooting is to be realized and the first shooting frame rate is the same as the video playing frame rate, it may be determined that the second shooting frame rate is smaller than the first shooting frame rate, that is, the shooting frame rate of the camera module is adjusted to a smaller value.

For example, as shown in fig. 2-2, the position of the first target laser ranging sensor corresponding to the preset trigger position is a, the current time is T1, the previous time is T0, and the preset value is 10000, and the shooting effect to be achieved is slow motion shooting. The distance value output by the first target laser ranging sensor at the time T0 is infinite, that is, the shooting object does not reach the point a at the time T0, and the distance value output at the time T1 is 100, that is, the shooting object reaches the point a at the time T1, it can be determined that the difference values of the distance values respectively output by the first target laser ranging sensor at the current time T1 and the previous time T0 are greater than a preset value, that is, the shooting frame rate of the camera module can be adjusted to the second shooting frame rate, and the second shooting frame rate is greater than the video playing frame rate.

In a possible implementation form of the embodiment of the application, the second shooting frame rate of the camera module may be determined according to an action performed when the shooting object reaches the preset trigger position.

Another video shooting method based on laser ranging provided in the embodiment of the present application is further described below with reference to fig. 3.

Fig. 3 is a schematic flowchart of another video shooting method based on laser ranging according to an embodiment of the present disclosure.

As shown in fig. 3, the video shooting method based on laser ranging includes the following steps:

step 201, in the video shooting process, obtaining the distance values respectively output by the first target laser ranging sensor at the current moment and the previous moment in the laser ranging module, wherein the laser ranging module comprises a plurality of laser ranging sensors, and the first target laser ranging sensor is a laser ranging sensor corresponding to a preset trigger position.

Step 202, judging whether the difference value of the distance values respectively output by the first target laser ranging sensor at the current moment and the previous moment is larger than a preset value, if so, executing step 203; otherwise, return to execute step 201.

The detailed implementation process and principle of the steps 201-202 can refer to the detailed description of the above embodiments, and are not described herein again.

Step 203, determining the action executed by the shooting object between the current time and the previous time according to the distance values respectively output by other laser ranging sensors in the laser ranging module at the current time and the previous time.

In a possible implementation form of the embodiment of the application, when it is determined that the shooting object reaches the preset trigger position at the current time, the second shooting frame rate of the camera module may be determined according to an action executed by the shooting object between the current time and a previous time. Therefore, the distance values respectively output by the other laser ranging sensors except the first target laser ranging sensor in the laser ranging module at a plurality of continuous moments can be acquired so as to determine the action performed by the shooting object between the current moment and the previous moment.

As a possible implementation manner, a plurality of third target laser ranging sensors, of which the distance values are smaller than the threshold and the difference values are within the preset range, corresponding to the current time and the previous time are determined according to the distance values output by the other laser ranging sensors at the current time and the previous time, respectively, and then the postures of the shooting object at the current time and the previous time are determined according to the positions of the plurality of third target laser ranging sensors corresponding to the current time and the previous time, respectively.

For example, as shown in the left diagram of fig. 4-1, at the previous time T0, the current output distance values of the

laser ranging sensors

6, 7, 10, 11, 14, 15 are all smaller than the threshold (i.e. finite), and are within a predetermined range, that is, the current output distance values of the laser

distance measuring sensors

6, 7, 10, 11, 14 and 15 are relatively consistent, and are obviously different from the current output distance values of other laser distance measuring sensors, therefore, the

laser ranging sensors

6, 7, 10, 11, 14, and 15 may be determined as the third target laser ranging sensor corresponding to the previous time T0, and then the posture of the shooting object at the previous time T0 may be determined as the posture 1 according to the positions of the third target

laser ranging sensors

6, 7, 10, 11, 14, and 15 corresponding to the previous time T0 in the laser ranging sensors in the laser ranging module.

As shown in the right diagram of fig. 4-1, at the current time T1, the current output distance values of the

laser ranging sensors

3, 6, 7, 10, 11, 14, 15 are all smaller than the threshold (i.e. are finite values), and the difference value is within the preset range, i.e. the current output distance values of the

laser ranging sensors

3, 6, 7, 10, 11, 14, 15 are consistent and significantly different from the current output distance values of the other laser ranging sensors, and between the previous time T0 and the current time T1, the

laser ranging sensors

8 and 12 may output finite distance values, i.e. may detect the movement of the photographic subject, so that the

laser ranging sensors

3, 6, 7, 10, 11, 14, 15 may be determined as the third target laser ranging sensor corresponding to the current time T1, and then the third target

laser ranging sensor

3, 6, 7, 10, 11, 14, 15 corresponding to the current time T1 may be determined according to the current time T1, 6. 7, 10, 11, 14 and 15 are located in the laser ranging sensors of the laser ranging module, and the posture of the shooting object at the current time T1 is determined to be the posture 2.

In the embodiment of the present application, after determining the postures of the photographic subject at the current time and the previous time, the action performed by the photographic subject between the current time and the previous time may be determined according to the postures of the photographic subject at the current time and the previous time.

For example, if the pose of the photographic subject at the previous time T0 is determined to be pose 1 as shown in the left diagram of fig. 4-1, and the pose of the photographic subject at the current time T1 is determined to be pose 2 as shown in the right diagram of fig. 4-1, then it can be determined from pose 1 and pose 2 that the photographic subject performs the "hand-up" between the previous time T0 and the current time T1.

It should be noted that the above examples are only illustrative and should not be construed as limiting the present application. During actual use, the mapping relationship between the postures of the shooting object at the current moment and the previous moment and the action executed between the current moment and the previous moment can be preset according to actual needs, and the embodiment of the application does not limit the mapping relationship.

Step 204, determining the second shooting frame rate according to the action executed by the shooting object between the current time and the previous time.

Step 205, adjusting the camera module from the first shooting frame rate to the second shooting frame rate.

As a possible implementation manner, the target motion and the corresponding relationship between the target motion and the shooting frame rate may be preset. After determining the actions of the shooting object executed between the current moment and the previous moment, judging whether the preset target actions comprise the actions of the shooting object executed between the current moment and the previous moment, if so, further determining a shooting frame rate corresponding to the actions of the shooting object executed between the current moment and the previous moment according to the corresponding relation between the target actions and the shooting frame rate, and determining the determined shooting frame rate as a second shooting frame rate; and if the preset target action does not include the action executed by the shooting object between the current moment and the previous moment, the second shooting frame rate is the default second shooting frame rate in the current shooting mode.

In the embodiment of the present application, after the second shooting frame rate of the camera module is determined, the shooting frame rate of the camera module can be adjusted from the first shooting frame rate to the second shooting frame rate.

Furthermore, after the shooting of the specific action is finished, the shooting frame rate of the camera module can be adjusted from the second shooting frame rate to the first shooting frame rate. That is, in a possible implementation form of the embodiment of the present application, after the step 205, the method may further include:

and when the difference value of the distance values respectively output by the first target laser ranging sensor at the current moment and the previous moment is monitored to be larger than the preset value again, adjusting the camera module from the second shooting frame rate to the first shooting frame rate.

It can be understood that, when the difference between the distance values respectively output by the first target laser ranging sensor at the current moment and the previous moment is greater than the preset value again, it can be determined that the distance value output by the first target laser ranging sensor at the current moment is infinite, that is, the first target laser ranging sensor cannot detect the shooting object at the current moment, so that it can be determined that the shooting object completely passes through the preset trigger position, and the shooting frame rate of the camera module can be adjusted to the original shooting frame rate.

For example, fig. 4-2 is a schematic diagram of implementing slow motion video capture. As shown in fig. 4-2, the position of the first target laser ranging sensor corresponding to the preset trigger position is a, the time T1 is after the time T0, the time T2 is after the time T1, the preset value is 10000, and the shooting effect to be achieved is slow motion shooting. The distance value output by the first target laser ranging sensor at the time of T0 is infinite, that is, the shooting object does not reach the point a at the time of T0, and the distance value output at the time of T1 is 100, that is, the shooting object reaches the point a at the time of T1, it can be determined that the difference value between the distance values output by the first target laser ranging sensor at the time of T1 and the distance value output by the first target laser ranging sensor at the time of T0 is greater than the preset value, that is, the shooting frame rate of the camera module can be adjusted to the second shooting frame rate, and the second shooting frame rate is greater than the video playing frame rate; when the time T2 is reached, the distance value output by the first target laser ranging sensor at the time T2 is infinite, that is, the shooting object completely passes through the point a at the time T2, it can be determined that the difference value between the distance values output by the first target laser ranging sensor at the time T2 and the distance value output by the first target laser ranging sensor at the time T1 are greater than the preset value, that is, the shooting frame rate of the camera module can be adjusted to the first shooting frame rate, that is, the shooting frame rate of the camera module is adjusted to the original frame rate.

The video shooting method based on laser ranging can acquire the distance values respectively output by a first target laser ranging sensor in a laser ranging module at the current moment and the previous moment in the video shooting process, determine the action executed by a shooting object between the current moment and the previous moment according to the distance values respectively output by other laser ranging sensors in the laser ranging module at the current moment and the previous moment when the difference value between the distance values respectively output by the first target laser ranging sensor at the current moment and the previous moment is larger than a preset value, determine a second shooting frame rate according to the action executed by the shooting object between the current moment and the previous moment, and further adjust the shooting module from the first shooting frame rate to the second shooting frame rate. Therefore, when the shooting object is determined to reach the preset trigger position at the current moment, the second shooting frame rate is determined according to the action of the shooting object executed between the current moment and the previous moment, so that the adjusting time of the shooting frame rate of the camera shooting module can be accurately controlled, the quality of video shooting with various shooting frame rates is improved, the video shooting with different shooting frame rates can be realized according to the action executed by the shooting object, the diversity of video forms is improved, and the user experience is further improved.

In a possible implementation form of the embodiment of the application, the second shooting frame rate of the camera module can be determined according to the moving speed of the shooting object, so as to further improve the shooting effect.

With reference to fig. 5, a further description is provided below for a video shooting method based on laser ranging according to an embodiment of the present application.

Fig. 5 is a schematic flowchart of another video shooting method based on laser ranging according to an embodiment of the present disclosure.

As shown in fig. 5, the video shooting method based on laser ranging includes the following steps:

step 301, in the video shooting process, obtaining distance values respectively output by the first target laser ranging sensor and other laser ranging sensors in the laser ranging module at the current moment and the previous moment.

Step 302, judging whether the difference value between the distance values respectively output by the first target laser ranging sensor at the current moment and the previous moment is larger than a preset value, if so, executing step 303; otherwise, return to execute step 301.

The detailed implementation process and principle of the steps 301-302 can refer to the detailed description of the above embodiments, and are not described herein again.

And 303, determining the moving speed of the shot object according to the distance values respectively output by other laser ranging sensors in the laser ranging module at the current moment and the previous moment and the time interval between the current moment and the previous moment.

In this application embodiment, can confirm the moving speed of shooting the object according to the distance value that a plurality of laser rangefinder sensors exported respectively at present moment and previous moment in the laser rangefinder module to and the time interval between present moment and previous moment.

Optionally, after the user starts the camera module and before shooting the shooting object, the laser ranging module is controlled to measure the distance value between the shooting object and the camera module at a preset time interval, and then the moving speed of the shooting object is determined according to the distance value respectively output by each laser ranging sensor at each moment and the time interval between each ranging moment.

Furthermore, the positions of the shot object at the current moment and the previous moment are determined according to the distance values respectively output by each laser ranging sensor at the current moment and the previous moment, and then the moving speed of the shot object is determined according to the positions of the shot object at the current moment and the previous moment and the time interval between the current moment and the previous moment. That is, in a possible implementation form of the embodiment of the present application, the step 302 may include:

determining the positions of the shooting object at the two moments according to the current output distance value of each laser ranging sensor and the output distance value at the previous moment;

and determining the moving speed of the shooting object according to the positions of the shooting object at the two moments and the time interval of the two moments.

In this application embodiment, can control the laser rangefinder module and measure the distance between shooting object and the module of making a video recording at a plurality of moments to according to the distance value that a plurality of laser rangefinder sensors included in the laser rangefinder module exported respectively at present moment and previous moment, confirm the position that the shooting object was respectively located at present moment and previous moment, and then according to the position that two moments of shooting object were respectively located, confirm whether the shooting object has taken place to remove, and the moving speed of shooting object.

Alternatively, the position of the photographic subject at each time in the embodiment of the present application may be measured by the distance between the photographic subject and the imaging module at each time. Specifically, in this embodiment, the position of the photographic object at the time may be determined according to the distance values output by each laser ranging sensor at the same time, that is, the average value of the limited distance values (not infinite distance values) output by each laser ranging sensor at the current time, that is, the average value of the distance values output by each first target laser ranging sensor at the current time corresponding to the current time may be determined as the position of the photographic object at the current time, that is, the distance between the current time and the photographic module of the photographic object, so as to determine the position of the photographic object at the current time; accordingly, the position of the photographic subject at the previous time can be determined in the same manner. And then, according to the positions of the shot object at the current moment and the previous moment, the position difference value of the shot object between the current moment and the previous moment is determined, and the ratio of the position difference value of the shot object between the current moment and the previous moment to the time interval between the current moment and the previous moment is determined as the moving speed of the shot object.

For example, laserThe optical ranging module comprises 4 laser ranging sensors A, B, C, D, the current time is T1, the previous time is T0, and the time interval between the T1 time and the T0 time is T₁The acquired laser range sensor A, B, C, D outputs the distance value S at the time T0 when it is T1-T0_A0、S_B0S_C0、S_D0The distance values output at times T1 are S_A1、S_B1S_C1、S_D1Since the distance values output by the laser range sensors at the respective times are finite values, the position of the imaging target at time T0 is S₀＝(S_A0+S_B0+S_C0+S_D0) (ii)/4, position at time T1 is S₁＝(S_A1+S_B1+S_C1+S_D1) (S4) the moving speed of the object between the time T0 and the time T1 is V ═ S₁-S₀)/t₁That is, the moving speed of the subject is V ═ S₁-S₀)/t₁。

As a possible implementation, the position of the photographic subject at each time may also be measured by the position of the photographic subject in the photographic picture at different times. Therefore, the positions of the shooting object (the position of the shooting object relative to each laser ranging sensor) at the two moments can be determined according to the distance values respectively output by each laser ranging sensor at the current moment and the previous moment, and the moving speed of the shooting object is determined according to the time interval of the two moments.

For example, fig. 6 is a schematic diagram of the position of the moving object in the shooting frame at different times relative to the positions of the ranging points of the laser ranging sensors. As shown in fig. 6, the laser ranging module includes 16 laser ranging sensors, each square in the drawing represents a ranging point of one laser ranging sensor, numbers in the squares represent serial numbers of the laser ranging sensors corresponding to the ranging point, at time t0, the distance values output by the

laser ranging sensors

4, 7, 8, 11, 12, and 16 are finite values, and the distance values output by the other laser ranging sensors are infinite; at time t1, the distance values output by the

laser ranging sensors

3, 6, 7, 10, 11, 15 are finite values, and the distance values output by the other laser ranging sensors are infinite; at time t2, the distance values output by the laser

distance measuring sensors

2, 5, 6, 9, 10, 14 are finite and the distance values output by the other laser distance measuring sensors are infinite, so that the positions of the object to be photographed at each time relative to each laser distance measuring sensor can be determined based on the distance values output by each laser distance measuring sensor at each time, and the moving speed of the object to be photographed at each time interval can be determined based on the time interval between each time.

As a possible implementation manner, a time interval for controlling the laser ranging module to measure the distance value between the camera module and the shooting object may be preset, and a mapping relationship between a change of the laser ranging sensor relative to the shooting object and the moving speed of the shooting object between adjacent moments may be preset. For example, if the preset laser ranging module measures the distance value between the camera module and the object to be photographed at t, the time interval between the previous time t0 and the current time t1 is t, and if the distance values output by the laser ranging sensors 4, 7, 8, 11, 12, and 16 are finite values and the distance values output by the other laser ranging sensors are infinite at t0, and the distance values output by the laser ranging sensors 3, 6, 7, 10, 11, and 15 are finite values and the distance values output by the other laser ranging sensors are infinite at t1, the moving speed of the object to be photographed can be determined as V according to the mapping relationship between the change of the laser ranging sensors relative to the object to be photographed at the preset adjacent time and the moving speed of the object to be photographed₁(ii) a If the distance values output from the laser ranging sensors 4, 7, 8, 11, 12, 16 are finite and the distance values output from the other laser ranging sensors are infinite at time t0, and the distance values output from the laser ranging sensors 2, 5, 6, 9, 10, 14 are finite and the distance values output from the other laser ranging sensors are infinite at time t1, the moving speed of the object can be determined to be V based on the mapping relationship between the change of the laser ranging sensors relative to the object and the moving speed of the object between the preset adjacent times₂And V is₂Greater than V₁。

It should be noted that the above examples are only illustrative and should not be construed as limiting the present application. In actual use, the distance values respectively output at the current moment and the previous moment according to each laser ranging sensor can be preset according to actual needs, and the moving speed of the shooting object is determined.

Step 304, determining the second shooting frame rate according to the moving speed of the shooting object.

In the embodiment of the present application, after the moving speed of the object is determined, the second frame rate of the image capturing module may be determined according to the moving speed of the object. Specifically, if slow motion shooting is to be realized, the higher the moving speed of the shooting object is, the higher the second shooting frame rate of the camera module can be, so that the shot slow motion video is finer; the smaller the moving speed of the shooting object is, the larger the second shooting frame rate of the camera module can be, so that the performance requirement on the electronic equipment is reduced while the finer fineness of the slow-motion video is ensured.

Step 305, adjusting the camera module from the first shooting frame rate to a second shooting frame rate.

The detailed implementation process and principle of the step 305 may refer to the detailed description of the above embodiments, and the words are not described herein again.

The video shooting method based on laser ranging can acquire the distance values respectively output by a first target laser ranging sensor and other laser ranging sensors at the current moment and the previous moment in a laser ranging module in the video shooting process, and determine the moving speed of a shooting object according to the distance values respectively output by other laser ranging sensors at the current moment and the previous moment in the laser ranging module and the time interval between the current moment and the previous moment when the difference value of the distance values respectively output by the first target laser ranging sensor at the current moment and the previous moment is larger than a preset value, and then determine a second shooting frame rate according to the moving speed of the shooting object, so that the shooting module is adjusted from the first shooting frame rate to the second shooting frame rate. Therefore, the moving speed of the shooting object is determined according to the distance values between the shooting module and the shooting object respectively output by the laser ranging sensors at the current moment and the previous moment in the laser ranging module and the time interval between the two moments, and then the shooting frame rate of the shooting module is adjusted according to the moving speed of the shooting object, so that the adjusting time of the shooting frame rate of the shooting module can be accurately controlled, the shooting frame rate is matched with the motion state of the shooting object, the quality of shooting videos is further improved, and the user experience is improved. In a possible implementation form of the embodiment of the application, because the distance measuring points corresponding to different laser distance measuring sensors in the laser distance measuring module are different in the shot object, and the moving speeds of different parts of the shot object are also possibly different, in the moving process of the shot object, the variation amounts of the distance values output by different laser distance measuring sensors are possibly different, so that the moving speed of the shot object can be determined according to the distance value output by the laser distance measuring sensor with the larger variation amount of the output distance value, the second shooting frame rate of the camera module is determined according to the moving speed corresponding to the part with the larger moving speed in the shot object, and the quality of the shot video is further improved.

Next, with reference to fig. 7, a further description is provided for a video shooting method based on laser ranging according to an embodiment of the present application.

Fig. 7 is a schematic flowchart of another video shooting method based on laser ranging according to an embodiment of the present disclosure.

As shown in fig. 7, the video shooting method based on laser ranging includes the following steps:

step 401, in the video shooting process, obtaining distance values respectively output by the first target laser ranging sensor and other laser ranging sensors in the laser ranging module at the current time and the previous time.

Step 402, judging whether the difference value between the distance values respectively output by the first target laser ranging sensor at the current moment and the previous moment is larger than a preset value, if so, executing step 403; otherwise, return to execute step 401.

The detailed implementation process and principle of the steps 401-402 can refer to the detailed description of the above embodiments, and are not described herein again.

And 403, determining two second target laser ranging sensors of which the change values of the distance values output at the current time and the previous time are greater than a threshold value according to the distance values output by the other laser ranging sensors at the current time and the previous time respectively.

It should be noted that, because the distance measuring points corresponding to different laser distance measuring sensors in the laser distance measuring module are different in the photographic object, and the moving speeds of different portions of the photographic object may also be different, in the moving process of the photographic object, the change values of the distance values output by different laser distance measuring sensors may be different, so that the moving speed of the photographic object may be determined according to the distance value output by the laser distance measuring sensor with a larger change amount of the output distance value, and the second photographing frame rate of the photographic module may be determined according to the moving speed corresponding to the portion with a larger moving speed in the photographic object, thereby further improving the quality of the photographed image.

As a possible implementation manner, the laser ranging sensors with the change values of the distance values output at the two moments being larger than the threshold value can be determined according to the distance values output by other laser ranging sensors in the laser ranging module at the current moment and the previous moment respectively, and two laser ranging sensors are selected as the second target laser ranging sensors from the laser ranging sensors with the change values of the distance values output at different moments being larger than the threshold value. Optionally, the distance values output by the other laser ranging sensors at two moments can be obtained, and two second target laser ranging sensors with the output distance value greater than the threshold value are determined according to the change values of the distance values output at the two moments.

It should be noted that, in actual use, the threshold may be preset to a larger value, so that, of the distance values output by the two determined second target laser ranging sensors at the two times, there are both infinite distance values and finite distance values, and the finite distance values output by the two second target laser ranging sensors are output at two different times respectively.

For example, the laser ranging module includes 16 laser ranging sensors, and obtains the distance values respectively output by each laser ranging sensor at the current time T1 and the previous time T0, wherein the change values of the distance values respectively output by the laser ranging sensor A, B, C, D at the time T0 and the time T1 are both greater than the threshold, the distance values output by the laser ranging sensor a and the laser ranging sensor C at the time T0 are both infinite, the distance values output by the laser ranging sensor B and the laser ranging sensor D at the time T0 are both finite values, the distance values output by the laser ranging sensor a and the laser ranging sensor C at the time T1 are both finite values, the distance values output by the laser ranging sensor B and the laser ranging sensor D at the time T0 are both infinite values, so that the laser ranging sensor a and the laser ranging sensor B can be determined as two second target laser ranging sensors, or the laser ranging sensor A and the laser ranging sensor D, the laser ranging sensor C and the laser ranging sensor B, and the laser ranging sensor C and the laser ranging sensor D are determined to be two second target laser ranging sensors.

It should be noted that the above examples are only illustrative and should not be construed as limiting the present application. In practical use, the mode of determining the second target laser ranging sensor can be preset according to actual needs, and the embodiment of the application is not limited to this.

Step 404, determining the moving distance of the shooting object in the current time and the previous time according to the positions of the two second target laser ranging sensors and the effective distance values respectively measured by the two second target laser ranging sensors in the current time and the previous time.

Step 405, determining the moving speed of the photographic subject according to the moving distance of the photographic subject in the current time and the previous time and the time interval between the current time and the previous time.

The effective distance value is a limited distance value measured by the second target laser ranging sensor.

It should be noted that, in the process of designing, manufacturing and calibrating the laser ranging module, the positions of the laser ranging sensors included in the laser ranging module can be accurately designed, so in a possible implementation form of the embodiment of the present application, the distance of the moving object in the time interval between the two times can be determined according to the positions of the two second target laser ranging sensors and effective distance values (that is, distance values that are not infinite) respectively measured by the two second target laser ranging sensors at the current time and the previous time. Then, the moving speed of the shooting object can be determined according to the moving distance of the shooting object between the two moments and the time interval between the two moments.

As a possible implementation manner, a ratio of a distance that the photographic subject moves between the current time and the previous time to a time interval between the two times may be determined as the moving speed of the photographic subject.

Furthermore, in the process of designing, manufacturing and calibrating the laser ranging module, the included angle between the laser ranging sensors in the laser ranging module can be accurately designed. That is, in a possible implementation form of the embodiment of the present application, the step 404 may include:

determining a distance measurement included angle between the two second target laser distance measurement sensors according to the positions of the two second target laser distance measurement sensors;

and determining the moving distance of the shooting object at the current moment and the previous moment according to the ranging included angle between the two second target laser ranging sensors and the effective distance values respectively measured by the two second target laser ranging sensors at the current moment and the previous moment.

It should be noted that, in the process of designing, manufacturing and calibrating the laser ranging module, the ranging included angle between the laser ranging sensors included in the laser ranging module can be accurately designed, so that after the second target laser ranging sensor is determined, the ranging included angle of the two second target laser ranging sensor devices can be obtained from the configuration information of the electronic device, and then the moving distance of the shooting object between the current time and the previous time can be determined by using the cosine theorem according to the ranging included angle between the two second target laser ranging sensors and the effective distance value respectively measured by the two second target laser ranging sensors at each time.

For example, the two second target laser ranging sensors are laser ranging sensors a and B, respectively, a ranging angle between the laser ranging sensor a and the laser ranging sensor B is C, an effective distance value measured by the laser ranging sensor a at a previous time T0 is a, an effective distance value measured by the laser ranging sensor B at a current time T1 is B, and a moving distance of the photographic object between the previous time T0 and the current time T1 is C, as shown in fig. 8. According to the cosine theorem, it can be determined that the moving distance of the photographic subject between the previous time T0 and the current time T1 is c through formula (1).

c²＝a²+b²-2ab cos C (1)

After the moving distance c between the previous time T0 and the current time T1 of the photographic subject is determined according to the formula (1), the moving speed of the photographic subject within the previous time T0 and the current time T1 can be determined according to the time interval T between the previous time T0 and the current time T1. The moving speeds of the photographic subject within the previous time T0 and the current time T1 may be determined by formula (2).

V＝c/t (2)

Where V is the moving speed of the subject at the previous time T0 and the current time T1, that is, the moving speed of the subject.

Step 406, determining the second frame rate according to the moving speed of the shooting object.

Step 407, adjusting the image capturing module from the first capturing frame rate to the second capturing frame rate.

The detailed implementation process and principle of the steps 406-407 can refer to the detailed description of the above embodiments, and are not described herein again.

The video shooting method based on laser ranging provided by the embodiment of the application can determine two second target laser ranging sensors of which the distance value change values output at the current moment and the previous moment are larger than a threshold value according to the distance values output by other laser ranging sensors in a laser ranging module at the current moment and the previous moment respectively when the difference value of the distance values output by the first target laser ranging sensor at the current moment and the previous moment is larger than a preset value in the video shooting process, determine the moving distance of a shooting object at the current moment and the previous moment according to the positions of the two second target laser ranging sensors and the effective distance values respectively measured by the two second target laser ranging sensors at the current moment and the previous moment, and then determine the moving distance of the shooting object at the current moment and the previous moment and the time interval between the current moment and the previous moment according to the moving distance of the shooting object at the current moment and the previous moment and the time interval between the current moment and the previous moment, and determining the moving speed of the shooting object, further determining a second shooting frame rate according to the moving speed of the shooting object, and adjusting the shooting frame rate of the camera module to the second shooting frame rate. Therefore, the moving speed of the shooting object is determined through the positions of the two second target laser ranging sensors with the change values of the distance values output at two moments being larger than the threshold value and the effective distance values measured at the two moments respectively, and the second shooting frame rate of the shooting module is determined according to the moving speed of the shooting object, so that the adjusting time of the shooting frame rate of the shooting module can be accurately controlled, the shooting frame rate is matched with the motion state of the shooting object, the quality of shooting videos is further improved, and user experience is improved.

In order to realize the above embodiment, the present application further provides a video shooting device based on laser ranging.

Fig. 9 is a schematic structural diagram of a video camera based on laser ranging according to an embodiment of the present application.

As shown in fig. 9, the video camera 50 based on laser ranging includes:

the first obtaining module 51 is configured to obtain distance values respectively output by a first target laser ranging sensor in a laser ranging module at a current time and a previous time in a video shooting process, where the laser ranging module includes a plurality of laser ranging sensors, and the first target laser ranging sensor is a laser ranging sensor corresponding to a preset trigger position;

a determining module 52, configured to determine whether a difference between distance values respectively output by the first target laser ranging sensor at a current time and a previous time is greater than a preset value;

the first adjusting module 53 is configured to adjust the camera module from the first shooting frame rate to the second shooting frame rate if the first adjusting module is determined to be the second adjusting module.

In practical use, the video shooting device based on laser ranging provided by the embodiment of the application can be configured in any electronic equipment to execute the video shooting method based on laser ranging.

The video shooting device based on laser ranging can be in the video shooting process, the distance values of the first target laser ranging sensor respectively output at the current moment and the previous moment in the laser ranging module are obtained, wherein the laser ranging module comprises a plurality of laser ranging sensors, the first target laser ranging sensor is a laser ranging sensor corresponding to a preset trigger position, and then when the difference value of the distance values respectively output at the current moment and the previous moment by the first target laser ranging sensor is larger than a preset value, the camera shooting module is adjusted to the second shooting frame rate from the first shooting frame rate. Therefore, the starting time when the shooting object reaches the preset trigger position is determined according to the distance values respectively output by the first target laser ranging sensor at the current moment and the previous moment, and the shooting frame rate of the camera module is adjusted when the shooting object reaches the preset trigger position, so that the adjusting time of the shooting frame rate of the camera module can be accurately controlled, the quality of video shooting with various shooting frame rates is improved, and the user experience is improved.

In a possible implementation form of the present application, the above video shooting apparatus 50 based on laser ranging further includes:

the first determining module is used for determining a first target laser ranging sensor in the laser ranging module and corresponding to a preset triggering position in the camera shooting module according to a conversion matrix between the preset laser ranging module and the camera shooting module.

Further, in another possible implementation form of the present application, the above video shooting device 50 based on laser ranging further includes:

and the second acquisition module is used for acquiring the preset trigger position input by the user on the image preview interface.

Further, in another possible implementation form of the present application, the above video shooting apparatus 50 based on laser ranging further includes:

the second determining module is used for determining the action executed by the shooting object between the current time and the previous time according to the distance values respectively output by other laser ranging sensors in the laser ranging module at the current time and the previous time;

and the third determining module is used for determining the second shooting frame rate according to the action of the shooting object executed between the current moment and the previous moment.

the fourth determining module is used for determining the moving speed of the shooting object according to the distance values respectively output by other laser ranging sensors in the laser ranging module at the current moment and the previous moment and the time interval between the current moment and the previous moment;

and the fifth determining module is used for determining the second shooting frame rate according to the moving speed of the shooting object.

Further, in another possible implementation form of the present application, the fourth determining module is specifically configured to:

determining two second target laser ranging sensors of which the change values of the distance values output at the current moment and the previous moment are greater than a threshold value according to the distance values output by the other laser ranging sensors at the current moment and the previous moment respectively;

determining the moving distance of the shooting object at the current moment and the previous moment according to the positions of the two second target laser ranging sensors and the effective distance values respectively measured by the two second target laser ranging sensors at the current moment and the previous moment;

and determining the moving speed of the shot object according to the moving distance of the shot object in the current moment and the previous moment and the time interval between the current moment and the previous moment.

Further, in another possible implementation form of the present application, the fourth determining module is further configured to:

and the second adjusting module is used for adjusting the camera module from the second shooting frame rate to the first shooting frame rate when the difference value of the distance values respectively output by the first target laser ranging sensor at the current moment and the previous moment is monitored to be larger than the preset value again.

It should be noted that the foregoing explanation of the embodiments of the video shooting method based on laser ranging shown in fig. 1, fig. 3, fig. 5, and fig. 7 is also applicable to the video shooting apparatus 50 based on laser ranging of the embodiment, and is not repeated here.

The video shooting device based on laser ranging provided by the embodiment of the application can determine two second target laser ranging sensors of which the distance value change values output at the current moment and the previous moment are larger than a threshold value according to the distance values output by other laser ranging sensors in a laser ranging module at the current moment and the previous moment respectively when the difference value of the distance values output by the first target laser ranging sensor at the current moment and the previous moment is larger than a preset value in the video shooting process, determine the moving distance of a shooting object at the current moment and the previous moment according to the positions of the two second target laser ranging sensors and the effective distance values respectively measured by the two second target laser ranging sensors at the current moment and the previous moment, and then determine the moving distance of the shooting object at the current moment and the previous moment and the time interval between the current moment and the previous moment according to the moving distance of the shooting object at the current moment and the previous moment and the time interval between the current moment and the previous moment, and determining the moving speed of the shooting object, further determining a second shooting frame rate according to the moving speed of the shooting object, and adjusting the shooting frame rate of the camera module to the second shooting frame rate. Therefore, the moving speed of the shooting object is determined through the positions of the two second target laser ranging sensors with the change values of the distance values output at two moments being larger than the threshold value and the effective distance values measured at the two moments respectively, and the second shooting frame rate of the shooting module is determined according to the moving speed of the shooting object, so that the adjusting time of the shooting frame rate of the shooting module can be accurately controlled, the shooting frame rate is matched with the motion state of the shooting object, the quality of shooting videos is further improved, and user experience is improved.

In order to implement the above embodiments, the present application further provides an electronic device.

Fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

As shown in fig. 10, the electronic device 200 includes: the system comprises a laser ranging module 201, a camera module 202, a memory 210, a processor 220 and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the program, the video shooting method based on laser ranging in the embodiment of the application is realized.

Wherein, laser rangefinder module 201 includes a plurality of laser rangefinder sensors therein.

As shown in fig. 11, the electronic device 200 provided in the embodiment of the present application may further include:

a memory 210 and a processor 220, a bus 230 connecting different components (including the memory 210 and the processor 220), wherein the memory 210 stores a computer program, and when the processor 220 executes the program, the laser ranging-based video shooting method according to the embodiment of the present application is implemented.

Bus 230 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

Electronic device 200 typically includes a variety of electronic device readable media. Such media may be any available media that is accessible by electronic device 200 and includes both volatile and nonvolatile media, removable and non-removable media.

Memory 210 may also include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)240 and/or cache memory 250. The electronic device 200 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 260 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 11, and commonly referred to as a "hard drive"). Although not shown in FIG. 11, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 230 by one or more data media interfaces. Memory 210 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the application.

A program/utility 280 having a set (at least one) of program modules 270, including but not limited to an operating system, one or more application programs, other program modules, and program data, each of which or some combination thereof may comprise an implementation of a network environment, may be stored in, for example, the memory 210. The program modules 270 generally perform the functions and/or methodologies of the embodiments described herein.

Electronic device 200 may also communicate with one or more external devices 290 (e.g., keyboard, pointing device, display 291, etc.), with one or more devices that enable a user to interact with electronic device 200, and/or with any devices (e.g., network card, modem, etc.) that enable electronic device 200 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 292. Also, the electronic device 200 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via the network adapter 293. As shown, the network adapter 293 communicates with the other modules of the electronic device 200 via the bus 230. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the electronic device 200, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

The processor 220 executes various functional applications and data processing by executing programs stored in the memory 210.

It should be noted that, for the implementation process and the technical principle of the electronic device of this embodiment, reference is made to the foregoing explanation of the video shooting method based on laser ranging according to the embodiment of this application, and details are not repeated here.

The electronic device provided by the embodiment of the application can execute the video shooting method based on laser ranging as described above, and in the video shooting process, the distance values respectively output by the first target laser ranging sensor in the laser ranging module at the current moment and the previous moment are obtained, wherein the laser ranging module comprises a plurality of laser ranging sensors, the first target laser ranging sensor is a laser ranging sensor corresponding to a preset trigger position, and then when the difference value between the distance values respectively output by the first target laser ranging sensor at the current moment and the previous moment is greater than the preset value, the camera module is adjusted from the first shooting frame rate to the second shooting frame rate. Therefore, the starting time when the shooting object reaches the preset trigger position is determined according to the distance values respectively output by the first target laser ranging sensor at the current moment and the previous moment, and the shooting frame rate of the camera module is adjusted when the shooting object reaches the preset trigger position, so that the adjusting time of the shooting frame rate of the camera module can be accurately controlled, the quality of video shooting with various shooting frame rates is improved, and the user experience is improved.

In order to implement the above embodiments, the present application also proposes a computer-readable storage medium.

The computer readable storage medium stores thereon a computer program, and the program is executed by a processor to implement the video shooting method based on laser ranging according to the embodiment of the present application.

In order to implement the foregoing embodiments, a further embodiment of the present application provides a computer program, which when executed by a processor, implements the video shooting method based on laser ranging according to the embodiments of the present application.

In an alternative implementation, the embodiments may be implemented in any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the consumer electronic device, partly on the consumer electronic device, as a stand-alone software package, partly on the consumer electronic device and partly on a remote electronic device, or entirely on the remote electronic device or server. In the case of remote electronic devices, the remote electronic devices may be connected to the consumer electronic device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external electronic device (e.g., through the internet using an internet service provider).

Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. A video shooting method based on laser ranging is characterized by comprising the following steps:

in the video shooting process, obtaining distance values respectively output by a first target laser ranging sensor in a laser ranging module at the current moment and the previous moment, wherein the laser ranging module comprises a plurality of laser ranging sensors, and the first target laser ranging sensor is a laser ranging sensor corresponding to a preset trigger position;

judging whether the difference value of the distance values respectively output by the first target laser ranging sensor at the current moment and the previous moment is larger than a preset value or not;

if so, determining that the shooting object reaches a preset trigger position at the current moment, and adjusting the shooting module from a first shooting frame rate to a second shooting frame rate;

if the action video shooting at the first speed is required and the first shooting frame rate is the same as the video playing frame rate, determining that the second shooting frame rate is greater than the first shooting frame rate; and if the action video shooting at the second speed is required and the first shooting frame rate is the same as the video playing frame rate, determining that the second shooting frame rate is smaller than the first shooting frame rate, and the first speed is smaller than the second speed.

2. The method of claim 1, wherein the obtaining the distance value that is output by the first target laser ranging sensor in the laser ranging module at the current time and the previous time, respectively, further comprises:

3. The method of claim 2, wherein the obtaining the distance value that the first target laser ranging sensor in the laser ranging module outputs at the current time and the previous time, respectively, further comprises:

4. The method of claim 1, wherein before adjusting the camera module from the first frame rate to the second frame rate, further comprising:

determining the action of the shooting object between the current time and the previous time according to the distance values respectively output by other laser ranging sensors in the laser ranging module at the current time and the previous time;

and determining the second shooting frame rate according to the action of the shooting object executed between the current moment and the previous moment.

5. The method of claim 1, wherein before adjusting the camera module from the first frame rate to the second frame rate, further comprising:

determining the moving speed of the shot object according to the distance values respectively output by other laser ranging sensors in the laser ranging module at the current moment and the previous moment and the time interval between the current moment and the previous moment;

and determining the second shooting frame rate according to the moving speed of the shooting object.

6. The method of claim 5, wherein determining the current moving speed of the photographic subject comprises:

7. The method of claim 6, wherein the determining the distance the subject moved within the current time and a previous time comprises:

8. The method as claimed in any one of claims 1 to 7, wherein after adjusting the camera module from the first frame rate to the second frame rate, further comprising:

9. The utility model provides a video shooting device based on laser rangefinder which characterized in that includes:

the device comprises an acquisition module, a video acquisition module and a video processing module, wherein the acquisition module is used for acquiring distance values respectively output by a first target laser ranging sensor in a laser ranging module at the current moment and the previous moment, the laser ranging module comprises a plurality of laser ranging sensors, and the first target laser ranging sensor is a laser ranging sensor corresponding to a preset trigger position;

the judging module is used for judging whether the difference value of the distance values respectively output by the first target laser ranging sensor at the current moment and the previous moment is larger than a preset value or not;

the adjusting module is used for determining that the shooting object reaches a preset triggering position at the current moment if the shooting object reaches the preset triggering position, and adjusting the shooting module from a first shooting frame rate to a second shooting frame rate;

the shooting frame rate determining module is used for determining that the second shooting frame rate is greater than the first shooting frame rate if action video shooting at the first speed is required and the first shooting frame rate is the same as the video playing frame rate; and if the action video shooting at the second speed is required and the first shooting frame rate is the same as the video playing frame rate, determining that the second shooting frame rate is smaller than the first shooting frame rate, and the first speed is smaller than the second speed.

10. An electronic device comprising a laser ranging module, a camera module, a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the processor executes the computer program to implement the video shooting method based on laser ranging according to any one of claims 1 to 8;

11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the laser ranging-based video photographing method according to any one of claims 1 to 8.