CN114449165B - Photographing control method and device, unmanned equipment and storage medium - Google Patents
Photographing control method and device, unmanned equipment and storage medium Download PDFInfo
- Publication number
- CN114449165B CN114449165B CN202111616152.0A CN202111616152A CN114449165B CN 114449165 B CN114449165 B CN 114449165B CN 202111616152 A CN202111616152 A CN 202111616152A CN 114449165 B CN114449165 B CN 114449165B
- Authority
- CN
- China
- Prior art keywords
- operating system
- photographing
- camera
- image data
- original pixel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 60
- 230000015654 memory Effects 0.000 claims description 33
- 238000012545 processing Methods 0.000 claims description 18
- 238000012790 confirmation Methods 0.000 claims description 17
- 238000013500 data storage Methods 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000013507 mapping Methods 0.000 abstract description 30
- 239000002609 medium Substances 0.000 description 13
- 238000010586 diagram Methods 0.000 description 12
- 238000001514 detection method Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 230000001960 triggered effect Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000026676 system process Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 238000005111 flow chemistry technique Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 239000012120 mounting media Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Studio Devices (AREA)
Abstract
The application discloses a photographing control method, a photographing control device, unmanned equipment and a storage medium. The technical scheme provided by the embodiment of the application comprises the following steps: receiving a photographing instruction through a first operating system, and controlling a camera to collect original pixel data according to the photographing instruction; when the original pixel data are converted into image data through the first operating system, the camera is controlled to turn to the next preset direction; and storing the image data into a preset storage space through the first operating system, and then receiving a next photographing instruction. Through the technical means, the problem of low photographing speed of multidirectional mapping in the prior art is solved, the photographing speed is optimized, and the photographing efficiency is improved.
Description
Technical Field
The application relates to the technical field of unmanned equipment, in particular to a photographing control method and device, unmanned equipment and a storage medium.
Background
Mapping is one of the important fields of application of unmanned equipment, and the mapping mode of unmanned equipment comprises multidirectional mapping. The photographing logic for the multidirectional mapping is: and controlling the cradle head to turn to take a picture, waiting for the end of taking a picture, and then controlling the cradle head to turn to the next direction.
However, when unmanned equipment performs multidirectional mapping according to the photographing logic, the photographing speed is low, and photographing efficiency is affected. The current method for improving the photographing speed is to improve the photographing speed by optimizing hardware performances such as a cradle head or a camera, but the mapping cost of unmanned equipment is improved.
Disclosure of Invention
The application provides a photographing control method, a photographing control device, unmanned equipment and a storage medium, which solve the problem of low photographing speed of multidirectional mapping in the prior art, and optimize photographing speed to improve photographing efficiency.
In a first aspect, the present application provides a photographing control method, including:
receiving a photographing instruction through a first operating system, and controlling a camera to acquire original pixel data according to the photographing instruction;
when the original pixel data are converted into image data through the first operating system, the camera is controlled to turn to the next preset direction;
and storing the image data into a preset storage space through the first operating system, and then receiving a next photographing instruction.
In a second aspect, the present application provides a photographing control apparatus, including:
the data acquisition module is configured to receive a photographing instruction through a first operating system and control a camera to acquire original pixel data according to the photographing instruction;
the synchronous processing module is configured to control the camera to turn to the next preset direction when the original pixel data are converted into image data through the first operating system;
the data storage module is configured to receive a next photographing instruction after the image data are stored into a preset storage space through the first operating system.
In a third aspect, the present application provides an unmanned device comprising: the camera control module is connected with the camera, wherein:
the cradle head control module is used for controlling the cradle head to rotate to a preset angle and sending confirmation information to the camera control module; after receiving photographing end information sent by the camera control module, controlling the cradle head to turn to the next preset angle;
the camera control module is used for sending a photographing instruction to the first operating system according to the confirmation information; receiving a photographing instruction through a first operating system, and controlling the camera to acquire original pixel data according to the photographing instruction; when the original pixel data are converted into image data through the first operating system, shooting end information is sent to the holder control module, so that the holder control module controls the holder to turn; and after the image data are stored into a preset storage space through the first operating system, receiving a next photographing instruction sent by the cradle head control module.
In a fourth aspect, the present application provides a storage medium containing computer executable instructions which, when executed by a computer processor, are used to perform the photographing control method as described in the first aspect.
The method comprises the steps that a photographing instruction is received through a first operating system, and a camera is controlled to collect original pixel data according to the photographing instruction; when the original pixel data are converted into image data through the first operating system, the camera is controlled to turn to the next preset direction; and storing the image data into a preset storage space through the first operating system, and then receiving a next photographing instruction. Through the technical means, the time for processing the original pixel data by the first operating system and the time for controlling the camera to turn by the cradle head are overlapped, so that the photographing time of the unmanned equipment is shortened, the photographing speed is optimized, the photographing efficiency is improved, and the mapping precision of the unmanned equipment is improved.
Drawings
Fig. 1 is a flowchart of a photographing control method provided in an embodiment of the present application;
fig. 2 is a first schematic diagram of a photographing time axis according to an embodiment of the present application;
fig. 3 is a block diagram of a photographing control system according to an embodiment of the present application;
FIG. 4 is a flowchart of a real-time operating system controlling a camera to collect raw pixel data according to an embodiment of the present application;
FIG. 5 is a flow chart for controlling a camera to turn to a next preset direction according to an embodiment of the present application
Fig. 6 is a second schematic diagram of a photographing time axis according to an embodiment of the present application;
fig. 7 is a third schematic diagram of a photographing time axis according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of a photographing control device according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of an unmanned device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the following detailed description of specific embodiments thereof is given with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the application and not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the matters related to the present application are shown in the accompanying drawings. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently, or at the same time. Furthermore, the order of the operations may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, and the like.
The terms first, second and the like in the description and in the claims, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type and not limited to the number of objects, e.g., the first object may be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.
The photographing control method aims at receiving a photographing instruction through a first operating system and controlling a camera to collect original pixel data according to the photographing instruction; when the original pixel data are converted into image data through the first operating system, the camera is controlled to turn to the next preset direction; and storing the image data into a preset storage space through the first operating system, and then receiving a next photographing instruction. The current multidirectional mapping mode is to control the camera to take a picture after the camera turns to be in place, and control the camera to turn to the next direction after the shooting is finished. When unmanned equipment carries out multidirectional mapping according to the photographing logic, the photographing speed is low, and photographing efficiency is affected. The existing method for improving the photographing speed is to improve the photographing speed by optimizing hardware performances such as a cradle head or a camera, but the mapping cost of unmanned equipment is improved. Based on the above, the photographing control method of the embodiment of the application is provided to solve the problem of low photographing speed of multidirectional mapping in the prior art, and the photographing speed is improved by optimizing the photographing logic so as to improve photographing efficiency.
Fig. 1 shows a flowchart of a photographing control method provided in the embodiment of the present application, where the photographing control method provided in the embodiment may be implemented by an unmanned device, and the unmanned device may be implemented by software and/or hardware, and may be formed by two or more physical entities or may be formed by one physical entity.
In an embodiment, the photographing logic of the conventional multidirectional mapping manner controls the cradle head to turn to the right position, then the camera photographs and waits for the photographing of the camera to end, and controls the cradle head to turn to the next direction. Fig. 2 is a first schematic diagram of a photographing time axis provided in an embodiment of the present application. Fig. 2 illustrates a timeline of conventional photographing logic. As shown in fig. 2, T1 is required from the start of control of the cradle head steering to the time of cradle head steering in place. When the camera shoots, waiting for the convergence of the ambient brightness to need T2, the photosensitive element of the camera needs T3 to acquire raw data, encoding the raw data to obtain yuv data needs T4, compressing yuv data to jpeg data needs T5, and storing jpeg data needs T6. When the multi-directional mapping is performed according to the photographing logic, the photographing time required each time is T1+T2+T3+T4+T5+T6. When the course overlapping degree of the mapping task of the unmanned equipment is higher, the shooting interval between two adjacent shooting points is smaller, and the shooting time interval of the unmanned equipment is shorter. The camera is turned to the vibration amplitude that needs the camera of certain time stability after targets in place, if unmanned equipment's shooting time is longer, and unmanned equipment's shooting time interval is shorter, and the time of remaining for controlling the camera stability is shorter, leads to unmanned equipment to navigate still shake to the shooting point when the camera still, and the camera can appear the fuzzy condition in the photo probability of taking under vibration state. At this time, the blurred photo corresponding to the shooting point is an invalid photo which cannot be used for constructing a three-dimensional model of the mapping area, and the unmanned equipment may be required to re-acquire the photo at the shooting point, so that the mapping efficiency of the unmanned equipment is seriously affected. Therefore, the photographing speed is optimized, and the mapping efficiency and the mapping precision of unmanned equipment in the process of executing a mapping task with higher course overlapping degree can be ensured.
Referring to fig. 2, the conventional photographing logic is that each process needs to wait until the end of the previous process before starting to execute, and the processing time of each process is fixed. If the flow processing time is required to be improved, the corresponding hardware performance is required to be optimized, if the steering speed of the cradle head is required to be improved, the control motor of the cradle head is required to be optimized, and the required mapping cost is high. In this regard, the photographing control method provided in this embodiment aims to optimize the photographing logic of the multidirectional mapping, and improve the photographing speed and the photographing efficiency on the premise of not improving the mapping cost.
In an embodiment, the unmanned device is configured with a photographing control system, and the unmanned device executes the photographing control method through the photographing control system. Fig. 3 is a block diagram of a photographing control system according to an embodiment of the present application. As shown in fig. 3, the photographing system includes a pan-tilt, a camera, a pan-tilt control module, a camera control module, a positioning module and a gesture detection module, wherein the pan-tilt is connected with the camera and the pan-tilt control module, and the camera control module is connected with the pan-tilt control module, the camera, the positioning module and the gesture detection module. The cradle head control module is used for controlling the cradle head to turn, and the camera is driven to turn when the cradle head turns; the positioning module and the gesture detection module are respectively used for acquiring the position information of the unmanned equipment and the gesture information of the cradle head and transmitting the position information and the gesture information to the camera control module; the camera control module is used for controlling the camera to take a photo and storing the photo, the position information and the gesture information. The positioning module can be a rtk board card or a GPS positioning device, and the gesture detection module can be an IMU inertial measurement unit.
The following describes an example in which the photographing control system is a main body for executing the photographing control method. Referring to fig. 1, the photographing control method specifically includes:
s110, receiving a photographing instruction through the first operating system, and controlling the camera to collect original pixel data according to the photographing instruction.
The first operating system is a real-time operating system configured by the camera control module and is used for executing a photographing task, the photographing task comprises collecting raw data, converting the raw data into jpeg data, and finally storing the jpeg data. The photographing instruction is an instruction for triggering the real-time operating system to control the camera to collect original pixel data. In an embodiment, the pan-tilt control module controls the pan-tilt to rotate to a predetermined angle and sends a confirmation message to the camera control module. The camera control module sends a photographing instruction to the first operating system according to the confirmation information, receives the photographing instruction through the first operating system, and controls the camera to acquire original pixel data according to the photographing instruction. In this embodiment, the camera control module is further configured with a second operating system, where the second operating system refers to a non-real-time operating system, such as a Linux operating system, and the non-real-time operating system and the real-time operating system are configured with a shared memory, and the two operating systems communicate through the shared memory. The embodiment uses the second operating system as the Linux operating system for exemplary description. The cradle head control module is connected with the Linux operating system through a serial port, and the cradle head control module is in data communication with the Linux operating system through the serial port. The cradle head control module controls the cradle head to rotate to a preset angle, namely, the camera rotates to a preset direction, and then sends confirmation information to the Linux operating system through the serial port. The preset angle is a holder angle corresponding to the current shooting point, and the preset direction is a shooting direction corresponding to the current shooting point, and when the holder is turned to the preset angle, the camera faces the preset direction. The confirmation information refers to ack data, which is used for the cradle head control module to inform the Linux operating system that the camera is turned to the shooting direction of the current shooting point. And after the Linux operating system receives the confirmation information, determining the shooting direction of the camera which is turned to the current shooting point. After the Linux operating system determines that the unmanned equipment has navigated to the current shooting point, the Linux operating system sends a shooting instruction to the real-time operating system through the shared memory. After receiving the photographing instruction, the real-time operating system determines that the unmanned equipment has navigated to the current photographing point, and the camera also turns to the corresponding photographing direction, and at the moment, the camera can be controlled to photograph at the photographing point.
Further, the raw pixel data refers to raw data collected by a photosensitive element of the camera. The embodiment provides a real-time operating system for executing a photographing task, wherein the photographing task comprises controlling a photosensitive element to collect raw data, processing the raw data into jpeg data and storing the jpeg data. In this embodiment, fig. 4 is a flowchart of a real-time operating system provided in an embodiment of the present application to control a camera to collect raw pixel data. Referring to fig. 4, the step of controlling the camera to collect the original pixel data by the real-time operating system specifically includes S1101-S1102:
s1101, when the first operating system determines that the ambient brightness of the camera meets the preset brightness, the photosensitive element is controlled to be switched from line exposure to global exposure.
For example, due to different ambient brightness in different shooting directions, when the camera is turned to the shooting direction corresponding to the current shooting point, the ambient brightness of the camera is waited for to converge to the preset brightness. The preset brightness refers to photographing brightness preset by the camera. After the real-time operating system determines that the ambient brightness of the camera converges to the photographing brightness, the real-time operating system switches from the preview mode to the photographing mode. The photosensitive element is in line exposure in the preview mode, is in global exposure in the photographing mode, and is controlled to be switched from line exposure to global exposure when the next field interruption is triggered after the real-time operating system is switched from the preview mode to the photographing mode. Wherein the field interruption is an interruption triggered by the frame rate of the photosensitive element.
S1102, when the photosensitive element collects the global exposure frame, the shutter is controlled to be closed by a first operating system, and original pixel data corresponding to the global exposure frame is obtained.
Illustratively, when the photosensitive element is in global exposure, all rows of the photosensitive element begin exposure simultaneously, and end exposure simultaneously, after which the photosensitive element acquires a corresponding global exposure frame. Since the exposure time of the photosensitive element during global exposure is predetermined, the real-time operating system can determine the time node when the photosensitive element collects the global exposure frame according to the time node when the photosensitive element is switched from line exposure to global exposure and the exposure time. When the photosensitive element collects the global exposure frame, the real-time operating system controls the shutter of the camera to be closed, and reads the original pixel data corresponding to the global exposure frame collected by the current photosensitive element. The real-time operating system controls the photosensitive element to switch from global exposure to line exposure upon triggering of the next field interruption. In an embodiment, a timer is provided by which to start accumulating exposure time when the photosensitive element switches from the line exposure to the global exposure, and to trigger shutter closing of the camera after accumulating the exposure time.
In an embodiment, pose information of a camera at a shutter closing time and position information of an unmanned device are acquired, and image data corresponding to the pose information and the position information is determined. For example, pose information is also important when a camera takes a photograph as a three-dimensional model of the mapping region is constructed. Therefore, when the camera acquires the original pixel data, the position information and the posture information of the camera at the current moment are correspondingly acquired. On the basis of the embodiment, when the timer accumulates the exposure time, that is, the moment when the shutter of the camera is triggered to close, the positioning module and the gesture detection module are triggered to collect the position information of the unmanned equipment and the gesture information of the camera at the moment, and the positioning module and the gesture detection module respectively send the position information, the gesture information and the corresponding collection time stamp to the Linux operating system so that the subsequent Linux operating system can determine the image data corresponding to the position information and the gesture information according to the collection time stamp.
S120, when the original pixel data are converted into image data through the first operation system, the camera is controlled to turn to the next preset direction.
In one embodiment of the present invention, in one embodiment, fig. 5 is a flowchart for controlling a camera to turn to a next preset direction according to an embodiment of the present application. Referring to fig. 5, the step of controlling the camera to turn to the next preset direction specifically includes S1201-S1202:
and S1201, after the original pixel data are acquired, the photographing end information is sent to a second operating system through the first operating system.
For example, when the photosensitive element collects raw data to indicate that the camera has collected data recorded with image information of a mapping area corresponding to a current shooting point, the camera does not need to stay in the current shooting direction. Therefore, after the real-time operating system collects the original pixel data, the real-time operating system sends photographing end information to the Linux operating system through the shared memory so as to inform the Linux operating system that the original pixel data at the current photographing point is collected.
S1202, receiving photographing end information through a second operating system, and controlling the camera to turn to the next preset direction according to the photographing end information.
The photographing ending information is information for informing the Linux operating system and the cradle head control module that the current real-time operating system has acquired the original pixel data. The Linux operating system and the real-time operating system are independent operating systems, and can execute various tasks in parallel, so that when the real-time operating system sends photographing end information to the Linux operating system, the photographing task is continuously executed, namely, raw data are converted into jpeg data. And the Linux operating system sends the photographing ending information to the cradle head control module through the serial port, and the cradle head control module controls the cradle head to turn to the next photographing angle according to the photographing ending information after receiving the photographing ending information.
In this embodiment, the process of converting the original pixel data into the image data and storing the image data by the real-time operating system is performed simultaneously with the process of controlling the pan-tilt to turn to the next shooting angle by the pan-tilt control module. Fig. 6 is a second schematic diagram of a photographing time axis provided in the embodiment of the present application, and fig. 6 shows a photographing time axis of the photographing control method provided in the embodiment. Referring to fig. 6, the time t4+t5+t6 of the original pixel data processing and image data storage of the previous round and the time T1 of the camera steering of the subsequent round are overlapped to the same time period to reduce the photographing time required when the unmanned device performs the multi-directional mapping.
S130, after the image data are stored into a preset storage space through the first operating system, a next photographing instruction is received.
The real-time operating system, after converting the original pixel data into image data, stores the image data in the shared memory, and switches the photographing mode to the preview mode. When the real-time operating system is in the preview mode, the real-time operating system is indicated that the real-time operating system does not execute the photographing task at the moment, and the real-time operating system can receive a next photographing instruction to execute a new round of photographing task.
In an embodiment, after the second operating system determines that the image data is stored in the preset storage space, the second operating system receives the confirmation information and sends a next photographing instruction to the first operating system, so that the first operating system controls the camera to collect original pixel data corresponding to the next preset direction according to the next photographing instruction. Illustratively, the real-time operating system converts the raw pixel data into image data and then stores the image data to the shared memory. The Linux operating system determines that the real-time operating system is in a preview mode according to the image data in the shared memory, namely, determines that the real-time operating system can currently receive a photographing instruction. Therefore, when the Linux operating system receives the confirmation information of the shooting direction corresponding to the camera which is turned to the next shooting point and determines that the unmanned equipment is sailed to the next shooting point, a new shooting instruction is sent to the real-time operating system, so that the real-time operating system executes a new round of shooting task according to the shooting instruction.
Referring to fig. 6, it is assumed that a pan-tilt steering time T1 is less than a time t4+t5+t6 for which the real-time operating system processes the original image data and stores it. The photographing time of the remaining photographing points is t2+t3+t4+t5+t6, except for the photographing time of the first photographing point which is t1+t2+t3+t4+t5+t6, and the photographing time required according to the conventional photographing logic is t1+t2+t3+t4+t5+t6. Compared with the traditional photographing logic, in the embodiment, the photographing time is approximately reduced by T1 by overlapping the cradle head steering time T1 of the next round with the time t4+t5+t6 stored by the real-time operating system processing the original image data of the previous round. Fig. 7 is a third schematic diagram of a photographing time axis provided in the embodiment of the present application, and fig. 7 shows a photographing time axis of the photographing control method provided in the embodiment. Referring to fig. 7, it is assumed that the pan/tilt steering time T1 is greater than the time t4+t5+t6 for the real-time operating system to process the raw image data and store it. The photographing times of the remaining photographing points are (t1+t2+t3+t4+t5+t6) - (t4+t5+t6) =t1+t2+t3, except for the photographing time of the first photographing point being t1+t2+t3+t4+t5+t6. Compared with the conventional photographing logic, the photographing time of the embodiment is approximately reduced by t4+t5+t6. While the reduced time may be used for stabilization after camera steering or to increase heading overlap to increase mapping accuracy.
In an embodiment, when the first operating system converts the original pixel data into the image data, the second operating system stores the image data in the preset storage space and the corresponding position information and posture information into the flash memory. For example, the image data collected by the camera is only temporarily stored in the shared memory, but the image data needs to be cached in the flash memory due to limited space in the shared memory. From the above, when the camera presses the shutter, the Linux operating system also obtains the position information and the posture information collected by the positioning module and the posture detecting module. And determining the position information and the posture information corresponding to the image data according to the acquisition time stamp of the position information and the posture information and the acquisition time stamp of the image data. And storing the image data and the corresponding position information and posture information in a flash memory in an associated manner so as to construct a three-dimensional model according to the image data and the corresponding position information and posture information. Furthermore, the Linux operating system asynchronously stores the image data into the flash memory through a separate thread, and the separate thread can run in parallel with the process of processing the original image data by the real-time operating system. Therefore, the Linux operating system can store the image data in the shared memory into the flash memory when the real-time operating system processes the original image data. In the embodiment, the process of processing the original image data by the real-time operating system and the process of storing the image data by the Linux operating system are overlapped, so that the photographing time is reduced to optimize the photographing speed.
In summary, in the photographing control method provided by the embodiment of the application, a photographing instruction is received through a first operating system, and a camera is controlled to acquire original pixel data according to the photographing instruction; when the original pixel data are converted into image data through the first operating system, the camera is controlled to turn to the next preset direction; and storing the image data into a preset storage space through the first operating system, and then receiving a next photographing instruction. Through the technical means, the time for processing the original pixel data by the first operating system and the time for controlling the camera to turn by the cradle head are overlapped, so that the photographing time of the unmanned equipment is shortened, the photographing speed is optimized, the photographing efficiency is improved, and the mapping precision of the unmanned equipment is improved. In addition, by overlapping the process of processing the original image data by the first operating system and the process of storing the image data by the second operating system, the photographing time is reduced to optimize the photographing speed.
On the basis of the above embodiments, fig. 8 is a schematic structural diagram of a photographing control device according to an embodiment of the present application. Referring to fig. 8, the photographing control apparatus provided in this embodiment specifically includes: a data acquisition module 21, a synchronization processing module 22 and a data storage module 23.
The data acquisition module is configured to receive a photographing instruction through the first operating system and control the camera to acquire original pixel data according to the photographing instruction;
the synchronous processing module is configured to control the camera to turn to the next preset direction when the original pixel data are converted into the image data through the first operating system;
the data storage module is configured to receive a next photographing instruction after the image data are stored into the preset storage space through the first operating system.
On the basis of the above embodiment, the photographing control apparatus further includes: the confirmation information sending module is configured to control the camera to turn to a preset direction and then send confirmation information to the second operating system; and the shooting instruction sending module is configured to send a shooting instruction to the first operating system through the second operating system after receiving the confirmation information.
On the basis of the above embodiment, the data acquisition module includes: an exposure mode switching unit configured to control the photosensitive element to switch from line exposure to global exposure when the first operating system determines that the ambient brightness of the camera satisfies a preset brightness; the original pixel data acquisition unit is configured to control the shutter to be closed and acquire original pixel data corresponding to the global exposure frame through the first operating system when the photosensitive element acquires the global exposure frame.
On the basis of the above embodiment, the synchronization processing module includes: the end information sending module is configured to send photographing end information to the second operating system through the first operating system after the original pixel data are acquired; and the turning control module is configured to receive photographing end information through the second operating system and control the camera to turn to the next preset direction according to the photographing end information.
On the basis of the above embodiment, the photographing control apparatus further includes: the storage determining module is configured to receive the confirmation information and send a next photographing instruction to the first operating system after the second operating system determines that the image data is stored in the preset storage space, so that the first operating system controls the camera to acquire original pixel data corresponding to the next preset direction according to the next photographing instruction.
On the basis of the above embodiment, the photographing control apparatus further includes: and the pose information acquisition module is configured to acquire pose information of the camera at the closing moment of the shutter and position information of the unmanned equipment, and determine image data corresponding to the pose information and the position information.
On the basis of the above embodiment, the photographing control apparatus further includes: the storage module is configured to store the image data in the preset storage space and the corresponding position information and posture information into the flash memory through the second operating system when the first operating system converts the original pixel data into the image data.
In the above, the photographing control device provided in the embodiment of the present application receives a photographing instruction through the first operating system, and controls the camera to collect the original pixel data according to the photographing instruction; when the original pixel data are converted into image data through the first operating system, the camera is controlled to turn to the next preset direction; and storing the image data into a preset storage space through the first operating system, and then receiving a next photographing instruction. Through the technical means, the time for processing the original pixel data by the first operating system and the time for controlling the camera to turn by the cradle head are overlapped, so that the photographing time of the unmanned equipment is shortened, the photographing speed is optimized, the photographing efficiency is improved, and the mapping precision of the unmanned equipment is improved. In addition, by overlapping the process of processing the original image data by the first operating system and the process of storing the image data by the second operating system, the photographing time is reduced to optimize the photographing speed.
The photographing control device provided by the embodiment of the application can be used for executing the photographing control method provided by the embodiment, and has corresponding functions and beneficial effects.
Fig. 9 is a schematic structural diagram of an unmanned device provided in an embodiment of the present application, and referring to fig. 9, the unmanned device includes: a processor 31, a memory 32, a communication device 33, an input device 34 and an output device 35. The number of processors 31 in the drone may be one or more and the number of memories 32 in the drone may be one or more. The processor 31, memory 32, communication means 33, input means 34 and output means 35 of the unmanned device may be connected by bus or other means.
The memory 32 is a computer readable storage medium, and may be used to store a software program, a computer executable program, and a module, such as program instructions/modules (e.g., the data acquisition module 21, the synchronization processing module 22, and the data storage module 23 in the photographing control apparatus) corresponding to the photographing control method according to any embodiment of the present application. The memory 32 may mainly include a storage program area and a storage data area, wherein the storage program area may store a second operating system, at least one application program required for functions; the storage data area may store data created according to the use of the device, etc. In addition, memory 32 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some examples, the memory may further include memory remotely located with respect to the processor, the remote memory being connectable to the device through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The communication means 33 are for data transmission.
The processor 31 executes various functional applications of the apparatus and data processing, namely, implements the photographing control method described above by running software programs, instructions, and modules stored in the memory 32.
The input means 34 may be used to receive entered numeric or character information and to generate key signal inputs related to user settings and function control of the device. The output means 35 may comprise a display device such as a display screen.
The unmanned equipment provided by the embodiment can be used for executing the photographing control method provided by the embodiment, and has corresponding functions and beneficial effects.
The present embodiments also provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a photographing control method comprising: receiving a photographing instruction through a first operating system, and controlling a camera to collect original pixel data according to the photographing instruction; when the original pixel data are converted into image data through the first operating system, the camera is controlled to turn to the next preset direction; and storing the image data into a preset storage space through the first operating system, and then receiving a next photographing instruction.
Storage media-any of various types of memory devices or storage devices. The term "storage medium" is intended to include: mounting media such as CD-ROM, floppy disk or tape devices; computer system memory or random access memory such as DRAM, DDR RAM, SRAM, EDO RAM, lanbas (Rambus) RAM, etc.; nonvolatile memory such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. The storage medium may also include other types of memory or combinations thereof. In addition, the storage medium may be located in a first computer system in which the program is executed, or may be located in a second, different computer system connected to the first computer system through a network such as the internet. The second computer system may provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media residing in different locations (e.g., in different computer systems connected by a network). The storage medium may store program instructions (e.g., embodied as a computer program) executable by one or more processors.
Of course, the storage medium containing the computer executable instructions provided in the embodiments of the present application is not limited to the photographing control method as described above, and may also perform the related operations in the photographing control method provided in any embodiment of the present application.
The photographing control apparatus, the storage medium and the unmanned device provided in the above embodiments may execute the photographing control method provided in any embodiment of the present application, and technical details not described in detail in the above embodiments may refer to the photographing control method provided in any embodiment of the present application.
The foregoing description is only of the preferred embodiments of the present application and the technical principles employed. The present application is not limited to the specific embodiments described herein, but is capable of numerous obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the present application. Therefore, while the present application has been described in connection with the above embodiments, the present application is not limited to the above embodiments, but may include many other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the claims.
Claims (10)
1. A photographing control method, characterized by comprising:
receiving a photographing instruction through a first operating system, and controlling a camera to acquire original pixel data according to the photographing instruction;
when the original pixel data are converted into image data through the first operating system, the camera is controlled to turn to the next preset direction;
and storing the image data into a preset storage space through the first operating system, and then receiving a next photographing instruction.
2. The photographing control method according to claim 1, characterized by further comprising, before said receiving, by the first operating system, a photographing instruction:
after the camera is controlled to turn to a preset direction, acknowledgement information is sent to a second operating system;
and after receiving the confirmation information, sending the photographing instruction to the first operating system through the second operating system.
3. The photographing control method according to claim 1, wherein said acquiring original pixel data according to the photographing instruction comprises:
when the first operating system determines that the ambient brightness of the camera meets the preset brightness, controlling the photosensitive element to switch from row exposure to global exposure;
when the photosensitive element collects the global exposure frame, the shutter is controlled to be closed by the first operating system, and original pixel data corresponding to the global exposure frame is obtained.
4. The photographing control method of claim 2, wherein said controlling the camera to turn in a next preset direction comprises:
after the original pixel data are acquired, the photographing end information is sent to the second operating system through the first operating system;
and receiving the photographing ending information through the second operating system, and controlling the camera to turn to the next preset direction according to the photographing ending information.
5. The photographing control method according to claim 2, characterized by further comprising, after said storing of said image data into a preset storage space by said first operating system:
after the second operating system determines that the image data is stored in the preset storage space, receiving the confirmation information and sending a next photographing instruction to the first operating system, so that the first operating system controls the camera to acquire original pixel data corresponding to the next preset direction according to the next photographing instruction.
6. The photographing control method as claimed in claim 3, further comprising, after said controlling of the shutter to close by said first operating system:
and acquiring the attitude information of the camera at the closing moment of the shutter and the position information of the unmanned equipment, and determining the image data corresponding to the attitude information and the position information.
7. The photographing control method as claimed in claim 6, further comprising:
when the first operating system converts the original pixel data into image data, the second operating system stores the image data in the preset storage space, and the corresponding position information and posture information into the flash memory.
8. A photographing control apparatus, characterized by comprising:
the data acquisition module is configured to receive a photographing instruction through a first operating system and control a camera to acquire original pixel data according to the photographing instruction;
the synchronous processing module is configured to control the camera to turn to the next preset direction when the original pixel data are converted into image data through the first operating system;
the data storage module is configured to receive a next photographing instruction after the image data are stored into a preset storage space through the first operating system.
9. The unmanned equipment is characterized by comprising a cradle head, a camera, a cradle head control module and a camera control module, wherein the cradle head control module is connected with the cradle head and the camera control module, and the camera control module is connected with the camera, wherein:
the cradle head control module is used for controlling the cradle head to rotate to a preset angle and sending confirmation information to the camera control module; after receiving photographing end information sent by the camera control module, controlling the cradle head to turn to the next preset angle;
the camera control module is used for sending a photographing instruction to the first operating system according to the confirmation information; receiving a photographing instruction through a first operating system, and controlling the camera to acquire original pixel data according to the photographing instruction; when the original pixel data are converted into image data through the first operating system, shooting end information is sent to the holder control module, so that the holder control module controls the holder to turn; and after the image data are stored into a preset storage space through the first operating system, receiving a next photographing instruction sent by the cradle head control module.
10. A storage medium containing computer executable instructions which, when executed by a computer processor, are for performing the photographing control method of any of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111616152.0A CN114449165B (en) | 2021-12-27 | 2021-12-27 | Photographing control method and device, unmanned equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111616152.0A CN114449165B (en) | 2021-12-27 | 2021-12-27 | Photographing control method and device, unmanned equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114449165A CN114449165A (en) | 2022-05-06 |
| CN114449165B true CN114449165B (en) | 2023-07-18 |
Family
ID=81365650
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111616152.0A Active CN114449165B (en) | 2021-12-27 | 2021-12-27 | Photographing control method and device, unmanned equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114449165B (en) |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000184237A (en) * | 1998-12-14 | 2000-06-30 | Hitachi Denshi Ltd | Method for controlling camera and universal head |
| JP2000324380A (en) * | 1999-05-11 | 2000-11-24 | Canon Inc | Image pickup device and its method |
| JP2007074417A (en) * | 2005-09-07 | 2007-03-22 | Chiyuuden Plant Kk | Camera control system |
| CN104935815A (en) * | 2015-06-08 | 2015-09-23 | 广东欧珀移动通信有限公司 | Shooting method, shooting device, camera and mobile terminal |
| CN106998430A (en) * | 2017-04-28 | 2017-08-01 | 北京瑞盖科技股份有限公司 | 360 degree of video playback methods based on polyphaser |
| JP2018146847A (en) * | 2017-03-07 | 2018-09-20 | 株式会社リコー | Universal head imaging system |
| CN109255813A (en) * | 2018-09-06 | 2019-01-22 | 大连理工大学 | A kind of hand-held object pose real-time detection method towards man-machine collaboration |
| KR20190010051A (en) * | 2017-07-20 | 2019-01-30 | 삼성전자주식회사 | Method for transmitting image data and data associated with control of image capture based on sizes of image data and data associated with control of image capture and electronic device for supporting the same |
| WO2020103526A1 (en) * | 2018-11-21 | 2020-05-28 | Oppo广东移动通信有限公司 | Photographing method and device, storage medium and terminal device |
| CN111641784A (en) * | 2020-07-02 | 2020-09-08 | 俞铁阶 | Panoramic photo shooting equipment and real-time automatic synthesis intelligent control method thereof |
| CN112399067A (en) * | 2019-08-15 | 2021-02-23 | 北京百度网讯科技有限公司 | Panoramic shooting method and device, electronic equipment and storage medium |
| CN113329179A (en) * | 2021-05-31 | 2021-08-31 | 维沃移动通信有限公司 | Shooting alignment method, device, equipment and storage medium |
| WO2021195939A1 (en) * | 2020-03-31 | 2021-10-07 | 深圳市大疆创新科技有限公司 | Calibrating method for external parameters of binocular photographing device, movable platform and system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4612866B2 (en) * | 2005-05-20 | 2011-01-12 | キヤノン株式会社 | Imaging method and imaging system |
-
2021
- 2021-12-27 CN CN202111616152.0A patent/CN114449165B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000184237A (en) * | 1998-12-14 | 2000-06-30 | Hitachi Denshi Ltd | Method for controlling camera and universal head |
| JP2000324380A (en) * | 1999-05-11 | 2000-11-24 | Canon Inc | Image pickup device and its method |
| JP2007074417A (en) * | 2005-09-07 | 2007-03-22 | Chiyuuden Plant Kk | Camera control system |
| CN104935815A (en) * | 2015-06-08 | 2015-09-23 | 广东欧珀移动通信有限公司 | Shooting method, shooting device, camera and mobile terminal |
| JP2018146847A (en) * | 2017-03-07 | 2018-09-20 | 株式会社リコー | Universal head imaging system |
| CN106998430A (en) * | 2017-04-28 | 2017-08-01 | 北京瑞盖科技股份有限公司 | 360 degree of video playback methods based on polyphaser |
| KR20190010051A (en) * | 2017-07-20 | 2019-01-30 | 삼성전자주식회사 | Method for transmitting image data and data associated with control of image capture based on sizes of image data and data associated with control of image capture and electronic device for supporting the same |
| CN109255813A (en) * | 2018-09-06 | 2019-01-22 | 大连理工大学 | A kind of hand-held object pose real-time detection method towards man-machine collaboration |
| WO2020103526A1 (en) * | 2018-11-21 | 2020-05-28 | Oppo广东移动通信有限公司 | Photographing method and device, storage medium and terminal device |
| CN112399067A (en) * | 2019-08-15 | 2021-02-23 | 北京百度网讯科技有限公司 | Panoramic shooting method and device, electronic equipment and storage medium |
| WO2021195939A1 (en) * | 2020-03-31 | 2021-10-07 | 深圳市大疆创新科技有限公司 | Calibrating method for external parameters of binocular photographing device, movable platform and system |
| CN111641784A (en) * | 2020-07-02 | 2020-09-08 | 俞铁阶 | Panoramic photo shooting equipment and real-time automatic synthesis intelligent control method thereof |
| CN113329179A (en) * | 2021-05-31 | 2021-08-31 | 维沃移动通信有限公司 | Shooting alignment method, device, equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114449165A (en) | 2022-05-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10638046B2 (en) | Wearable device, control apparatus, photographing control method and automatic imaging apparatus | |
| JP5446546B2 (en) | Imaging control apparatus, imaging control method, program, imaging system | |
| US7990421B2 (en) | Arrangement and method relating to an image recording device | |
| CN101834992B (en) | Image capture system and image presentation method | |
| CN107079102B (en) | Focusing method, photographic device and unmanned plane | |
| US7388605B2 (en) | Still image capturing of user-selected portions of image frames | |
| JP2000069346A (en) | Camera control device, its method, camera, tracking camera system, and computer-readable recording medium | |
| JP7419495B2 (en) | Projection method and projection system | |
| EP2464095A1 (en) | Electronic device, control method, program, and image capturing system | |
| WO2015142971A1 (en) | Receiver-controlled panoramic view video share | |
| US9706101B2 (en) | Image processing terminal, imaging machine, information processing method, program, and remote imaging system to remotely operate the imaging machine | |
| WO2020154959A1 (en) | Multi-load image transmission method, control system, control terminal, unmanned aerial vehicle, and server | |
| CN110677622A (en) | Camera control method and monitoring equipment | |
| EP2856748A1 (en) | Storyboards for capturing images | |
| CN114449165B (en) | Photographing control method and device, unmanned equipment and storage medium | |
| CN208987073U (en) | A kind of capture apparatus and aircraft | |
| CN114500768B (en) | Camera synchronous shooting method and device, unmanned equipment and storage medium | |
| JP2002354327A (en) | Image-photographing device, operation device and image- photographing system thereof | |
| CN103391393A (en) | Lens-interchangeable camera system, lens data transmission method and lens data acquisition program | |
| CN113643321A (en) | Sensor data acquisition method and device for unmanned equipment | |
| CN114500829B (en) | Photographing processing method and device, unmanned equipment and storage medium | |
| JP2017011464A (en) | Imaging system | |
| US11810386B2 (en) | Image capture apparatus and control method | |
| JP6312519B2 (en) | Imaging device, control method thereof, and program | |
| WO2017206457A1 (en) | Method for adjusting direction of unmanned aerial vehicle camera and smart wearable device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |