CN117896621B - Shooting track recording method, device and equipment of cradle head and storage medium - Google Patents
Shooting track recording method, device and equipment of cradle head and storage medium Download PDFInfo
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Abstract
The invention relates to the technical field of a tripod head and discloses a shooting track recording method, a device, equipment and a storage medium of the tripod head.
Description
Technical Field
The invention relates to the technical field of holders, in particular to a shooting track recording method, device and equipment of a holder and a storage medium.
Background
Track Time-lapse photography (Time-lapse) is a photographic technique that shows the Time lapse process by taking a plurality of pictures at regular intervals over a period of Time, and synthesizing the pictures into video or animation. Different from the common time delay photography, the track time delay photography can also record the moving track of the camera, so that the audience can see the moving track of the object in the picture and the change of the scene.
With the development of network technology, more and more people are in the industry of self-media anchor, and for the people, lack of enough technology, unstable and unaligned conditions easily occur in the process of using track delay photography, so that successful track delay photographic works cannot be obtained.
Disclosure of Invention
The invention aims to provide a shooting track recording method, device and equipment for a tripod head and a storage medium, and aims to solve the problem that a user with insufficient technology in the prior art is easy to shoot unstably when using the tripod head to carry out track delay shooting.
The invention is realized in such a way, and in a first aspect, the invention provides a shooting track recording method of a cradle head, comprising the following steps:
Receiving a control instruction from an external terminal, wherein the cradle head enters a track preset mode; when the cradle head is in a track pre-adjustment mode, the cradle head is used for carrying out track pre-adjustment shooting under the operation of a user, and in the process of carrying out track pre-adjustment shooting, a pre-adjustment image shot by the image shooting device and pre-adjustment position characteristics of the image shooting device when shooting the pre-adjustment image are respectively acquired through communication connection with the image shooting device and an internal sensor group;
Arranging each preset image and each preset position feature in the track preset shooting respectively to obtain a preset image sequence and a preset position sequence; each preset image in the preset image sequence and each preset position feature in the preset position sequence are in one-to-one correspondence;
Transmitting the preset image sequence and the preset position sequence to the external terminal, and receiving an adjusting instruction from a user based on the external terminal, wherein the adjusting instruction is used for adjusting the preset image sequence and the preset position sequence to obtain a target image sequence and a target position sequence;
receiving a control instruction from an external terminal, wherein the cradle head enters a track shooting mode; when the cradle head is in a track shooting mode, the cradle head continuously collects real-time images shot by the camera device and real-time position features of the camera device when shooting the real-time images;
Performing contrast analysis on the real-time image through the target image sequence to obtain image difference characteristics, performing contrast analysis on the real-time position characteristics through the target position sequence to obtain position difference characteristics, and generating an adjustment instruction of the cradle head according to the image difference characteristics and the position difference characteristics;
when the cradle head carries out corresponding adjustment and image shooting according to the adjustment instruction, the position features of the cradle head are collected, and the collected position features are arranged according to a time sequence to generate a shooting track sequence of the cradle head.
Preferably, when the pan-tilt is in the track pre-adjustment mode, the step of performing track pre-adjustment shooting by the pan-tilt under the operation of a user includes:
the cradle head acquires an image pickup signal of the image pickup device when the image is picked up, and an image obtained by shooting the image pickup signal, and a time mark is given to the image according to the time corresponding to the image pickup signal so as to generate a preset image;
When the cradle head acquires the image pickup signal, the cradle head collects the current position feature and gives a time mark to the collected position feature according to the time corresponding to the image pickup information so as to generate a preset position feature.
Preferably, the step of transmitting the preset image sequence and the preset position sequence to the external terminal to receive an adjustment instruction from a user, where the adjustment instruction is used to adjust the preset image sequence and the preset position sequence to obtain a target image sequence and a target position sequence includes:
transmitting the pre-adjusted image sequence and the pre-adjusted position sequence to the external terminal;
The external terminal connects all the preset images in the preset image sequence according to the sequence relation among all the preset position features in the preset position sequence so as to obtain a preliminary track image; the preliminary track image is used for displaying the effects of the cradle head and the camera device in track pre-adjustment shooting to a user;
constructing a coordinate system of each preset image in the preliminary track image, collecting continuity features of each preset image in the preliminary track image, and acquiring coordinate information of the continuity features in each preset image based on the constructed coordinate system;
Taking the continuous coordination of the preliminary track image as a target, and adjusting the coordinate information of the continuous feature in each preset image to obtain the adjustment coordinate of the continuous feature in each preset image;
Adjusting each preset image according to each adjustment coordinate to obtain a preliminary adjustment image and an adjustment track image formed by each preliminary adjustment image; the adjustment track image is used for displaying an adjustment effect to a user;
receiving an adjustment instruction made by a user for the adjustment track image, and performing further coordinate adjustment on each preliminary adjustment image to obtain each target image and a target image sequence formed by each target image;
and adjusting the preset position sequence according to the corresponding relation between the preset position sequence and the preset image sequence to obtain a target position sequence.
Preferably, when the pan-tilt carries out corresponding adjustment according to the adjustment instruction and carries out image capturing, the step of collecting the position features of the pan-tilt and arranging the collected position features according to a time sequence to generate a capturing track sequence of the pan-tilt comprises:
When the cradle head carries out corresponding adjustment and image shooting according to the adjustment instruction, collecting the position characteristics of the cradle head;
And arranging the acquired position features according to a time sequence to generate a shooting track sequence of the cradle head.
In a second aspect, the present invention provides a shooting track recording apparatus for a pan/tilt head, including:
The preliminary track acquisition module is used for receiving a control instruction from an external terminal, and the cradle head enters a track preset mode; when the cradle head is in a track pre-adjustment mode, the cradle head is used for carrying out track pre-adjustment shooting under the operation of a user, and in the process of carrying out track pre-adjustment shooting, a pre-adjustment image shot by the image shooting device and pre-adjustment position characteristics of the image shooting device when shooting the pre-adjustment image are respectively acquired through communication connection with the image shooting device and an internal sensor group;
The track analysis module is used for respectively arranging each preset image and each preset position characteristic in the track preset shooting to obtain a preset image sequence and a preset position sequence; each preset image in the preset image sequence and each preset position feature in the preset position sequence are in one-to-one correspondence;
The track adjusting module is used for transmitting the preset image sequence and the preset position sequence to the external terminal so as to receive an adjusting instruction from a user, wherein the adjusting instruction is used for adjusting the preset image sequence and the preset position sequence to obtain a target image sequence and a target position sequence;
The formal track acquisition module is used for receiving a control instruction from an external terminal, and the cradle head enters a track shooting mode; when the cradle head is in a track shooting mode, the cradle head continuously collects real-time images shot by the camera device and real-time position features of the camera device when shooting the real-time images;
The adjustment indication module is used for carrying out contrast analysis on the real-time image through the target image sequence to obtain image difference characteristics, carrying out contrast analysis on the real-time position characteristics through the target position sequence to obtain position difference characteristics, and generating an adjustment indication of the cradle head according to the image difference characteristics and the position difference characteristics;
and the track generation module is used for collecting the position characteristics of the cradle head when the cradle head correspondingly adjusts according to the adjustment instruction and shoots an image, and arranging the collected position characteristics according to a time sequence so as to generate a shooting track sequence of the cradle head.
In a third aspect, the present invention provides a shooting track recording device for a pan-tilt, including a memory and a processor, where the memory stores a computer program that can run on the processor, and the processor implements any one of the shooting track recording methods for a pan-tilt provided in the first aspect when executing the computer program.
In a fourth aspect, the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, causes the processor to perform a shooting track recording method of a pan-tilt as set forth in any one of the first aspects.
The invention provides a shooting track recording method of a cradle head, which has the following beneficial effects:
The method comprises the steps of firstly enabling the cradle head to enter a track pre-adjustment mode, enabling a user to conduct track pre-adjustment shooting once to obtain a pre-adjustment image sequence and a pre-adjustment position sequence in track pre-adjustment shooting, then obtaining a target image sequence and a target position sequence through adjustment of the pre-adjustment image sequence and the pre-adjustment position sequence, enabling the cradle head to enter the track shooting mode, conducting adjustment indication according to the target image sequence and the target position sequence, collecting adjusted position features to obtain a shooting track sequence, and solving the problem that users with insufficient technology in the prior art are prone to unstable shooting when using the cradle head to conduct track delay shooting.
Drawings
Fig. 1 is a schematic step diagram of a recording method of shooting track of a pan-tilt head according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a recording device for shooting track of a pan-tilt head according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present invention, it should be understood that, if there is an azimuth or positional relationship indicated by terms such as "upper", "lower", "left", "right", etc., based on the azimuth or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus terms describing the positional relationship in the drawings are merely illustrative and should not be construed as limiting the present invention, and specific meanings of the terms described above may be understood by those of ordinary skill in the art according to specific circumstances.
The implementation of the present invention will be described in detail below with reference to specific embodiments.
Referring to fig. 1 and 2, a preferred embodiment of the present invention is provided.
In a first aspect, the present invention provides a method for recording a shooting track of a pan-tilt, including:
S1: receiving a control instruction from an external terminal, wherein the cradle head enters a track preset mode; when the cradle head is in a track pre-adjustment mode, the cradle head is used for carrying out track pre-adjustment shooting under the operation of a user, and in the process of carrying out track pre-adjustment shooting, a pre-adjustment image shot by the image shooting device and pre-adjustment position characteristics of the image shooting device when shooting the pre-adjustment image are respectively acquired through communication connection with the image shooting device and an internal sensor group;
s2: arranging each preset image and each preset position feature in the track preset shooting respectively to obtain a preset image sequence and a preset position sequence; each preset image in the preset image sequence and each preset position feature in the preset position sequence are in one-to-one correspondence;
S3: transmitting the preset image sequence and the preset position sequence to the external terminal, and receiving an adjusting instruction from a user based on the external terminal, wherein the adjusting instruction is used for adjusting the preset image sequence and the preset position sequence to obtain a target image sequence and a target position sequence;
s4: receiving a control instruction from an external terminal, wherein the cradle head enters a track shooting mode; when the cradle head is in a track shooting mode, the cradle head continuously collects real-time images shot by the camera device and real-time position features of the camera device when shooting the real-time images;
S5: performing contrast analysis on the real-time image through the target image sequence to obtain image difference characteristics, performing contrast analysis on the real-time position characteristics through the target position sequence to obtain position difference characteristics, and generating an adjustment instruction of the cradle head according to the image difference characteristics and the position difference characteristics;
S6: when the cradle head carries out corresponding adjustment and image shooting according to the adjustment instruction, the position features of the cradle head are collected, and the collected position features are arranged according to a time sequence to generate a shooting track sequence of the cradle head.
Specifically, the main idea of the invention is to perform track delay shooting twice in total, in the first track delay shooting, the cradle head is adjusted to a track preset mode, in the track delay shooting, each position feature of the cradle head is bound with an image acquired by the image pickup device one by one, then each image is corrected based on a track delay shooting rule, and the position feature is corrected according to the relation between the position feature and the shot image, so that the position where the image pickup device should be located in the second track delay shooting is obtained, and shooting is performed.
More specifically, the cradle head is in communication connection with the external terminal so as to receive a control instruction from the outside, so that the cradle head can enter a track preset mode or a track shooting mode.
More specifically, after the cradle head enters a track pre-adjustment mode, the cradle head performs track pre-adjustment shooting under the operation of a user, and obtains a pre-adjustment image shot by the image pickup device through communication connection with the image pickup device in the track pre-adjustment shooting process, and meanwhile, a sensor group is further arranged in the cradle head, so that the position change of the cradle head can be monitored, and the pre-adjustment position characteristic of the image pickup device when shooting the pre-adjustment image is obtained.
More specifically, each preset image and preset position feature in track preset shooting are respectively arranged to obtain a preset image sequence and a preset position sequence, and then the preset image sequence and the preset position sequence are transmitted to an external terminal to receive an adjusting instruction from a user, wherein each preset image in the preset image sequence and each preset position feature in the preset position sequence are in one-to-one correspondence.
It should be noted that, the adjustment instruction of the user is to adjust each preset image in the preset image sequence, the preset images in the preset image sequence cannot form a complete track delay photographic image, so that the adjustment is performed according to each preset image to obtain the target image, it can be understood that the target image can form each image of the complete track delay photographic image after the adjustment, meanwhile, as the target image is adjusted by the preset image, the track delay photographic image formed by the target image is directly used, and defects exist at the corner positions.
More specifically, after the cradle head enters a track shooting mode, the cradle head continuously collects real-time images shot by the camera device and real-time position characteristics of the camera device when shooting the real-time images, and the real-time images are subjected to contrast analysis through a target image sequence to obtain image difference characteristics; and comparing and analyzing the real-time position sequence through the target position sequence to obtain position difference characteristics, and generating an adjustment instruction of the cradle head according to the image difference characteristics and the position difference characteristics.
More specifically, when the pan-tilt carries out corresponding adjustment according to the adjustment instruction and carries out image shooting, the position features of the pan-tilt are collected, and the collected position features are arranged according to the time sequence so as to generate a shooting track sequence of the pan-tilt.
The invention provides a shooting track recording method of a cradle head, which has the following beneficial effects:
The method comprises the steps of firstly enabling the cradle head to enter a track pre-adjustment mode, enabling a user to conduct track pre-adjustment shooting once to obtain a pre-adjustment image sequence and a pre-adjustment position sequence in track pre-adjustment shooting, then obtaining a target image sequence and a target position sequence through adjustment of the pre-adjustment image sequence and the pre-adjustment position sequence, enabling the cradle head to enter the track shooting mode, conducting adjustment indication according to the target image sequence and the target position sequence, collecting adjusted position features to obtain a shooting track sequence, and solving the problem that users with insufficient technology in the prior art are prone to unstable shooting when using the cradle head to conduct track delay shooting.
Preferably, when the pan-tilt is in the track pre-adjustment mode, the step of performing track pre-adjustment shooting by the pan-tilt under the operation of a user includes:
S11: the cradle head acquires an image pickup signal of the image pickup device when the image is picked up, and an image obtained by shooting the image pickup signal, and a time mark is given to the image according to the time corresponding to the image pickup signal so as to generate a preset image;
S12: when the cradle head acquires the image pickup signal, the cradle head collects the current position feature and gives a time mark to the collected position feature according to the time corresponding to the image pickup information so as to generate a preset position feature.
Specifically, image time marks corresponding to the image pickup signals are given to the image pickup signals acquired by the image pickup device when the image is picked up, time marks are given to the corresponding position features, and the preset images in the preset image sequence and the preset positions in the preset position sequence are in one-to-one correspondence through the time marks.
Preferably, the step of transmitting the preset image sequence and the preset position sequence to the external terminal to receive an adjustment instruction from a user, where the adjustment instruction is used to adjust the preset image sequence and the preset position sequence to obtain a target image sequence and a target position sequence includes:
S31: transmitting the pre-adjusted image sequence and the pre-adjusted position sequence to the external terminal;
S32: the external terminal connects all the preset images in the preset image sequence according to the sequence relation among all the preset position features in the preset position sequence so as to obtain a preliminary track image; the preliminary track image is used for displaying the effects of the cradle head and the camera device in track pre-adjustment shooting to a user;
S33: constructing a coordinate system of each preset image in the preliminary track image, collecting continuity features of each preset image in the preliminary track image, and acquiring coordinate information of the continuity features in each preset image based on the constructed coordinate system;
S34: taking the continuous coordination of the preliminary track image as a target, and adjusting the coordinate information of the continuous feature in each preset image to obtain the adjustment coordinate of the continuous feature in each preset image;
s35: adjusting each preset image according to each adjustment coordinate to obtain a preliminary adjustment image and an adjustment track image formed by each preliminary adjustment image; the adjustment track image is used for displaying an adjustment effect to a user;
S36: receiving an adjustment instruction made by a user aiming at an adjustment track image, and carrying out further coordinate adjustment on each preliminary adjustment image so as to obtain each target image and a target image sequence formed by each target image;
s37: and adjusting the preset position sequence according to the corresponding relation between the preset position sequence and the preset image sequence to obtain a target position sequence.
Specifically, the preset image sequence and the preset position sequence recorded by the cradle head are transmitted to an external terminal, and the adjustment of a user is received on the external terminal.
More specifically, each preset image in the preset image sequence is connected according to the sequence relation among the preset position features in the preset position sequence to obtain a preliminary track image, and it can be understood that as the user directly performs manual operation by the user in the first track delay shooting, each preset image has different degrees of deviation, and the formed preliminary track image is different from the track image in an ideal state.
More specifically, each track image in the preliminary track image is respectively constructed in a coordinate system, each preset image in the preliminary track image is respectively acquired in a continuity characteristic mode, and coordinate information of the continuity characteristic in each preset image is acquired based on the constructed coordinate system.
The continuity feature is an image feature commonly existing in adjacent preset images, and based on the position relation between the continuity features, the adjacent preset images are adjusted by taking the continuous coordination of the preliminary track images as a target, so as to obtain adjustment coordinates of the continuity feature in each preset image.
More specifically, the continuous coordination of the preliminary trajectory image refers to a theoretical positional relationship between the continuous features in the trajectory delayed photographic image, that is, the adjustment of each preset image of the preliminary trajectory image to a theoretical position conforming to the trajectory delayed photographic image.
More specifically, when the continuity feature moves, the whole of the preset image also moves, and the preset image and the preset position are in one-to-one correspondence, and when the preset image is adjusted, the preset position also needs to move, that is, according to the difference between the target image obtained after the movement and the preset image, the change feature of the position of the shooting device is obtained, so that the target position and the target position sequence are obtained.
Preferably, when the pan-tilt carries out corresponding adjustment according to the adjustment instruction and carries out image capturing, the step of collecting the position features of the pan-tilt and arranging the collected position features according to a time sequence to generate a capturing track sequence of the pan-tilt comprises:
S61: when the cradle head carries out corresponding adjustment and image shooting according to the adjustment instruction, collecting the position characteristics of the cradle head;
S62: and arranging the acquired position features according to a time sequence to generate a shooting track sequence of the cradle head.
Specifically, when the cradle head correspondingly adjusts and shoots an image according to the adjustment instruction, the position features of the cradle head are collected, and the collected position features are arranged according to a time sequence to generate a shooting track sequence of the cradle head.
More specifically, when the pan-tilt carries out corresponding adjustment according to the adjustment instruction and carries out image shooting, the position features of the pan-tilt and the target positions in the target position sequence are in a corresponding relation, that is, when the second track delay shooting is carried out, the position features of the pan-tilt should move to the target positions of the target position sequence under the adjustment instruction.
Referring to fig. 2, in a second aspect, the present invention provides a shooting track recording apparatus for a pan/tilt head, including:
The preliminary track acquisition module is used for receiving a control instruction from an external terminal, and the cradle head enters a track preset mode; when the cradle head is in a track pre-adjustment mode, the cradle head is used for carrying out track pre-adjustment shooting under the operation of a user, and in the process of carrying out track pre-adjustment shooting, a pre-adjustment image shot by the image shooting device and pre-adjustment position characteristics of the image shooting device when shooting the pre-adjustment image are respectively acquired through communication connection with the image shooting device and an internal sensor group;
The track analysis module is used for respectively arranging each preset image and each preset position characteristic in the track preset shooting to obtain a preset image sequence and a preset position sequence; each preset image in the preset image sequence and each preset position feature in the preset position sequence are in one-to-one correspondence;
The track adjusting module is used for transmitting the preset image sequence and the preset position sequence to the external terminal so as to receive an adjusting instruction from a user, wherein the adjusting instruction is used for adjusting the preset image sequence and the preset position sequence to obtain a target image sequence and a target position sequence;
The formal track acquisition module is used for receiving a control instruction from an external terminal, and the cradle head enters a track shooting mode; when the cradle head is in a track shooting mode, the cradle head continuously collects real-time images shot by the camera device and real-time position features of the camera device when shooting the real-time images;
The adjustment indication module is used for carrying out contrast analysis on the real-time image through the target image sequence to obtain image difference characteristics, carrying out contrast analysis on the real-time position characteristics through the target position sequence to obtain position difference characteristics, and generating an adjustment indication of the cradle head according to the image difference characteristics and the position difference characteristics;
and the track generation module is used for collecting the position characteristics of the cradle head when the cradle head correspondingly adjusts according to the adjustment instruction and shoots an image, and arranging the collected position characteristics according to a time sequence so as to generate a shooting track sequence of the cradle head.
In this embodiment, for specific implementation of each module in the above embodiment of the apparatus, please refer to the description in the above embodiment of the method, and no further description is given here.
In a third aspect, the present invention provides a shooting track recording apparatus for a pan-tilt, including a memory and a processor, where the memory stores a computer program that can run on the processor, and the processor implements the shooting track recording method for a pan-tilt according to any one of the first aspect when executing the computer program.
In a fourth aspect, the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, causes the processor to perform a shooting track recording method of a pan-tilt as set forth in any one of the first aspects.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (6)
1. A shooting track recording method of a cradle head is characterized by comprising the following steps:
Receiving a control instruction from an external terminal, wherein the cradle head enters a track preset mode; when the cradle head is in a track pre-adjustment mode, the cradle head is used for carrying out track pre-adjustment shooting under the operation of a user, and in the process of carrying out track pre-adjustment shooting, a pre-adjustment image shot by the image shooting device and pre-adjustment position characteristics of the image shooting device when shooting the pre-adjustment image are respectively acquired through communication connection with the image shooting device and an internal sensor group;
Arranging each preset image and each preset position feature in the track preset shooting respectively to obtain a preset image sequence and a preset position sequence; each preset image in the preset image sequence and each preset position feature in the preset position sequence are in one-to-one correspondence;
Transmitting the preset image sequence and the preset position sequence to the external terminal, and receiving an adjusting instruction from a user based on the external terminal, wherein the adjusting instruction is used for adjusting the preset image sequence and the preset position sequence to obtain a target image sequence and a target position sequence;
receiving a control instruction from an external terminal, wherein the cradle head enters a track shooting mode; when the cradle head is in a track shooting mode, the cradle head continuously collects real-time images shot by the camera device and real-time position features of the camera device when shooting the real-time images;
Performing contrast analysis on the real-time image through the target image sequence to obtain image difference characteristics, performing contrast analysis on the real-time position characteristics through the target position sequence to obtain position difference characteristics, and generating an adjustment instruction of the cradle head according to the image difference characteristics and the position difference characteristics;
When the cradle head carries out corresponding adjustment and image shooting according to the adjustment instruction, acquiring the position characteristics of the cradle head, and arranging the acquired position characteristics according to a time sequence to generate a shooting track sequence of the cradle head;
Transmitting the preset image sequence and the preset position sequence to the external terminal so as to receive an adjusting instruction from a user, wherein the adjusting instruction is used for adjusting the preset image sequence and the preset position sequence to obtain a target image sequence and a target position sequence, and the step of obtaining the target image sequence and the target position sequence comprises the following steps of:
transmitting the pre-adjusted image sequence and the pre-adjusted position sequence to the external terminal;
The external terminal connects all the preset images in the preset image sequence according to the sequence relation among all the preset position features in the preset position sequence so as to obtain a preliminary track image; the preliminary track image is used for displaying the effects of the cradle head and the camera device in track pre-adjustment shooting to a user;
constructing a coordinate system of each preset image in the preliminary track image, collecting continuity features of each preset image in the preliminary track image, and acquiring coordinate information of the continuity features in each preset image based on the constructed coordinate system;
Taking the continuous coordination of the preliminary track image as a target, and adjusting the coordinate information of the continuous feature in each preset image to obtain the adjustment coordinate of the continuous feature in each preset image;
Adjusting each preset image according to each adjustment coordinate to obtain a preliminary adjustment image and an adjustment track image formed by each preliminary adjustment image; the adjustment track image is used for displaying an adjustment effect to a user;
receiving an adjustment instruction made by a user for the adjustment track image, and performing further coordinate adjustment on each preliminary adjustment image to obtain each target image and a target image sequence formed by each target image;
and adjusting the preset position sequence according to the corresponding relation between the preset position sequence and the preset image sequence to obtain a target position sequence.
2. The method for recording a shooting track of a pan-tilt head according to claim 1, wherein when the pan-tilt head is in a track pre-adjustment mode, the step of the pan-tilt head for performing track pre-adjustment shooting under the operation of a user comprises:
the cradle head acquires an image pickup signal of the image pickup device when the image is picked up, and an image obtained by shooting the image pickup signal, and a time mark is given to the image according to the time corresponding to the image pickup signal so as to generate a preset image;
When the cradle head acquires the image pickup signal, the cradle head collects the current position feature and gives a time mark to the collected position feature according to the time corresponding to the image pickup signal so as to generate a preset position feature.
3. The method for recording a shooting track of a pan-tilt according to claim 1, wherein when the pan-tilt is adjusted accordingly according to the adjustment instruction and images are shot, the step of acquiring the position features of the pan-tilt and arranging the acquired position features in time sequence to generate the shooting track sequence of the pan-tilt comprises:
When the cradle head carries out corresponding adjustment and image shooting according to the adjustment instruction, collecting the position characteristics of the cradle head;
And arranging the acquired position features according to a time sequence to generate a shooting track sequence of the cradle head.
4. A recording apparatus for a shooting track of a pan-tilt, characterized by being configured to implement a method for recording a shooting track of a pan-tilt according to any one of claims 1 to 3, comprising:
The preliminary track acquisition module is used for receiving a control instruction from an external terminal, and the cradle head enters a track preset mode; when the cradle head is in a track pre-adjustment mode, the cradle head is used for carrying out track pre-adjustment shooting under the operation of a user, and in the process of carrying out track pre-adjustment shooting, a pre-adjustment image shot by the image shooting device and pre-adjustment position characteristics of the image shooting device when shooting the pre-adjustment image are respectively acquired through communication connection with the image shooting device and an internal sensor group;
The track analysis module is used for respectively arranging each preset image and each preset position characteristic in the track preset shooting to obtain a preset image sequence and a preset position sequence; each preset image in the preset image sequence and each preset position feature in the preset position sequence are in one-to-one correspondence;
The track adjusting module is used for transmitting the preset image sequence and the preset position sequence to the external terminal so as to receive an adjusting instruction from a user, wherein the adjusting instruction is used for adjusting the preset image sequence and the preset position sequence to obtain a target image sequence and a target position sequence;
The formal track acquisition module is used for receiving a control instruction from an external terminal, and the cradle head enters a track shooting mode; when the cradle head is in a track shooting mode, the cradle head continuously collects real-time images shot by the camera device and real-time position features of the camera device when shooting the real-time images;
The adjustment indication module is used for carrying out contrast analysis on the real-time image through the target image sequence to obtain image difference characteristics, carrying out contrast analysis on the real-time position characteristics through the target position sequence to obtain position difference characteristics, and generating an adjustment indication of the cradle head according to the image difference characteristics and the position difference characteristics;
and the track generation module is used for collecting the position characteristics of the cradle head when the cradle head correspondingly adjusts according to the adjustment instruction and shoots an image, and arranging the collected position characteristics according to a time sequence so as to generate a shooting track sequence of the cradle head.
5. A shooting track recording apparatus of a pan-tilt comprising a memory and a processor, said memory storing a computer program executable on the processor, characterized in that the processor implements a shooting track recording method of a pan-tilt according to any one of claims 1 to 3 when executing said computer program.
6. A computer-readable storage medium, characterized in that a computer program is stored thereon, which, when being executed by a processor, causes the processor to perform a shooting track recording method of a pan-tilt as claimed in any one of claims 1 to 3.
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