WO2019023914A1 - 一种图像处理方法、无人机、地面控制台及其图像处理*** - Google Patents

一种图像处理方法、无人机、地面控制台及其图像处理*** Download PDF

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Publication number
WO2019023914A1
WO2019023914A1 PCT/CN2017/095340 CN2017095340W WO2019023914A1 WO 2019023914 A1 WO2019023914 A1 WO 2019023914A1 CN 2017095340 W CN2017095340 W CN 2017095340W WO 2019023914 A1 WO2019023914 A1 WO 2019023914A1
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Prior art keywords
flight trajectory
shooting
target
flight
image
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PCT/CN2017/095340
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English (en)
French (fr)
Inventor
苏冠华
刘昂
毛曙源
胡骁
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2017/095340 priority Critical patent/WO2019023914A1/zh
Priority to CN201780004683.XA priority patent/CN108513642B/zh
Publication of WO2019023914A1 publication Critical patent/WO2019023914A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • the present invention relates to the field of image processing technologies, and in particular, to an image processing method, a drone, and a ground console.
  • the embodiment of the invention discloses an image processing method, a drone and a ground console, which can automatically generate a special effect image and improve the efficiency of generating a special effect image.
  • the first aspect of the embodiment of the present invention discloses an image processing method, including:
  • a shooting position interval and a shooting posture according to the target flight trajectory, wherein a shooting position interval in the non-curved portion of the target flight trajectory is the same, and a shooting position interval in the curved portion of the target flying trajectory is smaller than the non-curved portion Shooting position interval, the shooting posture is toward the target subject;
  • a second aspect of the embodiment of the present invention discloses another image processing method, including:
  • the special effect shooting control information including a target flight trajectory
  • a photographing position interval in a curved portion of the target flight locus is smaller than a photographing position interval in the non-curved portion, the photographing posture being toward the target photographing object;
  • the curvature is related to the curvature.
  • a third aspect of the embodiments of the present invention discloses a drone, including: a processor, a communication interface, and a memory, wherein the processor, the communication interface, and the memory are connected by a bus;
  • the memory is configured to store program instructions
  • the processor is configured to execute program instructions stored by the memory
  • the communication interface is configured to exchange information or signaling interactions
  • the communication interface is configured to receive special effect shooting control information sent by a ground console, where the special effect shooting control information includes a target flight trajectory;
  • the processor is configured to determine a shooting position interval and a shooting attitude according to the target flight trajectory, wherein a shooting position interval in the non-curved portion of the target flight trajectory is the same, and a shooting position interval in the curved portion of the target flying trajectory Less than a photographing position interval in the non-curved portion, the photographing posture is toward a target photographing object;
  • the processor is further configured to control the drone to fly according to the target flight trajectory, and control the camera to capture the target photographic object according to the shooting position interval and the shooting attitude, to obtain a captured image set,
  • the captured image set includes a plurality of captured images
  • the communication interface is further configured to send the captured image set to the ground console, so that And stitching at least part of the captured images in the captured image set to the ground console to generate a special effect image.
  • a fourth aspect of the embodiments of the present invention discloses a ground console, including: a processor, a communication interface, and a memory, where the processor, the communication interface, and the memory are connected by using a bus;
  • the memory is configured to store program instructions
  • the communication interface is configured to exchange information or signaling interactions
  • the processor is configured to execute program instructions stored by the memory
  • the processor is configured to acquire a special effect image type, and determine special effect shooting control information corresponding to the special effect image type, where the special effect shooting control information includes a target flight trajectory;
  • the communication interface is configured to send the special effect shooting control information to the drone, so that the drone determines the shooting position interval and the shooting posture according to the target flight trajectory, and the non-bending portion of the target flight trajectory
  • the photographing position intervals are the same, the photographing position interval in the curved portion of the target flight locus is smaller than the photographing position interval in the non-curved portion, the photographing posture is toward the target photographing object;
  • the communication interface is further configured to receive a set of captured images sent by the drone, and the plurality of captured images included in the captured image set are in a process of flying by the drone according to the target flight path. Controlling, by the camera, the shooting of the target subject according to the shooting position interval and the shooting attitude;
  • the processor is further configured to splice the at least part of the captured image according to an image range that is respectively captured by at least part of the captured images in the captured image set, to generate a special effect image, and the image range and the image captured by the captured image The curvature of the photographing position of the captured image is related.
  • the fifth aspect of the embodiments of the present invention discloses an image processing system, comprising: the drone according to the above third aspect, and the ground console according to the fourth aspect.
  • a sixth aspect of the embodiments of the present invention discloses a computer program product, wherein the image processing method is executed when an instruction in the computer program product is executed by a processor.
  • a seventh aspect of the embodiments of the present invention discloses a storage medium, wherein the image processing method is executed when an instruction in the storage medium is executed by a processor.
  • the special effect shooting control information sent by the ground console is received, and the shooting position interval and the shooting attitude are determined according to the target flight trajectory included in the special effect shooting control information, and then Controlling the drone to fly according to the target flight path, and controlling the camera to shoot the target object according to the shooting position interval and the shooting attitude, obtaining a captured image set, and finally transmitting the captured image set to the ground console for ground control
  • the station splices at least part of the captured images in the captured image set to generate a special effect image, and can automatically generate a special effect image according to the image set captured by the drone, thereby improving the efficiency of generating the special effect image.
  • FIG. 1 is a schematic flow chart of an image processing method according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of an image splicing process disclosed in an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a special effect flight trajectory disclosed in an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of another special effect flight trajectory disclosed in an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of still another special effect flight trajectory disclosed in the embodiment of the present invention.
  • FIG. 6 is a schematic diagram of still another special effect flight trajectory disclosed in the embodiment of the present invention.
  • FIG. 7 is a schematic diagram of still another special effect flight trajectory disclosed in the embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of a drone according to an embodiment of the present invention.
  • FIG. 9 is a schematic structural diagram of a ground console disclosed in an embodiment of the present invention.
  • FIG. 10 is a schematic structural diagram of an image processing system according to an embodiment of the present invention.
  • FIG. 1 is a schematic flowchart diagram of an image processing method according to an embodiment of the present invention.
  • the image processing method described in this embodiment includes but is not limited to the following steps:
  • the ground console acquires a special effect image type, and determines a special corresponding to the special effect image type. Effective shooting control information.
  • the special effect shooting control information includes a target flight trajectory.
  • the ground console first receives the special effect image selected by the user, and acquires the special effect image type to which the effect image selected by the user belongs. Then, the target special effect flight trajectory is determined according to the corresponding relationship between the preset special effect image type and the special effect flight trajectory, and the target special effect flight trajectory is one of the special effect flight trajectories pre-stored by the ground console. Then, according to the target special effect flight trajectory and the flight starting point specified for the flight of the drone, the target flight trajectory of the flight of the drone is determined.
  • the target special effect flight trajectory can be directly used as the target flight trajectory of the drone.
  • the flight refers to the flight process of controlling the drone to collect the image set for the target subject when the image processing method provided by the embodiment of the present invention is used to generate the special effect image.
  • the special effect flight trajectory pre-stored by the ground console may be generated based on a pre-recorded flight trajectory of the drone.
  • the flight position, speed, acceleration, and the like during the manual flight of the drone are recorded, and the recording is recorded.
  • Information such as the shooting position and the attitude of the pan/tilt that the subject is shooting.
  • the flight position information includes information such as height and coordinates
  • the attitude information of the pan/tilt includes information such as a deflection angle roll, a longitudinal angle pitch, and a lateral angle yaw of the pan/tilt.
  • the flight path of the UAV manual flight is determined and recorded, and the recorded flight path of the UAV manual flight is scaled, pulled, rotated, etc. to generate a special effect flight path.
  • the special effect image type corresponding to the special effect flight track may be determined and recorded according to the plurality of images captured by the subject during the manual flight of the drone, and the recorded shooting position, the pan/tilt posture and the like.
  • the special effect flight trajectory pre-stored by the ground console may be generated according to a flight trajectory previously drawn by the user. Specifically, the UAV flight trajectory manually drawn by the user in the APP of the ground console is determined as the special effect flight trajectory, and further information such as the flying height and the PTZ attitude set by the user may be recorded, wherein the PTZ attitude may be Towards the subject.
  • the special effect flight trajectory pre-stored by the ground console may be generated according to a flight trajectory of the pre-recorded drone or a flight trajectory previously drawn by the user, or may be based on a pre-recorded drone. Flight trajectory or multiple flight trajectories pre-drawn by the user Into.
  • the special effect shooting control information may further include information such as a shooting position interval, a shooting frequency, a shooting attitude, a flying speed, an acceleration, and the like, and how to determine the above information included in the shooting control information may be determined according to a specific situation. This is not limited here.
  • the ground console sends the special effect shooting control information to the drone.
  • the drone receives the special effect shooting control information sent by the ground console.
  • the drone determines a shooting position interval and a shooting attitude according to a target flight trajectory included in the special effect shooting control information.
  • the drone after receiving the special effect shooting control information sent by the ground console, the drone determines the shooting position interval and the shooting attitude according to the target flight trajectory included in the special effect shooting control information. Specifically, for the target flight trajectory, the curved portion and the non-curved portion in the target flight trajectory are determined.
  • the non-curved portion refers to a portion of the target flight trajectory that is horizontally or vertically parallel to the target photographic subject or perpendicular to the target photographic subject.
  • the photographing position interval in the curved portion of the target flight locus is determined according to a preset setting rule of the photographing position interval, and the photographing position interval in the non-curved portion of the target flight locus is determined.
  • the setting rule of the preset shooting position interval may be that the shooting position interval in the non-curved portion of the target flying track is set to a first shooting position interval, and the first shooting position interval is a fixed value, that is, It is said that the photographing position intervals in the non-curved portion of the target flight locus are the same; the photographing position interval in the curved portion of the target flight locus is set as the second photographing position interval.
  • the second shooting position interval is different from the first shooting position interval; further optionally, the second shooting position interval may be smaller than the first shooting position interval.
  • the second shooting position interval may also be a changed value; further optionally, the second shooting position interval may also be negatively correlated with a bending curvature in the curved portion of the target flight path. That is, the second shooting position interval is inversely proportional to the bending curvature at the curved portion.
  • the second shooting position interval is less than the first shooting position interval, and the second shooting position interval is negatively correlated with the bending curvature in the curved portion of the target flight track.
  • position information of each of the photographing points in the non-curved portion may be determined according to the target flight trajectory and the first photographing position interval. First obtaining the bending position in the curved portion a law of radians change, and then determining a shooting position interval at each bending position in the curved portion of the target flight trajectory according to a mapping relationship between the preset bending radii and the second shooting position interval, and determining the curved portion according to the target flight trajectory Location information for each shooting point.
  • the shooting postures of the respective shooting points in the curved portion of the target flight trajectory are determined according to a preset setting rule of the shooting attitude, and the shooting postures of the respective shooting points in the non-curved portion of the target flight trajectory are determined.
  • the setting rule of the preset shooting posture may be that the shooting posture of each shooting point of the target flight trajectory is set to face the target photographic subject.
  • a shooting posture of each of the non-curved portions of the target flight trajectory may be set to be vertically oriented toward the target photographic subject; a shooting posture of each of the curved portions of the target flight trajectory may be set to an oblique orientation Target subject.
  • the direction vector corresponding to the shooting posture of the shooting point in the curved portion may be set at an angle between plus and minus 70 degrees to 90 degrees with the tangent of the shooting point in the target flight path.
  • the target subject refers to each shooting target in the shooting area designated by the user.
  • the preset rule of the shooting position interval and the setting rule of the preset shooting posture may be included in the shooting control information sent by the ground console, or may be pre-stored in the memory of the drone, and the present invention Implementation is not limited.
  • the shooting position interval in the non-bent portion of the target flight trajectory may be determined according to the preset first shooting frequency and the flying speed of the drone.
  • the shooting position interval in the curved portion of the target flight trajectory may also be determined according to a mapping relationship between the preset bending curvature and the second shooting frequency, and a flying speed of the drone.
  • the second shooting frequency may be different from the first shooting frequency; further optionally, the first shooting frequency may be smaller than the second shooting frequency.
  • the second frequency may also be proportional to the bending curvature, that is, the greater the bending curvature, the larger the second shooting frequency corresponding to the bending curvature.
  • the UAV controls the UAV to fly according to the target flight trajectory, and controls the camera to capture the target photographic object according to the shooting position interval and the shooting attitude to obtain a captured image set.
  • the drone is controlled to fly according to the target flight trajectory, and during the flight of the drone along the target flight trajectory, according to the determined position information of the shooting point in the target flight trajectory and the shooting Point the corresponding PTZ shooting attitude to shoot the target subject, and get a picture
  • the captured image collection includes a plurality of captured images.
  • the drone sends the captured image set to the ground console.
  • the ground console receives the captured image set sent by the drone.
  • the ground console splices the at least part of the captured images according to an image range respectively captured by at least part of the captured images in the captured image set to generate a special effect image.
  • the image range respectively captured by the plurality of captured images in the captured image set is related to the curved curvature at the shooting position of the captured image.
  • the ground console acquires camera parameters of the camera and a shooting position and a shooting posture of the plurality of captured images that are previously recorded by the drone.
  • the camera refers to a camera mounted on the target camera, and the camera parameters and the shooting position and shooting posture of the plurality of captured images recorded in advance by the drone may be included in the image collection.
  • the ground console may send a parameter acquisition instruction to the drone, and the drone sends the instruction to the drone in response to the instruction after receiving the parameter acquisition instruction.
  • the image range respectively captured by the at least partial captured image is determined according to a shooting position and a shooting attitude of at least a portion of the captured images.
  • the image range intercepted by the captured image is inversely related to the curvature of curvature at the shooting position of the captured image.
  • the captured image in the non-curved portion of the target flight trajectory has the same image range; the captured position is in the image range captured by the captured image in the curved portion of the target flight trajectory and the captured position of the captured image
  • the curvature of the arc is inversely proportional, that is, the greater the curvature of the captured position of the captured image, the smaller the range of images captured by the captured image.
  • the ground console first determines the shooting order of the at least partially captured image according to the respective shooting positions of the at least part of the captured images and the target flight trajectory. Then, based on the photographing position and the photographing posture of the photographed image adjacent to any two of the photographing positions in the at least part of the photographed images, relative motion information between the photographed images adjacent to any two photographing positions is determined.
  • the relative motion information can be represented by a three-dimensional rotation matrix R and a three-dimensional translation vector t.
  • a two-dimensional affine transformation matrix A between the captured images adjacent to the arbitrary two shooting positions is determined.
  • the camera parameters include a focal length f, an optical center coordinate c x and c y , and the calculation formula is:
  • the generated effect image may be a panorama with special effects.
  • FIG. 2 taking four images P1, P2, P3, and P4 in the captured image set as an example for illustration, assuming that the shooting positions of P1 and P2 are adjacent and located in the non-curved portion of the target flight path.
  • the acquired P1 and P2 intercept the same range.
  • the unfilled portion in P1 is the range that P1 should intercept
  • the gray filled portion in P1 and the gray filled portion in P2 are the overlapping regions of P1 and P2, and the unfilled portion and gray in P2.
  • the filled portion is the range that P2 should intercept
  • the black filled portion in P2 is the overlapping area of P2 and the next adjacent image.
  • the two images P1 and P2 are spliced, and the generated special effect image is as shown in FIG. 2b.
  • the range intercepted by P3 during the splicing process should be larger than P4.
  • the scope of the interception As shown in Fig. 2c, the unfilled portion in P3 is the range that P3 should intercept, the gray filled portion in P3 and the gray filled portion in P4 are the overlapping regions of P3 and P4, and the unfilled portion and gray in P4.
  • the filled portion is the range that P4 should intercept, and the black filled portion in P4 is the overlapping area of P4 and the next adjacent image.
  • the shooting positions of P2 and P3 are adjacent, the two images P3 and P4 are spliced, and the generated special effect image is as shown in FIG. 2d.
  • the ground console splices the at least part of the captured image, and after generating the special effect image, the ground console may further receive a post-effect processing instruction input by the user, and respond to the generated special effect in response to the post-effect processing instruction.
  • the image is subjected to post-effect processing, and the special effect image after the post-effect processing is obtained.
  • the post-effect processing instruction includes performing geometric transformation processing such as rotation, distortion, and haze mirror transformation on the generated special effect image, and may further include adjusting and transforming the generated special effect image in hue, color, and style.
  • the target flight trajectory includes, but is not limited to, the following target flight trajectory for illustration.
  • the first target flight trajectory shown includes a first flight trajectory and a second flight trajectory, which is parallel to the target flight trajectory.
  • a portion of the target subject, that is, a portion parallel to the road, the second flight trajectory is a curved portion of the target flight trajectory, and the curvature of the second flight trajectory is increased from small to large.
  • the photographing position interval and the photographing posture determined according to the first target flight trajectory are that the photographing position intervals in the first flight locus are the same, and the photographing posture corresponding to the photographing position in the first flight locus is vertically oriented toward the target photographing object;
  • the photographing position interval in the second flight locus is changed from large to small, and the photographing posture corresponding to the photographing position in the second flight locus is inclined toward the target photographing object.
  • the image range respectively determined according to the photographing position and the photographing posture determined by the photographing position and the photographing posture of the photographed image set is that the image range of the photographed image in which the photographing position is in the first flight locus is the same; the photographing position is in the first
  • the range of images captured by the captured images in the two flight trajectories is reduced from large to small.
  • the generated special effect image effect is as shown in FIG. 3b.
  • the upper end portion of the figure corresponds to the non-curved portion of the first target flight path, so the effect of the upper end portion of the figure is straight and narrow; the lower end portion of the figure is due to the first target
  • the curved portion of the flight trajectory corresponds, and the curvature of the curve increases from small to large, so the effect of the lower end portion of the figure is that the road is curved and widened from narrow to wide, which can exhibit obvious near and far effects.
  • the shooting scene shown in FIG. 4a is that two people respectively stand at two ends of a straight road, and the second target flight trajectory includes a first flight trajectory, a second flight trajectory and a third flight trajectory, and the first flight
  • the line trajectory and the third flight trajectory are curved portions in the second target flight trajectory, and the curved curvature of the first flight trajectory is changed from large to small, and the curved curvature of the third flight trajectory is changed from small to large;
  • the second flight The trajectory is a portion of the second target flight trajectory that is parallel to the target subject.
  • the photographing position interval and the photographing posture determined according to the second target flight trajectory are that the photographing position interval in the first flight trajectory is increased from small to large, and the photographing posture corresponding to the photographing position in the first flight trajectory is tilted toward the target photographing object
  • the shooting position interval in the second flight trajectory is the same, and the shooting posture corresponding to the shooting position in the second flight trajectory is perpendicular to the target photographic subject; the shooting position interval in the third flight trajectory is changed from large to small, the third The shooting posture corresponding to the shooting position in the flight trajectory is inclined toward the target subject.
  • the range of the image captured by the captured image determined according to the shooting position and the shooting posture of the captured image in the plurality of captured images is that the range of the image captured by the captured image in the first flight trajectory is smaller or larger;
  • the image captured by the captured image in the second flight trajectory has the same range;
  • the image range captured by the captured image in the third flight trajectory is reduced from large to small.
  • the generated special effect image effect is as shown in FIG. 4b.
  • the middle portion of the figure corresponds to the non-curved portion of the second target flight trajectory, so that the effect of the middle portion of the figure is straight and narrow;
  • the upper end portion of the figure is due to the second target
  • the curved portion of the flight trajectory corresponds, and the curvature of the curve changes from large to small, so the effect of the upper end portion of the figure is that the road is curved and narrowed by the width, and the upper end portion is like the inverted side;
  • the lower end portion of the figure is due to the second target flight trajectory
  • the curved portion corresponds to each other, and the bending curvature is increased from small to large, so that the effect of the lower end portion of the figure is that the road is curved and widened from narrow.
  • the shooting scene shown in FIG. 5a is that two people stand at two ends of a straight road, and the third target flight trajectory includes a first flight trajectory, a second flight trajectory, a third flight trajectory, and a fourth flight trajectory.
  • the first flight trajectory and the fourth flight trajectory are portions of the third target flight trajectory that are parallel to the target photographic subject; the second flight trajectory and the third flight trajectory are curved portions of the third target flight trajectory, and the The curvature of the second flight trajectory increases from small to large, and the curvature of the third flight trajectory changes from large to small.
  • the photographing position interval and the photographing posture determined according to the third target flight trajectory are that the photographing position intervals in the first flight locus are the same, and the photographing posture corresponding to the photographing position in the first flight locus is vertically oriented toward the target photographing object;
  • the shooting position interval in the second flight trajectory changes greatly Small, the shooting position interval in the third flight trajectory is changed from small to large, and the second flight trajectory and the shooting posture corresponding to the shooting position in the third flight trajectory are inclined toward the target photographic subject; in the fourth flight trajectory
  • the shooting position intervals are the same, and the shooting posture corresponding to the shooting position in the fourth flight trajectory is perpendicular to the target photographic subject. It should be noted that the shooting position interval in the first flight trajectory may be the same as the shooting position interval in the fourth flight trajectory, or may be different.
  • the image range respectively determined according to the photographing position and the photographing posture determined by the photographing position and the photographing posture of the photographed image in the plurality of photographed images is that the photographed image in which the photographing position is in the first flight locus has the same image range; the photographing position is in the The range of the image captured by the captured image in the second flight trajectory is changed from large to small; the range of the image captured by the captured image in which the shooting position is in the third flight trajectory is changed from small to large; the captured image in which the shooting position is in the fourth flight trajectory The range of images captured is the same.
  • the generated special effect image effect is as shown in FIG. 5b.
  • the upper end and the lower end portion of the figure correspond to the non-curved portion of the third target flight path, so that the effects of the upper end and the lower end portion of the figure are straight and narrow, and the person seems to be an origin; Since the middle portion of the figure corresponds to the curved portion of the third target flight trajectory, and the bending curvature is changed from small to large, and then from large to small, the effect of the middle portion of the figure is that the road is prominent and wide.
  • the imaging effect of the road like a lenticular lens in the middle part of the figure.
  • the shooting scene shown in FIG. 6a is that four people stand at the four ends of two mutually perpendicular roads respectively, and the fourth target flight trajectory shown includes two second target flight trajectories shown in FIG. 4a, and the two The second target flight trajectory intersects perpendicularly at the midpoint.
  • the generated special effect image effect is as shown in FIG. 6b. In the special effect image shown in Fig.
  • the image is symmetrical in the upper and lower sides and the left and right sides respectively, and the person in the upper end portion of the figure and the person in the lower end portion of the figure oppose each other, and the person in the left end portion of the figure and the right end portion of the figure
  • the people in the opposite direction are like the imaging effect of a multi-faceted mirror.
  • the shooting scene shown in FIG. 6a may also be a person.
  • the person When the drone is photographed at one end of the road, the person is at the corresponding position of the certain end, when the drone is aimed at the certain After one end of the shooting is completed, the person immediately goes to the corresponding position of the lower end of the road that the drone is about to shoot.
  • the shooting scene shown in Fig. 6a can also be realized.
  • the target flight trajectory in the embodiment of the present invention may include only non- The curved portion may also include only the curved portion.
  • the target flight trajectory shown in FIG. 7a is a surrounding trajectory, and the drone can be controlled to fly and take pictures according to the surrounding trajectory horizontally surrounding the foreground shooting target.
  • the surrounding track may be circular or elliptical.
  • the drone can also be controlled to fly and take pictures according to the surrounding trajectory.
  • the target flight path shown in Figure 7b is a circular arc track.
  • the circular arc track may be a circular arc or an elliptical part of an arc corresponding to any angle, and may be in a horizontal direction or in a vertical direction.
  • the foreground shooting target in the figure is the above-mentioned target shooting object.
  • ground console splicing at least part of the image in the image set, and the process of generating the special effect image may also be performed by the drone.
  • specific processing refer to the above description, and details are not described herein again.
  • the special effect shooting control information sent by the ground console is received, and the shooting position interval and the shooting attitude are determined according to the target flight trajectory included in the special effect shooting control information, and then the drone is controlled to fly according to the target flight trajectory. And controlling the camera to shoot the target subject according to the shooting position interval and the shooting attitude, obtaining a captured image set, and finally transmitting the captured image set to the ground console, so that the ground console can shoot at least part of the captured image set.
  • the image is spliced to generate a special effect image, and the special effect image can be automatically generated according to the image collection captured by the drone, thereby improving the efficiency of generating the special effect image.
  • FIG. 8 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
  • the unmanned aerial vehicle described in the embodiment of the present invention includes: a processor 801, a communication interface 802, and a memory 803.
  • the processor 801, the communication interface 802, and the memory 803 can be connected by using a bus or other manners.
  • the processor 801 can be a central processing unit (CPU), a network processor (NP), a graphics processing unit (GPU), or a combination of a CPU, a GPU, and an NP.
  • the processor 801 can also be a core for implementing communication identity binding in a multi-core CPU, a multi-core GPU, or a multi-core NP.
  • the processor 801 described above may be a hardware chip.
  • the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
  • ASIC application-specific integrated circuit
  • PLD programmable logic device
  • the above PLD can be a complex programmable logic device (complex Programmable logic device (CPLD), field-programmable gate array (FPGA), general array logic (GAL), or any combination thereof.
  • CPLD complex Programmable logic device
  • FPGA field-programmable gate array
  • GAL general array logic
  • the above communication interface 802 can be used for transceiving information or signaling interactions, as well as receiving and transmitting signals.
  • the memory 803 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, a storage program required for at least one function (such as a text storage function, a location storage function, etc.); the storage data area may be stored according to The data created by the use of the device (such as image data, text data), etc., and may include an application storage program or the like.
  • the memory 803 may include a high speed random access memory, and may also include a nonvolatile memory such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
  • the above memory 803 is also used to store program instructions.
  • the processor 801 can invoke the program instructions stored in the memory 803 to implement an image processing method as shown in the embodiment of the present invention. specifically:
  • the communication interface 802 is configured to receive special effect shooting control information sent by a ground console, where the special effect shooting control information includes a target flight trajectory;
  • the processor 801 is configured to determine a shooting position interval and a shooting attitude according to the target flight trajectory, wherein a shooting position interval in the non-curved portion of the target flight trajectory is the same, and a shooting position in the curved portion of the target flight trajectory The interval is smaller than a photographing position interval in the non-curved portion, the photographing posture is toward the target photographing object;
  • the processor 801 is further configured to control the drone to fly according to the target flight trajectory, and control the camera to shoot the target photographic object according to the shooting position interval and the shooting attitude, to obtain a captured image set.
  • the captured image set includes a plurality of captured images
  • the communication interface 802 is further configured to send the captured image set to the ground console, so that the ground console splices at least a portion of the captured images in the captured image set to generate a special effect image.
  • the method performed by the processor in the embodiment of the present invention is described from the perspective of a processor. It can be understood that the processor in the embodiment of the present invention needs to cooperate with other hardware structures to perform the above method. The specific implementation process is not described and limited in detail in the embodiments of the present invention.
  • the shooting position interval in the curved portion of the target flight trajectory is inversely related to the bending curvature at the curved portion.
  • the special effect shooting control information is according to the pre-recorded The flight path of the drone is generated.
  • the special effect shooting control information is generated according to a flight trajectory previously drawn by a user.
  • the target flight trajectory includes a first flight trajectory and a second flight trajectory, where the first flight trajectory is a portion of the target flight trajectory parallel to the target photographic subject, the first The two flight trajectories are curved portions of the target flight trajectory, and the curvature of the second flight trajectory is increased from small to large.
  • the processor 801 is specifically configured to determine a shooting position interval and a shooting attitude according to the first flight trajectory and the second flight trajectory.
  • the shooting positions in the first flight trajectory are the same, the shooting posture corresponding to the shooting position in the first flight trajectory is perpendicular to the target photographic subject; the shooting position interval in the second flight trajectory is changed from large to small The shooting posture corresponding to the shooting position in the second flight trajectory is inclined toward the target photographic subject.
  • the target flight trajectory includes a first flight trajectory, a second flight trajectory, and a third flight trajectory; the first flight trajectory and the third flight trajectory are curved in the target flight trajectory a portion in which the curvature of the first flight trajectory is changed from large to small, and the curvature of the third flight trajectory is changed from small to large; the second flight trajectory is taken in the target flight trajectory parallel to the target The part of the object.
  • the processor 801 is specifically configured to determine a shooting position interval and a shooting attitude according to the first flight trajectory, the second flight trajectory, and the third flight trajectory.
  • the shooting position interval in the first flight trajectory is increased from small to small, and the shooting posture corresponding to the shooting position in the first flight trajectory is inclined toward the target photographic subject; the shooting position interval in the second flight trajectory is the same a shooting posture corresponding to the shooting position in the second flight trajectory is vertically oriented toward the target photographic subject; a shooting position interval in the third flight trajectory is changed from large to small, and a shooting position in the third flight trajectory corresponds to The shooting posture is tilted toward the target subject.
  • the target flight path includes a first flight trajectory, a second flight trajectory, a third flight trajectory, and a fourth flight trajectory; the first flight trajectory and the fourth flight trajectory are a portion of the target flight trajectory parallel to the target photographic subject; the second flight trajectory and the third flight trajectory being curved portions of the target flight trajectory, the second flight trajectory.
  • the bending curvature is increased from small to large, and the bending curvature of the third flight trajectory is changed from large to small.
  • the processor 801 is specifically configured to determine a shooting position interval and a shooting attitude according to the first flight trajectory, the second flight trajectory, the third flight trajectory, and the fourth flight trajectory.
  • the shooting positions in the first flight trajectory are the same, the shooting posture corresponding to the shooting position in the first flight trajectory is perpendicular to the target photographic subject; the shooting position interval in the second flight trajectory is changed from large to small a shooting posture corresponding to the shooting position in the second flight trajectory is inclined toward the target photographic subject; a shooting position interval in the third flight trajectory is increased from small to large, and a shooting position in the third flight trajectory corresponds to The shooting posture is inclined toward the target photographic subject; the shooting positions in the fourth flight trajectory are the same, and the shooting posture corresponding to the shooting position in the fourth flight trajectory is perpendicular to the target photographic subject.
  • the processor 801, the communication interface 802, and the memory 803, which are described in the embodiments of the present invention, may be implemented in an image processing method according to an embodiment of the present invention. Let me repeat.
  • the special effect shooting control information sent by the ground console is received, and the shooting position interval and the shooting attitude are determined according to the target flight trajectory included in the special effect shooting control information, and then the drone is controlled to fly according to the target flight trajectory. And controlling the camera to shoot the target subject according to the shooting position interval and the shooting attitude, obtaining a captured image set, and finally transmitting the captured image set to the ground console, so that the ground console can shoot at least part of the captured image set.
  • the image is spliced to generate a special effect image, and the special effect image can be automatically generated according to the image collection captured by the drone, thereby improving the efficiency of generating the special effect image.
  • FIG. 9 is a schematic structural diagram of a ground console according to an embodiment of the present invention.
  • the ground console described in the embodiment of the present invention includes: a processor 901, a communication interface 902, and a memory 903.
  • the processor 901, the communication interface 902, and the memory 903 can be connected by using a bus or other manners.
  • the processor 901 may be a central processing unit (CPU), a network processor (NP), a graphics processing unit (GPU), or a combination of a CPU, a GPU, and an NP.
  • the processor 901 may also be a core for implementing communication identity binding in a multi-core CPU, a multi-core GPU, or a multi-core NP.
  • the processor 901 described above may be a hardware chip.
  • the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
  • the PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a general array logic (GAL), or any combination thereof.
  • the communication interface 902 described above can be used for transceiving information or signaling interactions, as well as receiving and transmitting signals.
  • the memory 903 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, a storage program required for at least one function (such as a text storage function, a location storage function, etc.); the storage data area may be stored according to The data created by the use of the device (such as image data, text data), etc., and may include an application storage program or the like.
  • the memory 903 may include a high speed random access memory, and may also include a nonvolatile memory such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
  • the above memory 903 is also used to store program instructions.
  • the processor 901 can invoke the program instructions stored in the memory 903 to implement an image processing method as shown in the embodiment of the present invention. specifically:
  • the processor 901 is configured to acquire a special effect image type, and determine special effect shooting control information corresponding to the special effect image type, where the special effect shooting control information includes a target flight trajectory;
  • the communication interface 902 is configured to send the special effect shooting control information to the drone, so that the drone determines the shooting position interval and the shooting attitude according to the target flight trajectory, and the non-curved portion of the target flight trajectory
  • the photographing position intervals in the same are the same, the photographing position interval in the curved portion of the target flight locus is smaller than the photographing position interval in the non-curved portion, the photographing posture is toward the target photographing object;
  • the communication interface 902 is further configured to receive a captured image set sent by the drone, and the captured image set includes a plurality of captured images that are in the process of flying by the drone according to the target flight path. Controlling the camera to capture the target photographic subject according to the shooting position interval and the shooting attitude;
  • the processor 901 is further configured to splice the at least part of the captured image according to an image range that is respectively captured by at least part of the captured images in the captured image set, to generate a special effect image, and the image range captured by the captured image is The curvature of the captured position of the captured image is related.
  • the shooting position interval in the curved portion of the target flight trajectory is inversely related to the bending curvature at the curved portion.
  • the range of images captured by the captured image is inversely related to the curvature of curvature at the location of the captured image.
  • the special effect shooting control information is generated according to a pre-recorded flight path of the drone.
  • the special effect shooting control information is generated according to a flight trajectory previously drawn by a user.
  • the processor 901 is configured to: when the at least part of the captured image is spliced according to the image range that is captured by the at least part of the captured image in the captured image set, and is used to generate the special effect image, specifically:
  • the target flight trajectory includes a first flight trajectory and a second flight trajectory, where the first flight trajectory is a portion of the target flight trajectory parallel to the target photographic subject, the first The two flight trajectories are curved portions of the target flight trajectory, and the curvature of the second flight trajectory is increased from small to large.
  • the image range captured by the captured image in the first flight trajectory is the same; the image range captured by the captured image in the second flight trajectory is changed from large to small.
  • the target flight trajectory includes a first flight trajectory, a second flight trajectory, and a third flight trajectory; the first flight trajectory and the third flight trajectory are curved in the target flight trajectory a portion in which the curvature of the first flight trajectory is changed from large to small, and the curvature of the third flight trajectory is changed from small to large; the second flight trajectory is parallel to the target flight trajectory The part of the target subject.
  • the range of the image captured by the captured image in the first flight trajectory is from small to large; the range of the image captured by the captured image in the second flight trajectory is the same; the shooting position is in the third The range of images captured by the captured image in the flight trajectory is reduced from large to small.
  • the target flight path includes a first flight trajectory, a second flight trajectory, a third flight trajectory, and a fourth flight trajectory; the first flight trajectory and the fourth flight trajectory are a portion of the target flight trajectory parallel to the target photographic subject; the second flight trajectory and the third flight trajectory are curved portions of the target flight trajectory, and the curved curvature of the second flight trajectory changes from small to small Large, the curvature of the third flight trajectory is changed from large to small.
  • the image range captured by the captured image in the first flight trajectory is the same; the image range captured by the captured image in the second flight trajectory is changed from large to small; the shooting position is in the third The range of the image captured by the captured image in the flight trajectory is increased from small to large; the range of the image captured by the captured image in the fourth flight trajectory is the same.
  • the communication interface 902 is further configured to receive a post-effect processing instruction input by a user.
  • the processor 902 is further configured to perform post-effect processing on the special effect image in response to the post-effect processing instruction to obtain a special effect image after the post-effect processing.
  • the post-effect processing instructions include rotation, distortion, tone adjustment, color adjustment, and transformation style.
  • the processor 901, the communication interface 902, and the memory 903 described in the embodiments of the present invention may be implemented on the ground console side described in an image processing method provided by an embodiment of the present invention. Let me repeat.
  • the special effect shooting control information sent by the ground console is received, and the shooting position interval and the shooting attitude are determined according to the target flight trajectory included in the special effect shooting control information, and then the drone is controlled to fly according to the target flight trajectory. And controlling the camera to shoot the target subject according to the shooting position interval and the shooting attitude, obtaining a captured image set, and finally transmitting the captured image set to the ground console, so that the ground console can shoot at least part of the captured image set.
  • the image is spliced to generate a special effect image, and the special effect image can be automatically generated according to the image collection captured by the drone, thereby improving the efficiency of generating the special effect image.
  • FIG. 10 is a schematic structural diagram of an image processing system according to an embodiment of the present invention.
  • the image processing system described in the embodiments of the present invention includes:
  • the ground console 1001 is configured to acquire a special effect image type, and determine special effect shooting control information corresponding to the special effect image type, where the special effect shooting control information includes a target flight trajectory.
  • the ground console 1001 is further configured to send the special effect shooting control information to the drone.
  • the drone 1002 is configured to receive the special effect shooting control information sent by the ground console.
  • the drone 1002 is further configured to determine a shooting position interval and a shooting posture according to the target flight trajectory, wherein a shooting position interval in the non-curved portion of the target flight trajectory is the same, and the curved portion of the target flying trajectory
  • the photographing position interval is smaller than a photographing position interval in the non-curved portion, the photographing posture being toward the target photographing subject.
  • the shooting position interval in the curved portion of the target flight trajectory is inversely related to the bending curvature at the curved portion.
  • the drone 1002 is further configured to control the drone to fly according to the target flight trajectory, and control the camera to capture the target photographic object according to the shooting position interval and the shooting attitude, to obtain a captured image set.
  • the captured image set includes a plurality of captured images.
  • the drone 1002 is further configured to send the captured image set to the ground console.
  • the ground console 1001 is further configured to receive a captured image set sent by the drone.
  • the ground console 1001 is further configured to splice the at least part of the captured image according to an image range respectively captured by at least part of the captured images in the captured image set, to generate a special effect image, and the image range captured by the captured image It is related to the curvature of curvature at the photographing position of the captured image.
  • the range of images captured by the captured image is inversely related to the curvature of curvature at the location of the captured image.
  • the special effect shooting control information is generated according to a pre-recorded flight path of the drone.
  • the special effect shooting control information is generated according to a flight trajectory previously drawn by a user.
  • ground console 1001 and the drone 1002 of the embodiment of the present invention may be specifically implemented according to the method in the foregoing method embodiment, and the specific implementation process may refer to the foregoing method.
  • the related description of the example is not described here.
  • the drone 1002 first receives the special effect shooting control information sent by the ground console 1001, and determines the shooting position interval and the shooting attitude according to the target flight trajectory included in the special effect shooting control information, and then controls the drone to follow the The target flight path is flighted, and the camera is controlled to shoot the target object according to the shooting position interval and the shooting attitude, the captured image set is obtained, and finally the captured image set is sent to the ground console 1001, so that the ground console can capture the captured image. At least part of the captured images in the set are spliced to generate a special effect image, and the special effect image can be automatically generated according to the image set captured by the drone 1002, thereby improving the efficiency of generating the special effect image.
  • the embodiment of the present invention further provides a computer readable storage medium, wherein the computer readable storage medium stores instructions, when executed on a computer, causing the computer to execute the image processing method described in the foregoing method embodiments.
  • the embodiment of the invention further provides a computer program product comprising instructions, which when executed on a computer, causes the computer to execute the image processing method described in the above method embodiment.
  • the program can be stored in a computer readable storage medium, and the storage medium can include: Flash disk, Read-Only Memory (ROM), Random Access Memory (RAM), disk or optical disk.

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Abstract

一种图像处理方法、无人机、地面控制台及其图像处理***，其中图像处理方法包括：接收地面控制台发送的特效拍摄控制信息；根据特效拍摄控制信息包括的目标飞行轨迹确定拍摄位置间隔和拍摄姿态，目标飞行轨迹的非弯曲部分的拍摄位置间隔相同，目标飞行轨迹的弯曲部分的拍摄位置间隔小于非弯曲部分的拍摄位置间隔，拍摄姿态朝向目标拍摄对象；控制无人机按照目标飞行轨迹飞行，并根据拍摄位置间隔和拍摄姿态控制相机对目标拍摄对象进行拍摄，得到拍摄图像集合；将拍摄图像集合发送给地面控制台，以便于地面控制台对拍摄图像集合中的至少部分拍摄图像进行拼接，生成特效图像。该图像处理方法可以根据无人机拍摄得到的图像集合自动生成特效图像，从而提高生成特效图像的效率。

Description

一种图像处理方法、无人机及地面控制台 技术领域
本发明涉及图像处理技术领域，尤其涉及一种图像处理方法、无人机及地面控制台。
背景技术
随着社会的发展，为满足人们对于图像表现形式的多样性的需求，特效图像应运而生，特效图像目前广泛应用于影视作品以及摄影作品中。现有技术中，首先需要通过多个视角的拍摄设备采集图像素材，或者通过载人飞机手工采集图像素材，然后利用个人计算机和图像处理软件对采集到的图像素材进行手动加工，得到特效图像。但是，采用上述方式生成特效图像时，图像素材采集程序复杂，且不能在采集到图像素材后快速生成特效图像，需要用户对采集到的图像素材进行手动加工，手动加工浪费时间，特效图像生成效率低。
发明内容
本发明实施例公开了一种图像处理方法、无人机及地面控制台，可以自动生成特效图像，提高生成特效图像的效率。
本发明实施例第一方面公开了一种图像处理方法，包括：
接收地面控制台发送的特效拍摄控制信息，所述特效拍摄控制信息包括目标飞行轨迹；
根据所述目标飞行轨迹确定拍摄位置间隔和拍摄姿态，所述目标飞行轨迹的非弯曲部分中的拍摄位置间隔相同，所述目标飞行轨迹的弯曲部分中的拍摄位置间隔小于所述非弯曲部分中的拍摄位置间隔，所述拍摄姿态朝向目标拍摄对象；
控制无人机按照所述目标飞行轨迹飞行，并根据所述拍摄位置间隔和所述拍摄姿态控制相机对所述目标拍摄对象进行拍摄，得到拍摄图像集合，所述拍摄图像集合包括多张拍摄图像；
将所述拍摄图像集合发送给所述地面控制台，以便于所述地面控制台对所 述拍摄图像集合中的至少部分拍摄图像进行拼接，生成特效图像。
本发明实施例第二方面公开了另一种图像处理方法，包括：
获取特效图像类型，并确定所述特效图像类型对应的特效拍摄控制信息，所述特效拍摄控制信息包括目标飞行轨迹；
向无人机发送所述特效拍摄控制信息，以便于所述无人机根据所述目标飞行轨迹确定拍摄位置间隔和拍摄姿态，所述目标飞行轨迹的非弯曲部分中的拍摄位置间隔相同，所述目标飞行轨迹的弯曲部分中的拍摄位置间隔小于所述非弯曲部分中的拍摄位置间隔，所述拍摄姿态朝向目标拍摄对象；
接收所述无人机发送的拍摄图像集合，所述拍摄图像集合包括的多张拍摄图像是由所述无人机在按照所述目标飞行轨迹飞行的过程中，根据所述拍摄位置间隔和所述拍摄姿态控制相机对所述目标拍摄对象进行拍摄得到的；
根据所述拍摄图像集合中的至少部分拍摄图像分别截取的图像范围，对所述至少部分拍摄图像进行拼接，生成特效图像，所述拍摄图像截取的图像范围与所述拍摄图像的拍摄位置处的弯曲弧度相关。
本发明实施例第三方面公开了一种无人机，包括：处理器、通信接口和存储器，所述处理器、所述通信接口和所述存储器通过总线连接；
所述存储器，用于存储程序指令；
所述处理器，用于执行所述存储器存储的程序指令；
所述通信接口，用于收发信息或信令的交互；
所述通信接口，用于接收地面控制台发送的特效拍摄控制信息，所述特效拍摄控制信息包括目标飞行轨迹；
所述处理器，用于根据所述目标飞行轨迹确定拍摄位置间隔和拍摄姿态，所述目标飞行轨迹的非弯曲部分中的拍摄位置间隔相同，所述目标飞行轨迹的弯曲部分中的拍摄位置间隔小于所述非弯曲部分中的拍摄位置间隔，所述拍摄姿态朝向目标拍摄对象；
所述处理器，还用于控制无人机按照所述目标飞行轨迹飞行，并根据所述拍摄位置间隔和所述拍摄姿态控制相机对所述目标拍摄对象进行拍摄，得到拍摄图像集合，所述拍摄图像集合包括多张拍摄图像；
所述通信接口，还用于将所述拍摄图像集合发送给所述地面控制台，以便 于所述地面控制台对所述拍摄图像集合中的至少部分拍摄图像进行拼接，生成特效图像。
本发明实施例第四方面公开了一种地面控制台，包括：处理器、通信接口和存储器，所述处理器、所述通信接口和所述存储器通过总线连接；
所述存储器，用于存储程序指令；
所述通信接口，用于收发信息或信令的交互；
所述处理器，用于执行所述存储器存储的程序指令；
所述处理器，用于获取特效图像类型，并确定所述特效图像类型对应的特效拍摄控制信息，所述特效拍摄控制信息包括目标飞行轨迹；
所述通信接口，用于向无人机发送所述特效拍摄控制信息，以便于所述无人机根据所述目标飞行轨迹确定拍摄位置间隔和拍摄姿态，所述目标飞行轨迹的非弯曲部分中的拍摄位置间隔相同，所述目标飞行轨迹的弯曲部分中的拍摄位置间隔小于所述非弯曲部分中的拍摄位置间隔，所述拍摄姿态朝向目标拍摄对象；
所述通信接口，还用于接收所述无人机发送的拍摄图像集合，所述拍摄图像集合包括的多张拍摄图像是由所述无人机在按照所述目标飞行轨迹飞行的过程中，根据所述拍摄位置间隔和所述拍摄姿态控制相机对所述目标拍摄对象进行拍摄得到的；
所述处理器，还用于根据所述拍摄图像集合中的至少部分拍摄图像分别截取的图像范围，对所述至少部分拍摄图像进行拼接，生成特效图像，所述拍摄图像截取的图像范围与所述拍摄图像的拍摄位置处的弯曲弧度相关。
本发明实施例第五方面公开了一种图像处理***，所述***包括：上述第三方面所述的无人机和上述第四方面所述的地面控制台。
本发明实施例第六方面公开了一种计算机程序产品，其中，当该计算机程序产品中的指令由处理器执行时，执行上述图像处理方法。
本发明实施例第七方面公开了一种存储介质，其中，当该存储介质中的指令由处理器执行时，执行上述图像处理方法。
本发明实施例中，首先接收地面控制台发送的特效拍摄控制信息，并根据该特效拍摄控制信息包括的目标飞行轨迹确定拍摄位置间隔和拍摄姿态，然后 控制无人机按照该目标飞行轨迹飞行，并根据该拍摄位置间隔和拍摄姿态控制相机对目标拍摄对象进行拍摄，得到拍摄图像集合，最后将该拍摄图像集合发送给地面控制台，以便于地面控制台对该拍摄图像集合中的至少部分拍摄图像进行拼接，生成特效图像，可以根据无人机拍摄得到的图像集合自动生成特效图像，从而提高生成特效图像的效率。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例公开的一种图像处理方法的流程示意图；
图2是本发明实施例公开的一种图像拼接过程的示意图；
图3是本发明实施例公开的一种特效飞行轨迹的示意图；
图4是本发明实施例公开的另一种特效飞行轨迹的示意图；
图5是本发明实施例公开的又一种特效飞行轨迹的示意图；
图6是本发明实施例公开的又一种特效飞行轨迹的示意图；
图7是本发明实施例公开的又一种特效飞行轨迹的示意图；
图8是本发明实施例公开的一种无人机的结构示意图；
图9是本发明实施例公开的一种地面控制台的结构示意图；
图10是本发明实施例公开的一种图像处理***的架构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述。
请参阅图1，为本发明实施例提供的一种图像处理方法的流程示意图。本实施例中所描述的图像处理方法，包括但不限于以下步骤：
101、地面控制台获取特效图像类型，并确定所述特效图像类型对应的特 效拍摄控制信息。
本发明实施例中，该特效拍摄控制信息包括目标飞行轨迹。具体地，地面控制台首先接收用户选择的特效图像，并获取用户选择的特效图像所属的特效图像类型。然后根据预设的特效图像类型与特效飞行轨迹的对应关系确定目标特效飞行轨迹，该目标特效飞行轨迹为地面控制台预先存储的特效飞行轨迹中的一种。接着，根据该目标特效飞行轨迹以及针对无人机此次飞行指定的飞行起点，确定无人机此次飞行的目标飞行轨迹。需要说明的是，若目标特效飞行轨迹所对应的拍摄对象与无人机此次飞行的目标拍摄对象相同，则可以直接将该目标特效飞行轨迹作为无人机此次飞行的目标飞行轨迹。其中，此次飞行指的是采用本发明实施例提供的图像处理方法来生成特效图像时，控制无人机针对目标拍摄对象采集图像集合的飞行过程。
在一些可行的实施方式中，地面控制台预先存储的特效飞行轨迹可以是根据预先记录的无人机的飞行轨迹生成的。具体地，在用户手动控制无人机飞行并控制无人机云台搭载的相机对拍摄对象进行拍摄的过程中，记录无人机手动飞行过程中的飞行位置、速度、加速度等信息，以及记录对拍摄对象进行拍摄的拍摄位置和云台姿态等信息。其中，飞行位置信息包括高度和坐标等信息，云台姿态信息包括云台的偏转角度roll、纵向角度pitch和横向角度yaw等信息。根据记录的飞行位置、速度、加速度等信息确定并记录无人机手动飞行的飞行轨迹，对记录的无人机手动飞行的飞行轨迹进行尺度缩放、拉升、旋转等操作，生成特效飞行轨迹。进一步可以根据无人机手动飞行过程中针对拍摄对象拍摄得到的多张图像，以及记录的拍摄位置、云台姿态等信息确定并记录与该特效飞行轨迹对应的特效图像类型。
在一些可行的实施方式中，地面控制台预先存储的特效飞行轨迹可以是根据用户预先绘制的飞行轨迹生成的。具体地，将用户在地面控制台的APP中手动绘制的无人机飞行轨迹确定为特效飞行轨迹，进一步还可以记录用户设定的飞行高度、云台姿态等信息，其中，云台姿态可以为朝向拍摄对象。
需要说明的是，地面控制台预先存储的特效飞行轨迹可以是根据预先记录的无人机的一条飞行轨迹或者用户预先绘制的一条飞行轨迹生成的，也可以是根据预先记录的无人机的多条飞行轨迹或者用户预先绘制的多条飞行轨迹生 成的。
在一些可行的实施方式中，该特效拍摄控制信息还可以包括拍摄位置间隔、拍摄频率、拍摄姿态、飞行速度、加速度等信息，如何确定拍摄控制信息包括的上述信息，可视具体情况而定，在此不作限定。
102、所述地面控制台向无人机发送所述特效拍摄控制信息。
103、所述无人机接收所述地面控制台发送的所述特效拍摄控制信息。
104、所述无人机根据所述特效拍摄控制信息包括的目标飞行轨迹确定拍摄位置间隔和拍摄姿态。
本发明实施例中，无人机在接收到地面控制台发送的特效拍摄控制信息之后，根据该特效拍摄控制信息包括的目标飞行轨迹确定拍摄位置间隔和拍摄姿态。具体地，针对目标飞行轨迹，确定该目标飞行轨迹中的弯曲部分和非弯曲部分。其中，非弯曲部分指的是该目标飞行轨迹中水平或者竖直平行于目标拍摄对象、或者垂直于目标拍摄对象的部分。根据预设的拍摄位置间隔的设置规则，确定该目标飞行轨迹的弯曲部分中的拍摄位置间隔，以及确定该目标飞行轨迹的非弯曲部分中的拍摄位置间隔。
其中，预设的拍摄位置间隔的设置规则可以为，将该目标飞行轨迹的非弯曲部分中的拍摄位置间隔设置为第一拍摄位置间隔，且该第一拍摄位置间隔为固定值，也即是说该目标飞行轨迹的非弯曲部分中的拍摄位置间隔相同；将该目标飞行轨迹的弯曲部分中的拍摄位置间隔设置为第二拍摄位置间隔。可选的，该第二拍摄位置间隔与该第一拍摄位置间隔不同；进一步可选的，该第二拍摄位置间隔可以小于该第一拍摄位置间隔。在一些可行的实施方式中，该第二拍摄位置间隔还可以为变化的值；进一步可选的，该第二拍摄位置间隔也可以与该目标飞行轨迹的弯曲部分中的弯曲弧度成负相关，也即是说该第二拍摄位置间隔与该弯曲部分处的弯曲弧度成反比。
本发明实施例中，后续将以该第二拍摄位置间隔小于该第一拍摄位置间隔，且该第二拍摄位置间隔与该目标飞行轨迹的弯曲部分中的弯曲弧度成负相关为例对本发明实施例提供的图像处理方法进行详细说明。后续不再赘述。
进一步可以根据该目标飞行轨迹以及该第一拍摄位置间隔确定该非弯曲部分中的各个拍摄点的位置信息。可以首先获取该弯曲部分中的弯曲位置处的 弧度变化规律，然后根据预设的弯曲弧度与第二拍摄位置间隔的映射关系确定该目标飞行轨迹的弯曲部分中的各个弯曲位置处的拍摄位置间隔，进而根据该目标飞行轨迹确定该弯曲部分中的各个拍摄点的位置信息。
根据预设的拍摄姿态的设置规则，确定该目标飞行轨迹的弯曲部分中的各个拍摄点的拍摄姿态，以及确定该目标飞行轨迹的非弯曲部分中的各个拍摄点的拍摄姿态。其中，预设的拍摄姿态的设置规则可以为，将该目标飞行轨迹的各个拍摄点的拍摄姿态设置为朝向目标拍摄对象。具体地，可以将该目标飞行轨迹的非弯曲部分中的各个拍摄点的拍摄姿态设置为垂直朝向目标拍摄对象；可以将该目标飞行轨迹的弯曲部分中的各个拍摄点的拍摄姿态设置为倾斜朝向目标拍摄对象。在一些可行的实施方式中，可以将该弯曲部分中的拍摄点的拍摄姿态对应的方向向量，与该目标飞行轨迹中该拍摄点的切线的夹角设置在正负70度至90度之间。其中，该目标拍摄对象指的是用户指定的拍摄区域中的各个拍摄目标。
需要说明的是，预设的拍摄位置间隔的设置规则以及预设的拍摄姿态的设置规则可以包括在地面控制台发送的拍摄控制信息中，也可以预先存储在无人机的存储器中，本发明实施不作限定。
在一些可行的实施方式中，可以根据预设的第一拍摄频率以及无人机的飞行速度确定该目标飞行轨迹的非弯曲部分中的拍摄位置间隔。也可以根据预设的弯曲弧度与第二拍摄频率的映射关系、无人机的飞行速度确定该目标飞行轨迹的弯曲部分中的拍摄位置间隔。其中，可选的，该第二拍摄频率可以与该第一拍摄频率不同；进一步可选的，该第一拍摄频率可以小于该第二拍摄频率。在一些可行的实施方式中，该第二频率还可以与弯曲弧度成正比，也即是说弯曲弧度越大，与弯曲弧度对应的第二拍摄频率则越大。
105、所述无人机控制所述无人机按照所述目标飞行轨迹飞行，并根据所述拍摄位置间隔和所述拍摄姿态控制相机对所述目标拍摄对象进行拍摄，得到拍摄图像集合。
本发明实施例中，控制无人机按照该目标飞行轨迹飞行，并在无人机沿该目标飞行轨迹飞行的过程中，根据确定出的该目标飞行轨迹中的拍摄点的位置信息以及该拍摄点对应的云台拍摄姿态对目标拍摄对象进行拍摄，得到拍摄图 像集合，该拍摄图像集合中包括多张拍摄图像。
S106、所述无人机将所述拍摄图像集合发送给所述地面控制台。
S107、所述地面控制台接收所述无人机发送的所述拍摄图像集合。
S108、所述地面控制台根据所述拍摄图像集合中的至少部分拍摄图像分别截取的图像范围，对所述至少部分拍摄图像进行拼接，生成特效图像。
本发明实施例中，该拍摄图像集合中的多张拍摄图像分别截取的图像范围与该拍摄图像的拍摄位置处的弯曲弧度相关。具体地，地面控制台获取相机的相机参数以及无人机预先记录的该多张拍摄图像的拍摄位置和拍摄姿态。其中，该相机指的是无人机云台搭载的针对目标拍摄对象进行拍摄的相机，该相机参数以及无人机预先记录的该多张拍摄图像的拍摄位置和拍摄姿态可以包括在该图像集合中的，也可以是地面控制台向无人机发送获取参数指令，无人机在接收到获取参数指令之后响应该指令发送给无人机的。
根据该多张拍摄图像中的至少部分拍摄图像的拍摄位置和拍摄姿态确定该至少部分拍摄图像分别截取的图像范围。其中，对于该图像集合中的每一张拍摄图像，该拍摄图像截取的图像范围与该拍摄图像的拍摄位置处的弯曲弧度成负相关。具体地，拍摄位置处于该目标飞行轨迹的非弯曲部分中的拍摄图像截取的图像范围相同；拍摄位置处于该目标飞行轨迹的弯曲部分中的拍摄图像截取的图像范围与该拍摄图像的拍摄位置处的弯曲弧度成反比，也即是说，该拍摄图像的拍摄位置处的弯曲弧度越大，该拍摄图像截取的图像范围越小。
根据获取到的相机参数、该至少部分拍摄图像的拍摄位置和拍摄姿态、以及该至少部分拍摄图像分别截取的图像范围对该至少部分拍摄图像进行拼接，生成特效图像。具体地，地面控制台首先根据该至少部分拍摄图像各自的拍摄位置以及该目标飞行轨迹确定出该至少部分拍摄图像的拍摄顺序。接着根据该至少部分拍摄图像中的任意两张拍摄位置相邻的拍摄图像的拍摄位置和拍摄姿态，确定任意两张拍摄位置相邻的拍摄图像之间的相对运动信息。其中，该相对运动信息可以用三维旋转矩阵R和三维平移向量t表示。进一步根据该相对运动信息R和t，以及获取到的相机参数，确定出该任意两张拍摄位置相邻的拍摄图像之间的二维仿射变换矩阵A。其中该相机参数包括焦距f、光心坐标cx和cy，计算公式为：
Figure PCTCN2017095340-appb-000001
A＝K[R t]K-1；
然后通过在任意两张拍摄位置相邻的拍摄图像中提取特征点，并根据特征描述进行特征关联，得到任意两张拍摄位置相邻的拍摄图像之间的一组特征点对(x1,x2)，其中，x1,x2分别为两张拍摄图像的像素点坐标，并根据该特征点对(x1,x2)以及二维仿射变换矩阵A，确定任意两张拍摄位置相邻的拍摄图像之间的变换参数S，计算公式为：
Sx2＝Ax1；
假设，任意两张拍摄位置相邻的拍摄图像为第一拍摄图像和第二拍摄图像，最后根据上述公式Sx2＝Ax1将第一拍摄图像中的所有像素点变换到第二拍摄图像中，并根据确定得到的该至少部分拍摄图像分别截取的图像范围获取该第一拍摄图像和该第二拍摄图像的重叠区域，将该重叠区域去除，生成特效图像。其中，生成的特效图像可以是具有特效效果的全景图。
举例来说，请一并参见图2，以拍摄图像集合中的四张图像P1、P2、P3和P4为例进行说明，假设P1和P2的拍摄位置相邻且位于目标飞行轨迹的非弯曲部分中，则在对P1和P2进行拼接时，获取到的P1和P2截取的范围相同。如图2a所示，P1中的无填充部分即是P1应截取的范围，P1中的灰色填充部分与P2中的灰色填充部分即是P1和P2的重叠区域，P2中的无填充部分和灰色填充部分即是P2应截取的范围，P2中的黑色填充部分是P2与下一张相邻图像的重叠区域。假设P1和P2的拍摄位置相邻，对该两张图像P1和P2进行拼接，生成的特效图像如图2b所示。
假设P3和P4的拍摄位置相邻且位于目标飞行轨迹的弯曲部分中，且P3的拍摄位置处的弯曲弧度小于P4的拍摄位置处的弯曲弧度，则在拼接过程中P3截取的范围应大于P4截取的范围。如图2c所示，P3中的无填充部分即是P3应截取的范围，P3中的灰色填充部分与P4中的灰色填充部分即是P3和P4的重叠区域，P4中的无填充部分和灰色填充部分即是P4应截取的范围，P4中的黑色填充部分是P4与下一张相邻图像的重叠区域。假设P2和P3的拍摄位置相邻，对该两张图像P3和P4进行拼接，生成的特效图像如图2d所示。
在一些可行的实施方式中，地面控制台对该至少部分拍摄图像进行拼接，生成特效图像之后，地面控制台还可以接收用户输入的后期特效处理指令，并响应该后期特效处理指令对生成的特效图像进行后期特效处理，得到后期特效处理后的特效图像。其中，后期特效处理指令包括对生成的特效图像进行旋转、扭曲、哈哈镜变换等几何变换处理，还可以包括对生成的特效图像进行色调、色系和风格的调整和变换。
本发明实施例中，该目标飞行轨迹包括但不限于以下用于举例说明的目标飞行轨迹。举例来说，假设无人机均沿目标飞行轨迹由左往右飞行。请一并参见图3、图4、图5、图6和图7。如图3a所示的拍摄场景为一个人站在一段笔直公路的右端，所示的第一目标飞行轨迹包括第一飞行轨迹和第二飞行轨迹，该第一飞行轨迹为目标飞行轨迹中平行于目标拍摄对象的部分，即平行于公路的部分，该第二飞行轨迹为目标飞行轨迹中弯曲的部分，且该第二飞行轨迹的弯曲弧度由小变大。根据第一目标飞行轨迹确定得到的拍摄位置间隔和拍摄姿态为，该第一飞行轨迹中的拍摄位置间隔相同，且该第一飞行轨迹中的拍摄位置对应的拍摄姿态垂直朝向目标拍摄对象；该第二飞行轨迹中的拍摄位置间隔由大变小，且该第二飞行轨迹中的拍摄位置对应的拍摄姿态倾斜朝向目标拍摄对象。
根据该拍摄图像集合中的拍摄图像的拍摄位置和拍摄姿态确定得到的拍摄图像分别截取的图像范围为，拍摄位置处于该第一飞行轨迹中的拍摄图像截取的图像范围相同；拍摄位置处于该第二飞行轨迹中的拍摄图像截取的图像范围由大变小。
在对无人机沿该第一目标飞行轨迹针对目标拍摄对象采集的图像集合中的至少部分图像进行拼接后，生成的特效图像效果如图3b所示。如图3b所示的特效图像中，图的上端部分由于与第一目标飞行轨迹的非弯曲部分对应，故图的上端部分的效果为公路笔直且较狭窄；图的下端部分由于与第一目标飞行轨迹的弯曲部分对应，且弯曲弧度由小变大，故图的下端部分的效果为公路弯曲且由窄变宽，可以体现明显的由近及远的效果。
如图4a所示的拍摄场景为两个人分别站在一段笔直公路的两端，所示的第二目标飞行轨迹包括第一飞行轨迹、第二飞行轨迹和第三飞行轨迹，该第一飞 行轨迹和该第三飞行轨迹为第二目标飞行轨迹中弯曲的部分，且该第一飞行轨迹的弯曲弧度由大变小，该第三飞行轨迹的弯曲弧度由小变大；该第二飞行轨迹为第二目标飞行轨迹中平行于目标拍摄对象的部分。根据第二目标飞行轨迹确定得到的拍摄位置间隔和拍摄姿态为，该第一飞行轨迹中的拍摄位置间隔由小变大，该第一飞行轨迹中的拍摄位置对应的拍摄姿态倾斜朝向目标拍摄对象；该第二飞行轨迹中的拍摄位置间隔相同，该第二飞行轨迹中的拍摄位置对应的拍摄姿态垂直朝向目标拍摄对象；该第三飞行轨迹中的拍摄位置间隔由大变小，该第三飞行轨迹中的拍摄位置对应的拍摄姿态倾斜朝向目标拍摄对象。
根据该多张拍摄图像中的拍摄图像的拍摄位置和拍摄姿态确定得到的拍摄图像分别截取的图像范围为，拍摄位置处于该第一飞行轨迹中的拍摄图像截取的图像范围由小变大；拍摄位置处于该第二飞行轨迹中的拍摄图像截取的图像范围相同；拍摄位置处于该第三飞行轨迹中的拍摄图像截取的图像范围由大变小。
在对无人机沿该第二目标飞行轨迹针对目标拍摄对象采集的图像集合中的至少部分图像进行拼接后，生成的特效图像效果如图4b所示。如图4b所示的特效图像中，图的中间部分由于与第二目标飞行轨迹的非弯曲部分对应，故图的中间部分的效果为公路笔直且较狭窄；图的上端部分由于与第二目标飞行轨迹的弯曲部分对应，且弯曲弧度由大变小，故图的上端部分的效果为公路弯曲且由宽变窄，上端部分的人似倒立一样；图的下端部分由于与第二目标飞行轨迹的弯曲部分对应，且弯曲弧度由小变大，故图的下端部分的效果为公路弯曲且由窄变宽。图中的上端部分与下端部分中的人和公路似平面镜的成像效果。
如图5a所示的拍摄场景为两个人分别站在一段笔直公路的两端，所示的第三目标飞行轨迹包括第一飞行轨迹、第二飞行轨迹、第三飞行轨迹和第四飞行轨迹，该第一飞行轨迹和该第四飞行轨迹为第三目标飞行轨迹中平行于目标拍摄对象的部分；该第二飞行轨迹和该第三飞行轨迹为第三目标飞行轨迹中弯曲的部分，且该第二飞行轨迹的弯曲弧度由小变大，该第三飞行轨迹的弯曲弧度由大变小。根据第三目标飞行轨迹确定得到的拍摄位置间隔和拍摄姿态为，该第一飞行轨迹中的拍摄位置间隔相同，且该第一飞行轨迹中的拍摄位置对应的拍摄姿态垂直朝向目标拍摄对象；该第二飞行轨迹中的拍摄位置间隔由大变 小，该第三飞行轨迹中的拍摄位置间隔由小变大，该第二飞行轨迹以及该第三飞行轨迹中的拍摄位置对应的拍摄姿态倾斜朝向该目标拍摄对象；该第四飞行轨迹中的拍摄位置间隔相同，且该第四飞行轨迹中的拍摄位置对应的拍摄姿态垂直朝向目标拍摄对象。需要说明的是，该第一飞行轨迹中的拍摄位置间隔与该第四飞行轨迹中的拍摄位置间隔可以是相同的，也可以是不同的。
根据该多张拍摄图像中的拍摄图像的拍摄位置和拍摄姿态确定得到的拍摄图像分别截取的图像范围为，拍摄位置处于该第一飞行轨迹中的拍摄图像截取的图像范围相同；拍摄位置处于该第二飞行轨迹中的拍摄图像截取的图像范围由大变小；拍摄位置处于该第三飞行轨迹中的拍摄图像截取的图像范围由小变大；拍摄位置处于该第四飞行轨迹中的拍摄图像截取的图像范围相同。
在对无人机沿该第三目标飞行轨迹针对目标拍摄对象采集的图像集合中的至少部分图像进行拼接后，生成的特效图像效果如图5b所示。如图5b所示的特效图像中，图的上端与下端部分由于与第三目标飞行轨迹的非弯曲部分对应，故图的上端与下端部分的效果为公路笔直且较狭窄，人似一个原点；图的中间部分由于与第三目标飞行轨迹的弯曲部分对应，且弯曲弧度由小变大，再由大变小，故图的中间部分的效果为公路突出且很宽。图的中间部分中的公路似凹凸镜的成像效果。
如图6a所示的拍摄场景为四个人分别站在两段互相垂直公路的四端，所示的第四目标飞行轨迹包括两条图4a中所示的第二目标飞行轨迹，且该两条第二目标飞行轨迹在中点处垂直相交。在对无人机沿该第四目标飞行轨迹针对目标拍摄对象采集的图像集合中的至少部分图像进行拼接后，生成的特效图像效果如图6b所示。如图6b所示的特效图像中，图中的成像上下以及左右分别对称，图的上端部分中的人与图的下端部分中的人互相对立，图的左端部分中的人与图的右端部分中的人互相对立，似多面平面镜的成像效果。
需要说明的是，如图6a所示的拍摄场景也可以是一个人，在无人机针对公路的某一端进行拍摄时，人即处于该某一端的相应位置处，当无人机针对该某一端拍摄完成后，人立即前往无人机即将拍摄的公路的下一端的相应位置处。采用上述方式，也可以实现图6a所示的拍摄场景。
在一些可行的实施方式中，本发明实施例中的目标飞行轨迹可以只包括非 弯曲部分，也可以只包括弯曲部分。举例来说，请一并参见图7，如图7a所示的目标飞行轨迹为环绕轨迹，可以根据环绕轨迹控制无人机水平环绕前景拍摄目标进行飞行并拍照。其中，环绕轨迹可以是圆形，也可以椭圆形。在一些可行的实施方式中，还可以根据环绕轨迹控制无人机竖直环绕前景拍摄目标进行飞行并拍照。如图7b所示的目标飞行轨迹为圆弧轨迹。其中，圆弧轨迹可以为圆形或者椭圆形任意角度对应的一部分圆弧，可以处于水平方向，也可以处于竖直方向。其中，图中的前景拍摄目标即为上述目标拍摄对象。
需要说明的是，上述地面控制台对该图像集合中的至少部分图像进行拼接，生成特效图像的处理过程也可以由无人机执行，具体处理过程可参考上述描述，在此不再赘述。
本发明实施例中，首先接收地面控制台发送的特效拍摄控制信息，并根据该特效拍摄控制信息包括的目标飞行轨迹确定拍摄位置间隔和拍摄姿态，然后控制无人机按照该目标飞行轨迹飞行，并根据该拍摄位置间隔和拍摄姿态控制相机对目标拍摄对象进行拍摄，得到拍摄图像集合，最后将该拍摄图像集合发送给地面控制台，以便于地面控制台对该拍摄图像集合中的至少部分拍摄图像进行拼接，生成特效图像，可以根据无人机拍摄得到的图像集合自动生成特效图像，从而提高生成特效图像的效率。
请参见图8，图8是本发明实施例提供的一种无人机的结构示意图，本发明实施例中所描述的无人机包括：处理器801、通信接口802、存储器803。其中，处理器801、通信接口802、存储器803可通过总线或其他方式连接，本发明实施例以通过总线连接为例。
处理器801可以是中央处理器(central processing unit，CPU)，网络处理器(network processor，NP)，图形处理器(graphics processing unit，GPU)，或者CPU、GPU和NP的组合。处理器801也可以是多核CPU、多核GPU或多核NP中用于实现通信标识绑定的核。
上述处理器801可以是硬件芯片。上述硬件芯片可以是专用集成电路(application-specific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)或其组合。上述PLD可以是复杂可编程逻辑器件(complex  programmable logic device，CPLD)，现场可编程逻辑门阵列(field-programmable gate array，FPGA)，通用阵列逻辑(generic array logic，GAL)或其任意组合。
上述通信接口802可用于收发信息或信令的交互，以及信号的接收和传递。上述存储器803可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作***、至少一个功能所需的存储程序(比如文字存储功能、位置存储功能等)；存储数据区可存储根据装置的使用所创建的数据(比如图像数据、文字数据)等，并可以包括应用存储程序等。此外，存储器803可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。
上述存储器803还用于存储程序指令。上述处理器801可以调用上述存储器803存储的程序指令，实现如本发明实施例所示的图像处理方法。具体地：
所述通信接口802，用于接收地面控制台发送的特效拍摄控制信息，所述特效拍摄控制信息包括目标飞行轨迹；
所述处理器801，用于根据所述目标飞行轨迹确定拍摄位置间隔和拍摄姿态，所述目标飞行轨迹的非弯曲部分中的拍摄位置间隔相同，所述目标飞行轨迹的弯曲部分中的拍摄位置间隔小于所述非弯曲部分中的拍摄位置间隔，所述拍摄姿态朝向目标拍摄对象；
所述处理器801，还用于控制无人机按照所述目标飞行轨迹飞行，并根据所述拍摄位置间隔和所述拍摄姿态控制相机对所述目标拍摄对象进行拍摄，得到拍摄图像集合，所述拍摄图像集合包括多张拍摄图像；
所述通信接口802，还用于将所述拍摄图像集合发送给所述地面控制台，以便于所述地面控制台对所述拍摄图像集合中的至少部分拍摄图像进行拼接，生成特效图像。
本发明实施例中处理器执行的方法均从处理器的角度来描述，可以理解的是，本发明实施例中处理器要执行上述方法需要其他硬件结构的配合。本发明实施例对具体的实现过程不作详细描述和限制。
在一些可行的实施方式中，所述目标飞行轨迹的弯曲部分中的拍摄位置间隔与所述弯曲部分处的弯曲弧度成负相关。
在一些可行的实施方式中，所述特效拍摄控制信息是根据预先记录的所述 无人机的飞行轨迹生成的。
在一些可行的实施方式中，所述特效拍摄控制信息是根据用户预先绘制的飞行轨迹生成的。
在一些可行的实施方式中，所述目标飞行轨迹包括第一飞行轨迹和第二飞行轨迹，所述第一飞行轨迹为所述目标飞行轨迹中平行于所述目标拍摄对象的部分，所述第二飞行轨迹为所述目标飞行轨迹中弯曲的部分，所述第二飞行轨迹的弯曲弧度由小变大。
所述处理器801，具体用于根据所述第一飞行轨迹和所述第二飞行轨迹确定拍摄位置间隔和拍摄姿态。
所述第一飞行轨迹中的拍摄位置间隔相同，所述第一飞行轨迹中的拍摄位置对应的拍摄姿态垂直朝向所述目标拍摄对象；所述第二飞行轨迹中的拍摄位置间隔由大变小，所述第二飞行轨迹中的拍摄位置对应的拍摄姿态倾斜朝向所述目标拍摄对象。
在一些可行的实施方式中，所述目标飞行轨迹包括第一飞行轨迹、第二飞行轨迹和第三飞行轨迹；所述第一飞行轨迹和所述第三飞行轨迹为所述目标飞行轨迹中弯曲的部分，所述第一飞行轨迹的弯曲弧度由大变小，所述第三飞行轨迹的弯曲弧度由小变大；所述第二飞行轨迹为所述目标飞行轨迹中平行于所述目标拍摄对象的部分。
所述处理器801，具体用于根据所述第一飞行轨迹、所述第二飞行轨迹和所述第三飞行轨迹确定拍摄位置间隔和拍摄姿态。
所述第一飞行轨迹中的拍摄位置间隔由小变大，所述第一飞行轨迹中的拍摄位置对应的拍摄姿态倾斜朝向所述目标拍摄对象；所述第二飞行轨迹中的拍摄位置间隔相同，所述第二飞行轨迹中的拍摄位置对应的拍摄姿态垂直朝向所述目标拍摄对象；所述第三飞行轨迹中的拍摄位置间隔由大变小，所述第三飞行轨迹中的拍摄位置对应的拍摄姿态倾斜朝向所述目标拍摄对象。
在一些可行的实施方式中，所述目标飞行轨迹包括第一飞行轨迹、第二飞行轨迹、第三飞行轨迹和第四飞行轨迹；所述第一飞行轨迹和所述第四飞行轨迹为所述目标飞行轨迹中平行于所述目标拍摄对象的部分；所述第二飞行轨迹和所述第三飞行轨迹为所述目标飞行轨迹中弯曲的部分，所述第二飞行轨迹的 弯曲弧度由小变大，所述第三飞行轨迹的弯曲弧度由大变小。
所述处理器801，具体用于根据所述第一飞行轨迹、所述第二飞行轨迹、所述第三飞行轨迹和所述第四飞行轨迹确定拍摄位置间隔和拍摄姿态。
所述第一飞行轨迹中的拍摄位置间隔相同，所述第一飞行轨迹中的拍摄位置对应的拍摄姿态垂直朝向所述目标拍摄对象；所述第二飞行轨迹中的拍摄位置间隔由大变小，所述第二飞行轨迹中的拍摄位置对应的拍摄姿态倾斜朝向所述目标拍摄对象；所述第三飞行轨迹中的拍摄位置间隔由小变大，所述第三飞行轨迹中的拍摄位置对应的拍摄姿态倾斜朝向所述目标拍摄对象；所述第四飞行轨迹中的拍摄位置间隔相同，所述第四飞行轨迹中的拍摄位置对应的拍摄姿态垂直朝向所述目标拍摄对象。
具体实现中，本发明实施例中所描述的处理器801、通信接口802、存储器803可执行本发明实施例提供的一种图像处理方法中所描述的无人机侧的实现方式，在此不再赘述。
本发明实施例中，首先接收地面控制台发送的特效拍摄控制信息，并根据该特效拍摄控制信息包括的目标飞行轨迹确定拍摄位置间隔和拍摄姿态，然后控制无人机按照该目标飞行轨迹飞行，并根据该拍摄位置间隔和拍摄姿态控制相机对目标拍摄对象进行拍摄，得到拍摄图像集合，最后将该拍摄图像集合发送给地面控制台，以便于地面控制台对该拍摄图像集合中的至少部分拍摄图像进行拼接，生成特效图像，可以根据无人机拍摄得到的图像集合自动生成特效图像，从而提高生成特效图像的效率。
请参见图9，图9是本发明实施例提供的一种地面控制台的结构示意图，本发明实施例中所描述的地面控制台包括：处理器901、通信接口902、存储器903。其中，处理器901、通信接口902、存储器903可通过总线或其他方式连接，本发明实施例以通过总线连接为例。
处理器901可以是中央处理器(central processing unit，CPU)，网络处理器(network processor，NP)，图形处理器(graphics processing unit，GPU)，或者CPU、GPU和NP的组合。处理器901也可以是多核CPU、多核GPU或多核NP中用于实现通信标识绑定的核。
上述处理器901可以是硬件芯片。上述硬件芯片可以是专用集成电路(application-specific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)或其组合。上述PLD可以是复杂可编程逻辑器件(complex programmable logic device，CPLD)，现场可编程逻辑门阵列(field-programmable gate array，FPGA)，通用阵列逻辑(generic array logic，GAL)或其任意组合。
上述通信接口902可用于收发信息或信令的交互，以及信号的接收和传递。上述存储器903可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作***、至少一个功能所需的存储程序(比如文字存储功能、位置存储功能等)；存储数据区可存储根据装置的使用所创建的数据(比如图像数据、文字数据)等，并可以包括应用存储程序等。此外，存储器903可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他易失性固态存储器件。
上述存储器903还用于存储程序指令。上述处理器901可以调用上述存储器903存储的程序指令，实现如本发明实施例所示的图像处理方法。具体地：
所述处理器901，用于获取特效图像类型，并确定所述特效图像类型对应的特效拍摄控制信息，所述特效拍摄控制信息包括目标飞行轨迹；
所述通信接口902，用于向无人机发送所述特效拍摄控制信息，以便于所述无人机根据所述目标飞行轨迹确定拍摄位置间隔和拍摄姿态，所述目标飞行轨迹的非弯曲部分中的拍摄位置间隔相同，所述目标飞行轨迹的弯曲部分中的拍摄位置间隔小于所述非弯曲部分中的拍摄位置间隔，所述拍摄姿态朝向目标拍摄对象；
所述通信接口902，还用于接收所述无人机发送的拍摄图像集合，所述拍摄图像集合包括的多张拍摄图像是由所述无人机在按照所述目标飞行轨迹飞行的过程中，根据所述拍摄位置间隔和所述拍摄姿态控制相机对所述目标拍摄对象进行拍摄得到的；
所述处理器901，还用于根据所述拍摄图像集合中的至少部分拍摄图像分别截取的图像范围，对所述至少部分拍摄图像进行拼接，生成特效图像，所述拍摄图像截取的图像范围与所述拍摄图像的拍摄位置处的弯曲弧度相关。
本发明实施例中处理器执行的方法均从处理器的角度来描述，可以理解的 是，本发明实施例中处理器要执行上述方法需要其他硬件结构的配合。本发明实施例对具体的实现过程不作详细描述和限制。
在一些可行的实施方式中，所述目标飞行轨迹的弯曲部分中的拍摄位置间隔与所述弯曲部分处的弯曲弧度成负相关。
在一些可行的实施方式中，所述拍摄图像截取的图像范围与所述拍摄图像的拍摄位置处的弯曲弧度成负相关。
在一些可行的实施方式中，所述特效拍摄控制信息是根据预先记录的所述无人机的飞行轨迹生成的。
在一些可行的实施方式中，所述特效拍摄控制信息是根据用户预先绘制的飞行轨迹生成的。
所述处理器901根据所述拍摄图像集合中的至少部分拍摄图像分别截取的图像范围，对所述至少部分拍摄图像进行拼接，生成特效图像时，具体用于：
获取所述相机的相机参数以及所述无人机预先记录的所述拍摄图像集合包括的所述多张拍摄图像的拍摄位置和拍摄姿态；
根据所述多张拍摄图像中的至少部分拍摄图像的拍摄位置和拍摄姿态确定所述至少部分拍摄图像分别截取的图像范围；
根据所述相机参数、所述至少部分拍摄图像的拍摄位置和拍摄姿态、以及所述至少部分拍摄图像分别截取的图像范围对所述至少部分拍摄图像进行拼接，生成特效图像。
在一些可行的实施方式中，所述目标飞行轨迹包括第一飞行轨迹和第二飞行轨迹，所述第一飞行轨迹为所述目标飞行轨迹中平行于所述目标拍摄对象的部分，所述第二飞行轨迹为所述目标飞行轨迹中弯曲的部分，所述第二飞行轨迹的弯曲弧度由小变大。
其中，拍摄位置处于所述第一飞行轨迹中的拍摄图像截取的图像范围相同；拍摄位置处于所述第二飞行轨迹中的拍摄图像截取的图像范围由大变小。
在一些可行的实施方式中，所述目标飞行轨迹包括第一飞行轨迹、第二飞行轨迹和第三飞行轨迹；所述第一飞行轨迹和所述第三飞行轨迹为所述目标飞行轨迹中弯曲的部分，所述第一飞行轨迹的弯曲弧度由大变小，所述第三飞行轨迹的弯曲弧度由小变大；所述第二飞行轨迹为所述目标飞行轨迹中平行于所 述目标拍摄对象的部分。
其中，拍摄位置处于所述第一飞行轨迹中的拍摄图像截取的图像范围由小变大；拍摄位置处于所述第二飞行轨迹中的拍摄图像截取的图像范围相同；拍摄位置处于所述第三飞行轨迹中的拍摄图像截取的图像范围由大变小。
在一些可行的实施方式中，所述目标飞行轨迹包括第一飞行轨迹、第二飞行轨迹、第三飞行轨迹和第四飞行轨迹；所述第一飞行轨迹和所述第四飞行轨迹为所述目标飞行轨迹中平行于所述目标拍摄对象的部分；所述第二飞行轨迹和所述第三飞行轨迹为所述目标飞行轨迹中弯曲的部分，所述第二飞行轨迹的弯曲弧度由小变大，所述第三飞行轨迹的弯曲弧度由大变小。
其中，拍摄位置处于所述第一飞行轨迹中的拍摄图像截取的图像范围相同；拍摄位置处于所述第二飞行轨迹中的拍摄图像截取的图像范围由大变小；拍摄位置处于所述第三飞行轨迹中的拍摄图像截取的图像范围由小变大；拍摄位置处于所述第四飞行轨迹中的拍摄图像截取的图像范围相同。
在一些可行的实施方式中，所述通信接口902，还用于接收用户输入的后期特效处理指令。
所述处理器902，还用于响应所述后期特效处理指令对所述特效图像进行后期特效处理，得到后期特效处理后的特效图像。
在一些可行的实施方式中，所述后期特效处理指令包括旋转、扭曲、调整色调、调整色系和变换风格。
具体实现中，本发明实施例中所描述的处理器901、通信接口902、存储器903可执行本发明实施例提供的一种图像处理方法中所描述的地面控制台侧的实现方式，在此不再赘述。
本发明实施例中，首先接收地面控制台发送的特效拍摄控制信息，并根据该特效拍摄控制信息包括的目标飞行轨迹确定拍摄位置间隔和拍摄姿态，然后控制无人机按照该目标飞行轨迹飞行，并根据该拍摄位置间隔和拍摄姿态控制相机对目标拍摄对象进行拍摄，得到拍摄图像集合，最后将该拍摄图像集合发送给地面控制台，以便于地面控制台对该拍摄图像集合中的至少部分拍摄图像进行拼接，生成特效图像，可以根据无人机拍摄得到的图像集合自动生成特效图像，从而提高生成特效图像的效率。
参见图10，是本发明实施例提供的一种图像处理***的架构示意图。本发明实施例中所描述的图像处理***，包括：
地面控制台1001，用于获取特效图像类型，并确定所述特效图像类型对应的特效拍摄控制信息，所述特效拍摄控制信息包括目标飞行轨迹。
所述地面控制台1001，还用于向无人机发送所述特效拍摄控制信息。
无人机1002，用于接收地面控制台发送的特效拍摄控制信息。
所述无人机1002，还用于根据所述目标飞行轨迹确定拍摄位置间隔和拍摄姿态，所述目标飞行轨迹的非弯曲部分中的拍摄位置间隔相同，所述目标飞行轨迹的弯曲部分中的拍摄位置间隔小于所述非弯曲部分中的拍摄位置间隔，所述拍摄姿态朝向目标拍摄对象。
在一些可行的实施方式中，所述目标飞行轨迹的弯曲部分中的拍摄位置间隔与所述弯曲部分处的弯曲弧度成负相关。
所述无人机1002，还用于控制无人机按照所述目标飞行轨迹飞行，并根据所述拍摄位置间隔和所述拍摄姿态控制相机对所述目标拍摄对象进行拍摄，得到拍摄图像集合，所述拍摄图像集合包括多张拍摄图像。
所述无人机1002，还用于将所述拍摄图像集合发送给所述地面控制台。
所述地面控制台1001，还用于接收所述无人机发送的拍摄图像集合。
所述地面控制台1001，还用于根据所述拍摄图像集合中的至少部分拍摄图像分别截取的图像范围，对所述至少部分拍摄图像进行拼接，生成特效图像，所述拍摄图像截取的图像范围与所述拍摄图像的拍摄位置处的弯曲弧度相关。
在一些可行的实施方式中，所述拍摄图像截取的图像范围与所述拍摄图像的拍摄位置处的弯曲弧度成负相关。
在一些可行的实施方式中，所述特效拍摄控制信息是根据预先记录的所述无人机的飞行轨迹生成的。
在一些可行的实施方式中，所述特效拍摄控制信息是根据用户预先绘制的飞行轨迹生成的。
可以理解的是，本发明实施例的地面控制台1001和无人机1002的功能可根据上述方法实施例中的方法具体实现，其具体实现过程可以参照上述方法实 施例的相关描述，此处不再赘述。
本发明实施例中，无人机1002首先接收地面控制台1001发送的特效拍摄控制信息，并根据该特效拍摄控制信息包括的目标飞行轨迹确定拍摄位置间隔和拍摄姿态，然后控制无人机按照该目标飞行轨迹飞行，并根据该拍摄位置间隔和拍摄姿态控制相机对目标拍摄对象进行拍摄，得到拍摄图像集合，最后将该拍摄图像集合发送给地面控制台1001，以便于地面控制台对该拍摄图像集合中的至少部分拍摄图像进行拼接，生成特效图像，可以根据无人机1002拍摄得到的图像集合自动生成特效图像，从而提高生成特效图像的效率。
本发明实施例还提供一种计算机可读存储介质，所述计算机可读存储介质中存储有指令，当其在计算机上运行时，使得计算机执行上述方法实施例所述的图像处理方法。
本发明实施例还提供一种包含指令的计算机程序产品，当其在计算机上运行时，使得计算机执行上述方法实施例所述的图像处理方法。
需要说明的是，对于前述的各个方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本发明并不受所描述的动作顺序的限制，因为依据本发明，某一些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定是本发明所必须的。
本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序可以存储于一计算机可读存储介质中，存储介质可以包括：闪存盘、只读存储器(Read-Only Memory，ROM)、随机存取器(Random Access Memory，RAM)、磁盘或光盘等。
以上对本发明实施例所提供的一种图像处理方法、无人机及地面控制台进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (53)

  1. 一种图像处理方法，其特征在于，所述方法包括：
    接收地面控制台发送的特效拍摄控制信息，所述特效拍摄控制信息包括目标飞行轨迹；
    根据所述目标飞行轨迹确定拍摄位置间隔和拍摄姿态，所述目标飞行轨迹的非弯曲部分中的拍摄位置间隔相同，所述目标飞行轨迹的弯曲部分中的拍摄位置间隔小于所述非弯曲部分中的拍摄位置间隔，所述拍摄姿态朝向目标拍摄对象；
    控制无人机按照所述目标飞行轨迹飞行，并根据所述拍摄位置间隔和所述拍摄姿态控制相机对所述目标拍摄对象进行拍摄，得到拍摄图像集合，所述拍摄图像集合包括多张拍摄图像；
    将所述拍摄图像集合发送给所述地面控制台，以便于所述地面控制台对所述拍摄图像集合中的至少部分拍摄图像进行拼接，生成特效图像。
  2. 根据权利要求1所述的方法，其特征在于，所述目标飞行轨迹的弯曲部分中的拍摄位置间隔与所述弯曲部分处的弯曲弧度成负相关。
  3. 根据权利要求1所述的方法，其特征在于，所述特效拍摄控制信息是根据预先记录的所述无人机的飞行轨迹生成的。
  4. 根据权利要求1所述的方法，其特征在于，所述特效拍摄控制信息是根据用户预先绘制的飞行轨迹生成的。
  5. 根据权利要求1～4任一项所述的方法，其特征在于，所述目标飞行轨迹包括第一飞行轨迹和第二飞行轨迹，所述第一飞行轨迹为所述目标飞行轨迹中平行于所述目标拍摄对象的部分，所述第二飞行轨迹为所述目标飞行轨迹中弯曲的部分，所述第二飞行轨迹的弯曲弧度由小变大。
  6. 根据权利要求5所述的方法，其特征在于，所述根据所述目标飞行轨迹 确定拍摄位置间隔和拍摄姿态，包括：
    根据所述第一飞行轨迹和所述第二飞行轨迹确定拍摄位置间隔和拍摄姿态；
    所述第一飞行轨迹中的拍摄位置间隔相同，所述第一飞行轨迹中的拍摄位置对应的拍摄姿态垂直朝向所述目标拍摄对象；
    所述第二飞行轨迹中的拍摄位置间隔由大变小，所述第二飞行轨迹中的拍摄位置对应的拍摄姿态倾斜朝向所述目标拍摄对象。
  7. 根据权利要求1～4任一项所述的方法，其特征在于，所述目标飞行轨迹包括第一飞行轨迹、第二飞行轨迹和第三飞行轨迹；
    所述第一飞行轨迹和所述第三飞行轨迹为所述目标飞行轨迹中弯曲的部分，所述第一飞行轨迹的弯曲弧度由大变小，所述第三飞行轨迹的弯曲弧度由小变大；
    所述第二飞行轨迹为所述目标飞行轨迹中平行于所述目标拍摄对象的部分。
  8. 根据权利要求7所述的方法，其特征在于，所述根据所述目标飞行轨迹确定拍摄位置间隔和拍摄姿态，包括：
    根据所述第一飞行轨迹、所述第二飞行轨迹和所述第三飞行轨迹确定拍摄位置间隔和拍摄姿态；
    所述第一飞行轨迹中的拍摄位置间隔由小变大，所述第一飞行轨迹中的拍摄位置对应的拍摄姿态倾斜朝向所述目标拍摄对象；
    所述第二飞行轨迹中的拍摄位置间隔相同，所述第二飞行轨迹中的拍摄位置对应的拍摄姿态垂直朝向所述目标拍摄对象；
    所述第三飞行轨迹中的拍摄位置间隔由大变小，所述第三飞行轨迹中的拍摄位置对应的拍摄姿态倾斜朝向所述目标拍摄对象。
  9. 根据权利要求1～4任一项所述的方法，其特征在于，所述目标飞行轨迹包括第一飞行轨迹、第二飞行轨迹、第三飞行轨迹和第四飞行轨迹；
    所述第一飞行轨迹和所述第四飞行轨迹为所述目标飞行轨迹中平行于所述目标拍摄对象的部分；
    所述第二飞行轨迹和所述第三飞行轨迹为所述目标飞行轨迹中弯曲的部分，所述第二飞行轨迹的弯曲弧度由小变大，所述第三飞行轨迹的弯曲弧度由大变小。
  10. 根据权利要求9所述的方法，其特征在于，所述根据所述目标飞行轨迹确定拍摄位置间隔和拍摄姿态，包括：
    根据所述第一飞行轨迹、所述第二飞行轨迹、所述第三飞行轨迹和所述第四飞行轨迹确定拍摄位置间隔和拍摄姿态；
    所述第一飞行轨迹中的拍摄位置间隔相同，所述第一飞行轨迹中的拍摄位置对应的拍摄姿态垂直朝向所述目标拍摄对象；
    所述第二飞行轨迹中的拍摄位置间隔由大变小，所述第二飞行轨迹中的拍摄位置对应的拍摄姿态倾斜朝向所述目标拍摄对象；
    所述第三飞行轨迹中的拍摄位置间隔由小变大，所述第三飞行轨迹中的拍摄位置对应的拍摄姿态倾斜朝向所述目标拍摄对象；
    所述第四飞行轨迹中的拍摄位置间隔相同，所述第四飞行轨迹中的拍摄位置对应的拍摄姿态垂直朝向所述目标拍摄对象。
  11. 根据权利要求7或8所述的方法，其特征在于，所述目标飞行轨迹包括两条所述第一飞行轨迹、两条所述第二飞行轨迹和两条所述第三飞行轨迹；
    其中，所述根据所述第一飞行轨迹、所述第二飞行轨迹和所述第三飞行轨迹确定拍摄位置间隔和拍摄姿态，包括：
    根据所述两条所述第一飞行轨迹、所述两条所述第二飞行轨迹和所述两条所述第三飞行轨迹确定拍摄位置间隔和拍摄姿态。
  12. 一种图像处理方法，其特征在于，所述方法包括：
    获取特效图像类型，并确定所述特效图像类型对应的特效拍摄控制信息，所述特效拍摄控制信息包括目标飞行轨迹；
    向无人机发送所述特效拍摄控制信息，以便于所述无人机根据所述目标飞行轨迹确定拍摄位置间隔和拍摄姿态，所述目标飞行轨迹的非弯曲部分中的拍摄位置间隔相同，所述目标飞行轨迹的弯曲部分中的拍摄位置间隔小于所述非弯曲部分中的拍摄位置间隔，所述拍摄姿态朝向目标拍摄对象；
    接收所述无人机发送的拍摄图像集合，所述拍摄图像集合包括的多张拍摄图像是由所述无人机在按照所述目标飞行轨迹飞行的过程中，根据所述拍摄位置间隔和所述拍摄姿态控制相机对所述目标拍摄对象进行拍摄得到的；
    根据所述拍摄图像集合中的至少部分拍摄图像分别截取的图像范围，对所述至少部分拍摄图像进行拼接，生成特效图像，所述拍摄图像截取的图像范围与所述拍摄图像的拍摄位置处的弯曲弧度相关。
  13. 根据权利要求12所述的方法，其特征在于，所述目标飞行轨迹的弯曲部分中的拍摄位置间隔与所述弯曲部分处的弯曲弧度成负相关。
  14. 根据权利要求12所述的方法，其特征在于，所述拍摄图像截取的图像范围与所述拍摄图像的拍摄位置处的弯曲弧度成负相关。
  15. 根据权利要求12所述的方法，其特征在于，所述特效拍摄控制信息是根据预先记录的所述无人机的飞行轨迹生成的。
  16. 根据权利要求12所述的方法，其特征在于，所述特效拍摄控制信息是根据用户预先绘制的飞行轨迹生成的。
  17. 根据权利要求12～16任一项所述的方法，其特征在于，所述根据所述拍摄图像集合中的至少部分拍摄图像分别截取的图像范围，对所述至少部分拍摄图像进行拼接，生成特效图像，包括：
    获取所述相机的相机参数以及所述无人机预先记录的所述拍摄图像集合包括的所述多张拍摄图像的拍摄位置和拍摄姿态；
    根据所述多张拍摄图像中的至少部分拍摄图像的拍摄位置和拍摄姿态确 定所述至少部分拍摄图像分别截取的图像范围；
    根据所述相机参数、所述至少部分拍摄图像的拍摄位置和拍摄姿态、以及所述至少部分拍摄图像分别截取的图像范围对所述至少部分拍摄图像进行拼接，生成特效图像。
  18. 根据权利要求17所述的方法，其特征在于，所述目标飞行轨迹包括第一飞行轨迹和第二飞行轨迹，所述第一飞行轨迹为所述目标飞行轨迹中平行于所述目标拍摄对象的部分，所述第二飞行轨迹为所述目标飞行轨迹中弯曲的部分，所述第二飞行轨迹的弯曲弧度由小变大。
  19. 根据权利要求18所述的方法，其特征在于，拍摄位置处于所述第一飞行轨迹中的拍摄图像截取的图像范围相同；
    拍摄位置处于所述第二飞行轨迹中的拍摄图像截取的图像范围由大变小。
  20. 根据权利要求17所述的方法，其特征在于，所述目标飞行轨迹包括第一飞行轨迹、第二飞行轨迹和第三飞行轨迹；
    所述第一飞行轨迹和所述第三飞行轨迹为所述目标飞行轨迹中弯曲的部分，所述第一飞行轨迹的弯曲弧度由大变小，所述第三飞行轨迹的弯曲弧度由小变大；
    所述第二飞行轨迹为所述目标飞行轨迹中平行于所述目标拍摄对象的部分。
  21. 根据权利要求20所述的方法，其特征在于，拍摄位置处于所述第一飞行轨迹中的拍摄图像截取的图像范围由小变大；
    拍摄位置处于所述第二飞行轨迹中的拍摄图像截取的图像范围相同；
    拍摄位置处于所述第三飞行轨迹中的拍摄图像截取的图像范围由大变小。
  22. 根据权利要求17所述的方法，其特征在于，所述目标飞行轨迹包括第一飞行轨迹、第二飞行轨迹、第三飞行轨迹和第四飞行轨迹；
    所述第一飞行轨迹和所述第四飞行轨迹为所述目标飞行轨迹中平行于所述目标拍摄对象的部分；
    所述第二飞行轨迹和所述第三飞行轨迹为所述目标飞行轨迹中弯曲的部分，所述第二飞行轨迹的弯曲弧度由小变大，所述第三飞行轨迹的弯曲弧度由大变小。
  23. 根据权利要求22所述的方法，其特征在于，拍摄位置处于所述第一飞行轨迹中的拍摄图像截取的图像范围相同；
    拍摄位置处于所述第二飞行轨迹中的拍摄图像截取的图像范围由大变小；
    拍摄位置处于所述第三飞行轨迹中的拍摄图像截取的图像范围由小变大；
    拍摄位置处于所述第四飞行轨迹中的拍摄图像截取的图像范围相同。
  24. 根据权利要求20或21所述的方法，其特征在于，所述目标飞行轨迹包括两条所述第一飞行轨迹、两条所述第二飞行轨迹和两条所述第三飞行轨迹。
  25. 根据权利要求12所述的方法，其特征在于，所述根据所述拍摄图像集合中的至少部分拍摄图像分别截取的图像范围，对所述至少部分拍摄图像进行拼接，生成特效图像之后，所述方法还包括：
    接收用户输入的后期特效处理指令；
    响应所述后期特效处理指令对所述特效图像进行后期特效处理，得到后期特效处理后的特效图像。
  26. 根据权利要求25所述的方法，其特征在于，所述后期特效处理指令包括旋转、扭曲、调整色调、调整色系和变换风格。
  27. 一种无人机，其特征在于，包括：处理器、通信接口和存储器，所述处理器、所述通信接口和所述存储器通过总线连接；
    所述存储器，用于存储程序指令；
    所述处理器，用于执行所述存储器存储的程序指令；
    所述通信接口，用于收发信息或信令的交互；
    所述通信接口，用于接收地面控制台发送的特效拍摄控制信息，所述特效拍摄控制信息包括目标飞行轨迹；
    所述处理器，用于根据所述目标飞行轨迹确定拍摄位置间隔和拍摄姿态，所述目标飞行轨迹的非弯曲部分中的拍摄位置间隔相同，所述目标飞行轨迹的弯曲部分中的拍摄位置间隔小于所述非弯曲部分中的拍摄位置间隔，所述拍摄姿态朝向目标拍摄对象；
    所述处理器，还用于控制无人机按照所述目标飞行轨迹飞行，并根据所述拍摄位置间隔和所述拍摄姿态控制相机对所述目标拍摄对象进行拍摄，得到拍摄图像集合，所述拍摄图像集合包括多张拍摄图像；
    所述通信接口，还用于将所述拍摄图像集合发送给所述地面控制台，以便于所述地面控制台对所述拍摄图像集合中的至少部分拍摄图像进行拼接，生成特效图像。
  28. 根据权利要求27所述的无人机，其特征在于，所述目标飞行轨迹的弯曲部分中的拍摄位置间隔与所述弯曲部分处的弯曲弧度成负相关。
  29. 根据权利要求27所述的无人机，其特征在于，所述特效拍摄控制信息是根据预先记录的所述无人机的飞行轨迹生成的。
  30. 根据权利要求27所述的无人机，其特征在于，所述特效拍摄控制信息是根据用户预先绘制的飞行轨迹生成的。
  31. 根据权利要求27～30任一项所述的无人机，其特征在于，所述目标飞行轨迹包括第一飞行轨迹和第二飞行轨迹，所述第一飞行轨迹为所述目标飞行轨迹中平行于所述目标拍摄对象的部分，所述第二飞行轨迹为所述目标飞行轨迹中弯曲的部分，所述第二飞行轨迹的弯曲弧度由小变大。
  32. 根据权利要求31所述的无人机，其特征在于，
    所述处理器，具体用于根据所述第一飞行轨迹和所述第二飞行轨迹确定拍摄位置间隔和拍摄姿态；
    所述第一飞行轨迹中的拍摄位置间隔相同，所述第一飞行轨迹中的拍摄位置对应的拍摄姿态垂直朝向所述目标拍摄对象；
    所述第二飞行轨迹中的拍摄位置间隔由大变小，所述第二飞行轨迹中的拍摄位置对应的拍摄姿态倾斜朝向所述目标拍摄对象。
  33. 根据权利要求27～30任一项所述的装置，其特征在于，所述目标飞行轨迹包括第一飞行轨迹、第二飞行轨迹和第三飞行轨迹；
    所述第一飞行轨迹和所述第三飞行轨迹为所述目标飞行轨迹中弯曲的部分，所述第一飞行轨迹的弯曲弧度由大变小，所述第三飞行轨迹的弯曲弧度由小变大；
    所述第二飞行轨迹为所述目标飞行轨迹中平行于所述目标拍摄对象的部分。
  34. 根据权利要求33所述的无人机，其特征在于，
    所述处理器，具体用于根据所述第一飞行轨迹、所述第二飞行轨迹和所述第三飞行轨迹确定拍摄位置间隔和拍摄姿态；
    所述第一飞行轨迹中的拍摄位置间隔由小变大，所述第一飞行轨迹中的拍摄位置对应的拍摄姿态倾斜朝向所述目标拍摄对象；
    所述第二飞行轨迹中的拍摄位置间隔相同，所述第二飞行轨迹中的拍摄位置对应的拍摄姿态垂直朝向所述目标拍摄对象；
    所述第三飞行轨迹中的拍摄位置间隔由大变小，所述第三飞行轨迹中的拍摄位置对应的拍摄姿态倾斜朝向所述目标拍摄对象。
  35. 根据权利要求27～30任一项所述的无人机，其特征在于，所述目标飞行轨迹包括第一飞行轨迹、第二飞行轨迹、第三飞行轨迹和第四飞行轨迹；
    所述第一飞行轨迹和所述第四飞行轨迹为所述目标飞行轨迹中平行于所述目标拍摄对象的部分；
    所述第二飞行轨迹和所述第三飞行轨迹为所述目标飞行轨迹中弯曲的部分，所述第二飞行轨迹的弯曲弧度由小变大，所述第三飞行轨迹的弯曲弧度由大变小。
  36. 根据权利要求35所述的无人机，其特征在于，
    所述处理器，具体用于根据所述第一飞行轨迹、所述第二飞行轨迹、所述第三飞行轨迹和所述第四飞行轨迹确定拍摄位置间隔和拍摄姿态；
    所述第一飞行轨迹中的拍摄位置间隔相同，所述第一飞行轨迹中的拍摄位置对应的拍摄姿态垂直朝向所述目标拍摄对象；
    所述第二飞行轨迹中的拍摄位置间隔由大变小，所述第二飞行轨迹中的拍摄位置对应的拍摄姿态倾斜朝向所述目标拍摄对象；
    所述第三飞行轨迹中的拍摄位置间隔由小变大，所述第三飞行轨迹中的拍摄位置对应的拍摄姿态倾斜朝向所述目标拍摄对象；
    所述第四飞行轨迹中的拍摄位置间隔相同，所述第四飞行轨迹中的拍摄位置对应的拍摄姿态垂直朝向所述目标拍摄对象。
  37. 根据权利要求33或34所述的无人机，其特征在于，所述目标飞行轨迹包括两条所述第一飞行轨迹、两条所述第二飞行轨迹和两条所述第三飞行轨迹；
    所述处理器，具体用于根据所述两条所述第一飞行轨迹、所述两条所述第二飞行轨迹和所述两条所述第三飞行轨迹确定拍摄位置间隔和拍摄姿态。
  38. 一种地面控制台，其特征在于，包括：处理器、通信接口和存储器，所述处理器、所述通信接口和所述存储器通过总线连接；
    所述存储器，用于存储程序指令；
    所述通信接口，用于收发信息或信令的交互；
    所述处理器，用于执行所述存储器存储的程序指令；
    所述处理器，用于获取特效图像类型，并确定所述特效图像类型对应的特效拍摄控制信息，所述特效拍摄控制信息包括目标飞行轨迹；
    所述通信接口，用于向无人机发送所述特效拍摄控制信息，以便于所述无人机根据所述目标飞行轨迹确定拍摄位置间隔和拍摄姿态，所述目标飞行轨迹的非弯曲部分中的拍摄位置间隔相同，所述目标飞行轨迹的弯曲部分中的拍摄位置间隔小于所述非弯曲部分中的拍摄位置间隔，所述拍摄姿态朝向目标拍摄对象；
    所述通信接口，还用于接收所述无人机发送的拍摄图像集合，所述拍摄图像集合包括的多张拍摄图像是由所述无人机在按照所述目标飞行轨迹飞行的过程中，根据所述拍摄位置间隔和所述拍摄姿态控制相机对所述目标拍摄对象进行拍摄得到的；
    所述处理器，还用于根据所述拍摄图像集合中的至少部分拍摄图像分别截取的图像范围，对所述至少部分拍摄图像进行拼接，生成特效图像，所述拍摄图像截取的图像范围与所述拍摄图像的拍摄位置处的弯曲弧度相关。
  39. 根据权利要求38所述的地面控制台，其特征在于，所述目标飞行轨迹的弯曲部分中的拍摄位置间隔与所述弯曲部分处的弯曲弧度成负相关。
  40. 根据权利要求38所述的地面控制台，其特征在于，所述拍摄图像截取的图像范围与所述拍摄图像的拍摄位置处的弯曲弧度成负相关。
  41. 根据权利要求38所述的地面控制台，其特征在于，所述特效拍摄控制信息是根据预先记录的所述无人机的飞行轨迹生成的。
  42. 根据权利要求38所述的地面控制台，其特征在于，所述特效拍摄控制信息是根据用户预先绘制的飞行轨迹生成的。
  43. 根据权利要求38～42任一项所述的地面控制台，其特征在于，所述处理器根据所述拍摄图像集合中的至少部分拍摄图像分别截取的图像范围，对所述至少部分拍摄图像进行拼接，生成特效图像时，具体用于：
    获取所述相机的相机参数以及所述无人机预先记录的所述拍摄图像集合 包括的所述多张拍摄图像的拍摄位置和拍摄姿态；
    根据所述多张拍摄图像中的至少部分拍摄图像的拍摄位置和拍摄姿态确定所述至少部分拍摄图像分别截取的图像范围；
    根据所述相机参数、所述至少部分拍摄图像的拍摄位置和拍摄姿态、以及所述至少部分拍摄图像分别截取的图像范围对所述至少部分拍摄图像进行拼接，生成特效图像。
  44. 根据权利要求43所述的地面控制台，其特征在于，所述目标飞行轨迹包括第一飞行轨迹和第二飞行轨迹，所述第一飞行轨迹为所述目标飞行轨迹中平行于所述目标拍摄对象的部分，所述第二飞行轨迹为所述目标飞行轨迹中弯曲的部分，所述第二飞行轨迹的弯曲弧度由小变大。
  45. 根据权利要求44所述的地面控制台，其特征在于，拍摄位置处于所述第一飞行轨迹中的拍摄图像截取的图像范围相同；
    拍摄位置处于所述第二飞行轨迹中的拍摄图像截取的图像范围由大变小。
  46. 根据权利要求43所述的地面控制台，其特征在于，所述目标飞行轨迹包括第一飞行轨迹、第二飞行轨迹和第三飞行轨迹；
    所述第一飞行轨迹和所述第三飞行轨迹为所述目标飞行轨迹中弯曲的部分，所述第一飞行轨迹的弯曲弧度由大变小，所述第三飞行轨迹的弯曲弧度由小变大；
    所述第二飞行轨迹为所述目标飞行轨迹中平行于所述目标拍摄对象的部分。
  47. 根据权利要求46所述的地面控制台，其特征在于，拍摄位置处于所述第一飞行轨迹中的拍摄图像截取的图像范围由小变大；
    拍摄位置处于所述第二飞行轨迹中的拍摄图像截取的图像范围相同；
    拍摄位置处于所述第三飞行轨迹中的拍摄图像截取的图像范围由大变小。
  48. 根据权利要求43所述的地面控制台，其特征在于，所述目标飞行轨迹包括第一飞行轨迹、第二飞行轨迹、第三飞行轨迹和第四飞行轨迹；
    所述第一飞行轨迹和所述第四飞行轨迹为所述目标飞行轨迹中平行于所述目标拍摄对象的部分；
    所述第二飞行轨迹和所述第三飞行轨迹为所述目标飞行轨迹中弯曲的部分，所述第二飞行轨迹的弯曲弧度由小变大，所述第三飞行轨迹的弯曲弧度由大变小。
  49. 根据权利要求48所述的地面控制台，其特征在于，拍摄位置处于所述第一飞行轨迹中的拍摄图像截取的图像范围相同；
    拍摄位置处于所述第二飞行轨迹中的拍摄图像截取的图像范围由大变小；
    拍摄位置处于所述第三飞行轨迹中的拍摄图像截取的图像范围由小变大；
    拍摄位置处于所述第四飞行轨迹中的拍摄图像截取的图像范围相同。
  50. 根据权利要求46或47所述的地面控制台，其特征在于，所述目标飞行轨迹包括两条所述第一飞行轨迹、两条所述第二飞行轨迹和两条所述第三飞行轨迹。
  51. 根据权利要求38所述的地面控制台，其特征在于，
    所述通信接口，还用于接收用户输入的后期特效处理指令；
    所述处理器，还用于响应所述后期特效处理指令对所述特效图像进行后期特效处理，得到后期特效处理后的特效图像。
  52. 根据权利要求51所述的地面控制台，其特征在于，所述后期特效处理指令包括旋转、扭曲、调整色调、调整色系和变换风格。
  53. 一种图像处理***，其特征在于，包括：如权利要求27～37任一项所述的无人机和如权利要求38～52任一项所述的地面控制台。
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