WO2019084736A1 - Shooting control method, shooting device, and uav - Google Patents

Abstract

Provided is a shooting control method, a photographing device and a UAV (UNMANNED AERIAL VEHICLE). The method comprises: determining an evaluation parameter of each frame of historical image data in at least one frame of historical image data; and extracting one frame of historical image data whose evaluation parameter meets a preset condition from at least one frame of historical image data buffered in a buffer area. The method can ensure that the captured image meets the preset requirements, and the picture quality of the captured image is improved.

Description

拍摄控制方法、拍摄设备及无人机Shooting control method, shooting device, and drone 技术领域Technical field

本发明实施例涉及无人机领域，尤其涉及一种拍摄控制方法、拍摄设备及无人机。Embodiments of the present invention relate to the field of drones, and in particular, to a photographing control method, a photographing apparatus, and a drone.

背景技术Background technique

现有技术的拍摄设备，通常情况拍摄设备的图像传感器会实时抓取图像信息，并将实时抓取的图像信息存储在缓存中。当用户按下拍摄按钮时，拍摄设备拍摄到的图像信息并不是用户按下拍摄按钮那一时刻图像传感器抓取的图像信息，而是从缓存中选取的一帧历史图像信息作为拍摄图像通常情况下会选取最靠近用户发出拍摄指令的那个时刻的一帧历史图像作为拍摄图像，而该历史图像信息的画面可能并不佳，例如可能存在过曝、欠曝、未合焦等问题，降低了拍摄质量。In the prior art shooting device, the image sensor of the shooting device usually captures the image information in real time and stores the captured image information in the cache in real time. When the user presses the shooting button, the image information captured by the shooting device is not the image information captured by the image sensor at the moment when the user presses the shooting button, but a frame of historical image information selected from the buffer as a captured image. A frame of historical image closest to the moment when the user issues the shooting command is selected as the captured image, and the image of the historical image information may not be good, for example, there may be problems such as overexposure, underexposure, and out of focus, which are reduced. Shooting quality.

发明内容Summary of the invention

本发明实施例提供一种拍摄控制方法、拍摄设备及无人机，以提高拍摄图像的画面质量。Embodiments of the present invention provide a shooting control method, a photographing apparatus, and a drone to improve the picture quality of a captured image.

本发明实施例的第一方面是提供一种拍摄控制方法，包括：A first aspect of the embodiments of the present invention provides a shooting control method, including:

确定至少一帧历史图像数据中每一帧历史图像数据的评价参数；Determining an evaluation parameter of each frame of historical image data in at least one frame of historical image data;

从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据。And extracting one frame of historical image data whose evaluation parameter meets a preset condition from at least one frame of historical image data buffered in the buffer area.

本发明实施例的第二方面是提供一种拍摄设备，包括：存储器和处理器；A second aspect of the embodiments of the present invention provides a photographing apparatus, including: a memory and a processor;

所述存储器用于存储程序代码；The memory is for storing program code;

所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：The processor calls the program code to perform the following operations when the program code is executed:

确定至少一帧历史图像数据中每一帧历史图像数据的评价参数；Determining an evaluation parameter of each frame of historical image data in at least one frame of historical image data;

从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预 设条件的一帧历史图像数据。Extracting the evaluation parameters from at least one frame of historical image data buffered in the buffer area Set a frame of historical image data.

本发明实施例的第三方面是提供一种无人机，包括：A third aspect of the embodiments of the present invention provides a drone, including:

机身；body;

动力***，安装在所述机身，用于提供飞行动力；a power system mounted to the fuselage for providing flight power;

飞行控制器，与所述动力***通讯连接，用于控制所述无人机飞行；以及a flight controller communicatively coupled to the power system for controlling the flight of the drone;

上述第二方面所述的拍摄设备。The photographing apparatus described in the above second aspect.

本实施例提供的拍摄控制方法、拍摄设备及无人机，通过确定至少一帧历史图像数据中每一帧历史图像数据的评价参数，并从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据，将该帧历史图像数据作为与拍摄控制指令对应的拍摄图像，可保证拍摄图像符合预设要求，提高了拍摄图像的画面质量。The photographing control method, the photographing apparatus and the drone provided by the embodiment determine the evaluation parameter of each frame of the historical image data in at least one frame of the historical image data, and from the at least one frame of the historical image data buffered in the buffer area. The one-frame historical image data whose evaluation parameter meets the preset condition is taken out, and the frame history image data is taken as the captured image corresponding to the shooting control instruction, which can ensure that the captured image meets the preset requirement, and improves the picture quality of the captured image.

附图说明DRAWINGS

为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图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。In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in view of the drawings.

图1为本发明实施例提供的拍摄控制方法的流程图；FIG. 1 is a flowchart of a shooting control method according to an embodiment of the present invention;

图2为本发明实施例提供的环形缓存区中缓存历史图像数据的示意图；2 is a schematic diagram of buffering historical image data in a ring buffer area according to an embodiment of the present invention;

图3为本发明实施例提供的环形缓存区中缓存历史图像数据的示意图；FIG. 3 is a schematic diagram of buffering historical image data in a ring buffer area according to an embodiment of the present disclosure;

图4为本发明另一实施例提供的拍摄控制方法的流程图；FIG. 4 is a flowchart of a shooting control method according to another embodiment of the present invention; FIG.

图5为本发明另一实施例提供的拍摄控制方法的流程图；FIG. 5 is a flowchart of a shooting control method according to another embodiment of the present invention; FIG.

图6为本发明另一实施例提供的拍摄控制方法的流程图；FIG. 6 is a flowchart of a shooting control method according to another embodiment of the present invention;

图7为本发明另一实施例提供的拍摄控制方法的流程图；FIG. 7 is a flowchart of a shooting control method according to another embodiment of the present invention; FIG.

图8为本发明实施例提供的拍摄设备的结构图；FIG. 8 is a structural diagram of a photographing apparatus according to an embodiment of the present invention;

图9为本发明实施例提供的无人机的结构图。FIG. 9 is a structural diagram of a drone according to an embodiment of the present invention.

附图标记： Reference mark:

20-多帧历史图像数据  21-历史图像数据   22-历史图像数据20-Multiframe Historical Image Data 21-Historical Image Data 22-Historical Image Data

23-历史图像数据      24-历史图像数据   25-新的历史图像数据23-Historical Image Data 24-Historical Image Data 25-New Historical Image Data

80-拍摄设备          81-存储器         82-处理器80-Camera 81-Memory 82-Processor

900-无人机           914-天线         916-电磁波900-UAV 914-Antenna 916-Electromagnetic wave

907-电机             906-螺旋桨       917-电子调速器907-motor 906-propeller 917-electronic governor

918-飞行控制器       908-传感***    910-通信***918-Flight Controller 908-Sensor System 910-Communication System

902-支撑设备         904-拍摄设备   912-地面站902-supporting equipment 904-photographing equipment 912-ground station

具体实施方式Detailed ways

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地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly described with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。It should be noted that when a component is referred to as being "fixed" to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect" another component, it can be directly connected to another component or possibly a central component.

除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.

下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The features of the embodiments and examples described below can be combined with each other without conflict.

本发明实施例提供一种拍摄控制方法。图1为本发明实施例提供的拍摄控制方法的流程图。如图1所示，本实施例中的方法，可以包括：Embodiments of the present invention provide a shooting control method. FIG. 1 is a flowchart of a shooting control method according to an embodiment of the present invention. As shown in FIG. 1, the method in this embodiment may include:

步骤S101、确定至少一帧历史图像数据中每一帧历史图像数据的评价参数。Step S101: Determine an evaluation parameter of each frame of historical image data in at least one frame of historical image data.

本实施例提供的拍摄控制方法适用于拍摄设备，该拍摄设备具体可以是数码相机、摄像机等具有拍摄功能的设备。该拍摄设备可以是用户手持 的拍摄设备，也可以是可移动平台上搭载的拍摄设备，例如无人机或者手持式云台上搭载的拍摄设备。拍摄设备内部设置有一个缓存区，可选的，所述缓存区为环形缓存区。环形缓存区即ring buffer。The photographing control method provided in this embodiment is applicable to a photographing device, and the photographing device may specifically be a device having a photographing function such as a digital camera or a video camera. The shooting device can be held by the user The shooting device can also be a shooting device mounted on a mobile platform, such as a drone or a handheld camera mounted on a handheld head. The shooting device is internally provided with a buffer area. Optionally, the buffer area is a ring buffer area. The ring buffer is the ring buffer.

如果该拍摄设备可以是用户手持的拍摄设备，在用户按下拍摄设备的拍摄按钮或按键之前，拍摄设备会将图像传感器检测到的至少一帧图像数据缓存在环形缓存区即ring buffer中，相对于用户按下拍摄按钮或按键的时刻，缓存在ring buffer中的图像数据为该时刻之前的历史图像数据。本实施例并不限定拍摄设备在用户按下拍摄按钮或按键之前的哪个具体时刻开始缓存历史图像数据。If the photographing device is a photographing device held by a user, the photographing device buffers at least one frame of image data detected by the image sensor in a ring buffer, ie, a ring buffer, before the user presses a photographing button or a button of the photographing device, At the time when the user presses the shooting button or the button, the image data buffered in the ring buffer is the historical image data before the time. The present embodiment does not limit which specific time before the user presses the shooting button or the button to start buffering the history image data.

如果该拍摄设备是无人机上搭载的拍摄设备，则当无人机接收到其对应的控制设备例如遥控器发送的拍摄控制指令之前，拍摄设备会将图像传感器检测到的至少一帧图像数据缓存在环形缓存区即ring buffer中，相对于无人机接收到拍摄控制指令的时刻，缓存在ring buffer中的图像数据为该时刻之前的历史图像数据。If the photographing device is a photographing device mounted on the drone, the photographing device buffers at least one frame of image data detected by the image sensor before the drone receives the photographing control command sent by the corresponding control device such as the remote controller. In the ring buffer, that is, the ring buffer, the image data buffered in the ring buffer is the historical image data before the moment with respect to the time when the drone receives the shooting control command.

以用户手持的拍摄设备为例，如图2所示，20表示用户按下拍摄设备的拍摄按钮或按键之前，ring buffer中缓存的多帧历史图像数据，此处只是示意性说明，并不限定ring buffer的存储空间，以及ring buffer中缓存的历史图像数据的个数。21表示在t1时刻缓存的历史图像数据，22表示在t2时刻缓存的历史图像数据，23表示在t3时刻缓存的历史图像数据，24表示在t4时刻缓存的历史图像数据，可选的，t1时刻早于t2时刻、t2时刻早于t3时刻、t3时刻早于t4时刻。Taking the camera device held by the user as an example, as shown in FIG. 2, 20 indicates the multi-frame historical image data buffered in the ring buffer before the user presses the shooting button or button of the shooting device, which is only illustrative and not limited. The storage space of the ring buffer and the number of historical image data buffered in the ring buffer. 21 denotes history image data buffered at time t1, 22 denotes history image data buffered at time t2, 23 denotes history image data buffered at time t3, and 24 denotes history image data buffered at time t4, optionally, time t1 It is earlier than t2, t2 is earlier than t3, and t3 is earlier than t4.

在本实施例中，拍摄设备可确定出ring buffer中每一帧历史图像数据的评价参数，例如，确定历史图像数据21-24中每一帧历史图像数据的评价参数；也可以确定出ring buffer中用户按下拍摄按钮或按键之前预设时间段内的每一帧历史图像数据的评价参数，例如，确定历史图像数据23和历史图像数据24的评价参数。In this embodiment, the photographing apparatus may determine an evaluation parameter of each frame of historical image data in the ring buffer, for example, determine an evaluation parameter of each frame of the historical image data in the historical image data 21-24; and may also determine a ring buffer The evaluation parameters of the history image data of each frame within a preset time period before the user presses the shooting button or the button, for example, the evaluation parameters of the history image data 23 and the history image data 24.

可选的，所述评价参数包括：表征图像数据的模糊度、亮度、清晰度中的一种或多种的评价参数。Optionally, the evaluation parameter includes: an evaluation parameter that characterizes one or more of ambiguity, brightness, and definition of the image data.

例如，拍摄设备可以将每一帧历史图像数据转换成灰度图，并根据灰度图中每个像素点的灰度值，统计该灰度图中各灰度值对应的像素点的个 数，进一步根据各灰度值的大小和各灰度值对应的像素点的个数进行直方图统计，该直方图可反映出各灰度值出现的频率。出现频率较高的灰度值，可反映出历史图像数据的亮暗程度。可选的，将直方图统计信息作为历史图像数据的一个评价参数，该评价参数可表征历史图像数据的亮度。此处只是示意性说明，在其他实施例中，还可以采用其他的评价参数来表征历史图像数据的亮度。For example, the photographing device may convert each frame of historical image data into a grayscale image, and count the pixels corresponding to the grayscale values in the grayscale image according to the grayscale value of each pixel in the grayscale image. The number further performs histogram statistics according to the magnitude of each gray value and the number of pixels corresponding to each gray value, and the histogram can reflect the frequency at which each gray value appears. A gray value with a higher frequency appears to reflect the brightness of the historical image data. Optionally, the histogram statistical information is used as an evaluation parameter of the historical image data, and the evaluation parameter can represent the brightness of the historical image data. This is only a schematic illustration. In other embodiments, other evaluation parameters may also be employed to characterize the brightness of the historical image data.

另外，拍摄设备还可以对每一帧历史图像数据进行图像锐化，以增强图像的边缘及灰度跳变的部分，进一步计算边缘锐化程度，边缘锐化程度可反映出图像的清晰度。可选的，将边缘锐化程度作为历史图像数据的又一个评价参数，该评价参数可表征历史图像数据的清晰度。此处只是示意性说明，在其他实施例中，还可以采用其他的评价参数来表征历史图像数据的清晰度。In addition, the photographing device can also perform image sharpening on each frame of historical image data to enhance the edge of the image and the grayscale jump portion, and further calculate the edge sharpening degree, and the edge sharpening degree can reflect the sharpness of the image. Optionally, the edge sharpening degree is used as another evaluation parameter of the historical image data, and the evaluation parameter can represent the sharpness of the historical image data. This is merely a schematic illustration. In other embodiments, other evaluation parameters may also be employed to characterize the sharpness of historical image data.

此外，还可以将图像运动模糊程度作为历史图像数据的另一个评价参数，该评价参数可表征历史图像数据的模糊度。此处只是示意性说明，在其他实施例中，还可以采用其他的评价参数来表征历史图像数据的模糊度。In addition, the degree of image motion blur can also be taken as another evaluation parameter of the historical image data, which can characterize the ambiguity of the historical image data. This is only a schematic illustration. In other embodiments, other evaluation parameters may also be employed to characterize the ambiguity of historical image data.

在本实施例中，拍摄设备可确定出ring buffer中每一帧历史图像数据的直方图统计信息、边缘锐化程度、运动模糊程度中的至少一个，也可以确定出ring buffer中用户按下拍摄按钮或按键之前预设时间段内的每一帧历史图像数据的直方图统计信息、边缘锐化程度、运动模糊程度中的至少一个。In this embodiment, the photographing apparatus may determine at least one of histogram statistical information, edge sharpening degree, and motion blur degree of each frame of historical image data in the ring buffer, and may also determine that the user presses the shot in the ring buffer. At least one of histogram statistical information, degree of edge sharpening, and degree of motion blur of each frame of historical image data within a preset time period before the button or button.

步骤S102、从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据。Step S102: Extract one frame of historical image data whose evaluation parameter meets a preset condition from at least one frame of historical image data buffered in the buffer area.

所述从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据包括：从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据作为与拍摄控制指令对应的拍摄图像。And extracting, from the at least one frame of the historical image data buffered in the buffer area, the one-frame historical image data whose evaluation parameter meets the preset condition comprises: extracting the evaluation parameter from the at least one frame of the historical image data buffered in the buffer area. The one-frame history image data of the condition is set as the captured image corresponding to the shooting control command.

具体的，拍摄设备确定出ring buffer中每一帧历史图像数据的直方图统计信息、边缘锐化程度、运动模糊程度中的至少一个评价参数之后，可从缓存在ring buffer中的至少一帧历史图像数据中取出评价参数符合预设 条件的一帧历史图像数据，并将该帧历史图像数据作为用户按下拍摄按钮或按键时的拍摄图像。Specifically, after the photographing device determines at least one evaluation parameter of the histogram statistical information, the degree of edge sharpening, and the degree of motion blur of each frame of historical image data in the ring buffer, at least one frame history that is buffered in the ring buffer may be obtained. The evaluation parameters are taken out from the image data to match the preset One frame of history image data of the condition, and the frame history image data is taken as a captured image when the user presses a shooting button or a button.

例如，当拍摄设备检测到用户按下拍摄按钮或按键的操作时生成拍摄控制指令，并根据每一帧历史图像数据的直方图统计信息、边缘锐化程度、运动模糊程度中的至少一个，从缓存在ring buffer中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据，可选的，预设条件包括没有运动模糊、没有过曝或欠曝、处于合焦状态等中的一个或多个。For example, when the photographing apparatus detects an operation of the user pressing a photographing button or a button, a photographing control instruction is generated, and according to at least one of histogram statistical information, edge sharpening degree, and motion blur degree of each frame of historical image data, Cache at least one frame of historical image data in the ring buffer to extract a frame of historical image data whose evaluation parameter meets a preset condition. Optionally, the preset condition includes no motion blur, no overexposure or underexposure, and is in a focus state. One or more of the others.

可选的，拍摄设备根据ring buffer中每一帧历史图像数据的直方图统计信息、边缘锐化程度、运动模糊程度，从缓存在ring buffer中的至少一帧历史图像数据中取出同时满足没有运动模糊、没有过曝或欠曝、处于合焦状态等条件的一帧历史图像数据，并将该帧历史图像数据作为用户按下拍摄按钮或按键时的拍摄图像。Optionally, the photographing device extracts from at least one frame of historical image data buffered in the ring buffer according to histogram statistical information, edge sharpening degree, and motion blur degree of each frame of historical image data in the ring buffer while satisfying no motion. A frame of historical image data that is blurred, has no overexposure or underexposure, is in a state of focus, and the like, and uses the frame history image data as a captured image when the user presses a shooting button or a button.

另外，在其他实施例中，在确定至少一帧历史图像数据中每一帧历史图像数据的评价参数，或/及从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据的过程中，停止向所述缓存区输入新的历史图像数据。In addition, in other embodiments, determining an evaluation parameter of each frame of historical image data in at least one frame of historical image data, or/and extracting an evaluation parameter from at least one frame of historical image data buffered in the buffer area is in accordance with a preset. In the process of one frame of history image data of the condition, the input of new history image data to the buffer area is stopped.

ring buffer的特性是：当ring buffer没有空余的存储空间时，其存储时间最长的数据会被丢弃，以缓存新来的数据。The characteristics of the ring buffer are: when the ring buffer has no free storage space, the data with the longest storage time will be discarded to cache the new data.

例如，拍摄设备依次确定如图3所示的历史图像数据21-24中每一帧历史图像数据的评价参数，当拍摄设备在确定历史图像数据24的评价参数时，图像传感器检测到了新的历史图像数据25，并将新的历史图像数据25缓存到ring buffer，假设ring buffer的剩余存储空间为0，此时，需要删除历史图像数据21，以缓存新的历史图像数据25，导致历史图像数据21被覆盖。如果历史图像数据21的评价参数符合预设条件，当拍摄设备确定出历史图像数据24的评价参数后，根据历史图像数据21-24分别对应的评价参数，选取评价参数符合预设条件的一帧历史图像数据时，将导致拍摄设备无法取出历史图像数据21。For example, the photographing apparatus sequentially determines evaluation parameters of each frame of history image data in the history image data 21-24 as shown in FIG. 3, and when the photographing apparatus determines the evaluation parameters of the history image data 24, the image sensor detects a new history. The image data 25 is buffered and the new history image data 25 is buffered to the ring buffer, assuming that the remaining storage space of the ring buffer is 0. At this time, the history image data 21 needs to be deleted to cache the new history image data 25, resulting in historical image data. 21 is covered. If the evaluation parameter of the historical image data 21 meets the preset condition, after the photographing device determines the evaluation parameter of the historical image data 24, according to the evaluation parameters corresponding to the historical image data 21-24, a frame whose evaluation parameter meets the preset condition is selected. When the history image data is used, the photographing apparatus cannot cause the history image data 21 to be taken out.

再例如，拍摄设备依次确定出如图3所示的历史图像数据21-24中每一帧历史图像数据的评价参数之后，在从历史图像数据21-24中选取评价参数符合预设条件的一帧历史图像数据时，图像传感器检测到了新的历史 图像数据25，并将新的历史图像数据25缓存到ring buffer，假设ring buffer的剩余存储空间为0，此时，需要删除历史图像数据21，以缓存新的历史图像数据25。如果拍摄设备确定出历史图像数据21的评价参数符合预设条件，而历史图像数据21已被覆盖，拍摄设备将无法取出历史图像数据21。For another example, after the photographing apparatus sequentially determines the evaluation parameters of each frame of the history image data in the history image data 21-24 as shown in FIG. 3, the one that selects the evaluation parameter from the history image data 21-24 according to the preset condition is selected. Image sensor detects new history when frame history image data The image data 25 is buffered and the new history image data 25 is buffered to the ring buffer, assuming that the remaining storage space of the ring buffer is 0. At this time, the history image data 21 needs to be deleted to buffer the new history image data 25. If the photographing apparatus determines that the evaluation parameter of the history image data 21 conforms to the preset condition, and the history image data 21 has been overwritten, the photographing apparatus cannot take out the history image data 21.

因此，在确定至少一帧历史图像数据中每一帧历史图像数据的评价参数，或/及从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据的过程中，拍摄设备停止向ring buffer输入新的历史图像数据，以免历史图像数据被覆盖，无法成功取出评价参数符合预设条件的一帧历史图像数据。Therefore, determining an evaluation parameter of each frame of historical image data in at least one frame of historical image data, or/and extracting, from at least one frame of historical image data buffered in the buffer area, a frame of historical image whose evaluation parameter meets a preset condition During the data process, the photographing device stops inputting new historical image data to the ring buffer, so that the historical image data is not covered, and one frame of historical image data whose evaluation parameters meet the preset condition cannot be successfully taken out.

此外，需要注意的是：本实施例所述的根据历史图像数据的评价参数，从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据的方法，不仅适用于拍摄控制中拍摄图像的选取，还可以应用在其他即时数据选取的场景中。In addition, it is to be noted that, according to the evaluation parameter of the historical image data, the method for extracting one frame of historical image data whose evaluation parameter meets the preset condition is extracted from at least one frame of historical image data buffered in the buffer area according to the embodiment. It is not only suitable for the selection of captured images in shooting control, but also for other scenes selected by real-time data.

本实施例通过确定至少一帧历史图像数据中每一帧历史图像数据的评价参数，并从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据，将该帧历史图像数据作为与拍摄控制指令对应的拍摄图像，可保证拍摄图像符合预设要求，提高了拍摄图像的画面质量。In this embodiment, an evaluation parameter of each frame of historical image data in at least one frame of historical image data is determined, and one frame of historical image data whose evaluation parameter meets a preset condition is extracted from at least one frame of historical image data buffered in the buffer area. The frame history image data is taken as a captured image corresponding to the shooting control command, which can ensure that the captured image meets the preset requirement, and improves the picture quality of the captured image.

本发明实施例提供一种拍摄控制方法。图4为本发明另一实施例提供的拍摄控制方法的流程图。如图4所示，在图1所示实施例的基础上，步骤S102从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据，可以包括：Embodiments of the present invention provide a shooting control method. FIG. 4 is a flowchart of a shooting control method according to another embodiment of the present invention. As shown in FIG. 4, on the basis of the embodiment shown in FIG. 1 , step S102 extracts a frame of historical image data whose evaluation parameter meets a preset condition from at least one frame of historical image data buffered in the buffer area, and may include:

步骤S401、根据每一帧历史图像数据的评价参数，确定每一帧历史图像数据的评价值。Step S401: Determine an evaluation value of each frame of historical image data according to an evaluation parameter of each frame of historical image data.

如图2所示，拍摄设备可确定出历史图像数据21-24中每一帧历史图像数据的评价参数，例如，历史图像数据21的直方图统计信息、边缘锐化程度、运动模糊程度中的至少一个，历史图像数据22的直方图统计信 息、边缘锐化程度、运动模糊程度中的至少一个，历史图像数据23的直方图统计信息、边缘锐化程度、运动模糊程度中的至少一个，历史图像数据24的直方图统计信息、边缘锐化程度、运动模糊程度中的至少一个。进一步的，拍摄设备根据历史图像数据21的直方图统计信息、边缘锐化程度、运动模糊程度中的至少一个，确定历史图像数据21的评价值；根据历史图像数据22的直方图统计信息、边缘锐化程度、运动模糊程度中的至少一个，确定历史图像数据22的评价值；根据历史图像数据23的直方图统计信息、边缘锐化程度、运动模糊程度中的至少一个，确定历史图像数据23的评价值；根据历史图像数据24的直方图统计信息、边缘锐化程度、运动模糊程度中的至少一个，确定历史图像数据24的评价值。As shown in FIG. 2, the photographing apparatus can determine evaluation parameters of each frame of history image data in the history image data 21-24, for example, histogram statistical information of the history image data 21, the degree of edge sharpening, and the degree of motion blur. At least one, histogram statistics of historical image data 22 At least one of a histogram, an edge sharpening degree, a motion blur degree, at least one of histogram statistical information, edge sharpening degree, and motion blur degree of the history image data 23, histogram statistical information of the historical image data 24, and edge sharpness At least one of degree of degree and degree of motion blur. Further, the photographing device determines the evaluation value of the history image data 21 according to at least one of the histogram statistical information, the degree of edge sharpening, and the degree of motion blur of the history image data 21; the histogram statistical information and the edge according to the historical image data 22. The evaluation value of the history image data 22 is determined by at least one of the degree of sharpening and the degree of motion blur; and the history image data 23 is determined based on at least one of histogram statistical information, degree of edge sharpening, and degree of motion blur of the history image data 23. The evaluation value of the history image data 24 is determined based on at least one of histogram statistical information, degree of edge sharpening, and degree of motion blur of the history image data 24.

具体的，所述根据每一帧历史图像数据的评价参数，确定每一帧历史图像数据的评价值，包括：对所述每一帧历史图像数据的多个评价参数分别进行数据融合，得到每一帧历史图像数据对应的评价值。Specifically, the determining, according to the evaluation parameter of the history image data of each frame, the evaluation value of each frame of the historical image data, comprising: performing data fusion on each of the plurality of evaluation parameters of each frame of the historical image data, to obtain each The evaluation value corresponding to one frame of historical image data.

例如，拍摄设备对历史图像数据21的直方图统计信息、边缘锐化程度、运动模糊程度进行数据融合，得到历史图像数据21的评价值；对历史图像数据22的直方图统计信息、边缘锐化程度、运动模糊程度进行数据融合，得到历史图像数据22的评价值；对历史图像数据23的直方图统计信息、边缘锐化程度、运动模糊程度进行数据融合，得到历史图像数据23的评价值；对历史图像数据24的直方图统计信息、边缘锐化程度、运动模糊程度进行数据融合，得到历史图像数据24的评价值。此处只是示意性说明，并不限定历史图像数据的具体帧数。For example, the photographing device performs data fusion on the histogram statistical information, the degree of edge sharpening, and the degree of motion blur of the history image data 21 to obtain an evaluation value of the history image data 21; histogram statistical information on the history image data 22, edge sharpening Data fusion is performed on the degree of motion blur, and the evaluation value of the historical image data 22 is obtained; the histogram statistical information, the edge sharpening degree, and the motion blur degree of the historical image data 23 are data-fused, and the evaluation value of the historical image data 23 is obtained; The histogram statistical information, the degree of edge sharpening, and the degree of motion blur of the history image data 24 are subjected to data fusion, and an evaluation value of the history image data 24 is obtained. This is only a schematic illustration and does not limit the specific number of frames of historical image data.

具体的，所述对所述每一帧历史图像数据的多个评价参数分别进行数据融合，包括：对所述每一帧历史图像数据的多个评价参数分别进行加权求和。Specifically, performing data fusion on the plurality of evaluation parameters of each frame of historical image data includes: performing weighted summation on each of the plurality of evaluation parameters of each frame of historical image data.

例如，拍摄设备对历史图像数据21的直方图统计信息、边缘锐化程度、运动模糊程度进行数据融合时，具体可以对历史图像数据21的直方图统计信息、边缘锐化程度、运动模糊程度分别进行归一化处理，再对归一化处理后的直方图统计信息、边缘锐化程度、运动模糊程度进行加权求和，不同的评价参数可对应不同的加权系数，各评价参数对应的加权系数可以是预设值。 For example, when the photographing device performs data fusion on the histogram statistical information, the degree of edge sharpening, and the degree of motion blur of the historical image data 21, the histogram statistical information, the degree of edge sharpening, and the degree of motion blur of the historical image data 21 may be specifically Normalization processing is performed, and the histogram statistical information, edge sharpening degree, and motion blur degree after normalization are weighted and summed, and different evaluation parameters may correspond to different weighting coefficients, and weighting coefficients corresponding to each evaluation parameter Can be a preset value.

同理，拍摄设备对历史图像数据22的直方图统计信息、边缘锐化程度、运动模糊程度进行数据融合时，具体可以对历史图像数据22的直方图统计信息、边缘锐化程度、运动模糊程度分别进行归一化处理，再对归一化处理后的直方图统计信息、边缘锐化程度、运动模糊程度进行加权求和。Similarly, when the photographing device performs data fusion on the histogram statistical information, the edge sharpening degree, and the motion blur degree of the historical image data 22, the histogram statistical information, the degree of edge sharpening, and the degree of motion blur of the historical image data 22 may be specifically The normalization process is performed separately, and the histogram statistical information, the edge sharpening degree, and the motion blur degree after the normalization are weighted and summed.

拍摄设备对历史图像数据23的直方图统计信息、边缘锐化程度、运动模糊程度进行数据融合时，具体可以对历史图像数据23的直方图统计信息、边缘锐化程度、运动模糊程度分别进行归一化处理，再对归一化处理后的直方图统计信息、边缘锐化程度、运动模糊程度进行加权求和。When the photographing device performs data fusion on the histogram statistical information, the edge sharpening degree, and the motion blur degree of the historical image data 23, the histogram statistical information, the degree of edge sharpening, and the degree of motion blur of the historical image data 23 may be specifically returned. After the normalization process, the histogram statistical information, the degree of edge sharpening, and the degree of motion blur after normalization are weighted and summed.

拍摄设备对历史图像数据24的直方图统计信息、边缘锐化程度、运动模糊程度进行数据融合时，具体可以对历史图像数据24的直方图统计信息、边缘锐化程度、运动模糊程度分别进行归一化处理，再对归一化处理后的直方图统计信息、边缘锐化程度、运动模糊程度进行加权求和。When the photographing device performs data fusion on the histogram statistical information, the degree of edge sharpening, and the degree of motion blur of the historical image data 24, the histogram statistical information, the edge sharpening degree, and the motion blur degree of the historical image data 24 may be respectively returned. After the normalization process, the histogram statistical information, the degree of edge sharpening, and the degree of motion blur after normalization are weighted and summed.

步骤S402、从缓存在缓存区中的至少一帧历史图像数据中取出评价值符合预设条件的一帧历史图像数据。Step S402: Extract one frame of historical image data whose evaluation value meets a preset condition from at least one frame of historical image data buffered in the buffer area.

根据上述步骤，拍摄设备确定出历史图像数据21的评价值、历史图像数据22的评价值、历史图像数据23的评价值、历史图像数据24的评价值后，可从缓存在ring buffer中的历史图像数据21-24中取出评价值符合预设条件的一帧历史图像数据，例如，取出评价值最大的一帧历史图像数据。According to the above steps, the photographing apparatus determines the history of the evaluation value of the history image data 21, the evaluation value of the history image data 22, the evaluation value of the history image data 23, and the evaluation value of the history image data 24, from the history buffered in the ring buffer. One frame of history image data whose evaluation value meets the preset condition is taken out from the image data 21-24, for example, one frame of history image data having the largest evaluation value is taken out.

本实施例通过根据每一帧历史图像数据的评价参数，确定每一帧历史图像数据的评价值，从缓存在缓存区中的至少一帧历史图像数据中取出评价值符合预设条件的一帧历史图像数据，可使得取出的历史图像数据更符合预设要求。In this embodiment, an evaluation value of each frame of historical image data is determined according to an evaluation parameter of each frame of historical image data, and a frame whose evaluation value meets a preset condition is extracted from at least one frame of historical image data buffered in the buffer area. The historical image data can make the taken historical image data more in line with the preset requirements.

本发明实施例提供一种拍摄控制方法。图5为本发明另一实施例提供的拍摄控制方法的流程图。如图5所示，在上述实施例的基础上，本实施例中的方法，可以包括：Embodiments of the present invention provide a shooting control method. FIG. 5 is a flowchart of a shooting control method according to another embodiment of the present invention. As shown in FIG. 5, based on the foregoing embodiment, the method in this embodiment may include:

步骤S501、确定至少一帧历史图像数据中每一帧历史图像数据的评价参数。 Step S501: Determine an evaluation parameter of each frame of historical image data in at least one frame of historical image data.

步骤S501的具体原理和实现方式与步骤S101类似，此处不再赘述。The specific principle and implementation manner of the step S501 are similar to the step S101, and details are not described herein again.

步骤S502、将所述至少一帧历史图像数据和每一帧历史图像数据对应的评价参数缓存到缓存区中。Step S502: Cache the at least one frame of historical image data and the evaluation parameter corresponding to each frame of historical image data into a buffer area.

在本实施例中，拍摄设备可将每一帧历史图像数据以及每一帧历史图像数据对应的评价参数缓存到ring buffer，例如，拍摄设备将历史图像数据21-24缓存到ring buffer后，还可以将历史图像数据21的评价参数例如历史图像数据21的直方图统计信息、边缘锐化程度、运动模糊程度中的至少一个缓存到ring buffer；以及将历史图像数据22的评价参数、历史图像数据23的评价参数、历史图像数据24的评价参数缓存到ring buffer中。In this embodiment, the photographing device may buffer each frame of historical image data and evaluation parameters corresponding to each frame of historical image data to a ring buffer, for example, after the photographing device caches the historical image data 21-24 to the ring buffer, At least one of evaluation parameters of the history image data 21 such as histogram statistical information of the history image data 21, degree of edge sharpening, and degree of motion blur may be buffered to the ring buffer; and evaluation parameters and historical image data of the history image data 22 may be The evaluation parameters of 23 and the evaluation parameters of the historical image data 24 are buffered into the ring buffer.

步骤S503、接收用户输入的拍摄控制指令。Step S503, receiving a shooting control instruction input by the user.

在本实施例中，接收用户输入的拍摄控制指令包括如下几种可能的情况：In this embodiment, receiving the shooting control command input by the user includes the following possible situations:

一种可能的情况是：该拍摄设备是用户手持的拍摄设备，用户可按下拍摄按钮或按键以控制拍摄设备拍摄图像数据。当拍摄设备检测到用户按下拍摄按钮或按键的操作时生成拍摄控制指令。One possible case is that the photographing device is a photographing device held by the user, and the user can press a photographing button or a button to control the photographing device to take image data. A shooting control command is generated when the photographing device detects an operation of the user pressing a shooting button or a button.

另一种可能的情况是：该拍摄设备安装在手持云台上，用户可通过控制手持云台上的拍摄按钮或按键以控制拍摄设备拍摄图像数据。手持云台检测到用户按下拍摄按钮或按键的操作时生成拍摄控制指令，以控制拍摄设备拍摄图像数据。Another possibility is that the shooting device is mounted on a handheld pan/tilt, and the user can control the shooting device to capture image data by controlling a shooting button or button on the handheld pan/tilt. The handheld pan/tilt detects a user's operation of pressing a shooting button or a button to generate a shooting control command to control the shooting device to capture image data.

再一种可能的情况是：该拍摄设备安装在可移动平台例如无人机上，用户通过无人机对应的地面控制设备例如遥控器上的拍摄按钮或按键以使遥控器向无人机发送拍摄控制指令，无人机的通信***接收到该拍摄控制指令后，进一步将该拍摄控制指令传输给无人机上搭载的拍摄设备。A further possibility is that the photographing device is mounted on a movable platform such as a drone, and the user sends a remote control to the drone through a ground control device corresponding to the drone, such as a shooting button or a button on the remote controller. The control command, after receiving the shooting control command, the communication system of the drone further transmits the shooting control command to the photographing device mounted on the drone.

此处只是示意性说明，在其他实施例中还可以有其他的方式接收用户输入的拍摄控制指令。Here, it is only a schematic illustration, and in other embodiments, there may be other ways to receive a shooting control command input by the user.

步骤S504、在接收到所述拍摄控制指令后，从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据。Step S504: After receiving the shooting control command, extract one frame of historical image data whose evaluation parameter meets a preset condition from at least one frame of historical image data buffered in the buffer area.

拍摄设备接收到所述拍摄控制指令后，从ring buffer中获取历史图像数据21-24分别对应的评价参数，并根据历史图像数据21-24分别对应的评价参数，确定出评价参数符合预设条件的历史图像数据。例如，历史图 像数据21的评价参数包括直方图统计信息、边缘锐化程度、运动模糊程度，拍摄设备根据历史图像数据21的直方图统计信息、边缘锐化程度、运动模糊程度，确定历史图像数据21同时满足没有运动模糊、没有过曝或欠曝、处于合焦状态等条件，则拍摄设备从ring buffer中取出历史图像数据21，并将历史图像数据21作为与拍摄控制指令对应的拍摄图像，例如作为用户按下拍摄按钮或按键的操作时的拍摄图像。After receiving the shooting control command, the photographing device acquires the evaluation parameters corresponding to the historical image data 21-24 from the ring buffer, and determines that the evaluation parameter meets the preset condition according to the evaluation parameters corresponding to the historical image data 21-24 respectively. Historical image data. For example, history map The evaluation parameters of the image data 21 include histogram statistical information, degree of edge sharpening, degree of motion blur, and the photographing apparatus determines that the historical image data 21 is satisfied according to the histogram statistical information of the historical image data 21, the degree of edge sharpening, and the degree of motion blur. Without motion blur, no overexposure or underexposure, in a state of focus, etc., the photographing apparatus takes out the history image data 21 from the ring buffer, and uses the history image data 21 as a photographed image corresponding to the photographing control command, for example, as a user. The captured image when the operation of the shooting button or button is pressed.

本实施例通过将所述至少一帧历史图像数据和每一帧历史图像数据对应的评价参数缓存到缓存区中，当接收到用户输入的拍摄控制指令时，从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据，提高了从缓存区中提取历史图像数据的效率。In this embodiment, the evaluation parameter corresponding to the at least one frame of historical image data and each frame of historical image data is buffered into the buffer area, and at least one of the buffered in the buffer area is received when receiving the shooting control instruction input by the user. The frame history image data is taken out from the frame history image data to improve the efficiency of extracting the historical image data from the buffer area.

本发明实施例提供一种拍摄控制方法。图6为本发明另一实施例提供的拍摄控制方法的流程图。如图6所示，在上述实施例的基础上，本实施例中的方法，可以包括：Embodiments of the present invention provide a shooting control method. FIG. 6 is a flowchart of a shooting control method according to another embodiment of the present invention. As shown in FIG. 6, on the basis of the foregoing embodiment, the method in this embodiment may include:

步骤S601、确定至少一帧历史图像数据中每一帧历史图像数据的评价参数。Step S601: Determine an evaluation parameter of each frame of historical image data in at least one frame of historical image data.

步骤S601的具体原理和实现方式与步骤S101类似，此处不再赘述。The specific principle and implementation manner of the step S601 are similar to the step S101, and details are not described herein again.

步骤S602、将所述至少一帧历史图像数据中每一帧历史图像数据和其对应的评价参数封装成数据包。Step S602, encapsulating each frame of the at least one frame of historical image data and its corresponding evaluation parameter into a data packet.

步骤S603、将所述数据包缓存到缓存区。Step S603, buffering the data packet into a buffer area.

可选的，拍摄设备将每一帧历史图像数据以及每一帧历史图像数据对应的评价参数缓存到ring buffer时，具体可以将一帧历史图像数据以及该帧历史图像数据对应的评价参数封装成一个数据包，如此，每一帧历史图像数据对应一个数据包，如图6所示，历史图像数据21以及历史图像数据21对应的评价参数221可封装成一个数据包61，历史图像数据21对应的评价参数221可以是历史图像数据21的直方图统计信息、边缘锐化程度、运动模糊程度中的至少一个。同理，历史图像数据22以及历史图像数据22对应的评价参数222可封装成一个数据包62；历史图像数据23以及历史图像数据23对应的评价参数223可封装成一个数据包63；历史图像数据24以及历史图像数据24对应的评价参数224可封装成一个数据 包64。进一步，将数据包61、数据包62、数据包63、数据包64缓存到ring buffer中。Optionally, when the photographing device buffers the evaluation parameter corresponding to each frame of the historical image data and the historical image data of each frame to the ring buffer, specifically, the frame of the historical image data and the evaluation parameter corresponding to the frame historical image data may be encapsulated into A data packet, such that each frame of historical image data corresponds to one data packet. As shown in FIG. 6, the evaluation parameter 221 corresponding to the historical image data 21 and the historical image data 21 may be packaged into one data packet 61, and the historical image data 21 corresponds to The evaluation parameter 221 may be at least one of histogram statistical information, degree of edge sharpening, and degree of motion blur of the history image data 21. Similarly, the evaluation parameters 222 corresponding to the historical image data 22 and the historical image data 22 may be packaged into one data packet 62; the evaluation parameters 223 corresponding to the historical image data 23 and the historical image data 23 may be packaged into one data packet 63; historical image data 24 and the evaluation parameter 224 corresponding to the historical image data 24 can be packaged into one data. Package 64. Further, the packet 61, the packet 62, the packet 63, and the packet 64 are buffered into the ring buffer.

或者，拍摄设备将每一帧历史图像数据以及每一帧历史图像数据对应的评价参数缓存到ring buffer时，还可以将多帧历史图像数据以及该多帧历史图像数据中每一帧历史图像数据对应的评价参数封装成一个数据包。如图7所示，将历史图像数据21、历史图像数据22、历史图像数据21对应的评价参数221、历史图像数据22对应的评价参数222封装成一个数据包71，将历史图像数据23、历史图像数据24、历史图像数据23对应的评价参数223、历史图像数据24对应的评价参数224封装成一个数据包72。进一步，将数据包71、数据包72缓存到ring buffer中。Alternatively, when the photographing device caches each frame of historical image data and evaluation parameters corresponding to each frame of historical image data to the ring buffer, the multi-frame historical image data and each frame of the multi-frame historical image data may also be used. The corresponding evaluation parameters are encapsulated into one data packet. As shown in FIG. 7, the evaluation parameters 221 corresponding to the evaluation parameter 221 and the history image data 22 corresponding to the history image data 21, the history image data 22, and the history image data 21 are packaged into one data packet 71, and the history image data 23, history is recorded. The image data 24, the evaluation parameter 223 corresponding to the history image data 23, and the evaluation parameter 224 corresponding to the history image data 24 are packaged into one data packet 72. Further, the data packet 71 and the data packet 72 are buffered into the ring buffer.

步骤S604、从缓存在缓存区中的数据包中确定出历史图像数据的评价参数符合预设条件的一个数据包。Step S604: Determine, from the data packet buffered in the buffer area, a data packet whose evaluation parameter of the historical image data meets a preset condition.

所述从缓存在缓存区中的数据包中确定出历史图像数据的评价参数符合预设条件的一个数据包，包括：接收用户输入的拍摄控制指令；在接收到所述拍摄控制指令后，从缓存在缓存区中的数据包中确定出历史图像数据的评价参数符合预设条件的一个数据包。Determining, from the data packet buffered in the buffer area, a data packet whose evaluation parameter of the historical image data meets a preset condition, comprising: receiving a shooting control instruction input by the user; after receiving the shooting control instruction, The data packet buffered in the buffer area determines a data packet whose evaluation parameter of the historical image data meets the preset condition.

具体的，接收用户输入的拍摄控制指令包括步骤S503所述的几种可能的情况，本实施例以该拍摄设备是用户手持的拍摄设备为例，当拍摄设备检测到用户按下拍摄按钮或按键的操作时生成拍摄控制指令，并在生成拍摄控制指令后，根据ring buffer中每个数据包中的历史图像数据的评价参数，从ring buffer中确定出评价参数符合预设条件的历史图像数据所属的数据包。例如，历史图像数据21的评价参数包括直方图统计信息、边缘锐化程度、运动模糊程度，拍摄设备根据历史图像数据21的直方图统计信息、边缘锐化程度、运动模糊程度，确定历史图像数据21同时满足没有运动模糊、没有过曝或欠曝、处于合焦状态等条件，则拍摄设备从ring buffer中确定出评价参数符合预设条件的历史图像数据是历史图像数据21,历史图像数据21所属的数据包是数据包61。Specifically, the shooting control command inputting the user input includes several possible situations described in step S503. In this embodiment, the shooting device is a shooting device that is held by the user, and the shooting device detects that the user presses the shooting button or the button. The operation control unit generates a shooting control command, and after generating the shooting control command, determines, according to the evaluation parameter of the historical image data in each data packet in the ring buffer, from the ring buffer, the historical image data whose evaluation parameter meets the preset condition belongs to Packet. For example, the evaluation parameters of the historical image data 21 include histogram statistical information, degree of edge sharpening, degree of motion blur, and the photographing apparatus determines historical image data based on histogram statistical information of the historical image data 21, the degree of edge sharpening, and the degree of motion blur. 21 satisfies the condition that there is no motion blur, no overexposure or underexposure, is in a state of focus, and the photographing device determines from the ring buffer that the history image data whose evaluation parameters meet the preset condition is historical image data 21, and the history image data 21 The associated data packet is a data packet 61.

步骤S605、从所述一个数据包括中取出对应的一帧历史图像数据。Step S605: Extract a corresponding one-frame historical image data from the one data inclusion.

进一步的，拍摄设备从数据包61中取出历史图像数据21，并将历史图像数据21作为用户按下拍摄按钮或按键的操作时的拍摄图像。 Further, the photographing apparatus takes out the history image data 21 from the data packet 61, and takes the history image data 21 as a photographed image when the user presses a photographing button or a button.

本实施例通过将所述至少一帧历史图像数据中每一帧历史图像数据和其对应的评价参数封装成数据包，并将所述数据包缓存到缓存区，当接收用户输入的拍摄控制指令时，从缓存在缓存区中的数据包中确定出历史图像数据的评价参数符合预设条件的一个数据包，并从该数据包括中取出对应的一帧历史图像数据，提高了从缓存区中提取历史图像数据的效率。In this embodiment, each frame historical image data of the at least one frame of historical image data and its corresponding evaluation parameter are encapsulated into a data packet, and the data packet is buffered into a buffer area, and a user-inputted shooting control instruction is received. And determining, from a data packet buffered in the buffer area, a data packet whose evaluation parameter of the historical image data meets a preset condition, and extracting a corresponding one-frame historical image data from the data inclusion, thereby improving the slave buffer area. The efficiency of extracting historical image data.

本发明实施例提供一种拍摄控制方法。图7为本发明另一实施例提供的拍摄控制方法的流程图。如图7所示，在上述实施例的基础上，本实施例中的方法，可以包括：Embodiments of the present invention provide a shooting control method. FIG. 7 is a flowchart of a shooting control method according to another embodiment of the present invention. As shown in FIG. 7, the method in this embodiment may include:

步骤S701、接收到拍摄控制指令。Step S701, receiving a shooting control command.

步骤S701与步骤S503的具体原理和实现方式一致，此处不在赘述。Step S701 is consistent with the specific principle and implementation manner of step S503, and details are not described herein.

步骤S702、确定缓存在缓存区中的至少一帧历史图像数据中每一帧历史图像数据的评价参数。Step S702: Determine an evaluation parameter of each frame of historical image data in at least one frame of historical image data buffered in the buffer area.

本实施例以该拍摄设备是用户手持的拍摄设备为例，在用户按下拍摄设备的拍摄按钮或按键之前，ring buffer中缓存有至少一帧历史图像数据，当拍摄设备检测到用户按下拍摄按钮或按键的操作时，确定缓存在ring buffer中的至少一帧历史图像数据每一帧历史图像数据的评价参数，确定至少一帧历史图像数据中每一帧历史图像数据的评价参数的具体原理和实现方式与上述步骤S101类似，此处不在赘述。In this embodiment, the shooting device is a handheld device that is held by the user. Before the user presses the shooting button or button of the shooting device, at least one frame of historical image data is buffered in the ring buffer, and the shooting device detects that the user presses the shooting. When the button or the button is operated, determining the evaluation parameter of the historical image data of each frame of the at least one frame of the historical image data buffered in the ring buffer, and determining the specific principle of the evaluation parameter of each frame of the historical image data in at least one frame of the historical image data The implementation manner is similar to the above step S101, and details are not described herein.

步骤S703、从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据。Step S703: Extract one frame of historical image data whose evaluation parameter meets a preset condition from at least one frame of historical image data buffered in the buffer area.

步骤S703与步骤S102的具体原理和实现方式一致，此处不在赘述。Step S703 is consistent with the specific principle and implementation manner of step S102, and details are not described herein.

本实施例通过将历史图像数据缓存在缓存区中，当接收到拍摄控制指令时，拍摄设备确定缓存在缓存区中的至少一帧历史图像数据中每一帧历史图像数据的评价参数，并从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据，不需要将历史图像数据对应的评价参数缓存在缓存区中，节省了缓存区的存储空间。In this embodiment, by buffering the historical image data in the buffer area, when receiving the shooting control instruction, the photographing device determines an evaluation parameter of each frame of the historical image data in at least one frame of the historical image data buffered in the buffer area, and Cacheing at least one frame of historical image data in the buffer area and extracting one frame of historical image data whose evaluation parameters meet the preset condition does not need to cache the evaluation parameter corresponding to the historical image data in the buffer area, thereby saving the storage space of the buffer area. .

本发明实施例提供一种拍摄设备。图8为本发明实施例提供的拍摄设备的结构图，如图8所示，拍摄设备80包括：存储器81和处理器82。存 储器81用于存储程序代码；处理器82调用所述程序代码，当程序代码被执行时，用于执行以下操作：确定至少一帧历史图像数据中每一帧历史图像数据的评价参数；从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据。Embodiments of the present invention provide a photographing apparatus. FIG. 8 is a structural diagram of a photographing apparatus according to an embodiment of the present invention. As shown in FIG. 8, the photographing apparatus 80 includes a memory 81 and a processor 82. Save The memory 81 is configured to store program code; the processor 82 calls the program code, and when the program code is executed, is configured to: determine an evaluation parameter of each frame of historical image data in at least one frame of historical image data; And buffering at least one frame of historical image data in the buffer area to extract one frame of historical image data whose evaluation parameter meets a preset condition.

可选的，所述评价参数包括：表征图像数据的模糊度、亮度、清晰度中的一种或多种的评价参数。可选的，所述缓存区为环形缓存区。Optionally, the evaluation parameter includes: an evaluation parameter that characterizes one or more of ambiguity, brightness, and definition of the image data. Optionally, the buffer area is a ring buffer area.

可选的，处理器82从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据时，具体用于：从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据作为与拍摄控制指令对应的拍摄图像。Optionally, when the processor 82 extracts one frame of historical image data whose evaluation parameter meets a preset condition from at least one frame of historical image data buffered in the buffer area, the processor 82 is specifically configured to: at least one frame buffered in the buffer area. One frame of history image data whose evaluation parameters meet the preset condition is taken out from the history image data as a captured image corresponding to the shooting control command.

另外，在其他实施例中，处理器82还用于：在确定至少一帧历史图像数据中每一帧历史图像数据的评价参数，或/及从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据的过程中，停止向所述缓存区输入新的历史图像数据。In addition, in other embodiments, the processor 82 is further configured to: determine an evaluation parameter of each frame of historical image data in the at least one frame of historical image data, or/and at least one frame of historical image data that is buffered in the buffer area. In the process of extracting one frame of historical image data whose evaluation parameters meet the preset condition, the input of new historical image data to the buffer area is stopped.

本发明实施例提供的拍摄设备的具体原理和实现方式均与图1所示实施例类似，此处不再赘述。The specific principles and implementation manners of the photographic device provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 1 and will not be further described herein.

本实施例通过确定至少一帧历史图像数据中每一帧历史图像数据的评价参数，并从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据，将该帧历史图像数据作为与拍摄控制指令对应的拍摄图像，可保证拍摄图像符合预设要求，提高了拍摄图像的画面质量。In this embodiment, an evaluation parameter of each frame of historical image data in at least one frame of historical image data is determined, and one frame of historical image data whose evaluation parameter meets a preset condition is extracted from at least one frame of historical image data buffered in the buffer area. The frame history image data is taken as a captured image corresponding to the shooting control command, which can ensure that the captured image meets the preset requirement, and improves the picture quality of the captured image.

本发明实施例提供一种拍摄设备。在图8所示实施例提供的技术方案的基础上，处理器82从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据时，具体用于：根据每一帧历史图像数据的评价参数，确定每一帧历史图像数据的评价值；从缓存在缓存区中的至少一帧历史图像数据中取出评价值符合预设条件的一帧历史图像数据。Embodiments of the present invention provide a photographing apparatus. On the basis of the technical solution provided by the embodiment shown in FIG. 8 , when the processor 82 extracts one frame of historical image data whose evaluation parameter meets the preset condition from at least one frame of historical image data buffered in the buffer area, : determining an evaluation value of each frame of historical image data according to an evaluation parameter of each frame of historical image data; and extracting one frame of historical image data whose evaluation value meets a preset condition from at least one frame of historical image data buffered in the buffer area .

具体的，处理器82根据每一帧历史图像数据的评价参数，确定每一帧历史图像数据的评价值时，具体用于：对所述每一帧历史图像数据的多 个评价参数分别进行数据融合，得到每一帧历史图像数据对应的评价值。Specifically, when the processor 82 determines the evaluation value of each frame of the historical image data according to the evaluation parameter of the historical image data of each frame, the processor 82 is specifically configured to: use the historical image data of each frame The evaluation parameters are respectively data fusion, and the evaluation values corresponding to the historical image data of each frame are obtained.

可选的，处理器82对所述每一帧历史图像数据的多个评价参数分别进行数据融合时，具体用于：对所述每一帧历史图像数据的多个评价参数分别进行加权求和。Optionally, when the processor 82 performs data fusion on the plurality of evaluation parameters of the historical image data of each frame, the method is specifically configured to: perform weighted summation on multiple evaluation parameters of each frame of historical image data. .

本发明实施例提供的拍摄设备的具体原理和实现方式均与图4所示实施例类似，此处不再赘述。The specific principles and implementation manners of the photographic device provided by the embodiment of the present invention are similar to the embodiment shown in FIG. 4, and details are not described herein again.

本实施例通过根据每一帧历史图像数据的评价参数，确定每一帧历史图像数据的评价值，从缓存在缓存区中的至少一帧历史图像数据中取出评价值符合预设条件的一帧历史图像数据，可使得取出的历史图像数据更符合预设要求。In this embodiment, an evaluation value of each frame of historical image data is determined according to an evaluation parameter of each frame of historical image data, and a frame whose evaluation value meets a preset condition is extracted from at least one frame of historical image data buffered in the buffer area. The historical image data can make the taken historical image data more in line with the preset requirements.

本发明实施例提供一种拍摄设备。在图8所示实施例提供的技术方案的基础上，处理器82还用于：将所述至少一帧历史图像数据和每一帧历史图像数据对应的评价参数缓存到缓存区中。Embodiments of the present invention provide a photographing apparatus. On the basis of the technical solution provided by the embodiment shown in FIG. 8, the processor 82 is further configured to: cache the evaluation parameters corresponding to the at least one frame of historical image data and each frame of historical image data into a buffer area.

可选的，处理器82从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据时，具体用于：接收用户输入的拍摄控制指令；在接收到所述拍摄控制指令后，从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据。Optionally, when the processor 82 extracts one frame of historical image data whose evaluation parameter meets the preset condition from at least one frame of historical image data buffered in the buffer area, the processor 82 is specifically configured to: receive a shooting control command input by the user; After the shooting control command, one frame of historical image data whose evaluation parameter meets the preset condition is taken out from at least one frame of historical image data buffered in the buffer area.

可选的，处理器82将所述至少一帧历史图像数据和每一帧历史图像数据对应的评价参数缓存到缓存区中时，具体用于：将所述至少一帧历史图像数据中每一帧历史图像数据和其对应的评价参数封装成数据包；将所述数据包缓存到缓存区；处理器82从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据时，具体用于：从缓存在缓存区中的数据包中确定出历史图像数据的评价参数符合预设条件的一个数据包；从所述一个数据包括中取出对应的一帧历史图像数据。Optionally, when the processor 82 caches the at least one frame of historical image data and the evaluation parameter corresponding to each frame of the historical image data into the buffer area, the processor 82 is specifically configured to: each of the at least one frame of historical image data The frame history image data and its corresponding evaluation parameter are encapsulated into a data packet; the data packet is buffered to the buffer area; and the processor 82 extracts the evaluation parameter from the at least one frame of the historical image data buffered in the buffer area according to the preset condition. When one frame of historical image data is used, it is specifically configured to: determine, from a data packet buffered in the buffer area, a data packet whose evaluation parameter of the historical image data meets a preset condition; and extract a corresponding frame from the one data inclusion Historical image data.

可选的，处理器82从缓存在缓存区中的数据包中确定出历史图像数据的评价参数符合预设条件的一个数据包时，具体用于：接收用户输入的拍摄控制指令；在接收到所述拍摄控制指令后，从缓存在缓存区中的数据 包中确定出历史图像数据的评价参数符合预设条件的一个数据包。Optionally, when the processor 82 determines, from the data packet buffered in the buffer area, that the evaluation parameter of the historical image data meets a preset condition, the processor 82 is specifically configured to: receive a shooting control instruction input by the user; After the shooting control command, the data buffered in the buffer area A packet is determined in the packet that the evaluation parameter of the historical image data meets the preset condition.

本发明实施例提供的拍摄设备的具体原理和实现方式均与图5和图6所示实施例类似，此处不再赘述。The specific principles and implementations of the photographic device provided by the embodiment of the present invention are similar to those of the embodiment shown in FIG. 5 and FIG. 6, and are not described herein again.

本实施例通过将所述至少一帧历史图像数据和每一帧历史图像数据对应的评价参数缓存到缓存区中，当接收用户输入的拍摄控制指令时，从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据，提高了从缓存区中提取历史图像数据的效率。In this embodiment, the evaluation parameter corresponding to the at least one frame of historical image data and each frame of historical image data is buffered into the buffer area, and at least one frame buffered in the buffer area is received when receiving the shooting control instruction input by the user. The historical image data is taken out of one frame of historical image data whose evaluation parameters meet the preset conditions, and the efficiency of extracting historical image data from the buffer area is improved.

本发明实施例提供一种拍摄设备。在图8所示实施例提供的技术方案的基础上，处理器82确定至少一帧历史图像数据中每一帧历史图像数据的评价参数时，具体用于：确定缓存在缓存区中的至少一帧历史图像数据中每一帧历史图像数据的评价参数。Embodiments of the present invention provide a photographing apparatus. On the basis of the technical solution provided by the embodiment shown in FIG. 8 , when the processor 82 determines the evaluation parameter of each frame of historical image data in at least one frame of historical image data, the method is specifically configured to: determine at least one cached in the buffer area. Evaluation parameters of each frame of historical image data in the frame history image data.

可选的，处理器82确定缓存在缓存区中的至少一帧历史图像数据中每一帧历史图像数据的评价参数时，具体用于：接收到拍摄控制指令后，确定缓存在缓存区中的至少一帧历史图像数据中每一帧历史图像数据的评价参数。Optionally, when the processor 82 determines the evaluation parameter of each frame of the historical image data in the at least one frame of the historical image data in the buffer area, the method is specifically configured to: after receiving the shooting control instruction, determine the buffer in the buffer area. An evaluation parameter of each frame of historical image data in at least one frame of historical image data.

本发明实施例提供的拍摄设备的具体原理和实现方式均与图7所示实施例类似，此处不再赘述。The specific principles and implementation manners of the photographic device provided by the embodiment of the present invention are similar to those of the embodiment shown in FIG. 7, and details are not described herein again.

本实施例通过将历史图像数据缓存在缓存区中，当接收到拍摄控制指令时，拍摄设备确定缓存在缓存区中的至少一帧历史图像数据中每一帧历史图像数据的评价参数，并从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据，不需要将历史图像数据对应的评价参数缓存在缓存区中，节省了缓存区的存储空间。In this embodiment, by buffering the historical image data in the buffer area, when receiving the shooting control instruction, the photographing device determines an evaluation parameter of each frame of the historical image data in at least one frame of the historical image data buffered in the buffer area, and Cacheing at least one frame of historical image data in the buffer area and extracting one frame of historical image data whose evaluation parameters meet the preset condition does not need to cache the evaluation parameter corresponding to the historical image data in the buffer area, thereby saving the storage space of the buffer area. .

本发明实施例提供一种无人机。图9为本发明实施例提供的无人机的结构图，如图9所示，无人机900包括：机身、动力***和飞行控制器918，所述动力***包括如下至少一种：电机907、螺旋桨906和电子调速器917，动力***安装在所述机身，用于提供飞行动力；飞行控制器918与所述动力***通讯连接，用于控制所述无人机飞行。Embodiments of the present invention provide a drone. FIG. 9 is a structural diagram of a drone according to an embodiment of the present invention. As shown in FIG. 9, the drone 900 includes: a fuselage, a power system, and a flight controller 918, and the power system includes at least one of the following: a motor 907. A propeller 906 and an electronic governor 917 are mounted on the fuselage for providing flight power. The flight controller 918 is in communication with the power system for controlling the drone to fly.

另外，如图9所示，无人机900还包括：传感***908、通信***910、 支撑设备902、拍摄设备904，其中，支撑设备902具体可以是云台，通信***910具体可以包括接收机，接收机用于接收地面站912的天线914发送的无线信号，916表示接收机和天线914通信过程中产生的电磁波。In addition, as shown in FIG. 9, the drone 900 further includes: a sensing system 908, a communication system 910, The support device 902 and the photographing device 904, wherein the support device 902 may specifically be a pan/tilt, the communication system 910 may specifically include a receiver, the receiver is configured to receive a wireless signal transmitted by the antenna 914 of the ground station 912, and 916 represents a receiver and an antenna. 914 electromagnetic waves generated during communication.

拍摄设备904的具体原理和实现方式均与上述实施例类似，此处不再赘述。The specific principle and implementation manner of the photographing device 904 are similar to those of the above embodiment, and will not be described here.

本实施例通过确定至少一帧历史图像数据中每一帧历史图像数据的评价参数，并从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据，将该帧历史图像数据作为与拍摄控制指令对应的拍摄图像，可保证拍摄图像符合预设要求，提高了拍摄图像的画面质量。In this embodiment, an evaluation parameter of each frame of historical image data in at least one frame of historical image data is determined, and one frame of historical image data whose evaluation parameter meets a preset condition is extracted from at least one frame of historical image data buffered in the buffer area. The frame history image data is taken as a captured image corresponding to the shooting control command, which can ensure that the captured image meets the preset requirement, and improves the picture quality of the captured image.

在本发明所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个***，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.

所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.

上述以软件功能单元的形式实现的集成的单元，可以存储在一个计算机可读取存储介质中。上述软件功能单元存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本发明各个实施例所述方法的部 分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。The above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium. The above software functional unit is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to perform the methods of the various embodiments of the present invention. Ministry Step by step. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .

本领域技术人员可以清楚地了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。上述描述的装置的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。A person skilled in the art can clearly understand that for the convenience and brevity of the description, only the division of each functional module described above is exemplified. In practical applications, the above function assignment can be completed by different functional modules as needed, that is, the device is installed. The internal structure is divided into different functional modules to perform all or part of the functions described above. For the specific working process of the device described above, refer to the corresponding process in the foregoing method embodiment, and details are not described herein again.

最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。 Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. range.

Claims (29)

1. 一种拍摄控制方法，其特征在于，包括：A shooting control method, comprising:

   确定至少一帧历史图像数据中每一帧历史图像数据的评价参数；Determining an evaluation parameter of each frame of historical image data in at least one frame of historical image data;

   从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据。And extracting one frame of historical image data whose evaluation parameter meets a preset condition from at least one frame of historical image data buffered in the buffer area.
2. 根据权利要求1所述的方法，其特征在于，所述评价参数包括：The method of claim 1 wherein said evaluating parameters comprise:

   表征图像数据的模糊度、亮度、清晰度中的一种或多种的评价参数。An evaluation parameter that characterizes one or more of ambiguity, brightness, and sharpness of the image data.
3. 根据权利要求1或2所述的方法，其特征在于，所述缓存区为环形缓存区。The method according to claim 1 or 2, wherein the buffer area is a ring buffer area.
4. 根据权利要求1-3任一项所述的拍摄控制方法，其特征在于，The photographing control method according to any one of claims 1 to 3, characterized in that

   所述从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据包括：And extracting, from the at least one frame of historical image data buffered in the buffer area, a frame of historical image data whose evaluation parameter meets a preset condition includes:

   从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据作为与拍摄控制指令对应的拍摄图像。One frame of history image data whose evaluation parameter meets a preset condition is taken out from at least one frame of history image data buffered in the buffer area as a captured image corresponding to the shooting control command.
5. 根据权利要求4所述的方法，其特征在于，所述从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据，包括：The method according to claim 4, wherein the extracting, from the at least one frame of historical image data buffered in the buffer area, a frame of historical image data whose evaluation parameter meets a preset condition comprises:

   根据每一帧历史图像数据的评价参数，确定每一帧历史图像数据的评价值；Determining an evaluation value of each frame of historical image data according to an evaluation parameter of each frame of historical image data;

   从缓存在缓存区中的至少一帧历史图像数据中取出评价值符合预设条件的一帧历史图像数据。And extracting one frame of historical image data whose evaluation value meets a preset condition from at least one frame of historical image data buffered in the buffer area.
6. 根据权利要求5所述的方法，其特征在于，所述根据每一帧历史图像数据的评价参数，确定每一帧历史图像数据的评价值，包括：The method according to claim 5, wherein the determining the evaluation value of each frame of historical image data according to the evaluation parameter of each frame of historical image data comprises:

   对所述每一帧历史图像数据的多个评价参数分别进行数据融合，得到每一帧历史图像数据对应的评价值。Data fusion is performed on each of the plurality of evaluation parameters of each frame of historical image data to obtain an evaluation value corresponding to each frame of historical image data.
7. 根据权利要求6所述的方法，其特征在于，所述对所述每一帧历史图像数据的多个评价参数分别进行数据融合，包括：The method according to claim 6, wherein the data fusion is performed on the plurality of evaluation parameters of each frame of historical image data, including:

   对所述每一帧历史图像数据的多个评价参数分别进行加权求和。A plurality of evaluation parameters of each frame of historical image data are respectively weighted and summed.
8. 根据权利要求1-7任一项所述的方法，其特征在于，还包括：The method of any of claims 1-7, further comprising:

   在确定至少一帧历史图像数据中每一帧历史图像数据的评价参数，或 /及从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据的过程中，停止向所述缓存区输入新的历史图像数据。Determining an evaluation parameter of each frame of historical image data in at least one frame of historical image data, or And, in the process of extracting one frame of historical image data whose evaluation parameter meets the preset condition from at least one frame of historical image data buffered in the buffer area, stopping inputting new history image data to the buffer area.
9. 根据权利要求1-8任一项所述的方法，其特征在于，所述方法还包括：The method of any of claims 1-8, wherein the method further comprises:

   将所述至少一帧历史图像数据和每一帧历史图像数据对应的评价参数缓存到缓存区中。The evaluation parameters corresponding to the at least one frame of historical image data and each frame of historical image data are buffered into the buffer area.
10. 根据权利要求9所述的方法，其特征在于，所述从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据包括：The method according to claim 9, wherein the extracting, from the at least one frame of the historical image data buffered in the buffer area, the one-frame historical image data whose evaluation parameter meets the preset condition comprises:

    接收用户输入的拍摄控制指令；Receiving a shooting control command input by a user;

    在接收到所述拍摄控制指令后，从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据。After receiving the shooting control command, one frame of historical image data whose evaluation parameter meets a preset condition is taken out from at least one frame of historical image data buffered in the buffer area.
11. 根据权利要求9所述的方法，其特征在于，所述将所述至少一帧历史图像数据和每一帧历史图像数据对应的评价参数缓存到缓存区中包括：The method according to claim 9, wherein the buffering the evaluation parameters corresponding to the at least one frame of historical image data and each frame of historical image data into the buffer area comprises:

    将所述至少一帧历史图像数据中每一帧历史图像数据和其对应的评价参数封装成数据包；Encapsulating each frame of the at least one frame of historical image data and its corresponding evaluation parameter into a data packet;

    将所述数据包缓存到缓存区；Caching the data packet to a buffer area;

    所述从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据包括：And extracting, from the at least one frame of historical image data buffered in the buffer area, a frame of historical image data whose evaluation parameter meets a preset condition includes:

    从缓存在缓存区中的数据包中确定出历史图像数据的评价参数符合预设条件的一个数据包；Determining, from a data packet buffered in the buffer area, a data packet whose evaluation parameter of the historical image data meets a preset condition;

    从所述一个数据包括中取出对应的一帧历史图像数据。And extracting a corresponding one-frame historical image data from the one data inclusion.
12. 根据权利要求11所述的方法，其特征在于，所述从缓存在缓存区中的数据包中确定出历史图像数据的评价参数符合预设条件的一个数据包，包括：The method according to claim 11, wherein the determining, from the data packet buffered in the buffer area, a data packet whose evaluation parameter of the historical image data meets a preset condition comprises:

    接收用户输入的拍摄控制指令；Receiving a shooting control command input by a user;

    在接收到所述拍摄控制指令后，从缓存在缓存区中的数据包中确定出历史图像数据的评价参数符合预设条件的一个数据包。 After receiving the shooting control command, a data packet whose evaluation parameter of the historical image data meets the preset condition is determined from the data packet buffered in the buffer area.
13. 根据权利要求1-8任一项所述的方法，其特征在于，Method according to any of claims 1-8, characterized in that

    所述确定至少一帧历史图像数据中每一帧历史图像数据的评价参数包括：The determining the evaluation parameters of each frame of the historical image data in the at least one frame of historical image data includes:

    确定缓存在缓存区中的至少一帧历史图像数据中每一帧历史图像数据的评价参数。An evaluation parameter of each frame of historical image data in at least one frame of historical image data buffered in the buffer area is determined.
14. 根据权利要求13所述的方法，其特征在于，The method of claim 13 wherein:

    确定缓存在缓存区中的至少一帧历史图像数据中每一帧历史图像数据的评价参数，包括：Determining an evaluation parameter of each frame of historical image data in at least one frame of historical image data buffered in the buffer area, including:

    接收到拍摄控制指令后，确定缓存在缓存区中的至少一帧历史图像数据中每一帧历史图像数据的评价参数。After receiving the shooting control command, determining an evaluation parameter of each frame of historical image data in at least one frame of historical image data buffered in the buffer area.
15. 一种拍摄设备，其特征在于，包括：存储器和处理器；A photographing apparatus, comprising: a memory and a processor;

    所述存储器用于存储程序代码；The memory is for storing program code;

    所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：The processor calls the program code to perform the following operations when the program code is executed:

    确定至少一帧历史图像数据中每一帧历史图像数据的评价参数；Determining an evaluation parameter of each frame of historical image data in at least one frame of historical image data;

    从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据。And extracting one frame of historical image data whose evaluation parameter meets a preset condition from at least one frame of historical image data buffered in the buffer area.
16. 根据权利要求15所述的拍摄设备，其特征在于，所述评价参数包括：The photographing apparatus according to claim 15, wherein said evaluation parameters comprise:

    表征图像数据的模糊度、亮度、清晰度中的一种或多种的评价参数。An evaluation parameter that characterizes one or more of ambiguity, brightness, and sharpness of the image data.
17. 根据权利要求15或16所述的拍摄设备，其特征在于，所述缓存区为环形缓存区。The photographing apparatus according to claim 15 or 16, wherein the buffer area is a ring buffer area.
18. 根据权利要求15-17任一项所述的拍摄设备，其特征在于，A photographing apparatus according to any one of claims 15-17, wherein

    所述处理器从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据时，具体用于：When the processor extracts one frame of historical image data whose evaluation parameter meets the preset condition from at least one frame of historical image data buffered in the buffer area, the processor is specifically configured to:

    从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据作为与拍摄控制指令对应的拍摄图像。One frame of history image data whose evaluation parameter meets a preset condition is taken out from at least one frame of history image data buffered in the buffer area as a captured image corresponding to the shooting control command.
19. 根据权利要求18所述的拍摄设备，其特征在于，所述处理器从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据时，具体用于： The photographing apparatus according to claim 18, wherein the processor is used to extract one frame of historical image data whose evaluation parameter meets a preset condition from at least one frame of historical image data buffered in the buffer area, specifically for :

    根据每一帧历史图像数据的评价参数，确定每一帧历史图像数据的评价值；Determining an evaluation value of each frame of historical image data according to an evaluation parameter of each frame of historical image data;

    从缓存在缓存区中的至少一帧历史图像数据中取出评价值符合预设条件的一帧历史图像数据。And extracting one frame of historical image data whose evaluation value meets a preset condition from at least one frame of historical image data buffered in the buffer area.
20. 根据权利要求19所述的拍摄设备，其特征在于，所述处理器根据每一帧历史图像数据的评价参数，确定每一帧历史图像数据的评价值时，具体用于：The photographing apparatus according to claim 19, wherein the processor determines the evaluation value of each frame of the historical image data according to the evaluation parameter of each frame of the historical image data, specifically for:

    对所述每一帧历史图像数据的多个评价参数分别进行数据融合，得到每一帧历史图像数据对应的评价值。Data fusion is performed on each of the plurality of evaluation parameters of each frame of historical image data to obtain an evaluation value corresponding to each frame of historical image data.
21. 根据权利要求20所述的拍摄设备，其特征在于，所述处理器对所述每一帧历史图像数据的多个评价参数分别进行数据融合时，具体用于：The photographing apparatus according to claim 20, wherein the processor performs data fusion on a plurality of evaluation parameters of each frame of historical image data, specifically for:

    对所述每一帧历史图像数据的多个评价参数分别进行加权求和。A plurality of evaluation parameters of each frame of historical image data are respectively weighted and summed.
22. 根据权利要求15-21任一项所述的拍摄设备，其特征在于，所述处理器还用于：The photographing apparatus according to any one of claims 15 to 21, wherein the processor is further configured to:

    在确定至少一帧历史图像数据中每一帧历史图像数据的评价参数，或/及从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据的过程中，停止向所述缓存区输入新的历史图像数据。Determining an evaluation parameter of each frame of historical image data in at least one frame of historical image data, or/and extracting, from at least one frame of historical image data buffered in the buffer area, a frame of historical image data whose evaluation parameter meets a preset condition During the process, the input of new historical image data to the buffer area is stopped.
23. 根据权利要求15-22任一项所述的拍摄设备，其特征在于，所述处理器还用于：The photographing apparatus according to any one of claims 15 to 22, wherein the processor is further configured to:

    将所述至少一帧历史图像数据和每一帧历史图像数据对应的评价参数缓存到缓存区中。The evaluation parameters corresponding to the at least one frame of historical image data and each frame of historical image data are buffered into the buffer area.
24. 根据权利要求23所述的拍摄设备，其特征在于，所述处理器从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据时，具体用于：The photographing apparatus according to claim 23, wherein the processor is used to extract one frame of historical image data whose evaluation parameter meets a preset condition from at least one frame of historical image data buffered in the buffer area, specifically for :

    接收用户输入的拍摄控制指令；Receiving a shooting control command input by a user;

    在接收到所述拍摄控制指令后，从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据。After receiving the shooting control command, one frame of historical image data whose evaluation parameter meets a preset condition is taken out from at least one frame of historical image data buffered in the buffer area.
25. 根据权利要求23所述的拍摄设备，其特征在于，所述处理器将 所述至少一帧历史图像数据和每一帧历史图像数据对应的评价参数缓存到缓存区中时，具体用于：A photographing apparatus according to claim 23, wherein said processor When the at least one frame of historical image data and the evaluation parameter corresponding to each frame of historical image data are cached in the buffer area, specifically used for:

    将所述至少一帧历史图像数据中每一帧历史图像数据和其对应的评价参数封装成数据包；Encapsulating each frame of the at least one frame of historical image data and its corresponding evaluation parameter into a data packet;

    将所述数据包缓存到缓存区；Caching the data packet to a buffer area;

    所述处理器从缓存在缓存区中的至少一帧历史图像数据中取出评价参数符合预设条件的一帧历史图像数据时，具体用于：When the processor extracts one frame of historical image data whose evaluation parameter meets the preset condition from at least one frame of historical image data buffered in the buffer area, the processor is specifically configured to:

    从缓存在缓存区中的数据包中确定出历史图像数据的评价参数符合预设条件的一个数据包；Determining, from a data packet buffered in the buffer area, a data packet whose evaluation parameter of the historical image data meets a preset condition;

    从所述一个数据包括中取出对应的一帧历史图像数据。And extracting a corresponding one-frame historical image data from the one data inclusion.
26. 根据权利要求25所述的拍摄设备，其特征在于，所述处理器从缓存在缓存区中的数据包中确定出历史图像数据的评价参数符合预设条件的一个数据包时，具体用于：The photographing apparatus according to claim 25, wherein the processor is configured to: when determining, from a data packet buffered in the buffer area, a data packet whose evaluation parameter of the historical image data meets a preset condition, specifically:

    接收用户输入的拍摄控制指令；Receiving a shooting control command input by a user;

    在接收到所述拍摄控制指令后，从缓存在缓存区中的数据包中确定出历史图像数据的评价参数符合预设条件的一个数据包。After receiving the shooting control command, a data packet whose evaluation parameter of the historical image data meets the preset condition is determined from the data packet buffered in the buffer area.
27. 根据权利要求15-22任一项所述的拍摄设备，其特征在于，A photographing apparatus according to any one of claims 15 to 22, characterized in that

    所述处理器确定至少一帧历史图像数据中每一帧历史图像数据的评价参数时，具体用于：When the processor determines an evaluation parameter of each frame of historical image data in at least one frame of historical image data, specifically:

    确定缓存在缓存区中的至少一帧历史图像数据中每一帧历史图像数据的评价参数。An evaluation parameter of each frame of historical image data in at least one frame of historical image data buffered in the buffer area is determined.
28. 根据权利要求27所述的拍摄设备，其特征在于，A photographing apparatus according to claim 27, wherein

    所述处理器确定缓存在缓存区中的至少一帧历史图像数据中每一帧历史图像数据的评价参数时，具体用于：When the processor determines an evaluation parameter of each frame of historical image data in at least one frame of historical image data buffered in the buffer area, specifically:

    接收到拍摄控制指令后，确定缓存在缓存区中的至少一帧历史图像数据中每一帧历史图像数据的评价参数。After receiving the shooting control command, determining an evaluation parameter of each frame of historical image data in at least one frame of historical image data buffered in the buffer area.
29. 一种无人机，其特征在于，包括：A drone, characterized in that it comprises:

    机身；body;

    动力***，安装在所述机身，用于提供飞行动力；a power system mounted to the fuselage for providing flight power;

    飞行控制器，与所述动力***通讯连接，用于控制所述无人机飞 行；以及a flight controller, in communication with the power system, for controlling the drone to fly Line; and

    如权利要求15-28任一项所述的拍摄设备。 A photographing apparatus according to any one of claims 15-28.

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