WO2022016334A1 - 图像处理方法、装置、穿越机、图像优化***及存储介质 - Google Patents
图像处理方法、装置、穿越机、图像优化***及存储介质 Download PDFInfo
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- WO2022016334A1 WO2022016334A1 PCT/CN2020/103091 CN2020103091W WO2022016334A1 WO 2022016334 A1 WO2022016334 A1 WO 2022016334A1 CN 2020103091 W CN2020103091 W CN 2020103091W WO 2022016334 A1 WO2022016334 A1 WO 2022016334A1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/667—Camera operation mode switching, e.g. between still and video, sport and normal or high- and low-resolution modes
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/63—Control of cameras or camera modules by using electronic viewfinders
- H04N23/631—Graphical user interfaces [GUI] specially adapted for controlling image capture or setting capture parameters
- H04N23/632—Graphical user interfaces [GUI] specially adapted for controlling image capture or setting capture parameters for displaying or modifying preview images prior to image capturing, e.g. variety of image resolutions or capturing parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/76—Television signal recording
Definitions
- the present disclosure relates to the field of image processing, and more particularly, to an image processing method, a device, a traversing machine, an image optimization system and a storage medium.
- the shooting parameters are usually set higher. For example, to ensure Shutter speed, at the expense of sensitivity, is pulled higher, resulting in poor quality photos obtained by extracting frames from recorded video.
- the purpose of the present disclosure is to provide an image processing method for a traversing machine, which can obtain a high-quality target video, and the target image obtained according to the target video has better picture quality.
- an image processing method for a time-travel aircraft comprising: acquiring a flight state of a time-travel aircraft, the time-travel aircraft using first shooting parameters to shoot, the first shooting parameters and the time-travel aircraft The flight speed of the aircraft is related;
- the flying state of the time-travelling aircraft is in a preset state, adjusting the first shooting parameter of the time-travelling aircraft to a second shooting parameter, and the second shooting parameter is related to the image quality;
- an image processing apparatus wherein the image processing apparatus includes a processor, and the processor is configured to: acquire the flight status of the time-travelling aircraft, and the time-travelling aircraft uses first shooting parameters to shoot, and the The first shooting parameter is related to the flight speed of the crossing aircraft;
- the flying state of the time-travelling aircraft is in a preset state, adjusting the first shooting parameter of the time-travelling aircraft to a second shooting parameter, and the second shooting parameter is related to the image quality;
- a traversing aircraft comprising: a fuselage, a power system, and the image processing device according to the second aspect; wherein, the power system is installed on the fuselage, and is used for Provide flight power.
- an image optimization system comprising: a remote control terminal and the traversing machine as described in the third aspect.
- a computer-readable storage medium on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the functions described in the first aspect of the embodiments of the present disclosure are implemented.
- Image processing method for traversing machine
- FIG. 1 is an architectural diagram of an image optimization system according to an exemplary embodiment of the present disclosure
- FIG. 2 is a flowchart of an image processing method for a traversing machine according to an exemplary embodiment of the present disclosure
- FIG. 3 is a flowchart of an image processing method for a traversing machine according to an exemplary embodiment of the present disclosure
- FIG. 4 is a flowchart of an image processing method for a traversing machine according to an exemplary embodiment of the present disclosure
- FIG. 5 is a flowchart of an image processing method for a traversing machine according to an exemplary embodiment of the present disclosure
- FIG. 6 is a block diagram of a traversing machine according to an exemplary embodiment of the present disclosure.
- FIG. 7 is a schematic diagram of a computer-readable storage medium according to an embodiment of the present disclosure.
- Example embodiments will now be described more fully with reference to the accompanying drawings.
- Example embodiments can be embodied in various forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.
- the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
- numerous specific details are provided in order to give a thorough understanding of the embodiments of the present disclosure.
- those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. may be employed.
- well-known solutions have not been shown or described in detail to avoid obscuring aspects of the present disclosure.
- FIG. 1 is an architectural diagram of an image optimization system according to an exemplary embodiment of the present disclosure.
- the image optimization system 100 may include a remote control terminal 101 , a remote control terminal 102 and a traversing machine 104 .
- the remote control terminal 101 and the remote control terminal 102 can communicate with the traversing machine 104 through the network 103, and the data transmission between the remote control terminal 101, the remote control terminal 102 and the traversing machine 104 can be carried out through wireless transmission, such as WiFi, Bluetooth, zigbee, etc. .
- Communication between the remote control terminal 101, the remote control terminal 102 and the traversing machine 104 can be performed through traditional 4G, 5G, WiFi, or the Internet.
- the remote control terminals 101 and 102 can, for example, send the user's operation instruction; for example, the traverse aircraft 104 can obtain the flight status of the traverse aircraft 104 after receiving the user's operation instruction, and can also automatically obtain the flight status of the traverse aircraft 104;
- the first shooting parameter of the time-travelling machine 104 can be adjusted to the second shooting parameter, wherein the preset state can be, for example, that the time-travelling machine 104 is in a hovering state or a low-speed flying state;
- Shooting can be performed based on the adjusted second shooting parameters to obtain the target video;
- the pass-through machine 104 can store the target video in the pass-through machine 104, and can also extract frames from the target video to obtain the target image;
- the pass-through machine can And/or the target image is sent to the remote control terminals 101 and 102;
- the remote control terminals 101 and 102 can display the target video and/or the target image to the user.
- the remote control terminals 101 and 102 can be, for example, but not limited to, a universal remote control or a dedicated remote control for the traversing aircraft 104, and can also be mobile terminals such as flying glasses, mobile phones, computers, tablet computers, handheld terminals, etc., on which corresponding application programs are run. , which can be used to remotely control the traversing machine 104.
- a display device such as a display screen or a projection device, may be provided on the remote control terminals 101 and 102, which may be used to display the target video or target image sent by the traversing machine 104.
- the remote control terminals 101 and 102 can receive the operation instructions input by the user, and the remote control terminals 101 and 102 can send the operation instructions to the through machine 104 .
- FIG. 2 is a flowchart of an image processing method for a traversing machine according to an exemplary embodiment of the present disclosure.
- the image processing method for a pass-through aircraft provided by the embodiments of the present disclosure may be executed by any electronic device with computing processing capability.
- the image processing method 20 for a pass-through aircraft provided by an embodiment of the present disclosure may include steps S21-S23.
- step S21 the flight status of the crossing aircraft is acquired.
- the crossover machine can be a high-speed small UAV, a small quadcopter with a short battery life, and can be used to travel through woods, buildings, etc.
- An image acquisition device may be set on the traversing machine for acquiring target images, for example, it may be used for taking photos and videos.
- the drone uses a first shooting parameter to shoot during flight, and the first shooting parameter is related to the flight speed of the drone.
- the first shooting parameter is related to the flight speed of the drone.
- the shutter speed of the camera is usually set higher and the sensitivity is set higher.
- the processor processes the image, it will also increase the image darkness. Brightening intensity in the area; the sensitivity and the brightening intensity in the dark area of the image are set higher, resulting in strong image noise, so the processor will also set the image noise reduction intensity higher and the image sharpening intensity higher.
- the image acquisition device can be directly fixed on the traveling machine, or can be fixed on the traveling machine through a pan-tilt, for example, the pan-tilt can be used to change the direction of the image acquisition device.
- the flight status of the TRX may include, for example, the environmental information of the TRX, the instrument data of the TRX, the navigation data of the TRX, the flight control status of the TRX, the instrument data of the TRX, and the like.
- the flight status of the crossing aircraft may be acquired in real time, or the flight status of the crossing aircraft may be acquired periodically.
- acquiring the flight status of the time-travelling aircraft includes: acquiring environmental information of the time-travelling aircraft, wherein the environmental information includes distance information between the time-travelling aircraft and a preset object.
- the traversing aircraft may be provided with one or more sensors for acquiring environmental information around the traversing aircraft.
- one or more sensors may be one or more infrared sensors, lidars, etc., which may be used to measure the distance from the traversing aircraft to the preset object.
- the preset objects may be, for example, buildings around the crossing aircraft, trees around the crossing aircraft, aircraft around the crossing aircraft, and the like.
- the time-travel aircraft can obtain the distance information between the time-travel aircraft and the preset object to determine whether there is a need to take pictures.
- acquiring the flight status of the crossing aircraft includes: acquiring navigation data of the crossing aircraft.
- the aircraft can obtain the navigation data of the aircraft, and the navigation system of the aircraft can provide the position, speed, and flight attitude of the reference coordinate system to the aircraft, and guide the aircraft to fly according to the designated route.
- acquiring the flight status of the flying boat includes: acquiring instrument data of the flying boat, wherein the instrument data includes jitter information of the flying boat.
- the instrument data can be acquired based on the IMU (Inertial measurement unit, inertial measurement unit) on the traversing aircraft.
- IMU Inertial measurement unit, inertial measurement unit
- acquiring the flight status of the time-travelling aircraft includes: acquiring instrument data of the time-travelling aircraft, wherein the instrument data includes jitter information of the gimbal.
- the instrument data of the TRX can be obtained, and the instrument data can include the jitter information of the TRX and the gimbal, so as to obtain the jitter of the TRX and the gimbal.
- acquiring the flight status of the time-traversing aircraft may include: after receiving an operation instruction sent by the target object or periodically, acquiring the flight state of the time-travelling aircraft.
- the fly-through aircraft can periodically obtain the flight status of the fly-through aircraft.
- the period can be set according to the actual situation, for example, it can be 30 seconds, 1 minute, and so on.
- the flying machine After receiving the operation command sent by the target object, the flying machine can also obtain the flight status of the flying machine.
- the target object may be, for example, the operator who controls the ride-through aircraft.
- the operation instruction of the target object can be sent through the remote control terminal.
- the target object can operate the buttons of the remote control terminal to send the operation instruction to the traversing machine.
- the operation instructions of the target object can also be sent through the flying glasses.
- the flying glasses can be head-mounted glasses, and the flying glasses can be provided with a touchpad and somatosensory control.
- the flying glasses can be seamlessly combined with the panoramic function of the flying machine, presenting a panoramic view as if you are in the air overlooking the vast world, and rich multimedia playback.
- the function can make the audio-visual more shocking.
- the somatosensory control and panoramic view of the flying glasses can improve the user experience.
- the flying glasses can obtain operation instructions by judging the operator's gesture or posture. For example, when the operator nods, the operation instructions can be triggered. After the flying glasses obtain the operator's nodding motion, the operation instructions are sent to the drone; When the pilot poses a preset gesture, the goggles can recognize the gesture, match it in the preset gesture pattern library, and after the matching is successful, it can send an operation command to the crossing aircraft.
- the action triggering the operation instruction includes but is not limited to the nodding action, which can be set according to the user's needs, and the preset gesture mode library can be set according to the needs, and can also be continuously updated according to the needs.
- the operation instruction can be, for example, a photographing instruction, and the photographing instruction can, for example, be an instruction to select a shooting mode, or it can include a preset object that the user wants to shoot; the operation instruction can also be other commands to control the flying machine, such as controlling the attitude and speed of the flying machine.
- the operation instructions are not limited in the present disclosure.
- step S22 when the flight state of the time-travel aircraft is in the preset state, the first shooting parameter of the time-travel aircraft is adjusted to the second shooting parameter.
- the preset state may be that the traversing machine receives a photographing instruction sent by the user.
- the aircraft can directly adjust the first shooting parameter of the aircraft to the second shooting parameter, or obtain the flight status of the aircraft after receiving the photographing command sent by the user.
- Whether to adjust the first shooting parameter of the time-travelling aircraft to the second shooting parameter is determined by judging whether the flight state of the time-travelling aircraft is in the preset state.
- the embodiment of the present disclosure can transmit the target video to the user for viewing in real time based on a single sensor.
- the traverse machine can extract the target photo from the target video recorded in real time, and the target photo can be taken as the photo taken by the user.
- This method can not interrupt the video recording.
- the first shooting parameter can be adjusted to the second shooting parameter for shooting, and the target video obtained based on the second shooting parameter can be extracted from the target video.
- the photos obtained from the frames have better picture quality and can meet the needs of users for taking pictures.
- the preset state may be that the aircraft is in a hovering state or the flight speed of the aircraft is less than a first preset threshold.
- the preset threshold if the aircraft is in the hovering state or the flight speed of the aircraft is lower than the preset threshold, the default user has a need to take pictures, or the default user wants to see the surrounding environment clearly, the aircraft can switch the shooting parameters at this time to ensure the quality of the picture. .
- the first preset threshold can be set as required to ensure the flight safety of the crossing aircraft.
- the drone obtains the flight speed of the drone, and judges whether the drone is in a hovering state or a low-speed flying state based on the flight speed.
- adjust the first shooting parameter of the drone. is the second shooting parameter.
- the first shooting parameter of the drone can be adjusted to the second shooting parameter to obtain a target video or target image with better picture quality.
- the preset state may be that a preset object is photographed by the drone. For example, when the drone shoots a preset object, the first shooting parameter of the drone is adjusted to the second shooting parameter.
- the preset objects may be buildings, animals and plants, for example.
- the preset object can be set as required, or set according to the operation instruction sent by the user.
- the operation command sent by the remote control terminal or the flying glasses may include the preset object as a tree, and when a tree is photographed by the flying machine, the first shooting parameter can be automatically adjusted to the second Shooting parameters to shoot.
- the preset state of the traversing aircraft may be that the distance between the traversing aircraft and the preset object is less than the second preset threshold.
- the first shooting parameter of the drone can be adjusted to the second shooting parameter; when the distance information between the drone and the preset object is greater than or equal to the second preset
- the threshold is set, that is, when the drone is far away from the object to be photographed, the drone keeps the first shooting parameters and continues to shoot.
- the second preset threshold can be set as required.
- the preset state of the ride-through machine may be that the ride-through machine is in a steady state.
- the instrument data obtained by the T-boat may include the jitter information of the T-boat, and whether the T-boat is in a stable state is judged by the jitter information of the T-boat; shooting parameters.
- adjusting the shooting parameters for shooting can obtain high-quality target video or target photos under the condition of ensuring safety.
- the preset state of the traversing machine may be that the gimbal is in a steady state.
- the instrument data obtained by the PTZ may include the jitter information of the PTZ, and whether the PTZ is in a stable state is determined by the jitter information of the PTZ.
- the first shooting parameter of the PTZ is adjusted to the second one. shooting parameters.
- the second shooting parameter may be, for example, one or more of shutter speed, light sensitivity, aperture, image sharpening intensity, image noise reduction intensity, image dark area brightening intensity, or focal length.
- adjusting the first shooting parameter of the traverse plane to the second shooting parameter includes: reducing shutter speed, reducing sensitivity, reducing aperture, reducing image sharpening intensity, reducing image noise reduction intensity, and reducing image dark area enhancement.
- reducing shutter speed reducing sensitivity
- reducing aperture reducing image sharpening intensity
- reducing image noise reduction intensity reducing image dark area enhancement.
- the shooting parameters of the video are usually set higher, and the target video obtained according to the higher shooting parameters , the target image obtained after frame extraction of the target video is of poor quality.
- the shooting parameters of the traverse plane By reducing the shooting parameters of the traverse plane, adjusting the first shooting parameters to the second shooting parameters, and shooting according to the adjusted shooting parameters, the target video is obtained, and the target image obtained after the frame is extracted from the target video has a higher quality. Excellent, more in line with the shooting needs of users.
- the shooting parameters are usually set higher.
- the speed of the traversing machine is fast when traversing.
- the shutter speed of the camera is usually set higher and the sensitivity is set higher.
- the processor processes the image, it will also improve the image. Dark area brightening intensity; the sensitivity and image dark area brightening intensity are set higher, resulting in strong image noise, so the processor will also set the image noise reduction intensity higher, and the image sharpening intensity is set higher .
- the focal length is set high, for example, the focal length is set to infinity, and the focal length is set to ultra-wide angle.
- the target video obtained by shooting based on the first shooting parameters can be transmitted to the remote control terminal in real time for the user to watch when the flying machine is flying at high speed. .
- the obtained target image may have the problem of blurred image quality , does not meet the user's requirements for photos.
- the obtained target image has better picture quality and is more in line with the user's requirements for photos.
- the purpose of the preset state set in this application is to identify whether the user needs to take pictures. If the preset state is met, it is recognized that the user has the need to take pictures. Therefore, the shooting parameters of the shooting device when recording are switched to the second one. Shooting parameters, the second shooting parameters are more in line with the user's shooting needs than the first shooting parameters. After switching to the second shooting parameter, the recorded video is more in line with the shooting parameters when taking pictures, and then a picture that meets the user's photographing needs can be extracted from the recorded video stream.
- the first shooting parameter is switched to the second shooting parameter.
- the shooting parameters also need to be switched. This is because the shooting parameters of the time-travel aircraft are usually set higher when flying at high speed, and it is obviously unreasonable to continue to use higher shooting parameters to shoot when the aircraft is flying at low speed or even hovering. It is necessary to adjust the shooting parameters to normal.
- an exposure system can be set in the traverse machine, and the exposure system can intelligently switch the exposure strategy and automatically adjust the shooting parameters of the traverse machine.
- reducing the sensitivity can reduce the sensitivity from 400 to 100.
- the obtained target video or target image is simpler in post-processing, and there is no problem of overexposure of local areas.
- the local area can be the target video or target image. sky area.
- the focal length can be set to a preset distance, and the focal length can be adjusted from an ultra-wide-angle to a normal wide-angle, so that high-quality target videos and target images can be obtained.
- the first shooting parameter and the second shooting parameter can be set according to the actual situation.
- the first shooting parameter can be set according to the flight speed of the time-travel aircraft and the requirements for recording videos
- the second shooting parameter can be set according to the user's requirements for the quality of the photos. set up.
- the first shooting parameter is set according to whether the picture taken by the time-travel aircraft can be seen clearly by the user when flying at high speed; the second shooting parameter is set according to the user's requirement for the picture quality of the photographed picture.
- the high-speed flight may be, for example, that the flight speed of the crossing aircraft is greater than a preset value, and the preset value may be set as required; for example, the first shooting parameter may also be determined according to the resolution of the captured video.
- step S23 shooting is performed based on the second shooting parameters to obtain a target video.
- the traversing machine can shoot according to the adjusted second shooting parameters to obtain high-quality target video.
- the second shooting parameter may be, for example, one or more of shutter speed, sensitivity, aperture, image sharpening intensity, image noise reduction intensity, image dark area brightening intensity, or focal length.
- the shutter speed of the first shooting parameter is higher than the shutter speed of the second shooting parameter
- the sensitivity of the first shooting parameter is higher than the sensitivity of the second shooting parameter
- the aperture of the first shooting parameter is greater than that of the second shooting parameter
- the aperture of the parameter, the intensity of sharpening the image in the first shooting parameter is greater than the intensity of sharpening the image in the second shooting parameter
- the intensity of noise reduction processing in the first shooting parameter is greater than the second shooting parameter.
- the intensity of performing noise reduction processing on the image in the first shooting parameter or the intensity of brightening the dark area of the image in the first shooting parameter is greater than the intensity of brightening the dark area of the image in the second shooting parameter.
- the obtained target video has less noise.
- the obtained target video does not have serious distortion problems.
- the image processing method for the time-travel aircraft by acquiring the flight state of the time-travel aircraft, when the flight state of the time-travel aircraft is in a preset state, adjusting the shooting parameters of the time-travel aircraft, and shooting based on the adjusted shooting parameters, A high-quality target video can be obtained, and the target image obtained according to the target video is of better quality.
- FIG. 3 is a flowchart of an image processing method for a traversing machine according to an exemplary embodiment of the present disclosure.
- the image processing method 30 for a pass-through machine shown in FIG. 3 may further include steps S31-S32.
- step S31 a target image is acquired based on the target video.
- the target image can be obtained by extracting frames from the target video based on the PIV (Photo In Video, obtaining a photo from a video) technology.
- PIV Photo In Video, obtaining a photo from a video
- a high-quality target image can be obtained by extracting frames from a high-quality target video shot by a traverse plane based on the PIV technology, or a target image can be obtained based on the target video based on other technologies.
- Extracting frames from the target video can be achieved by using image processing tools, such as OpenCV (Open Computer Vision, open source computer vision) tool, which can process the target video according to the preset frame frequency and number of frames to obtain the target image.
- the target image is a picture taken from the target video.
- the target image can be set according to the user's needs.
- the target image can be one or multiple.
- the target image may be, for example, an image containing a preset object, such as an image of a tree, an image of a building, or the like.
- the target image may be, for example, an image at a preset position or an image at a preset height.
- the target image may be, for example, an image captured based on the second capturing parameter.
- Extracting frames from the target video to obtain the target image may include: determining the number of images to be extracted from the target video based on the duration of the target video; extracting frames from the target video according to the duration of the target video and the number of images to be extracted to obtain the target video image.
- the relationship between the duration range of the target video and the number of images to be extracted can be preset, the duration of the target video can be obtained, and the number of images to be extracted can be determined according to the duration of the target video and the preset relationship between the duration of the target video and the number of images to be extracted .
- the extraction interval can be determined according to the duration of the target video and the number of images to be extracted.
- frames can be extracted from the target video at every decimation interval to obtain the target image.
- image processing can be performed on the target image, for example, the brightness and contrast of the target image can be adjusted, and the picture size, resolution, and compression rate of the target image can also be adjusted according to user requirements.
- the method before performing frame extraction processing on the target video, the method may further include: cutting the target video, for example, according to user requirements, the part of the target video that does not meet the user's requirements may be cut off.
- step S32 the target video or target image is sent or stored.
- a memory can be provided on the traverse machine for storing the target video shot by the traverse machine and the target image obtained through the target video.
- the traverse machine can store the target video in the traverse machine, and can send the target video to the remote control terminal or server, and the remote control terminal or server can process the target video to obtain the target image.
- the traverse machine can store the target video and target image in the traverse machine, and can send the target image to the remote control terminal or server for display or processing.
- the remote control terminal or server may be provided with a display device, and the display device may be, for example, a display screen or a projection device, etc., which can be used to display the target video or target image sent by the aircraft.
- the display device may be, for example, a display screen or a projection device, etc., which can be used to display the target video or target image sent by the aircraft.
- the flying machine can send the target video or target image to the flying glasses, and the flying glasses can show the target video or target image to the user in real time to improve the user experience.
- the traversing machine can send the target video or target image to the remote control or mobile terminal, the remote control or mobile terminal can display the target video or target image to the user in real time, and the mobile terminal can process and store the target video or target image.
- the traversing machine can send the target video or target image to the server, and the server can process the target video or target image, for example, can process the target video or target image through PS (Photoshop, image processing software).
- PS Photoshop, image processing software
- FIG. 4 is a flowchart of an image processing method for a traversing machine according to an exemplary embodiment of the present disclosure.
- the image processing method 40 for a pass-through machine shown in FIG. 4 may further include steps S41 - S42 .
- step S41 when the flying state of the time-travel aircraft is not in the preset state or reaches the preset time, the second shooting parameter of the time-travel aircraft is adjusted to the first shooting parameter of the time-travel aircraft.
- the second shooting parameter of the time-travelling aircraft may be adjusted to the first shooting parameter.
- the shooting parameters of the drone can be increased; the distance from the drone to the surrounding objects changes from greater than the second preset threshold to less than or equal to When the second preset threshold is used, the shooting parameters of the flying machine can be increased.
- the second shooting parameter of the time-travelling machine may be adjusted to the first shooting parameter of the time-travelling machine.
- the shooting parameter of the riding machine can be increased, wherein the preset time can be set according to actual needs.
- adjusting the second shooting parameter of the traverse machine to the first shooting parameter includes: increasing the shutter speed, increasing the sensitivity, increasing the aperture, increasing the image sharpening intensity, increasing the image noise reduction intensity, increasing the image dark area improvement One or more of brightness intensity or adjusting focus.
- step S42 shooting is performed based on the first shooting parameters of the traverse aircraft.
- the time-travelling aircraft can continue to shoot based on the adjusted first shooting parameters, and adjusting the second shooting parameters of the time-travelling aircraft to the first shooting parameters can ensure the flight safety of the time-travelling aircraft during the flight.
- FIG. 5 is a flowchart of an image processing method for a traversing machine according to an exemplary embodiment of the present disclosure.
- the image processing method 50 for a traversing machine shown in FIG. 5 may further include step S51 .
- step S51 when the flight state of the time-travelling aircraft is not in the preset state, shooting is performed based on the first shooting parameter.
- the preset state includes that the time-travel aircraft receives a photographing instruction sent by the user, the time-travel aircraft is in a hovering state, the flight speed of the time-travel aircraft is less than a first preset threshold, or the time-travel aircraft captures a preset object.
- the fly-through machine when it does not receive the photographing instruction sent by the user, it can photograph based on the first photographing parameter.
- the shooting can be performed based on the first shooting parameter
- the preset object can be set as required, and the preset object can be, for example, buildings, animals and plants, and the like.
- the preset state of the traversing aircraft may be that the distance between the traversing aircraft and the preset object is less than the second preset threshold.
- the first shooting parameter of the drone can be adjusted to the second shooting parameter; when the distance information between the drone and the preset object is greater than or equal to the second preset
- the threshold is set, that is, when the drone is far away from the object to be photographed, the drone keeps the first shooting parameters and continues to shoot.
- the second preset threshold can be set as required.
- the preset state of the aircraft can be that the aircraft is in a hovering state or the flight speed of the aircraft is lower than a first preset threshold, and the first preset threshold can be set as required.
- the drone can obtain the flight speed of the drone, and determine whether the drone is in a hovering state or a low-speed flying state based on the flight speed. When the drone is in a high-speed flight, shooting can be performed based on the first shooting parameter.
- the preset state of the drone can be that the drone and the gimbal are in a stable state.
- the instrument data that can be obtained by the traversing machine can include the jitter information of the traversing machine and the gimbal. It can be judged whether the traversing machine and the gimbal are in a stable state through the jitter information of the traversing machine and the gimbal. , and shooting can be performed based on the first shooting parameter.
- the image processing method for the time-travel aircraft in the embodiment of the present disclosure can ensure the flight safety of the time-travel aircraft by acquiring the flight state of the time-travel aircraft, and when the flight state of the time-travel aircraft is not in the preset state, shooting based on the first shooting parameters .
- aspects of the present invention may be implemented as a system, method or program product. Therefore, various aspects of the present invention can be embodied in the following forms: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, which may be collectively referred to herein as implementations "Module” or "System”.
- FIG. 6 is a block diagram of a traversing machine according to an exemplary embodiment of the present disclosure.
- the crossing aircraft 600 may include: a camera 610, a body 620, a power system 630 and an image processing device 640; wherein, the power system 630 may be installed on the body to provide flight power; the image processing device 640 It can be used to: obtain the flight state of the time-travel aircraft; when the flight state of the time-travel aircraft is in a preset state, adjust the first shooting parameter of the time-travel aircraft to the second shooting parameter; shoot based on the second shooting parameter to obtain the target video.
- the image processing apparatus 640 is further configured to obtain a target image based on the target video.
- the image processing apparatus 640 is further configured to: send or store a target video or a target image.
- the image processing device 640 is further configured to: when the flight state of the time-travel aircraft is not in the preset state or reaches a preset time, the second The shooting parameters are adjusted to the first shooting parameters of the time-travel aircraft; the shooting is performed based on the first shooting parameters of the time-travel aircraft.
- acquiring the flight status of the time-travel aircraft includes: after receiving an operation instruction sent by the target object or periodically, acquiring the flight state of the time-travel aircraft.
- the image processing device 640 is further configured to: when the flying state of the crossover aircraft is not in the preset state, shoot based on the first shooting parameter.
- the preset state includes that the aircraft receives a photographing instruction sent by the user, the aircraft is in a hovering state, the flight speed of the aircraft is less than a first preset threshold, or the aircraft has photographed a preset object.
- adjusting the first shooting parameter of the traverse plane to the second shooting parameter includes: reducing the shutter speed, reducing the sensitivity, reducing the aperture, reducing the image sharpening intensity, reducing the image noise reduction intensity, One or more of reducing the intensity of brightening in dark areas of the image or adjusting the focus.
- acquiring the flight status of the flying machine includes: acquiring environmental information of the flying machine, wherein the environmental information includes distance information between the flying machine and a preset object; The distance of the object is greater than the second preset threshold.
- acquiring the flight status of the TRX includes: acquiring navigation data of the TRX; the preset state is a hovering state or the flight speed of the TRX is lower than a first preset threshold.
- acquiring the flight status of the RTX includes: acquiring instrument data of the RTX, wherein the instrument data includes jitter information of the RTX; and the preset state is that the RTX is in a stable state.
- acquiring the flight status of the flying machine includes: acquiring instrument data of the flying machine, wherein the instrument data includes jitter information of the gimbal; and the preset state is that the gimbal is in a steady state.
- acquiring the target image based on the target video includes: extracting frames from the target video based on the PIV technology to acquire the target image.
- time-travel aircraft of the embodiments of the present disclosure by acquiring the flight state of the time-travel aircraft, when the flight state of the time-travel aircraft is in a preset state, adjusting the shooting parameters of the time-travel aircraft, and shooting based on the adjusted shooting parameters, can ensure flight safety. At the same time, high-quality target video is obtained.
- the present application further provides an image processing apparatus, where the image processing apparatus includes a processor, and the processor is configured to execute executable program instructions to implement the technical solutions mentioned in the above method embodiments.
- a program product 700 for implementing the above method according to an embodiment of the present disclosure is described, which can adopt a portable compact disk read only memory (CD-ROM) and include program codes, and can be stored in a terminal device, For example running on a personal computer.
- a readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.
- the program product may employ any combination of one or more readable media.
- the readable medium may be a readable signal medium or a readable storage medium.
- the readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. More specific examples (non-exhaustive list) of readable storage media include: electrical connections with one or more wires, portable disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.
- a computer readable signal medium may include a propagated data signal in baseband or as part of a carrier wave with readable program code embodied thereon. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
- a readable signal medium can also be any readable medium, other than a readable storage medium, that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
- Program code embodied on a readable medium may be transmitted using any suitable medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
- Program code for performing the operations of the present disclosure may be written in any combination of one or more programming languages, including object-oriented programming languages—such as Java, C++, etc., as well as conventional procedural Programming Language - such as the "C" language or similar programming language.
- the program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server execute on.
- the remote computing device may be connected to the user computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (eg, using an Internet service provider business via an Internet connection).
- LAN local area network
- WAN wide area network
- an external computing device eg, using an Internet service provider business via an Internet connection
- modules or units of the apparatus for action performance are mentioned in the above detailed description, this division is not mandatory. Indeed, according to embodiments of the present disclosure, the features and functions of two or more modules or units described above may be embodied in one module or unit. Conversely, the features and functions of one module or unit described above may be further divided into multiple modules or units to be embodied.
- the units described as separate components may or may not be physically separated, and 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 solutions of the embodiments of the present disclosure.
- each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
- the above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.
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Abstract
一种用于穿越机的图像处理方法、图像处理装置、穿越机、图像优化***及计算机可读存储介质。用于穿越机的图像处理方法包括:获取穿越机的飞行状态(S21),所述穿越机采用第一拍摄参数拍摄,所述第一拍摄参数与所述穿越机的飞行速度相关;当所述穿越机的飞行状态处于预设状态时,将所述穿越机的所述第一拍摄参数调整为第二拍摄参数(S22),所述第二拍摄参数与图像画质相关;基于所述第二拍摄参数进行拍摄,获得目标视频(S23)。该方法可以在保证飞行安全的同时,获得高质量的目标视频。
Description
本公开涉及图像处理领域,并且更为具体地,涉及一种图像处理方法、装置、穿越机、图像优化***及存储介质。
穿越机在高速飞行时,为了保证不运动模糊,能够让地面端的用户通过图传回的视频看清周围环境,保证飞行安全,在拍摄视频时,拍摄参数通常设置得较高,例如,为保证快门速度,牺牲感光度,感光度拉的比较高,导致通过从录制的视频中抽帧获得的照片画质欠佳。
因此,如何提高穿越机拍摄的视频及图像的质量是一个亟需解决的问题。
发明内容
本公开的目的在于提供一种用于穿越机的图像处理方法,该方法可以获得高质量的目标视频,根据该目标视频获得的目标图像画质较优。
本公开的其他特性和优点将通过下面的详细描述变得显然,或部分地通过本公开的实践而习得。
根据本公开的第一方面,提供一种用于穿越机的图像处理方法,包括:获取穿越机的飞行状态,所述穿越机采用第一拍摄参数拍摄,所述第一拍摄参数与所述穿越机的飞行速度相关;
当所述穿越机的飞行状态处于预设状态时,将所述穿越机的所述第一拍摄参数调整为第二拍摄参数,所述第二拍摄参数与图像画质相关;
基于所述第二拍摄参数进行拍摄,获得目标视频。
根据本公开的第二方面,提供一种图像处理装置,其中,所述图像处理装置包括处理器,处理器用于:获取穿越机的飞行状态,所述穿越机采用第一拍摄参数拍摄,所述第一拍摄参数与所述穿越机的飞行速度相关;
当所述穿越机的飞行状态处于预设状态时,将所述穿越机的所述第一拍摄参数调整为第二拍摄参数,所述第二拍摄参数与图像画质相关;
基于所述第二拍摄参数进行拍摄,获得目标视频。
根据本公开的第三方面,提供一种穿越机,包括:机身、动力***及如上述第二方面所述的图像处理装置;其中,所述动力***安装在所述机身上,用于提供飞行动力。
根据本公开的第四方面,提供一种图像优化***,包括:遥控端及如上述第三方 面所述的穿越机。
根据本公开的第五方面,提供一种计算机可读存储介质,其上存储有计算机程序,其特征在于,所述计算机程序被处理器执行时实现如本公开实施例第一方面所述的用于穿越机的图像处理方法。
为了更清楚地说明本公开实施例的技术方案,下面将对实施例或现有技术描述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公开的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。
图1是根据本公开的一个示例性实施例的图像优化***的架构图;
图2是根据本公开的一个示例性实施例的用于穿越机的图像处理方法的流程图;
图3是本公开的一个示例性实施例的用于穿越机的图像处理方法的流程图;
图4是本公开的一个示例性实施例的用于穿越机的图像处理方法的流程图;
图5是本公开的一个示例性实施例的用于穿越机的图像处理方法的流程图;
图6是根据本公开的一个示例性实施例的穿越机的框图;
图7是根据本公开实施例示出的一种计算机可读存储介质的示意图。
现在将参考附图更全面地描述示例实施方式。然而,示例实施方式能够以多种形式实施,且不应被理解为限于在此阐述的范例;相反,提供这些实施方式使得本公开将更加全面和完整,并将示例实施方式的构思全面地传达给本领域的技术人员。所描述的特征、结构或特性可以以任何合适的方式结合在一个或更多实施方式中。在下面的描述中,提供许多具体细节从而给出对本公开的实施方式的充分理解。然而,本领域技术人员将意识到,可以实践本公开的技术方案而省略所述特定细节中的一个或更多,或者可以采用其它的方法、组元、装置、步骤等。在其它情况下,不详细示出或描述公知技术方案以避免喧宾夺主而使得本公开的各方面变得模糊。
此外,附图仅为本公开的示意性图解,图中相同的附图标记表示相同或类似的部分,因而将省略对它们的重复描述。附图中所示的一些方框图是功能实体,不一定必须与物理或逻辑上独立的实体相对应。可以采用软件形式来实现这些功能实体,或在一个或多个硬件模块或集成电路中实现这些功能实体,或在不同网络和/或处理器装置和/或微控制器装置中实现这些功能实体。
下面结合附图对本公开示例实施方式进行详细说明。
图1是根据本公开的一个示例性实施例的图像优化***的架构图。
如图1所示,图像优化***100可以包括遥控端101、遥控端102及穿越机104。 其中,遥控端101、遥控端102可以通过网络103与穿越机104进行通信,遥控端101、遥控端102与穿越机104之间可以通过无线传输方式进行数据传输,例如WiFi、蓝牙、zigbee等等。遥控端101、遥控端102与穿越机104之间可以通过传统4G、5G、WiFi或者互联网等进行通信。
遥控端101、102例如可以发送用户的操作指令;穿越机104例如可以在接收到用户的操作指令后,获取穿越机104的飞行状态,也可以自动地获取穿越机104的飞行状态;当穿越机104的飞行状态处于预设状态时,可以将穿越机104的第一拍摄参数调整为第二拍摄参数,其中,预设状态例如可以为穿越机104处于悬停状态或低速飞行状态;穿越机104可以基于调整后的第二拍摄参数进行拍摄,获得目标视频;穿越机104可以并将目标视频存储在穿越机104中,也可以从目标视频中抽帧,获得目标图像;穿越机可以将目标视频和/或目标图像发送给遥控端101、102;遥控端101、102可以向用户展示目标视频和/或目标图像。遥控端101、102可以例如但不限于为通用遥控器或穿越机104的专用遥控器,也可以为飞行眼镜、手机、计算机、平板电脑、手持终端等移动终端,其上运行有相应的应用程序,可以用于遥控穿越机104。遥控端101、102上可以设置有显示装置,例如显示屏或投影装置等,可以用于展示穿越机104发送的目标视频或目标图像。遥控端101、102可以接收用户输入的操作指令,遥控端101、102可以将该操作指令发送给穿越机104,遥控端101、102可例如接收穿越机104发送的目标视频或目标照片。
图2是根据本公开的一个示例性实施例的用于穿越机的图像处理方法的流程图。本公开实施例提供的用于穿越机的图像处理方法可以由任意具备计算处理能力的电子设备执行。如图2所示,本公开实施例提供的用于穿越机的图像处理方法20可以包括步骤S21-S23。
在步骤S21中,获取穿越机的飞行状态。
穿越机可以为高竞速的小型无人机,续航时间较短的小型四轴飞行器,可以用于穿越树林、穿越建筑物等。穿越机上可以设置有图像采集装置,用于采集目标图像,例如可以用于拍摄照片,拍摄视频。穿越机在飞行时采用第一拍摄参数进行拍摄,该第一拍摄参数与穿越机的飞行速度相关。例如,穿越机在高速飞行过程中,为了保证拍摄的视频画面不模糊,通常会将相机的快门速度设置得较高,感光度设置得较高,处理器在处理图像时,也会提高图像暗区提亮强度;感光度和图像暗区提亮强度设置地较高,导致图像的噪声很强,因此处理器也会将图像降噪强度设置地较高,图像锐化强度设置地较高。
图像采集装置例如可以直接固定在穿越机上,也可以通过云台固定在穿越机上,云台例如可以用于改变图像采集装置的方向。
穿越机的飞行状态例如可以包括穿越机的环境信息、穿越机的仪表数据、穿越机 的导航数据、穿越机的飞控状态、穿越机的仪表数据等。
通过获取穿越机的飞行状态,可以判断穿越机的飞行速度、周围是否存在障碍物、穿越机是否存在抖动情况等。
例如可以实时地获取穿越机的飞行状态,也可以周期地获取穿越机的飞行状态。
在一些实施例中,获取穿越机的飞行状态包括:获取穿越机的环境信息,其中,环境信息包括穿越机与预设对象的距离信息。
穿越机例如可以设置有一个或多个传感器,用于获取穿越机周围的环境信息。其中,一个或多个传感器可以为一个或多个红外传感器、激光雷达等,可以用于测量穿越机到预设对象的距离。
预设对象例如可以为穿越机周围的建筑物、穿越机周围的树木、穿越机周围的飞行器等。
穿越机在飞行过程中可以获取穿越机与预设对象的距离信息,以判断是否有拍照需求。
在一些实施例中,获取穿越机的飞行状态包括:获取穿越机的导航数据。
穿越机在飞行过程中可以获取穿越机的导航数据,穿越机的导航***可以向穿越机提供参考坐标系的位置、速度、飞行姿态,引导穿越机按照指定航线飞行。
在一些实施例中,获取穿越机的飞行状态包括:获取穿越机的仪表数据,其中,仪表数据包括穿越机的抖动信息。例如,仪表数据可以基于穿越机上的IMU(Inertial measurement unit,惯性测量单元)获取。
在一些实施例中,获取穿越机的飞行状态包括:获取穿越机的仪表数据,其中,仪表数据包括云台的抖动信息。
穿越机在飞行过程中可以获取穿越机的仪表数据,仪表数据可以包括穿越机及云台的抖动信息,以获取穿越机及云台的抖动情况。
在一些实施例中,获取穿越机的飞行状态可以包括:在接收到目标对象发送的操作指令之后或者周期性地,获取穿越机的飞行状态。
穿越机可以周期性地获取穿越机的飞行状态。其中,周期可以根据实际情况设置,例如,可以为30秒、1分钟等。
穿越机也可以在接收到目标对象发送的操作指令之后,获取穿越机的飞行状态。
目标对象例如可以为控制穿越机的操作员。
目标对象的操作指令例如可以通过遥控端发送,例如,目标对象可以操作遥控端的按键,向穿越机发送操作指令。
目标对象的操作指令也可以通过飞行眼镜发送。
飞行眼镜例如可以为头戴式眼镜,飞行眼镜上可以设置有触控板和体感控制,飞行眼镜可以与穿越机全景功能无缝结合,呈现仿佛置身空中俯瞰广袤世界的全景观感,丰富的多媒体播放功能可以让视听更加震撼。飞行眼镜的体感控制及全景观感, 可以提升用户体验。
例如飞行眼镜可以通过判断操作员的手势或姿态来获取操作指令,例如,当操作员点头时可以触发操作指令,飞行眼镜获取到操作员的点头动作后,向无人机发送操作指令;当操作员摆出预设手势时,飞行眼镜可以对该手势进行识别,在预设的手势模式库中匹配,在匹配成功后,可以向穿越机发送操作指令。
触发操作指令的动作包括但不限于点头动作,可以根据用户需要设置,预设的手势模式库可以根据需要设置,也可以根据需要不断地更新。操作指令例如可以为拍照指令,拍照指令例如可以为选择拍摄模式的指令,也可以包含用户想要拍摄的预设对象;操作指令也可以为其他控制穿越机的指令,如控制穿越机姿态、速度的操作指令,本公开对此不做限制。
在步骤S22中,当穿越机的飞行状态处于预设状态时,将穿越机的第一拍摄参数调整为第二拍摄参数。
在一些实施例中,预设状态可以为穿越机接收到用户发送的拍照指令。例如,当穿越机接收到用户发送的拍照指令后,可以直接将穿越机的第一拍摄参数调整为第二拍摄参数,也可以在接收到用户发送的拍照指令后,获取穿越机的飞行状态,通过判断穿越机的飞行状态是否处于预设状态,来决定是否将穿越机的第一拍摄参数调整为第二拍摄参数。
本公开实施例可以基于单传感器,将目标视频实时地传送给用户观看。在用户触发了拍照指令后,穿越机可以从实时录制的目标视频中抽帧获得目标照片,可以将该目标照片作为用户拍摄的照片,这种方法可以不中断视频的录制,通过优化PIV的功能,将一颗低成本的摄像头变成可录制视频,降低穿越机领域的生产成本。在穿越机识别出用户有拍照需要后,例如在穿越机接收到用户的拍照指令后,可以将第一拍摄参数调整为第二拍摄参数进行拍摄,从基于第二拍摄参数获得的目标视频中抽帧获得的照片,画质较优,可以满足用户的拍照需求。
在一些实施例中,预设状态可以为穿越机处于悬停状态或穿越机的飞行速度小于第一预设阈值。本申请中,穿越机处于悬停状态或穿越机的飞行速度小于预设阈值,则默认用户有拍照需求,或者默认用户想看清楚周围环境,穿越机此时可以切换拍摄参数,保证画质质量。
第一预设阈值可以根据需要设置,以保证穿越机的飞行安全。
例如,穿越机获取到穿越机的飞行速度,通过飞行速度判断穿越机是否为悬停状态或低速飞行状态,当穿越机为悬停状态或低速飞行状态时,将穿越机的第一拍摄参数调整为第二拍摄参数。
穿越机处于悬停状态或低速飞行时,可以将穿越机的第一拍摄参数调整为第二拍摄参数,以获得画质更好的目标视频或目标图像。
在一些实施例中,预设状态可以为穿越机拍摄到预设对象。例如,当穿越机拍摄 到预设对象时,将穿越机的第一拍摄参数调整为第二拍摄参数。
预设对象例如可以为建筑物、动植物等。预设对象可以根据需要设置,也可以根据用户发送的操作指令设置。
例如,用户想要拍摄的对象为树木,通过遥控端或飞行眼镜发送的操作指令中可以包括预设对象为树木,当穿越机拍摄到树木时,可以自动地将第一拍摄参数调整为第二拍摄参数进行拍摄。
在一些实施例中,穿越机的预设状态可以为穿越机与预设对象的距离小于第二预设阈值。
例如,穿越机获取到穿越机与预设对象的距离信息后,通过比较穿越机与预设对象的距离信息与第二预设阈值的关系,当穿越机与预设对象的距离信息小于第二预设阈值时,即穿越机离要拍摄的物体较近时,可以将穿越机的第一拍摄参数调整为第二拍摄参数;当穿越机与预设对象的距离信息大于或等于第二预设阈值时,即穿越机离要拍摄的物体较远时,穿越机保持第一拍摄参数继续拍摄。第二预设阈值可以根据需要设置。
在一些实施例中,穿越机的预设状态可以为穿越机处于平稳状态。
例如,穿越机获取到仪表数据可以包括穿越机的抖动信息,通过穿越机的抖动信息判断穿越机是否处于平稳状态,当穿越机处于平稳状态时,将穿越机的第一拍摄参数调整为第二拍摄参数。
穿越机处于平稳状态时,调整拍摄参数进行拍摄,可以在保证安全的情况下,获得高质量的目标视频或目标照片。
在一些实施例中,穿越机的预设状态可以为云台处于平稳状态。
例如,穿越机获取到仪表数据可以包括云台的抖动信息,通过云台的抖动信息判断云台是否处于平稳状态,当云台处于平稳状态时,将穿越机的第一拍摄参数调整为第二拍摄参数。
云台处于平稳状态时,调整拍摄参数进行拍摄,可以在保证安全的情况下,获得高质量的目标视频或目标照片。在一些实施例中,第二拍摄参数例如可以为快门速度、感光度、光圈、图像锐化强度、图像降噪强度、图像暗区提亮强度或焦距中的一种或多种。
在一些实施例中,将穿越机的第一拍摄参数调整为第二拍摄参数包括:降低快门速度、降低感光度、降低光圈、降低图像锐化强度、降低图像降噪强度、降低图像暗区提亮强度或调整焦距中的一种或多种。
穿越机在飞行过程中,为了保证拍摄的视频清晰,能够让用户看清周围环境,结合穿越机的飞行速度,通常将录像的拍摄参数设置得较高,根据较高的拍摄参数获得的目标视频,在对该目标视频进行抽帧后获得的目标图像,画质较差。通过降低穿越机的拍摄参数,将第一拍摄参数调整为第二拍摄参数,根据调整后的拍摄参数进行拍 摄,获得目标视频,在对该目标视频进行抽帧后获得的目标图像,画质较优,更符合用户的拍摄需求。
穿越机在飞行过程中,拍摄参数通常设置地较高。
例如,穿越机在穿越时速度较快,为了保证拍摄的视频画面不模糊,通常会将相机的快门速度设置得较高,感光度设置得较高,处理器在处理图像时,也会提高图像暗区提亮强度;感光度和图像暗区提亮强度设置地较高,导致图像的噪声很强,因此处理器也会将图像降噪强度设置地较高,图像锐化强度设置地较高。
穿越机在飞行过程中,为了能看到足够大的视野,焦距设置地较高,例如焦距设置为无穷远,焦段设置为超广角。
需要说明的是,穿越机在高速飞行时,基于第一拍摄参数进行拍摄获得的目标视频,可以实时地传送到遥控端供用户观看,实时传输的liveview(实时取景)画面可以满足用户的观看需求。
从基于第一拍摄参数进行拍摄获得的目标视频中抽帧,作为目标图像时,由于第一拍摄参数通常设置地较高,如快门速度较高,获得的目标图像可能会存在画质模糊的问题,不符合用户对照片的要求。
当穿越机满足上述预设状态时,可以调节穿越机的拍摄参数,例如可以降低快门速度、降低感光度ISO、降低光圈、降低图像锐化强度、降低图像降噪强度、降低图像暗区提亮强度或调整焦距中的一种或多种,可以获得高质量的目标视频及目标图像。
通过降低穿越机的拍摄参数,从基于第二拍摄参数进行拍摄获得的目标视频中抽帧,获得的目标图像画质较优,更符合用户对照片的要求。
需要说明的是,本申请设置的预设状态的目的是想识别用户有无拍照需求,若满足预设状态,则识别出用户有拍照需求,因此将拍摄装置录像时的拍摄参数切换为第二拍摄参数,第二拍摄参数相较于第一拍摄参数,更符合用户的拍照需求。切换为第二拍摄参数后,使得录制的视频更加符合拍照时的拍摄参数,进而可以从录制的视频流中抽取出满足用户拍照需求的照片。
除了可以基于预设状态识别用户是否有拍照需求以外,还可以将是否满足预设状态作为是否要切换拍摄参数的触发条件,例如当检测到穿越机处于悬停或低速飞行的情况,也需要将第一拍摄参数切换为第二拍摄参数。例如,穿越机正处于实时图传liveview画面给地面端进行预览或者穿越机处在录像的状态,当检测到穿越机悬停或者低速飞行时,也需要切换拍摄参数。这是因为穿越机在高速飞行时拍摄参数通常拉的比较高,而穿越机在低速飞行甚至悬停时,继续采用较高拍摄参数来拍摄显然是不合理的,需要把拍摄参数调到正常,以获得高质量画面,例如,可以降低快门速度、降低感光度、降低光圈、降低图像锐化强度、降低图像降噪强度、降低图像暗区提亮强度或调整焦距中的一种或多种,以拍摄画质较高的图像。
穿越机中例如可以设置有曝光***,曝光***可以智能切换曝光策略,自动地调节穿越机的拍摄参数。
降低感光度例如可以将感光度由400降为100,获得的目标视频或目标图像在后期处理时更简单,不会存在局部区域过度曝光的问题,局部区域例如可以为目标视频或目标图像中的天空区域。
调整焦距例如可以将焦距设置为预设距离,焦段从超广角调整为正常广角,可以获得高质量的目标视频及目标图像。
第一拍摄参数及第二拍摄参数可以根据实际情况设置,例如,第一拍摄参数可以根据穿越机的飞行速度及录制视频的要求进行设置,第二拍摄参数可以根据用户对照片画质的要求进行设置。
在一些实施例中,第一拍摄参数是根据穿越机在高速飞行时拍摄的画面是否可被用户看清来设置的;第二拍摄参数是根据用户对拍照画面的画质需求来设置的。
高速飞行例如可以为穿越机的飞行速度大于预设值,预设值可以根据需要设置;第一拍摄参数例如也可以根据拍摄的视频的清晰度来确定。
在步骤S23中,基于第二拍摄参数进行拍摄,获得目标视频。
穿越机可以根据调整后的第二拍摄参数进行拍摄,获得高质量的目标视频。
第二拍摄参数例如可以为快门速度、感光度、光圈、图像锐化强度、图像降噪强度、图像暗区提亮强度或焦距中的一种或多种。
在一些实施例中,第一拍摄参数的快门速度高于第二拍摄参数的快门速度、第一拍摄参数的感光度高于第二拍摄参数的感光度、第一拍摄参数的光圈大于第二拍摄参数的光圈、第一拍摄参数中对图像进行锐化处理的强度大于第二拍摄参数中对图像进行锐化处理的强度、第一拍摄参数中对图像进行降噪处理的强度大于第二拍摄参数中对图像进行降噪处理的强度或者第一拍摄参数中对图像进行暗区提亮的强度大于第二拍摄参数中对图像进行暗区提亮的强度。
例如,基于调整后的感光度和图像暗区提亮强度进行拍摄,获得的目标视频噪声较小。
例如,基于调整后的焦距和焦段进行拍摄,获得的目标视频不存在严重的畸变问题。
本公开实施例的用于穿越机的图像处理方法,通过获取穿越机的飞行状态,当穿越机的飞行状态处于预设状态时,调整穿越机的拍摄参数,基于调整后的拍摄参数进行拍摄,可以获得高质量的目标视频,根据该目标视频获得的目标图像画质较优。
图3是本公开的一个示例性实施例的用于穿越机的图像处理方法的流程图。
在图2所示的用于穿越机的图像处理方法20的基础上,图3所示的用于穿越机的图像处理方法30还可以包括步骤S31-S32。
在步骤S31中,基于目标视频,获取目标图像。
在一些实施例中,可以基于PIV(Photo In Video,从视频中获得照片)技术,从目标视频中抽帧,获取目标图像。
例如,可以基于PIV技术,从穿越机拍摄的高质量的目标视频中抽帧,获得高质量的目标图像,也可以基于其他技术,基于目标视频,获取目标图像。
从目标视频中抽帧可以利用图像处理工具来实现,如OpenCV(Open Computer Vision,开源计算机视觉)工具,可以按照预设的抽帧频率、抽帧数量对目标视频进行处理,获得目标图像。目标图像是从目标视频中截取的图片,目标图像可以根据用户的需求设置,目标图像可以是一张,也可以是多张。
目标图像例如可以为包含预设对象的图像,例如可以为树木的图像、建筑物的图像等。
目标图像例如可以为预设位置的图像,也可以为预设高度的图像。
目标图像例如可以为基于第二拍摄参数拍摄的图像。
从目标视频中抽帧,获得目标图像可以包括:基于目标视频的时长,确定目标视频的待抽取图像的数量;根据目标视频的时长及待抽取图像的数量,对目标视频进行抽帧,获得目标图像。
例如可以预先设置目标视频的时长范围与待抽取图像的数量关系,获取目标视频的时长,根据目标视频的时长及预先设置的目标视频的时长与待抽取图像的数量关系,确定待抽取图像的数量。
例如可以根据目标视频的时长及待抽取图像的数量,确定抽取间隔。
例如可以根据抽取间隔,每隔该抽取间隔,从目标视频中抽帧,获得目标图像。
在获得目标图像后,可以对目标图像进行图像处理,例如可以对目标图像的亮度、对比度进行调整,也可以根据用户需求,对目标图像的图片大小、分辨率、压缩率进行调整。
本公开实施例中,在对目标视频进行抽帧处理之前,还可以包括:对目标视频进行剪切,例如可以根据用户需求,将目标视频中不满足用户需求的部分剪切掉。
在步骤S32中,发送或存储目标视频或目标图像。
穿越机上可以设置有存储器,用于存储穿越机拍摄的目标视频及通过目标视频获得的目标图像。
穿越机可以将目标视频存储在穿越机中,可以将该目标视频发送给遥控端或服务器,遥控端或服务器可以对目标视频进行处理,获得目标图像。
穿越机可以将目标视频及目标图像存储在穿越机中,可以将该目标图像发送给遥控端或服务器,进行展示或处理。
遥控端或服务器例如可以设置有展示装置,展示装置例如可以为显示屏或投影装置等,可以用于展示穿越机发送的目标视频或目标图像。
例如,穿越机可以将目标视频或目标图像发送给飞行眼镜,飞行眼镜可以实时地 向用户展示目标视频或目标图像,提升用户体验。
例如,穿越机可以将目标视频或目标图像发送给遥控器或手机终端,遥控器或手机终端可以实时地向用户展示目标视频或目标图像,手机终端可以对目标视频或目标图像进行处理和存储。
例如,穿越机可以将目标视频或目标图像发送给服务器,服务器可以对目标视频或目标图像进行处理,例如可以通过PS(Photoshop,图像处理软件)对目标视频或目标图像进行处理。
图4是本公开的一个示例性实施例的用于穿越机的图像处理方法的流程图。
在图2所示的用于穿越机的图像处理方法20的基础上,图4所示的用于穿越机的图像处理方法40还可以包括步骤S41-S42。
在步骤S41中,当穿越机的飞行状态未处于预设状态时或者达到预设时间时,将穿越机的第二拍摄参数调整为穿越机的第一拍摄参数。
当穿越机的飞行状态从预设状态变为非预设状态时,可以将穿越机的第二拍摄参数调整为第一拍摄参数。
例如,穿越机从悬停状态变为高速飞行状态后,为了保证飞行安全,可以将穿越机的拍摄参数调高;穿越机从离周围物体的距离从大于第二预设阈值变为小于或等于第二预设阈值时,可以将穿越机的拍摄参数调高。
在穿越机基于第二拍摄参数拍摄了预设时间后,可以将穿越机的第二拍摄参数调整为穿越机的第一拍摄参数。
例如,在穿越机基于第二拍摄参数拍摄了十分钟后,可以将穿越机的拍摄参数调高,其中,预设时间可以根据实际需要设置。
在一些实施例中,将穿越机的第二拍摄参数调整为第一拍摄参数包括:提高快门速度、提高感光度、提高光圈、提高图像锐化强度、提高图像降噪强度、提高图像暗区提亮强度或调整焦距中的一种或多种。
在步骤S42中,基于穿越机的第一拍摄参数进行拍摄。
穿越机可以基于调整后的第一拍摄参数继续进行拍摄,将穿越机的第二拍摄参数调整为第一拍摄参数,可以保证穿越机在飞行过程中的飞行安全。
图5是本公开的一个示例性实施例的用于穿越机的图像处理方法的流程图。
在图2所示的用于穿越机的图像处理方法20的步骤S21之后,图5所示的用于穿越机的图像处理方法50还可以包括步骤S51。
在步骤S51中,当穿越机的飞行状态未处于预设状态时,基于第一拍摄参数进行拍摄。
在一些实施例中,预设状态包括穿越机接收到用户发送的拍照指令、穿越机处于 悬停状态、穿越机的飞行速度小于第一预设阈值或穿越机拍摄到预设对象。
例如,穿越机在未接收到用户发送的拍照指令时,可以基于第一拍摄参数进行拍摄。
例如,穿越机未拍摄到预设对象时,可以基于第一拍摄参数进行拍摄,预设对象可以根据需要设置,预设对象例如可以为建筑物、动植物等。
在一些实施例中,穿越机的预设状态可以为穿越机与预设对象的距离小于第二预设阈值。
例如,穿越机获取到穿越机与预设对象的距离信息后,通过比较穿越机与预设对象的距离信息与第二预设阈值的关系,当穿越机与预设对象的距离信息小于第二预设阈值时,即穿越机离要拍摄的物体较近时,可以将穿越机的第一拍摄参数调整为第二拍摄参数;当穿越机与预设对象的距离信息大于或等于第二预设阈值时,即穿越机离要拍摄的物体较远时,穿越机保持第一拍摄参数继续拍摄。第二预设阈值可以根据需要设置。穿越机的预设状态可以为穿越机为悬停状态或穿越机的飞行速度低于第一预设阈值,第一预设阈值可以根据需要设置。
例如,穿越机可以获取到穿越机的飞行速度,通过飞行速度判断穿越机是否为悬停状态或低速飞行状态,当穿越机为高速飞行状态时,可以基于第一拍摄参数进行拍摄。
穿越机的预设状态可以为穿越机及云台处于平稳状态。
例如,穿越机可以获取到仪表数据可以包括穿越机及云台的抖动信息,通过穿越机及云台的抖动信息判断穿越机及云台是否处于平稳状态,当穿越机或云台出现抖动情况时,可以基于第一拍摄参数进行拍摄。
本公开实施例的用于穿越机的图像处理方法,通过获取穿越机的飞行状态,当穿越机的飞行状态未处于预设状态时,基于第一拍摄参数进行拍摄,可以保证穿越机的飞行安全。
所属技术领域的技术人员能够理解,本发明的各个方面可以实现为***、方法或程序产品。因此,本发明的各个方面可以具体实现为以下形式,即:完全的硬件实施方式、完全的软件实施方式(包括固件、微代码等),或硬件和软件方面结合的实施方式,这里可以统称为“模块”或“***”。
图6是根据本公开的一个示例性实施例的穿越机的框图。
如图6所示,穿越机600可以包括:相机610、机身620、动力***630及图像处理装置640;其中,动力***630可以安装在机身上,用于提供飞行动力;图像处理装置640可以用于:获取穿越机的飞行状态;当穿越机的飞行状态处于预设状态时,将穿越机的第一拍摄参数调整为第二拍摄参数;基于第二拍摄参数进行拍摄,获得目标视频。
在本公开的一个示例性实施例中,图像处理装置640还用于:基于目标视频,获取目标图像。
在本公开的一个示例性实施例中,图像处理装置640还用于:发送或存储目标视频或目标图像。
在本公开的一个示例性实施例中,在获得目标视频之后,图像处理装置640还用于:当穿越机的飞行状态未处于预设状态时或者达到预设时间时,将穿越机的第二拍摄参数调整为穿越机的第一拍摄参数;基于穿越机的第一拍摄参数进行拍摄。
在本公开的一个示例性实施例中,获取穿越机的飞行状态,包括:在接收到目标对象发送的操作指令之后或者周期性地,获取穿越机的飞行状态。
在本公开的一个示例性实施例中,图像处理装置640还用于:当穿越机的飞行状态未处于预设状态时,基于第一拍摄参数进行拍摄。
在本公开的一个示例性实施例中,预设状态包括穿越机接收到用户发送的拍照指令、穿越机处于悬停状态、穿越机的飞行速度小于第一预设阈值或穿越机拍摄到预设对象。
在本公开的一个示例性实施例中,将穿越机的第一拍摄参数调整为第二拍摄参数包括:降低快门速度、降低感光度、降低光圈、降低图像锐化强度、降低图像降噪强度、降低图像暗区提亮强度或调整焦距中的一种或多种。
在本公开的一个示例性实施例中,获取穿越机的飞行状态包括:获取穿越机的环境信息,其中,环境信息包括穿越机与预设对象的距离信息;预设状态为穿越机与预设对象的距离大于第二预设阈值。
在本公开的一个示例性实施例中,获取穿越机的飞行状态包括:获取穿越机的导航数据;预设状态为悬停状态或穿越机的飞行速度低于第一预设阈值。
在本公开的一个示例性实施例中,获取穿越机的飞行状态包括:获取穿越机的仪表数据,其中,仪表数据包括穿越机的抖动信息;预设状态为穿越机处于平稳状态。
在本公开的一个示例性实施例中,获取穿越机的飞行状态包括:获取穿越机的仪表数据,其中,仪表数据包括云台的抖动信息;预设状态为云台处于平稳状态。
在本公开的一个示例性实施例中,基于目标视频,获取目标图像,包括:基于PIV技术,从目标视频中抽帧,获取目标图像。
本公开实施例的穿越机,通过获取穿越机的飞行状态,当穿越机的飞行状态处于预设状态时,调整穿越机的拍摄参数,基于调整后的拍摄参数进行拍摄,可以在保证飞行安全的同时,获得高质量的目标视频。
此外,本申请还提供一种图像处理装置,该图像处理装置包含处理器,该处理器用于执行可执行程序指令,实现上述方法实施例提及的技术方案。
参考图7所示,描述了根据本公开的实施方式的用于实现上述方法的程序产品 700,其可以采用便携式紧凑盘只读存储器(CD-ROM)并包括程序代码,并可以在终端设备,例如个人电脑上运行。然而,本公开的程序产品不限于此,在本文件中,可读存储介质可以是任何包含或存储程序的有形介质,该程序可以被指令执行***、装置或者器件使用或者与其结合使用。
所述程序产品可以采用一个或多个可读介质的任意组合。可读介质可以是可读信号介质或者可读存储介质。可读存储介质例如可以为但不限于电、磁、光、电磁、红外线、或半导体的***、装置或器件,或者任意以上的组合。可读存储介质的更具体的例子(非穷举的列表)包括:具有一个或多个导线的电连接、便携式盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。
计算机可读信号介质可以包括在基带中或者作为载波一部分传播的数据信号,其中承载了可读程序代码。这种传播的数据信号可以采用多种形式,包括但不限于电磁信号、光信号或上述的任意合适的组合。可读信号介质还可以是可读存储介质以外的任何可读介质,该可读介质可以发送、传播或者传输用于由指令执行***、装置或者器件使用或者与其结合使用的程序。
可读介质上包含的程序代码可以用任何适当的介质传输,包括但不限于无线、有线、光缆、RF等等,或者上述的任意合适的组合。
可以以一种或多种程序设计语言的任意组合来编写用于执行本公开操作的程序代码,所述程序设计语言包括面向对象的程序设计语言—诸如Java、C++等,还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算设备上执行、部分地在用户设备上执行、作为一个独立的软件包执行、部分在用户计算设备上部分在远程计算设备上执行、或者完全在远程计算设备或服务器上执行。在涉及远程计算设备的情形中,远程计算设备可以通过任意种类的网络,包括局域网(LAN)或广域网(WAN),连接到用户计算设备,或者,可以连接到外部计算设备(例如利用因特网服务提供商来通过因特网连接)。
应当注意,尽管在上文详细描述中提及了用于动作执行的设备的若干模块或者单元,但是这种划分并非强制性的。实际上,根据本公开的实施方式,上文描述的两个或更多模块或者单元的特征和功能可以在一个模块或者单元中具体化。反之,上文描述的一个模块或者单元的特征和功能可以进一步划分为由多个模块或者单元来具体化。
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公开实施例方案的目的。
另外,在本公开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,也可以是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,也可以采用软件功能单元的形式实现。
本领域技术人员在考虑说明书及实践这里公开的发明后,将容易想到本公开的其它实施方案。本公开旨在涵盖本公开的任何变型、用途或者适应性变化,这些变型、用途或者适应性变化遵循本公开的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的,本公开的真正范围和精神由所附的权利要求指出。
Claims (32)
- 一种用于穿越机的图像处理方法,其特征在于,包括:获取穿越机的飞行状态,所述穿越机采用第一拍摄参数拍摄,所述第一拍摄参数与所述穿越机的飞行速度相关;当所述穿越机的飞行状态处于预设状态时,将所述穿越机的所述第一拍摄参数调整为第二拍摄参数,所述第二拍摄参数与图像画质相关;基于所述第二拍摄参数进行拍摄,获得目标视频。
- 根据权利要求1所述的方法,其特征在于,还包括:基于所述目标视频,获取目标图像。
- 根据权利要求2所述的方法,其特征在于,还包括:发送或存储所述目标视频或所述目标图像。
- 根据权利要求1所述的方法,其特征在于,在获得目标视频之后,还包括:当所述穿越机的飞行状态未处于预设状态时或者达到预设时间时,将所述穿越机的第二拍摄参数调整为所述穿越机的第一拍摄参数;基于所述穿越机的第一拍摄参数进行拍摄。
- 根据权利要求1所述的方法,其特征在于,获取穿越机的飞行状态,包括:在接收到目标对象发送的操作指令之后或者周期性地,获取所述穿越机的飞行状态。
- 根据权利要求1至5任一项所述的方法,其特征在于,所述第一拍摄参数是根据所述穿越机在高速飞行时拍摄的画面是否可被用户看清来设置的;所述第二拍摄参数是根据用户对拍照画面的画质需求来设置的。
- 根据权利要求1至6任一项所述的方法,其特征在于,所述第一拍摄参数的快门速度高于所述第二拍摄参数的快门速度、所述第一拍摄参数的感光度高于所述第二拍摄参数的感光度、所述第一拍摄参数的光圈大于所述第二拍摄参数的光圈、所述第一拍摄参数中对图像进行锐化处理的强度大于所述第二拍摄参数中对图像进行锐化处理的强度、所述第一拍摄参数中对图像进行降噪处理的强度大于所述第二拍摄参数中对图像进行降噪处理的强度或者所述第一拍摄参数中对图像进行暗区提亮的强度大于所述第二拍摄参数中对图像进行暗区提亮的强度。
- 根据权利要求1所述的方法,其特征在于,所述预设状态包括所述穿越机接收到用户发送的拍照指令、所述穿越机处于悬停状态、所述穿越机的飞行速度小于第一预设阈值或所述穿越机拍摄到预设对象。
- 根据权利要求1所述的方法,其特征在于,所述将所述穿越机的第一拍摄参数调整为第二拍摄参数包括:降低快门速度、降低感光度、降低光圈、降低图像锐化强度、降低图像降噪强度、降低图像暗区提亮强度或调整焦距中的一种或多种。
- 根据权利要求1所述的方法,其特征在于,获取穿越机的飞行状态包括:获取所述穿越机的环境信息,其中,所述环境信息包括所述穿越机与预设对象的距离信息;所述预设状态为所述穿越机与预设对象的距离小于第二预设阈值。
- 根据权利要求1所述的方法,其特征在于,获取穿越机的飞行状态包括:获取所述穿越机的导航数据;所述预设状态为悬停状态或所述穿越机的飞行速度低于第一预设阈值。
- 根据权利要求1所述的方法,其特征在于,获取穿越机的飞行状态包括:获取所述穿越机的仪表数据,其中,所述仪表数据包括所述穿越机的抖动信息;所述预设状态为所述穿越机处于平稳状态。
- 根据权利要求1所述的方法,其特征在于,获取穿越机的飞行状态包括:获取所述穿越机的仪表数据,其中,所述仪表数据包括云台的抖动信息;所述预设状态为所述云台处于平稳状态。
- 根据权利要求2所述的方法,其特征在于,基于所述目标视频,获取目标图像,包括:基于PIV技术,从所述目标视频中抽帧,获取所述目标图像。
- 一种图像处理装置,其特征在于所述图像处理装置包括处理器,所述处理器用于:获取穿越机的飞行状态,所述穿越机采用第一拍摄参数拍摄,所述第一拍摄参数与所述穿越机的飞行速度相关;当所述穿越机的飞行状态处于预设状态时,将所述穿越机的所述第一拍摄参数调整为第二拍摄参数,所述第二拍摄参数与图像画质相关;基于所述第二拍摄参数进行拍摄,获得目标视频。
- 根据权利要求15所述的图像处理装置,其特征在于,所述处理器还用于:基于所述目标视频,获取目标图像。
- 根据权利要求15或16所述的图像处理装置,其特征在于,所述处理器用于:发送或存储所述目标视频或所述目标图像。
- 根据权利要求15所述的图像处理装置,其特征在于,在获得目标视频之后,所述处理器还用于:当所述穿越机的飞行状态未处于预设状态时或者达到预设时间时,将所述穿越机的第 二拍摄参数调整为所述穿越机的第一拍摄参数;基于所述穿越机的第一拍摄参数进行拍摄。
- 根据权利要求15所述的图像处理装置,其特征在于,获取穿越机的飞行状态,包括:在接收到目标对象发送的操作指令之后或者周期性地,获取所述穿越机的飞行状态。
- 根据权利要求15至19任一项所述的图像处理装置,其特征在于,所述第一拍摄参数是根据所述穿越机在高速飞行时拍摄的画面是否可被用户看清来设置的;所述第二拍摄参数是根据用户对拍照画面的画质需求来设置的。
- 根据权利要求15至20任一项所述的图像处理装置,其特征在于,所述第一拍摄参数的快门速度高于所述第二拍摄参数的快门速度、所述第一拍摄参数的感光度高于所述第二拍摄参数的感光度、所述第一拍摄参数的光圈大于所述第二拍摄参数的光圈、所述第一拍摄参数中对图像进行锐化处理的强度大于所述第二拍摄参数中对图像进行锐化处理的强度、所述第一拍摄参数中对图像进行降噪处理的强度大于所述第二拍摄参数中对图像进行降噪处理的强度或者所述第一拍摄参数中对图像进行暗区提亮的强度大于所述第二拍摄参数中对图像进行暗区提亮的强度。
- 根据权利要求15所述的图像处理装置,其特征在于,所述预设状态包括所述穿越机接收到用户发送的拍照指令、所述穿越机处于悬停状态、所述穿越机的飞行速度小于第一预设阈值或所述穿越机拍摄到预设对象。
- 根据权利要求15所述的图像处理装置,其特征在于,所述将所述穿越机的第一拍摄参数调整为第二拍摄参数包括:降低快门速度、降低感光度、降低光圈、降低图像锐化强度、降低图像降噪强度、降低图像暗区提亮强度或调整焦距中的一种或多种。
- 根据权利要求15所述的图像处理装置,其特征在于,获取穿越机的飞行状态包括:获取所述穿越机的环境信息,其中,所述环境信息包括所述穿越机与预设对象的距离信息;所述预设状态为所述穿越机与预设对象的距离小于第二预设阈值。
- 根据权利要求15所述的图像处理装置,其特征在于,获取穿越机的飞行状态包括:获取所述穿越机的导航数据;所述预设状态为悬停状态或所述穿越机的飞行速度低于第一预设阈值。
- 根据权利要求15所述的图像处理装置,其特征在于,获取穿越机的飞行状态包括:获取所述穿越机的仪表数据,其中,所述仪表数据包括所述穿越机的抖动信息;所述预设状态为所述穿越机处于平稳状态。
- 根据权利要求15所述的图像处理装置,其特征在于,获取穿越机的飞行状态包括:获取所述穿越机的仪表数据,其中,所述仪表数据包括云台的抖动信息;所述预设状态为所述云台处于平稳状态。
- 根据权利要求16所述的图像处理装置,其特征在于,基于所述目标视频,获取目标图像,包括:基于PIV技术,从所述目标视频中抽帧,获取所述目标图像。
- 一种穿越机,其特征在于,包括:机身、动力***及如权利要求15-28任一项所述图像处理模块;其中,所述动力***安装在所述机身上,用于提供飞行动力。
- 一种图像优化***,其特征在于,包括:遥控端及如权利要求29所述的穿越机。
- 根据权利要求30所述的***,其特征在于,所述***还包括眼镜,所述眼镜用于接收所述穿越机传输的视频或图像,并进行显示。
- 一种计算机可读存储介质,其上存储有计算机程序,其特征在于,所述计算机程序被处理器执行时实现权利要求1-14任一项所述的方法。
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CN105959587A (zh) * | 2016-05-27 | 2016-09-21 | 北京小米移动软件有限公司 | 快门速度获取方法和装置 |
CN108476288A (zh) * | 2017-05-24 | 2018-08-31 | 深圳市大疆创新科技有限公司 | 拍摄控制方法及装置 |
US20190281209A1 (en) * | 2016-12-02 | 2019-09-12 | SZ DJI Technology Co., Ltd. | Photographing control method, apparatus, and control device |
CN110291776A (zh) * | 2018-05-30 | 2019-09-27 | 深圳市大疆创新科技有限公司 | 飞行控制方法及飞行器 |
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CN105959587A (zh) * | 2016-05-27 | 2016-09-21 | 北京小米移动软件有限公司 | 快门速度获取方法和装置 |
US20190281209A1 (en) * | 2016-12-02 | 2019-09-12 | SZ DJI Technology Co., Ltd. | Photographing control method, apparatus, and control device |
CN108476288A (zh) * | 2017-05-24 | 2018-08-31 | 深圳市大疆创新科技有限公司 | 拍摄控制方法及装置 |
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