WO2015184873A1 - 一种视频拍摄的处理方法、系统和装置 - Google Patents
一种视频拍摄的处理方法、系统和装置 Download PDFInfo
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- WO2015184873A1 WO2015184873A1 PCT/CN2015/073507 CN2015073507W WO2015184873A1 WO 2015184873 A1 WO2015184873 A1 WO 2015184873A1 CN 2015073507 W CN2015073507 W CN 2015073507W WO 2015184873 A1 WO2015184873 A1 WO 2015184873A1
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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
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—Two-dimensional [2D] image generation
- G06T11/60—Creating or editing images; Combining images with text
-
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/194—Segmentation; Edge detection involving foreground-background segmentation
-
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/40—Scenes; Scene-specific elements in video content
- G06V20/46—Extracting features or characteristics from the video content, e.g. video fingerprints, representative shots or key frames
-
- 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
- H04N23/64—Computer-aided capture of images, e.g. transfer from script file into camera, check of taken image quality, advice or proposal for image composition or decision on when to take image
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/272—Means for inserting a foreground image in a background image, i.e. inlay, outlay
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
-
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/40—Scenes; Scene-specific elements in video content
- G06V20/44—Event detection
Definitions
- the present invention relates to the field of video capture technology, and in particular, to a method, system and device for processing video capture.
- the shooting of mobile phones is a very important function.
- mobile phone photographing and video recording are very frequently used, and users taking photos with mobile phones are not satisfied with ordinary results.
- the various special effects of mobile phone camera can increase the appeal of the camera, and it is suitable for users to share and communicate.
- the beautification of the camera effect has become a development trend, and its development speed has surpassed that of the card camera.
- Dynamic video which is to shoot objects that change slowly into faster-changing objects.
- the main principle is to lengthen the time between sampling video frames during shooting (for example, 1 frame per second), and play at normal frame rate during playback ( For example, 30 frames per second).
- the cloud movement of the sky is shot, and the effect of playing after shooting forms a cloud with rapidly changing sky, such as a rapidly changing sunset, a fast moving nebula, and the like. This special effect gives a feeling of grand atmosphere.
- the technical problem to be solved by the embodiments of the present invention is to provide a processing method, system and device for motion-sensing video shooting, which can shorten the time when the shooting subject appears in front of the camera and improve the user experience during the long-term motion video shooting.
- an embodiment of the present invention provides a processing method for video shooting.
- the method includes:
- the subject in the background sample is photographed according to the first photographing sampling rate, and after receiving the instruction to stop photographing, the first video is generated;
- the background sample After receiving the instruction to shoot the background sample, the background sample is taken according to the first shooting sampling rate, and after receiving the instruction to stop shooting, the second video is generated;
- first shooting sampling rate is greater than the second shooting sampling rate.
- comparing the first video with the second video, extracting a subject image from the first video, and generating a background transparent body image frame sequence including:
- inserting each frame of the main body image frame into the third video in sequence includes:
- the main image frame sequence is cyclically used for image superposition.
- the video file in which the subject and the target background are recorded is played by the player in a loop.
- the embodiment of the invention further provides a processing system for video shooting, the system comprising:
- the shooting module is configured to: respectively shoot the subject in the background sample, the background sample and the target background, respectively generate a first video recording the subject plus the background sample, a second video recording the background sample, and a third video recording the target background Wherein the shooting duration of the first video and the second video is less than the shooting duration of the third video;
- a video processing module configured to: compare the first video with the second video, extract a subject image from the first video, generate a background transparent subject image frame sequence, and set the subject image frame Each frame of the subject image in the sequence is sequentially superimposed into the third video to generate a video file in which the subject and the target background are recorded.
- the shooting module is set to:
- the subject in the background sample is photographed according to the first photographing sampling rate, and after receiving the instruction to stop photographing, the first video is generated;
- the background sample After receiving the instruction to shoot the background sample, the background sample is taken according to the first shooting sampling rate, and after receiving the instruction to stop shooting, the second video is generated;
- first shooting sampling rate is greater than the second shooting sampling rate.
- the video processing module is configured to compare the first video and the second video in a manner, extract a subject image from the first video, and generate a background image frame of the subject transparent :
- the video processing module is configured to sequentially insert each frame of the main body image frame into the third video in the following manner:
- the video file in which the subject and the target background are recorded is played by the player in a loop.
- An embodiment of the present invention further provides a video photographing apparatus, including a camera and a processor, wherein the camera is configured to respectively photograph a subject, a background sample, and a target background in a background sample under the control of the processor, Generating a first video of the recording subject plus the background sample, a second video recording the background sample, and a third video recording the background of the target, wherein the shooting duration of the first video and the second video is smaller than the shooting of the third video duration;
- the processor is configured to control the camera to perform shooting, compare the first video and the second video, extract a subject image from the first video, and generate a background image sequence of a subject transparent Each frame of the subject image sequence is sequentially superimposed into the third video to generate a video file in which the subject and the target background are recorded.
- the camera is set to:
- the background sample After receiving the instruction to shoot the background sample, the background sample is taken according to the first shooting sampling rate, and after receiving the instruction to stop shooting, the second video is generated;
- first shooting sampling rate is greater than the second shooting sampling rate.
- the processor is configured to compare the first video and the second video in a manner, extract a subject image from the first video, and generate a background image frame of a transparent body image :
- the processor is configured to sequentially insert each frame of the main body image frame into the third video in the following manner:
- the device further includes:
- the processor is further configured to: control the video file in which the subject and the target background are recorded to be played cyclically on the display screen.
- the embodiment of the invention further provides a computer readable storage medium storing program instructions, which can be implemented when the program instructions are executed.
- a processing method and system for motion video shooting processes a short video of a main body to generate a background transparent by separately capturing a short video of a main body, a short video of a background sample, and a long video of a target background.
- the main image frame sequence superimposes the background transparent body image frame sequence on the long video of the target background to generate a motion video file of the subject in the target background, which can shorten the subject in front of the camera during long-term motion video shooting The time of emergence to improve the user experience.
- FIG. 1 is a flowchart of a method for processing video capture according to an embodiment of the present invention.
- FIG. 2 is a schematic structural diagram of a processing system for video shooting according to an embodiment of the present invention.
- FIG. 3 is a schematic structural diagram of a video capturing apparatus according to an embodiment of the present invention.
- FIG. 4 is a flow chart of a method for processing motion picture capture according to an application example of the present invention.
- an embodiment of the present invention provides a method for processing video capture, where the method includes:
- the subject and the background sample in the background sample can be photographed for a short time, and the target background can be photographed for a long time.
- the method also includes the following features:
- the main body, the background sample, and the target background in the background sample are respectively photographed, and respectively generate a first video of the recording subject plus the background sample, a second video recording the background sample, and a third video of the recording target background, including:
- the subject in the background sample is photographed according to the first photographing sampling rate, and after receiving the instruction to stop photographing, the first video is generated;
- the background sample After receiving the instruction to shoot the background sample, the background sample is taken according to the first shooting sampling rate, and after receiving the instruction to stop shooting, the second video is generated;
- first shooting sampling rate is greater than the second shooting sampling rate.
- the first video and the second video are compared, and the subject image is extracted from the first video to generate a background image sequence of the subject image, including:
- the main image frame sequence includes one or more frame body images
- the superimposing each frame of the main body image frame into the third video in sequence includes:
- the motion video file in which the subject and the target background are recorded may be played by the player in a loop.
- an embodiment of the present invention provides a processing system for video shooting, the system comprising:
- the shooting module is configured to: respectively shoot the subject in the background sample, the background sample and the target background, respectively generate a first video recording the subject plus the background sample, a second video recording the background sample, and a third video recording the target background Wherein the shooting duration of the first video and the second video is less than the shooting duration of the third video;
- a video processing module configured to: compare the first video with the second video, extract a subject image from the first video, generate a background transparent subject image frame sequence, and set the subject image frame Each frame of the subject image in the sequence is sequentially superimposed into the third video to generate a video file in which the subject and the target background are recorded.
- the shooting module is set to:
- the subject in the background sample is photographed according to the first photographing sampling rate, and after receiving the instruction to stop photographing, the first video is generated;
- the background sample After receiving the instruction to shoot the background sample, the background sample is taken according to the first shooting sampling rate, and after receiving the instruction to stop shooting, the second video is generated;
- first shooting sampling rate is greater than the second shooting sampling rate.
- the video processing module is configured to compare the first video and the second video, extract a subject image from the first video, and generate a background image sequence of the subject image transparently, including:
- the video processing module is configured to sequentially superimpose each frame image in the main image frame sequence into the third video, including:
- the motion video file in which the subject and the target background are recorded is played by the player in a loop.
- an embodiment of the present invention further provides a video capturing apparatus, including a camera and a processor, wherein the camera is configured to control a subject, a background sample, and a background sample in a background sample under the control of the processor.
- a video capturing apparatus including a camera and a processor, wherein the camera is configured to control a subject, a background sample, and a background sample in a background sample under the control of the processor.
- Shooting the target background separately, respectively generating a first video recording the subject plus the background sample, recording a second video of the background sample, and recording a third video of the target background; wherein the shooting duration of the first video and the second video is less than The duration of the third video;
- the processor is configured to control the camera to perform shooting, compare the first video and the second video, extract a subject image from the first video, and generate a background transparent body And a sequence of image frames, wherein each frame of the subject image sequence is sequentially superimposed into the third video to generate a video file in which the subject and the target background are recorded.
- the camera is set to:
- the background sample After receiving the instruction to shoot the background sample, the background sample is taken according to the first shooting sampling rate, and after receiving the instruction to stop shooting, the second video is generated;
- first shooting sampling rate is greater than the second shooting sampling rate.
- the processor is configured to compare the first video and the second video in a manner of: extracting a subject image from the first video, and generating a background image sequence of a transparent background image:
- processor is configured to sequentially insert each frame of the main body image frame sequence into the third video in the following manner:
- the apparatus may further include a display screen, the processor further configured to: control the video file in which the subject and the target background are recorded to be cyclically played on the display screen.
- the process of shooting a portrait motion video of a mobile phone includes:
- S101 preset shooting parameters, waiting for the user to start motion video shooting
- the shooting parameters may include one or more of the following parameters: a slow shooting sampling rate of the shooting target background, a shooting duration of the portrait in the background sample, a shooting duration of the background sample, and a target background shooting duration.
- a person shooting a frame at a normal shooting rate for example, 30 frames per second
- a normal shooting rate for example, 30 frames per second
- the preset shooting time for example, 3 seconds
- the shooting of the portrait is stopped, and a portrait video clip is generated.
- the user can also display the prompt information for the completion of the portrait shooting.
- the background sample in the framing frame can be the same thing or different thing as the target background.
- S104 detecting an instruction to take a background sample, performing a background sample video shooting, stopping shooting the background sample after receiving the instruction to stop shooting, or stopping shooting the background sample when the preset shooting time is reached. , generating a short video of the background sample;
- the background sample in the framing frame is taken at a normal shooting rate (for example, 30 frames per second) for 1 second. That is, when it is detected that the user presses the stop button, or when the preset shooting time (for example, 1 second) is reached, the shooting of the background sample is stopped, and a background sample video clip is generated. After the shooting is completed, the user can also display the prompt information that the background sample shooting is completed.
- a normal shooting rate for example, 30 frames per second
- S105 detecting an instruction to shoot the target background, performing slow shooting on the target background, stopping the shooting of the target background after receiving the instruction to stop shooting, or stopping shooting the target background when the preset shooting time is reached. , generating a target background video;
- the target background is photographed at a slow shooting rate (eg, 1 second for 1 frame) below the normal shooting rate, for 3 minutes (180 seconds). That is, when the user is detected to press Stop the button, or, when the preset shooting duration (for example, 3 minutes) is reached, stop shooting the target background and generate a target background long video. After the shooting is completed, the user can also display the prompt information of the target background shooting completion.
- a slow shooting rate eg, 1 second for 1 frame
- 3 minutes 180 seconds
- slow shooting generally refers to 1 frame of 0.2-60 seconds, usually 1 frame of 1-5 seconds.
- the player can also play the dynamic video file in a loop;
- the sampling of the target background is set to 1 frame and 1 frame, and the target background of 180 frames can be captured in 3 minutes. Therefore, the motion video stream after the portrait is superimposed contains 180 frames, and the playback frame rate of the player is 1 second.
- 180 frames can be played for 6 seconds. That is, the 3 minute (180 seconds) camera finishes playing in 6 seconds, and its time is accelerated by 30 times, realizing the effects of fast moving portraits and target backgrounds (such as clouds, sun, or ships).
- the technical solution of the present invention is not used, the subject (such as a person) must be kept in front of the lens for 3 minutes. Such shooting conditions may be unacceptable to most users. Therefore, the above-mentioned dynamic video shooting solution can greatly reduce the time when the shooting subject (for example, a person) appears in front of the camera, and realize the special effect that the slow moving object becomes fast moving, bringing a new surprise experience to the mobile phone camera.
- the processing method and system for dynamic video shooting provided by the above embodiments provide a background transparent subject image frame sequence by processing a short video of the main body, a short video of the background sample, and a long video of the target background, respectively.
- the background transparent frame of the subject image is superimposed on the long video of the target background to generate a motion video file of the subject in the target background, which can shorten the time of the subject appearing in front of the camera during the long-term motion video shooting, and improve the user experience. .
- all or part of the steps of the above embodiments may also be implemented by using an integrated circuit. These steps may be separately fabricated into individual integrated circuit modules, or multiple modules or steps may be fabricated into a single integrated circuit module. achieve.
- the devices/function modules/functional units in the above embodiments may be implemented by a general-purpose computing device, which may be centralized on a single computing device or distributed over a network of multiple computing devices.
- each device/function module/functional unit in the above embodiment When each device/function module/functional unit in the above embodiment is implemented in the form of a software function module and sold or used as a stand-alone product, it can be stored in a computer readable storage medium.
- the above mentioned computer readable storage medium may be a read only memory, a magnetic disk or an optical disk or the like.
- the embodiment of the invention can shorten the time when the shooting subject appears in front of the lens during long-time video shooting, and improve the user experience.
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Abstract
Description
Claims (16)
- 一种视频拍摄的处理方法,该方法包括:对处于背景样品中的主体、背景样品和目标背景分别进行拍摄,分别生成记录主体加背景样品的第一视频、记录背景样品的第二视频和记录目标背景的第三视频;其中,所述第一视频和第二视频的拍摄时长小于所述第三视频的拍摄时长;将所述第一视频和所述第二视频进行比对,从所述第一视频中提取出主体图像,生成背景透明的主体图像帧序列,将所述主体图像帧序列中的每一帧主体图像依次叠加到所述第三视频中,生成记录了主体和目标背景的视频文件。
- 如权利要求1所述的方法,其中:对处于背景样品中的主体、背景样品和目标背景分别进行拍摄,分别生成记录主体加背景样品的第一视频、记录背景样品的第二视频和记录目标背景的第三视频,包括:在接收到对主体进行拍摄的指令后,按照第一拍摄取样速率对处于背景样品中的主体进行拍摄,在接收到停止拍摄的指令后,生成第一视频;在接收到对背景样品进行拍摄的指令后,按照第一拍摄取样速率对背景样品进行拍摄,在接收到停止拍摄的指令后,生成第二视频;在接收到对目标背景进行拍摄的指令后,按照第二拍摄取样速率对目标背景进行拍摄,在接收到停止拍摄的指令后,生成第三视频;其中,所述第一拍摄取样速率大于第二拍摄取样速率。
- 如权利要求1所述的方法,其中:将所述第一视频和所述第二视频进行比对,从所述第一视频中提取出主体图像,生成背景透明的主体图像帧序列,包括:从所述第二视频中提取一帧图像作为背景样品图像;将所述第一视频中的每一帧图像与所述背景样品图像进行比对,从所述 第一视频的每一帧图像中去除背景样品图像,只保留主体图像,生成除主体外其余全是透明的主体图像帧序列。
- 如权利要求1-3中任一项所述的方法,其中:将所述主体图像帧序列中的每一帧主体图像依次插入到所述第三视频中,包括:将所述主体图像帧序列中的每一帧主体图像插入到所述第三视频码流中,如所述第三视频码流还未达到最后一帧,则循环使用所述主体图像帧序列进行图像叠加。
- 如权利要求1所述的方法,其中:所述记录了主体和目标背景的视频文件由播放器循环播放。
- 一种视频拍摄的处理系统,该系统包括:拍摄模块,设置为:对处于背景样品中的主体、背景样品和目标背景分别进行拍摄,分别生成记录主体加背景样品的第一视频、记录背景样品的第二视频和记录目标背景的第三视频;其中,所述第一视频和第二视频的拍摄时长小于所述第三视频的拍摄时长;视频处理模块,设置为:将所述第一视频和所述第二视频进行比对,从所述第一视频中提取出主体图像,生成背景透明的主体图像帧序列,将所述主体图像帧序列中的每一帧主体图像依次叠加到所述第三视频中,生成记录了主体和目标背景的视频文件。
- 如权利要求6所述的系统,其中:拍摄模块,是设置为:在接收到对主体进行拍摄的指令后,按照第一拍摄取样速率对处于背景样品中的主体进行拍摄,在接收到停止拍摄的指令后,生成第一视频;在接收到对背景样品进行拍摄的指令后,按照第一拍摄取样速率对背景样品进行拍摄,在接收到停止拍摄的指令后,生成第二视频;在接收到对目标背景进行拍摄的指令后,按照第二拍摄取样速率对目标 背景进行拍摄,在接收到停止拍摄的指令后,生成第三视频;其中,所述第一拍摄取样速率大于第二拍摄取样速率。
- 如权利要求6所述的系统,其中:视频处理模块,是设置为以如下方式将所述第一视频和所述第二视频进行比对,从所述第一视频中提取出主体图像,生成背景透明的主体图像帧序列:从所述第二视频中提取一帧图像作为背景样品图像;将所述第一视频中的每一帧图像与所述背景样品图像进行比对,从所述第一视频的每一帧图像中去除背景样品图像,只保留主体图像,生成除主体外其余全是透明的主体图像帧序列。
- 如权利要求6-8中任一项所述的系统,其中:视频处理模块,是设置为以如下方式将所述主体图像帧序列中的每一帧主体图像依次插入到所述第三视频中:将所述主体图像帧序列中的每一帧主体图像插入到所述第三视频码流中,如所述第三视频码流还未达到最后一帧,则循环使用所述主体图像帧序列进行图像叠加。
- 如权利要求6所述的系统,其中:所述记录了主体和目标背景的视频文件由播放器循环播放。
- 一种视频拍摄装置,包括摄像头和处理器,其中,所述摄像头设置为在所述处理器的控制下对处于背景样品中的主体、背景样品和目标背景分别进行拍摄,分别生成记录主体加背景样品的第一视频、记录背景样品的第二视频和记录目标背景的第三视频;其中,所述第一视频和第二视频的拍摄时长小于所述第三视频的拍摄时长;所述处理器设置为控制所述摄像头进行拍摄,将所述第一视频和所述第二视频进行比对,从所述第一视频中提取出主体图像,生成背景透明的主体图像帧序列,将所述主体图像帧序列中的每一帧主体图像依次叠加到所述第 三视频中,生成记录了主体和目标背景的视频文件。
- 如权利要求11所述的装置,其中:所述摄像头是设置为:在接收所述处理器到对主体进行拍摄的指令后,按照第一拍摄取样速率对处于背景样品中的主体进行拍摄,在接收到停止拍摄的指令后,生成第一视频;在接收到对背景样品进行拍摄的指令后,按照第一拍摄取样速率对背景样品进行拍摄,在接收到停止拍摄的指令后,生成第二视频;在接收到对目标背景进行拍摄的指令后,按照第二拍摄取样速率对目标背景进行拍摄,在接收到停止拍摄的指令后,生成第三视频;其中,所述第一拍摄取样速率大于第二拍摄取样速率。
- 如权利要求11所述的装置,其中:所述处理器是设置为以如下方式将所述第一视频和所述第二视频进行比对,从所述第一视频中提取出主体图像,生成背景透明的主体图像帧序列:从所述第二视频中提取一帧图像作为背景样品图像;将所述第一视频中的每一帧图像与所述背景样品图像进行比对,从所述第一视频的每一帧图像中去除背景样品图像,只保留主体图像,生成除主体外其余全是透明的主体图像帧序列。
- 如权利要求11-13中任一项所述的装置,其中:所述处理器是设置为以如下方式将所述主体图像帧序列中的每一帧主体图像依次插入到所述第三视频中:将所述主体图像帧序列中的每一帧主体图像插入到所述第三视频码流中,如所述第三视频码流还未达到最后一帧,则循环使用所述主体图像帧序列进行图像叠加。
- 如权利要求11所述的装置,还包括:显示屏,所述处理器还设置为:控制所述记录了主体和目标背景的视频 文件在所述显示屏上循环播放。
- 一种计算机可读存储介质,存储有程序指令,当该程序指令被执行时可实现权利要求1-5任一项所述的方法。
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| CN108282612B (zh) * | 2018-01-12 | 2021-11-19 | 广州市百果园信息技术有限公司 | 视频处理方法及计算机存储介质、终端 |
| CN109525886B (zh) * | 2018-11-08 | 2020-07-07 | 北京微播视界科技有限公司 | 视频播放速度的控制方法、装置、设备和存储介质 |
| CN110225241A (zh) * | 2019-04-29 | 2019-09-10 | 努比亚技术有限公司 | 一种视频拍摄控制方法、终端及计算机可读存储介质 |
| CN111641837A (zh) * | 2019-09-24 | 2020-09-08 | 种红侠 | 视频画面即时互动平台和方法 |
| CN111405199B (zh) | 2020-03-27 | 2022-11-01 | 维沃移动通信(杭州)有限公司 | 一种图像拍摄方法和电子设备 |
| CN111629151B (zh) * | 2020-06-12 | 2023-01-24 | 北京字节跳动网络技术有限公司 | 视频合拍方法、装置、电子设备及计算机可读介质 |
| CN114827695B (zh) * | 2021-01-21 | 2023-05-30 | 北京字节跳动网络技术有限公司 | 视频录制方法、设备、电子设备及存储介质 |
| CN116708751B (zh) * | 2022-09-30 | 2024-02-27 | 荣耀终端有限公司 | 一种拍照时长的确定方法、装置和电子设备 |
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| EP3200444A4 (en) | 2017-10-25 |
| KR20170060140A (ko) | 2017-05-31 |
| CN105554361A (zh) | 2016-05-04 |
| US10289914B2 (en) | 2019-05-14 |
| EP3200444A1 (en) | 2017-08-02 |
| JP6413018B2 (ja) | 2018-10-24 |
| EP3200444B1 (en) | 2020-01-29 |
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| US20170316270A1 (en) | 2017-11-02 |
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