CN111385476A - Method and device for adjusting shooting position of shooting equipment - Google Patents
Method and device for adjusting shooting position of shooting equipment Download PDFInfo
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- CN111385476A CN111385476A CN202010182733.7A CN202010182733A CN111385476A CN 111385476 A CN111385476 A CN 111385476A CN 202010182733 A CN202010182733 A CN 202010182733A CN 111385476 A CN111385476 A CN 111385476A
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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
- H04N23/64—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
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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
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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Abstract
The invention discloses a method and a device for adjusting the shooting position of shooting equipment, which are used for determining a target position in a first picture shot by the shooting equipment and determining the cloud platform coordinate of the target position in a cloud platform coordinate system corresponding to the shooting equipment according to the position of the shooting equipment and the size of the first picture, so that the determined cloud platform coordinate has high precision and small error; and when the shooting position of the shooting equipment is adjusted according to the determined cloud platform coordinates, the adjusting process is simpler and easier to operate, the adjusting precision is higher, the problem that the lens of the shooting equipment cannot be effectively aligned to the target position due to higher adjusting error can be avoided, and the accuracy of shooting position adjustment is improved.
Description
Technical Field
The present invention relates to the field of monitoring technologies, and in particular, to a method and an apparatus for adjusting a shooting position of a camera.
Background
In recent years, with the rapid development of video monitoring technology, Pan/Tilt/Zoom (PTZ) cameras are widely used, which provides great convenience for people's daily life, and meanwhile, the requirements of users on the operability of the PTZ camera and the adjustment precision of the photographing position are higher and higher.
Therefore, how to improve the adjustment accuracy of the shooting position of the shooting device is a technical problem that needs to be solved urgently by the technical personnel in the field.
Disclosure of Invention
The embodiment of the invention provides a method and a device for adjusting the shooting position of a shooting device, which are used for improving the adjustment precision of the shooting position of the shooting device.
In a first aspect, an embodiment of the present invention provides a method for adjusting a shooting position of a shooting device, including:
determining a target position in a first picture shot by the shooting equipment;
determining the holder coordinate of the target position in a holder coordinate system corresponding to the photographing equipment according to the position of the photographing equipment and the size of the first picture;
and adjusting the shooting position of the shooting equipment according to the determined cloud platform coordinates.
Optionally, in an embodiment of the present invention, the determining, according to the position of the photographing apparatus and the size of the first picture, a pan-tilt coordinate of the target position in a pan-tilt coordinate system corresponding to the photographing apparatus specifically includes:
according to the position of the photographing equipment and the size of the first picture, determining a horizontal coordinate of the target position in the holder coordinate system and a vertical coordinate of the target position in the holder coordinate system;
determining a magnification parameter of the target position in the holder coordinate system according to the definition of the target position in the first picture;
and determining the holder coordinate of the holder coordinate system of the photographing equipment corresponding to the target position according to the determined horizontal coordinate, the determined vertical coordinate and the determined magnification parameter.
Optionally, in an embodiment of the present invention, determining, according to the position of the photographing apparatus and the size of the first screen, a horizontal coordinate of the target position in the pan-tilt coordinate system and a vertical coordinate of the target position in the pan-tilt coordinate system, specifically include:
respectively calculating the horizontal coordinate of the target position in the holder coordinate system and the vertical coordinate of the target position in the holder coordinate system by adopting the following formulas:
d1＝x0-w1/2；
d2＝y0-w2/2；
wherein p represents a horizontal coordinate of the target position corresponding to the pan-tilt coordinate system, x0Representing the abscissa of the target position in a reference coordinate system corresponding to the plane of the first picture, α representing a first field of view angle formed by the position of the photographing apparatus and the intersection of a first straight line and two opposite boundaries of the first picture, w1Representing a first length passing through a center point of the first frame and along a first direction, t representing a vertical coordinate of the target position corresponding to the holder coordinate system, y0Representing the ordinate of the target position in the reference coordinate system, β representing a second field of view angle formed by the position of the photographing apparatus and the intersection of a second straight line and the two opposing boundaries of the first picture, w2Representing a second length passing through a center point of the first picture and along a second direction;
the first direction is parallel to the extending direction of an abscissa axis in the reference coordinate system, the second direction is parallel to the extending direction of an ordinate axis in the reference coordinate system, the first straight line passes through the center point of the first picture and extends along the first direction, and the second straight line passes through the center point of the first picture and extends along the second direction.
Optionally, in the embodiment of the present invention, determining, according to a degree of clarity of the target position in the first picture, a magnification parameter of the target position in the pan-tilt coordinate system, specifically includes:
when the human eyes distinguish the target position from the first picture, determining a multiplying power parameter in a preset holder coordinate as a multiplying power parameter of the target position in the holder coordinate system;
or when the target position is difficult to distinguish from the first picture by human eyes, selecting a sub-picture containing the target position from the first picture, and determining the magnification parameter according to the size of the sub-picture, the size of the first picture and the position of the photographing device;
wherein the size of the sub-picture is smaller than the size of the first picture.
Optionally, in this embodiment of the present invention, determining the magnification parameter according to the size of the sub-picture, the size of the first picture, and the position of the photographing apparatus specifically includes:
determining a third view field angle corresponding to the sub-picture according to the third length of the sub-picture, the second length of the first picture and the second view field angle;
determining the multiplying power parameter according to the determined third view field angle;
the second length is the length passing through the center point of the first picture and along the second direction, the second direction is parallel to the extending direction of the vertical axis in the reference coordinate system corresponding to the plane where the first picture is located, the second view field angle is the view field angle formed by the position of the photographing equipment and the intersection point of a second straight line and two opposite boundaries of the first picture, the second straight line is the straight line passing through the center point of the first picture and extending along the second direction, the third view field angle and the second view field angle are in the same plane, and the third view field angle is smaller than the second view field angle.
Optionally, in this embodiment of the present invention, determining a third field angle corresponding to the sub-picture according to the third length of the sub-picture, the second length of the first picture, and the second field angle specifically includes:
calculating the third field of view angle using the following formula:
wherein, γ3Representing said third field of view angle, β representing said second field of view angle, h representing a third length of said sprite, w representing a third length of said sprite2Representing a second length of the first picture.
Optionally, in the embodiment of the present invention, determining the magnification parameter according to the determined third view field angle specifically includes:
and searching the magnification parameter corresponding to the third view field angle from the mapping relation according to the pre-established mapping relation between the view field angle and the magnification parameter.
Optionally, in the embodiment of the present invention, determining the magnification parameter according to the determined third view field angle specifically includes:
and determining the magnification parameter according to the parameter of the photographing equipment and the third view field angle.
Optionally, in the embodiment of the present invention, determining the magnification parameter according to the parameter of the photographing device and the third field angle specifically includes:
calculating the multiplying power parameter by adopting the following formula:
wherein z is2Representing the magnification parameter, m representing the width of the target surface of the photographing apparatus, f0Denotes a minimum focal length, γ, of the photographing apparatus3Representing the third field of view angle.
In a second aspect, an embodiment of the present invention further provides an apparatus for adjusting a shooting position of a shooting device, including:
the first determining module is used for determining the target position in a first picture shot by the shooting device;
the second determining module is used for determining the holder coordinates of the target position in a holder coordinate system corresponding to the photographing equipment according to the position of the photographing equipment and the size of the first picture;
and the adjusting module is used for adjusting the shooting position of the shooting equipment according to the determined cloud platform coordinates.
Optionally, in an embodiment of the present invention, the second determining module is specifically configured to:
according to the position of the photographing equipment and the size of the first picture, determining a horizontal coordinate of the target position in the holder coordinate system and a vertical coordinate of the target position in the holder coordinate system;
determining a magnification parameter of the target position in the holder coordinate system according to the definition of the target position in the first picture;
and determining the holder coordinate of the holder coordinate system of the photographing equipment corresponding to the target position according to the determined horizontal coordinate, the determined vertical coordinate and the determined magnification parameter.
Optionally, in an embodiment of the present invention, the second determining module is specifically configured to:
when the human eyes distinguish the target position from the first picture, determining a multiplying power parameter in a preset holder coordinate as a multiplying power parameter of the target position in the holder coordinate system;
or when the target position is difficult to distinguish from the first picture by human eyes, selecting a sub-picture containing the target position from the first picture, and determining the magnification parameter according to the size of the sub-picture, the size of the first picture and the position of the photographing device;
wherein the size of the sub-picture is smaller than the size of the first picture.
Optionally, in an embodiment of the present invention, the second determining module is specifically configured to:
determining a third view field angle corresponding to the sub-picture according to the third length of the sub-picture, the second length of the first picture and the second view field angle;
determining the multiplying power parameter according to the determined third view field angle;
the second length is the length passing through the center point of the first picture and along the second direction, the second direction is parallel to the extending direction of the vertical axis in the reference coordinate system corresponding to the plane where the first picture is located, the second view field angle is the view field angle formed by the position of the photographing equipment and the intersection point of a second straight line and two opposite boundaries of the first picture, the second straight line is the straight line passing through the center point of the first picture and extending along the second direction, the third view field angle and the second view field angle are in the same plane, and the third view field angle is smaller than the second view field angle.
In a third aspect, an embodiment of the present invention further provides a photographing apparatus, including: the device for adjusting the shooting position of the shooting equipment provided by the embodiment of the invention.
The invention has the following beneficial effects:
according to the method and the device for adjusting the shooting position of the shooting equipment, provided by the embodiment of the invention, the target position in the first picture shot by the shooting equipment is determined, and the cloud platform coordinate of the target position in the cloud platform coordinate system corresponding to the shooting equipment is determined according to the position of the shooting equipment and the size of the first picture, so that the determined cloud platform coordinate has high precision and small error; and when the shooting position of the shooting equipment is adjusted according to the determined cloud platform coordinates, the adjusting process is simpler and easier to operate, the adjusting precision is higher, the problem that the lens of the shooting equipment cannot be effectively aligned to the target position due to higher adjusting error can be avoided, and the accuracy of shooting position adjustment is improved.
Drawings
Fig. 1 is a flowchart of a method for adjusting a shooting position of a photographing apparatus according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a position of a photographing apparatus and a size of a first frame according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating a first frame according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an enlarged sub-frame according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a mapping relationship between a zoom parameter and a field angle provided in an embodiment of the present invention;
fig. 6 is a schematic diagram of a lens target surface width and a lens focal length of a photographing apparatus according to an embodiment of the present invention;
FIG. 7 is a flow chart of a method of an embodiment provided in an embodiment of the present invention;
FIG. 8 is a flow chart of a method of a second embodiment provided in embodiments of the present invention;
fig. 9 is a schematic structural diagram of an adjusting device for a shooting position of a photographing apparatus according to an embodiment of the present invention.
Detailed Description
The following describes in detail specific embodiments of a method and an apparatus for adjusting a shooting position of a photographing device according to an embodiment of the present invention with reference to the accompanying drawings. It should be noted that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
An embodiment of the present invention provides a method for adjusting a shooting position of a photographing device, as shown in fig. 1, the method may include:
s101, determining a target position in a first picture shot by the shooting equipment;
wherein the photographing apparatus may be a three-dimensional camera, such as but not limited to a PTZ camera.
S102, determining the holder coordinates of the target position in a holder coordinate system corresponding to the photographing equipment according to the position of the photographing equipment and the size of the first picture;
as shown in fig. 2, the position of the photographing apparatus is point a, the size of the first frame can be represented by a first length BC and a second length DE.
In addition, the pan-tilt coordinate of the target position in the pan-tilt coordinate system corresponding to the photographing apparatus may be marked as (p, t, z), where p represents the horizontal coordinate of the target position in the pan-tilt coordinate system corresponding to the photographing apparatus, t represents the vertical coordinate of the target position in the pan-tilt coordinate system corresponding to the photographing apparatus, and z represents the magnification parameter of the target position in the pan-tilt coordinate system corresponding to the photographing apparatus.
For the values of p, t and z, the value of p is related to the horizontal rotation angle of the photographing device, for example, when the horizontal rotation angle range is 0-360 degrees, the value range of p is (0, 360); the value of t is related to the vertical rotation angle, for example, when the vertical rotation angle ranges from 0 degrees to 90 degrees, the value range of t is (0, 90); the value of z is related to the zooming range, for example, when the zooming range is 1 to 30, the value of t is (0, 30).
And S103, adjusting the shooting position of the shooting equipment according to the determined cloud platform coordinates.
Therefore, the determined cloud platform coordinate is high in accuracy and small in error; and when the shooting position of the shooting equipment is adjusted according to the determined cloud platform coordinates, the adjusting process is simpler and easier to operate, the adjusting precision is higher, the problem that the lens of the shooting equipment cannot be effectively aligned to the target position due to higher adjusting error can be avoided, and the accuracy of shooting position adjustment is improved.
In specific implementation, in the embodiment of the present invention, determining, according to the position of the photographing apparatus and the size of the first picture, a pan-tilt coordinate of the target position in a pan-tilt coordinate system corresponding to the photographing apparatus specifically includes:
according to the position of the photographing equipment and the size of the first picture, determining a horizontal coordinate of the target position in a cloud platform coordinate system and a vertical coordinate of the target position in the cloud platform coordinate system;
determining a multiplying power parameter of the target position in a holder coordinate system according to the definition of the target position in the first picture;
and determining the holder coordinate of the holder coordinate system of the photographing equipment corresponding to the target position according to the determined horizontal coordinate, the determined vertical coordinate and the determined magnification parameter.
Therefore, the horizontal coordinate and the vertical coordinate of the target position in the cloud platform coordinate system can be accurately determined according to the method, the accuracy of the cloud platform coordinate system of the photographing device corresponding to the determined target position is improved, and the accuracy of the adjusting method of the photographing position of the photographing device is improved.
Specifically, in the embodiment of the present invention, determining, according to the position of the photographing apparatus and the size of the first screen, that the target position corresponds to the horizontal coordinate in the pan-tilt coordinate system, and that the target position corresponds to the vertical coordinate in the pan-tilt coordinate system specifically includes:
respectively calculating the horizontal coordinate of the target position in the holder coordinate system and the vertical coordinate of the target position in the holder coordinate system by adopting the following formulas:
d1＝x0-w1/2；
d2＝y0-w2/2；
where p denotes the horizontal coordinate of the target position in the pan-tilt coordinate system, x0Denotes the abscissa of the target position in the reference coordinate system corresponding to the plane in which the first picture is located, α denotes a first field angle formed by the position of the photographing apparatus and the intersection of the first straight line and the two opposing boundaries of the first picture, w1Representing a first length along a first direction through a center point of the first frame, t representing a vertical coordinate of the target position in the pan-tilt coordinate system, y0Denotes the ordinate of the target position in the reference coordinate system, β denotes a second field angle formed by the position of the photographing apparatus and the intersection of the second straight line and the first screen with respect to the two boundaries, w2Representing a second length along a second direction through a center point of the first frame;
the first direction is parallel to the extending direction of the abscissa axis in the reference coordinate system, the second direction is parallel to the extending direction of the ordinate axis in the reference coordinate system, the first straight line passes through the center point of the first picture and extends along the first direction, and the second straight line passes through the center point of the first picture and extends along the second direction.
For example, as shown in fig. 2, the reference coordinate system is a coordinate system composed of an x-axis and a y-axis, a direction parallel to the x-axis is a first direction, a direction parallel to the y-axis is a second direction, point F represents the target position, and is represented by (x)0，y0) Indicating that point a is the position of the photographing device, point O is the center point of the first frame, the straight line BC is the first straight line, the straight line DE is the second straight line, AO is perpendicular to the plane of the first frame, i.e. AO is perpendicular to the plane of the reference coordinate system, and BC is the first length of the first frame (i.e. w mentioned in the above content)1) DE is the second length of the first frame, ∠ BAC is the first field angle (α, not shown), ∠ DAE is the second field angle (β, not shown), then:
because BC equals w1Therefore, it is
Since DE ═ w2Therefore, it is
Since ∠ BAC α, it is not limited to
Since ∠ DAE is β, it is not necessary to provide a separate power supply
Because FH and OG are parallel, so
Similarly, since FG and OH are parallel, it is preferred that
If the holder coordinate corresponding to the F point is (p, t, z), then:
p＝∠OAH，t＝∠OAG；
in a triangular OAC, which is obtained from a trigonometric function,
in a triangular OAH, which is obtained from a trigonometric function,
according to the above formula, it can be obtained
In a triangular OAD, which is obtained from trigonometric functions,
in a triangular OAG, which is obtained from trigonometric functions,
according to the above formula, it can be obtained
Therefore, the numerical values of p and t can be calculated through the simple trigonometric function formula, the horizontal coordinate and the vertical coordinate of the target position corresponding to the holder coordinate system can be determined through a simple mode, the calculation mode is simple, the operation is easy, and the difficulty of the adjusting method of the shooting position of the shooting equipment is reduced.
It should be noted that, the method for calculating the horizontal coordinate and the vertical coordinate of the target position in the pan-tilt coordinate system is not limited to the above method, and any method known to those skilled in the art that can calculate the horizontal coordinate and the vertical coordinate of the target position in the pan-tilt coordinate system may be used, and is not limited herein.
Specifically, in the embodiment of the present invention, determining, according to the degree of definition of the target position in the first picture, a magnification parameter of the target position in the pan-tilt coordinate system, specifically includes:
when the human eyes distinguish the target position from the first picture, determining the multiplying power parameter in the preset holder coordinate as the multiplying power parameter of the target position corresponding to the holder coordinate system;
or when the target position is difficult to distinguish from the first picture by human eyes, selecting a sub-picture containing the target position from the first picture, and determining a magnification parameter according to the size of the sub-picture, the size of the first picture and the position of the photographing equipment;
wherein the size of the sub-picture is smaller than the size of the first picture.
That is, when determining the magnification parameter of the target position corresponding to the pan/tilt coordinate system, the following two ways may be adopted:
the first method comprises the following steps:
when the human eye can distinguish the target position from the first picture, at this time, the target position corresponds to the magnification parameter in the holder coordinate system, which may be a magnification parameter in a preset holder coordinate.
The multiplying power parameter in the preset holder coordinate can be set according to the actual situation required by a user, specific limitation is not made, and the flexibility of design is improved.
And the second method comprises the following steps:
when the target position is difficult to distinguish from the first picture by human eyes (see fig. 3, a solid line frame a represents a sub-picture including the target position), the user can select the sub-picture including the target position in the first picture, and determine the magnification parameter of the target position corresponding to the pan-tilt coordinate system according to the sizes of the selected sub-picture and the first picture and the position of the photographing device.
The process of selecting the sub-picture can be understood as follows: and drawing a frame in the first picture, and selecting a sub-picture comprising the target position by using the frame.
To illustrate, the two methods can determine the magnification parameter of the target position in the holder coordinate system, and the difference is as follows: in the first method, human eyes can distinguish a target position without amplifying the target position, namely, a multiplying power parameter of the target position corresponding to a holder coordinate system is not changed; in the second method, the human eye can hardly distinguish the target position, and the target position needs to be enlarged, that is, the target position changes corresponding to the magnification parameter in the holder coordinate system.
Therefore, when the multiplying power parameter is determined, the multiplying power parameter can be determined in different modes according to different conditions, the determined multiplying power parameter is more in line with the actual condition, the determined result is more accurate, the subsequent accurate determination of the cloud platform coordinate of the target position in the cloud platform coordinate system is facilitated, and the lens can be effectively aligned to the target position when the lens of the photographing device is adjusted according to the cloud platform coordinate, so that the effective positioning is realized.
In the first method and the second method, when the pan-tilt coordinate corresponding to the target position is specified, it is first necessary to specify the pixel coordinates of the target position in the plane coordinate system corresponding to the first screen.
The pixel coordinates are determined according to the size of the first frame, and the pixel coordinates at any position in the first frame can be represented as (x0, y0), and in this case, as shown in fig. 2, the value range of x0 is (0, w)1) Y0 is in the range of (0, w)2)。
For example, when the display resolution of the first screen is 1080P, the corresponding image size is 1920 × 1080, so the value range of x0 may be (0, 1920), and the value range of y0 may be (0, 1080).
At this time:
corresponding to the first method: when the human eye can distinguish the target position from the first picture, the target position can be understood as a certain point in the first picture selected by the user, so the pixel coordinate of the point can be expressed as (x1, y 1);
corresponding to the second method, when it is difficult for the human eye to distinguish the target position from the first frame, the sub-frame may be first selected from the first frame, and then the center point position of the sub-frame is determined as the target position (as shown in fig. 4, the position indicated by b is the target position), and the pixel coordinates of the target position may be represented as (x2, y 2).
Then, the pixel coordinate corresponding to the target position can be converted into the holder coordinate, so that the shooting position can be adjusted according to the holder coordinate, the adjustment accuracy is improved, and the positioning accuracy is also improved.
Specifically, in the embodiment of the present invention, determining the magnification parameter according to the size of the sub-picture, the size of the first picture, and the position of the photographing apparatus specifically includes:
determining a third view field angle corresponding to the sub-picture according to the third length of the sub-picture, the second length of the first picture and the second view field angle;
determining a magnification parameter according to the determined third view field angle;
the second direction is parallel to the extending direction of the ordinate axis in the reference coordinate system corresponding to the plane where the first picture is located, the second view field angle is a view field angle formed by the position of the photographing equipment and the intersection point of the second straight line and two opposite boundaries of the first picture, the second straight line is a straight line which passes through the center point of the first picture and extends along the second direction, the third view field angle and the second view field angle are in the same plane, and the third view field angle is smaller than the second view field angle.
Therefore, the multiplying power parameter is determined through the calculation method of the field angle, the algorithm is simple, the accuracy is high, the holder coordinate of the target position in the holder coordinate system is determined more accurately, and the shooting position of the shooting device is convenient to adjust.
Specifically, in the embodiment of the present invention, determining the third field of view angle corresponding to the sub-picture according to the third length of the sub-picture, the second length of the first picture, and the second field of view angle specifically includes:
the third field of view angle is calculated using the following formula:
wherein, γ3Representing a third field of view angle, β representing a second field of view angle, h representing a third length of the sprite, w2Representing a second length of the first picture.
For example, referring to fig. 2, point a is the position of the photographing device, point O is the center point of the first frame, and point w is the center point of the first frame2For the second length of the first picture (i.e., the distance between DE's in the figure), ∠ DAE is the second field angle (represented by β, not shown in the figure), h is the third length of the sprite (i.e., the distance between MN's in the figure), and thus, γ is calculated3The method comprises the following steps:
MN＝2*OM；
wherein h represents the third length of the sprite, and f represents the ratio of the third length of the sprite to the height after the magnification change.
In addition, in the triangular OAD, it can be obtained from a trigonometric function,
in triangular OAM, which is obtained from a trigonometric function,
therefore, according to the above formula, it can be obtained
That is, the third view angle gamma is obtained3。
It should be noted that the third field angle γ is calculated3The method of (1) is not limited to the above method, and may be other methods as long as the third field angle γ can be calculated3Any of the methods described above may be used, without limitation, to improve design flexibility.
Therefore, the third view field angle can be simply, conveniently and accurately calculated through the simple trigonometric function and the algorithm of the view field angle, and the determined third view field angle is favorable for determining the multiplying power parameter subsequently.
Specifically, in the embodiment of the present invention, determining a magnification parameter according to the determined third view field angle specifically includes:
and searching the magnification parameter corresponding to the third view field angle from the mapping relation according to the pre-established mapping relation between the view field angle and the magnification parameter.
Among them, referring to table 1, table 1 shows a partial relationship in the mapping relationship between the field angle and the magnification parameter.
TABLE 1
| Serial number | Multiplying power value | Angle of view |
| 1 | 1.0 | 60° |
| 2 | 2.0 | 30° |
| 3 | 3.0 | 20° |
| 4 | 4.0 | 15° |
| 5 | 5.0 | 12° |
| 6 | 6.0 | 10° |
Moreover, according to the data of the view field angle and the data of the magnification parameter in table 1, a curve representing the corresponding relationship between the view field angle and the magnification parameter can be fitted, as shown in fig. 5, the abscissa represents the magnification parameter, and the ordinate represents the view field angle, and by finding the abscissa corresponding to a different third view field angle in the curve, the magnification parameter corresponding to a different third view field angle can be determined.
Therefore, the multiplying power parameter corresponding to the third view field angle can be determined more simply and visually according to different third view field angles, and the method is simple and has strong practicability.
Specifically, in the embodiment of the present invention, determining a magnification parameter according to the determined third view field angle specifically includes:
and determining the magnification parameter according to the parameter of the photographing equipment and the third view field angle.
Wherein, the parameters of the photographing apparatus may include: the width of the lens target surface of the photographing device, the focal length of the photographing device, the pixel value of the photographing device, the minimum illumination of the photographing device and other parameters.
Specifically, in the embodiment of the present invention, determining the magnification parameter according to the parameter of the photographing device and the third view field angle specifically includes:
the multiplying power parameter is calculated by the following formula:
wherein z is2Representing magnification parameters, m representing the width of the target surface of the photographing apparatus, f0Denotes the minimum focal length, gamma, of the photographing apparatus3Representing a third field of view angle.
As shown in fig. 6, where point P is the focal point of the lens of the photographing device, QR is the width of the target surface of the lens, i.e., QR is m, S is the midpoint of QR, PS is the current focal length of the photographing device, i.e., PS is f, and ∠ QPR is the first field angle (indicated by α and not shown in the figure).
It should be noted that, for the width m of the lens target surface of the photographing apparatus, the value of m can be obtained through actual measurement, and any method known to those skilled in the art that can measure the value of m can be adopted, and is not limited herein.
Wherein, in the triangle QPS, the triangle QPS can be obtained according to the trigonometric function,
since ∠ QPR is α, it is not necessary to add any additional extra cost to the system
Because QR is m, so
As can be derived from the above-mentioned formula,
according to the obtained current focal length f of the photographing equipment and the minimum focal length f of the photographing equipment0The magnification parameter can be determined by the following formula:
note that, the minimum focal length f is set for the lens of the photographing apparatus0，f0The value of (A) can be obtained by actual measurement, and f can be measured by any method known to those skilled in the art0The numerical method is not limited herein.
Therefore, the multiplying power parameter calculated by the formula is more accurate, the error is reduced, and the accuracy of the cloud platform coordinate corresponding to the target position is improved.
The following describes a method for adjusting a shooting position of a photographing apparatus according to an embodiment of the present invention with reference to a specific embodiment.
The first embodiment is as follows: for example, the human eye can distinguish the target position from the first frame, and the flowchart of the method shown in fig. 7 is combined.
S701, determining a target position in a first picture shot by the shooting equipment;
s702, according to the position of the photographing device and the size of the first picture, determining a horizontal coordinate of a target position in a holder coordinate system and a vertical coordinate of the target position in the holder coordinate system;
s703, when the human eye distinguishes the target position from the first picture, determining the magnification parameter in the preset holder coordinate as the magnification parameter of the target position in the holder coordinate system;
s704, determining the holder coordinates of the holder coordinate system of the photographing device corresponding to the target position according to the determined horizontal coordinates, vertical coordinates and multiplying power parameters;
s705, adjusting the shooting position of the shooting device according to the determined holder coordinates.
Example two: for example, the human eye may not easily recognize the target position from the first image, and determine the magnification parameter corresponding to the third view angle according to the mapping relationship between the view angle and the magnification parameter, with reference to the flowchart of the method shown in fig. 8.
S801, determining a target position in a first picture shot by the shooting device;
s802, according to the position of the photographing equipment and the size of the first picture, determining a horizontal coordinate of the target position in a holder coordinate system and a vertical coordinate of the target position in the holder coordinate system;
s803, when the human eyes are difficult to distinguish the target position from the first picture, selecting a sub-picture containing the target position from the first picture;
s804, determining a third view field angle corresponding to the sub-picture according to the third length of the sub-picture, the second length of the first picture and the second view field angle;
s805, determining a magnification parameter corresponding to the third view field angle according to a mapping relation between the view field angle and the magnification parameter which is established in advance;
s806, determining the holder coordinates of the holder coordinate system of the photographing device corresponding to the target position according to the determined horizontal coordinates, vertical coordinates and magnification parameters;
and S807, adjusting the shooting position of the shooting equipment according to the determined cloud platform coordinate.
Based on the same inventive concept, embodiments of the present invention provide an adjusting apparatus for a shooting location of a shooting device, and since the operating principle of the apparatus is similar to that of the aforementioned adjusting method for a shooting location of a shooting device, specific embodiments of the adjusting apparatus for a shooting location of a shooting device can refer to the above adjusting method, and repeated details are omitted.
Based on the same inventive concept, an embodiment of the present invention provides an adjusting apparatus for a shooting position of a shooting device, the structure of which is shown in fig. 9, including:
a first determining module 901, configured to determine a target position in a first picture that has been captured by a photographing device;
a second determining module 902, configured to determine, according to the position of the photographing apparatus and the size of the first picture, a pan-tilt coordinate of the target position in a pan-tilt coordinate system corresponding to the photographing apparatus;
and the adjusting module 903 is configured to adjust a shooting position of the shooting device according to the determined holder coordinate.
In a specific implementation, in the apparatus provided in the embodiment of the present invention, the second determining module 902 is specifically configured to:
according to the position of the photographing equipment and the size of the first picture, determining a horizontal coordinate of the target position in a cloud platform coordinate system and a vertical coordinate of the target position in the cloud platform coordinate system;
determining a multiplying power parameter of the target position in a holder coordinate system according to the definition of the target position in the first picture;
and determining the holder coordinate of the holder coordinate system of the photographing equipment corresponding to the target position according to the determined horizontal coordinate, the determined vertical coordinate and the determined magnification parameter.
In a specific implementation, in the apparatus provided in the embodiment of the present invention, the second determining module 902 is specifically configured to:
respectively calculating the horizontal coordinate of the target position in the holder coordinate system and the vertical coordinate of the target position in the holder coordinate system by adopting the following formulas:
d1＝x0-w1/2；
d2＝y0-w2/2；
wherein the content of the first and second substances,p denotes the horizontal coordinate of the target position in the coordinate system of the head, x0Denotes the abscissa of the target position in the reference coordinate system corresponding to the plane in which the first picture is located, α denotes a first field angle formed by the position of the photographing apparatus and the intersection of the first straight line and the two opposing boundaries of the first picture, w1Representing a first length along a first direction through a center point of the first frame, t representing a vertical coordinate of the target position in the pan-tilt coordinate system, y0Denotes the ordinate of the target position in the reference coordinate system, β denotes a second field angle formed by the position of the photographing apparatus and the intersection of the second straight line and the first screen with respect to the two boundaries, w2Representing a second length along a second direction through a center point of the first frame;
the first direction is parallel to the extending direction of the abscissa axis in the reference coordinate system, the second direction is parallel to the extending direction of the ordinate axis in the reference coordinate system, the first straight line passes through the center point of the first picture and extends along the first direction, and the second straight line passes through the center point of the first picture and extends along the second direction.
In a specific implementation, in the apparatus provided in the embodiment of the present invention, the second determining module 902 is specifically configured to:
in a specific implementation, in the apparatus provided in the embodiment of the present invention, the second determining module 902 is specifically configured to:
when the human eyes distinguish the target position from the first picture, determining the multiplying power parameter in the preset holder coordinate as the multiplying power parameter of the target position corresponding to the holder coordinate system;
or when the target position is difficult to distinguish from the first picture by human eyes, selecting a sub-picture containing the target position from the first picture, and determining a magnification parameter according to the size of the sub-picture, the size of the first picture and the position of the photographing equipment;
wherein the size of the sub-picture is smaller than the size of the first picture.
In a specific implementation, in the apparatus provided in the embodiment of the present invention, the second determining module 902 is specifically configured to:
determining a third view field angle corresponding to the sub-picture according to the third length of the sub-picture, the second length of the first picture and the second view field angle;
determining a magnification parameter according to the determined third view field angle;
the third length is a second length passing through the center point of the sub-picture and along the second direction, the second length is a second length passing through the center point of the first picture and along the second direction, the second direction is parallel to the extending direction of the ordinate axis in the reference coordinate system corresponding to the plane where the first picture is located, the second view field angle is a view field angle formed by the position of the photographing equipment and the intersection point of the second straight line and two opposite boundaries of the first picture, the second straight line is a straight line passing through the center point of the first picture and extending along the second direction, the third view field angle and the second view field angle are in the same plane, and the third view field angle is smaller than the second view field angle.
In a specific implementation, in the apparatus provided in the embodiment of the present invention, the second determining module 902 is specifically configured to:
the third field of view angle is calculated using the following formula:
wherein, γ3Representing a third field of view angle, β representing a second field of view angle, h representing a third length of the sprite, w2Representing a second length of the first picture.
In a specific implementation, in the apparatus provided in the embodiment of the present invention, the second determining module 902 is specifically configured to:
and searching the magnification parameter corresponding to the third view field angle from the mapping relation according to the pre-established mapping relation between the view field angle and the magnification parameter.
In a specific implementation, in the apparatus provided in the embodiment of the present invention, the second determining module 902 is specifically configured to:
and determining the magnification parameter according to the parameter of the photographing equipment and the third view field angle.
In a specific implementation, in the apparatus provided in the embodiment of the present invention, the second determining module 902 is specifically configured to:
the multiplying power parameter is calculated by the following formula:
wherein z is2Representing magnification parameters, m representing the width of the target surface of the photographing apparatus, f0Denotes the minimum focal length, gamma, of the photographing apparatus3Representing a third field of view angle.
Based on the same inventive concept, an embodiment of the present invention further provides a photographing apparatus, which may include: the device for adjusting the shooting position of the shooting equipment provided by the embodiment of the invention.
Alternatively, the photographing apparatus may be, but is not limited to, a PTZ camera or the like.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
According to the method and the device for adjusting the shooting position of the shooting equipment, provided by the embodiment of the invention, the target position in the first picture shot by the shooting equipment is determined, and the cloud platform coordinate of the target position in the cloud platform coordinate system corresponding to the shooting equipment is determined according to the position of the shooting equipment and the size of the first picture, so that the determined cloud platform coordinate has high precision and small error; and when the shooting position of the shooting equipment is adjusted according to the determined cloud platform coordinates, the adjusting process is simpler and easier to operate, the adjusting precision is higher, the problem that the lens of the shooting equipment cannot be effectively aligned to the target position due to higher adjusting error can be avoided, and the accuracy of shooting position adjustment is improved.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (14)
1. A method for adjusting the shooting position of a shooting device is characterized by comprising the following steps:
determining a target position in a first picture shot by the shooting equipment;
determining the holder coordinate of the target position in a holder coordinate system corresponding to the photographing equipment according to the position of the photographing equipment and the size of the first picture;
and adjusting the shooting position of the shooting equipment according to the determined cloud platform coordinates.
2. The method according to claim 1, wherein the determining the pan-tilt coordinate of the target position in the pan-tilt coordinate system corresponding to the photographing apparatus according to the position of the photographing apparatus and the size of the first frame specifically comprises:
according to the position of the photographing equipment and the size of the first picture, determining a horizontal coordinate of the target position in the holder coordinate system and a vertical coordinate of the target position in the holder coordinate system;
determining a magnification parameter of the target position in the holder coordinate system according to the definition of the target position in the first picture;
and determining the holder coordinate of the holder coordinate system of the photographing equipment corresponding to the target position according to the determined horizontal coordinate, the determined vertical coordinate and the determined magnification parameter.
3. The method of claim 2, wherein determining the horizontal coordinate of the target position in the pan-tilt coordinate system and the vertical coordinate of the target position in the pan-tilt coordinate system according to the position of the photographing apparatus and the size of the first frame comprises:
respectively calculating the horizontal coordinate of the target position in the holder coordinate system and the vertical coordinate of the target position in the holder coordinate system by adopting the following formulas:
d1＝x0-w1/2；
d2＝y0-w2/2；
wherein p represents a horizontal coordinate of the target position corresponding to the pan-tilt coordinate system, x0Representing the abscissa of the target position in a reference coordinate system corresponding to the plane of the first picture, α representing a first field of view angle formed by the position of the photographing apparatus and the intersection of a first straight line and two opposite boundaries of the first picture, w1Representing a first length passing through a center point of the first frame and along a first direction, t representing a vertical coordinate of the target position corresponding to the holder coordinate system, y0Representing the ordinate of the target position in the reference coordinate system, β representing a second field of view angle formed by the position of the photographing apparatus and the intersection of a second straight line and the two opposing boundaries of the first picture, w2Representing a second length passing through a center point of the first picture and along a second direction;
the first direction is parallel to the extending direction of an abscissa axis in the reference coordinate system, the second direction is parallel to the extending direction of an ordinate axis in the reference coordinate system, the first straight line passes through the center point of the first picture and extends along the first direction, and the second straight line passes through the center point of the first picture and extends along the second direction.
4. The method according to claim 2, wherein determining a magnification parameter of the target position in the pan-tilt coordinate system according to the degree of sharpness of the target position in the first frame includes:
when the human eyes distinguish the target position from the first picture, determining a multiplying power parameter in a preset holder coordinate as a multiplying power parameter of the target position in the holder coordinate system;
or when the target position is difficult to distinguish from the first picture by human eyes, selecting a sub-picture containing the target position from the first picture, and determining the magnification parameter according to the size of the sub-picture, the size of the first picture and the position of the photographing device;
wherein the size of the sub-picture is smaller than the size of the first picture.
5. The method of claim 4, wherein determining the magnification parameter according to the size of the sub-frame, the size of the first frame, and the position of the photographing apparatus specifically comprises:
determining a third view field angle corresponding to the sub-picture according to the third length of the sub-picture, the second length of the first picture and the second view field angle;
determining the multiplying power parameter according to the determined third view field angle;
the second length is the length passing through the center point of the first picture and along the second direction, the second direction is parallel to the extending direction of the vertical axis in the reference coordinate system corresponding to the plane where the first picture is located, the second view field angle is the view field angle formed by the position of the photographing equipment and the intersection point of a second straight line and two opposite boundaries of the first picture, the second straight line is the straight line passing through the center point of the first picture and extending along the second direction, the third view field angle and the second view field angle are in the same plane, and the third view field angle is smaller than the second view field angle.
6. The method of claim 5, wherein determining a third view angle corresponding to the sub-picture according to the third length of the sub-picture, the second length of the first picture, and the second view angle comprises:
calculating the third field of view angle using the following formula:
wherein, γ3Representing said third field of view angle, β representing said second field of view angle, h representing a third length of said sprite, w representing a third length of said sprite2Representing a second length of the first picture.
7. The method according to claim 5, wherein determining the magnification parameter according to the determined third view field angle specifically comprises:
and searching the magnification parameter corresponding to the third view field angle from the mapping relation according to the pre-established mapping relation between the view field angle and the magnification parameter.
8. The method according to claim 5, wherein determining the magnification parameter according to the determined third view field angle specifically comprises:
and determining the magnification parameter according to the parameter of the photographing equipment and the third view field angle.
9. The method of claim 8, wherein determining the magnification parameter according to the parameter of the photographing device and the third field angle specifically comprises:
calculating the multiplying power parameter by adopting the following formula:
wherein z is2Representing the magnification parameter, m representing the width of the target surface of the photographing apparatus, f0Denotes a minimum focal length, γ, of the photographing apparatus3Representing the third field of view angle.
10. The utility model provides an adjusting device of equipment of shooing shooting position which characterized in that includes:
the first determining module is used for determining the target position in a first picture shot by the shooting device;
the second determining module is used for determining the holder coordinates of the target position in a holder coordinate system corresponding to the photographing equipment according to the position of the photographing equipment and the size of the first picture;
and the adjusting module is used for adjusting the shooting position of the shooting equipment according to the determined cloud platform coordinates.
11. The adjustment apparatus of claim 10, wherein the second determination module is specifically configured to:
according to the position of the photographing equipment and the size of the first picture, determining a horizontal coordinate of the target position in the holder coordinate system and a vertical coordinate of the target position in the holder coordinate system;
determining a magnification parameter of the target position in the holder coordinate system according to the definition of the target position in the first picture;
and determining the holder coordinate of the holder coordinate system of the photographing equipment corresponding to the target position according to the determined horizontal coordinate, the determined vertical coordinate and the determined magnification parameter.
12. The adjustment apparatus of claim 10, wherein the second determination module is specifically configured to:
when the human eyes distinguish the target position from the first picture, determining a multiplying power parameter in a preset holder coordinate as a multiplying power parameter of the target position in the holder coordinate system;
or when the target position is difficult to distinguish from the first picture by human eyes, selecting a sub-picture containing the target position from the first picture, and determining the magnification parameter according to the size of the sub-picture, the size of the first picture and the position of the photographing device;
wherein the size of the sub-picture is smaller than the size of the first picture.
13. The adjustment apparatus of claim 12, wherein the second determination module is specifically configured to:
determining a third view field angle corresponding to the sub-picture according to the third length of the sub-picture, the second length of the first picture and the second view field angle;
determining the multiplying power parameter according to the determined third view field angle;
the second length is the length passing through the center point of the first picture and along the second direction, the second direction is parallel to the extending direction of the vertical axis in the reference coordinate system corresponding to the plane where the first picture is located, the second view field angle is the view field angle formed by the position of the photographing equipment and the intersection point of a second straight line and two opposite boundaries of the first picture, the second straight line is the straight line passing through the center point of the first picture and extending along the second direction, the third view field angle and the second view field angle are in the same plane, and the third view field angle is smaller than the second view field angle.
14. A photographing apparatus, comprising: the adjusting device for the shooting position of the photographing apparatus according to any one of claims 10 to 13.
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