CN114119651B - Target tracking method, system, device and storage medium - Google Patents
Target tracking method, system, device and storage medium Download PDFInfo
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- CN114119651B CN114119651B CN202111456657.5A CN202111456657A CN114119651B CN 114119651 B CN114119651 B CN 114119651B CN 202111456657 A CN202111456657 A CN 202111456657A CN 114119651 B CN114119651 B CN 114119651B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
Abstract
The invention discloses a target tracking method, a system, equipment and a storage medium, wherein the method comprises the steps of presetting a first reference point and a second reference point, acquiring and storing three-dimensional position information of the first reference point and the second reference point, wherein the three-dimensional position information comprises longitude and latitude information and height information, the first reference point corresponds to tracking equipment, and the second reference point corresponds to a point in an image collected by the tracking equipment; acquiring three-dimensional position information of a tracking target; and calculating a target point PTZ value of the tracking device from the second reference point to the tracking target according to the three-dimensional position information of the first reference point, the second reference point and the tracking target, and controlling the action of the tracking device according to the target point PTZ value. According to the invention, by combining the first reference point, the second reference point and the three-dimensional position information of the tracking target, the PTZ value of the tracking equipment from the second reference point to the target point of the tracking target can be calculated, accurate tracking can be realized without an electronic compass, and the cost is favorably reduced.
Description
Technical Field
The invention relates to the field of security and protection, in particular to a target tracking method, a target tracking system, target tracking equipment and a storage medium.
Background
When the target is tracked, if the tracked target carries a position acquisition module or device, the tracking equipment can be controlled to track the target according to the acquired position information of the tracked target; when the target tracking is performed in this way, the acquired position information (such as GPS information) needs to be converted into PTZ information.
At present, the establishment of the conversion relation needs to utilize compasses and the like to calibrate the directions of true north, true south, true west, true east and the like, but the existing electronic compass has high manufacturing cost, can cause overhigh product cost, has low precision and is easy to be interfered by an external magnetic field, thereby causing the equipment to be incapable of accurately tracking.
Disclosure of Invention
The invention mainly aims to provide a target tracking method, a target tracking system, target tracking equipment and a storage medium, so that tracking of a target is realized by separating an electronic compass, and cost is reduced.
In order to achieve the above objects and other related objects, the technical solution of the present invention is as follows:
a target tracking method, comprising:
presetting a first reference point and a second reference point, and acquiring and storing three-dimensional position information of the first reference point and the second reference point, wherein the three-dimensional position information comprises longitude and latitude information and height information, the first reference point corresponds to a tracking device, and the second reference point corresponds to a point in an image acquired by the tracking device;
acquiring three-dimensional position information of a tracking target;
calculating a target point PTZ value when the tracking device is aligned with the tracking target according to the first reference point, the second reference point and the three-dimensional position information of the tracking target;
and controlling the tracking equipment to act according to the target point PTZ value.
Optionally, the second reference point corresponds to a central point of an image acquired by the tracking device.
Optionally, the method of calculating the target point PTZ value includes calculating a target point P value from the alignment of the tracking device with the second reference point to the alignment of the tracking target, and the method of calculating the target point P value includes:
calculating a rotation angle of the tracking device from aligning the second reference point to aligning the tracking target for horizontal rotation;
and determining the rotation direction of the tracking device from the alignment of the second reference point to the horizontal rotation of the tracking target.
Optionally, the method for calculating a rotation angle of the tracking device from aligning the second reference point to aligning the tracking target for horizontal rotation includes:
converting the latitude and longitude information of the first reference point, the second reference point and the tracking target into plane coordinate information on a horizontal plane,
constructing a first virtual triangle with the first reference point, the second reference point and the tracking device as vertexes on the horizontal plane, and calculating each side length of the first virtual triangle;
and calculating an included angle corresponding to the first reference point position in the virtual triangle according to a cosine theorem and an inverse cosine function, and taking the included angle as the rotation angle of the horizontal rotation.
Optionally, the method for determining a rotation direction of the tracking device from aligning the second reference point to horizontally rotating the tracking target includes:
converting the latitude and longitude information of the first reference point, the second reference point and the tracking target into plane coordinate information on a horizontal plane;
establishing a linear equation according to the plane coordinate information of the first reference point and the second reference point in the horizontal plane;
and judging the rotation direction of the tracking target according to the plane coordinate information of the tracking target in the horizontal plane and the first linear equation.
Optionally, the method of calculating the target point PTZ value includes calculating a target point T value from a tracking device facing downward in a vertical direction to the tracking target, and the method of calculating the target point T value includes:
calculating a second interval distance between the first reference point and the tracking target according to the three-dimensional position information of the first reference point and the tracking target, and calculating a height difference between the first reference point and the tracking target;
and calculating a rotation angle of the tracking equipment which is aligned with the tracking target and rotates in a pitching manner from downward along the vertical direction according to the second spacing distance and the height difference, wherein the rotation angle of the pitching rotation is the target point T value.
Optionally, the method of calculating the target point PTZ value includes calculating a target point Z value, and the method of calculating the target point Z value includes:
presetting a focusing formula;
calculating a second spacing distance between the first reference point and the tracking target according to the three-dimensional position information of the first reference point and the tracking target;
and calculating the Z value of the target point according to the second spacing distance and the preset focusing formula.
Optionally, the target tracking method further includes calibrating the tracking device, and the method of calibrating the tracking device includes:
presetting a focusing formula;
controlling the tracking equipment to align to the second reference point, so that the central point of the collected image of the tracking equipment corresponds to the second reference point;
calculating a second spacing distance between the first reference point and the second reference point according to the three-dimensional position information of the first reference point and the second reference point, and automatically focusing according to the second spacing distance;
controlling the tracking equipment to act according to a calibration track, wherein the starting point and the stopping point of the calibration track are both the second reference point;
observing whether the central point of the acquired image has deviation when the tracking equipment is at the starting point and the stopping point; if not, saving the focusing formula; and if not, adjusting the focusing formula and recalibrating the tracking equipment.
Optionally, the method for controlling the motion of the tracking device according to the target point PTZ value includes:
obtaining current PTZ information of the tracking equipment;
and calculating a PTZ change value according to the current PTZ information and the target point PTZ information, and controlling the tracking equipment to act according to the PTZ change value.
Correspondingly, the invention also provides a target tracking system, which comprises:
the tracking device comprises a reference point presetting module, a tracking device and a tracking module, wherein the reference point presetting module is used for presetting a first reference point and a second reference point, acquiring and storing three-dimensional position information of the first reference point and the second reference point, the three-dimensional position information comprises longitude and latitude information and height information, and the first reference point corresponds to the tracking device;
the system comprises a collecting module, a tracking module and a processing module, wherein the collecting module is used for acquiring three-dimensional position information of a tracking target;
a conversion module for calculating a target point PTZ value of the tracking device from aiming at the second reference point to aiming at the tracking target according to the first reference point, the second reference point and the three-dimensional position information of the tracking target;
and the control module is used for controlling the tracking equipment to act according to the target point PTZ value.
Correspondingly, the invention also provides a device comprising:
a processor, a memory, and a communication bus;
the communication bus is used for connecting the processor and the memory;
the processor is configured to execute the computer program stored in the memory to implement the object tracking method as described in any of the above.
Accordingly, the present invention also provides a computer-readable storage medium having stored thereon a computer program for causing the computer to execute the object tracking method as described in any one of the above.
The target tracking method, the target tracking system, the target tracking equipment and the target tracking medium have the following beneficial effects:
by presetting a first reference point and a second reference point and combining the first reference point, the second reference point and the three-dimensional position information of the tracking target, a target point PTZ value of the tracking device aiming at the tracking target can be calculated, the target tracking can be realized without an electronic compass, the cost is reduced, and more accurate tracking is facilitated.
Drawings
FIG. 1 is a flow chart of a target tracking method of the present invention;
FIG. 2 is a perspective view of the first reference point, the second reference point, and the tracked object in a horizontal plane;
FIG. 3 is a graph showing a relationship between a linear equation and a position of a tracking target;
FIG. 4 is a diagram showing the positional relationship of a tracking target and a tracking device on a height plane;
FIG. 5 is a block diagram of the object tracking system of the present invention.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the present invention.
It is to be understood that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, like reference numerals refer to like elements throughout.
The target tracking method of the present invention, referring to fig. 1, includes:
s200, presetting a first reference point and a second reference point, and acquiring and storing three-dimensional position information of the first reference point and the second reference point, wherein the three-dimensional position information comprises longitude and latitude information and height information, the first reference point corresponds to a tracking device, and the second reference point corresponds to a point in an image acquired by the tracking device, namely the second reference point can be randomly selected in the image;
s400, acquiring three-dimensional position information of a tracking target;
s600, calculating a target point PTZ value when the tracking device is aligned to the tracking target according to the first reference point, the second reference point and the three-dimensional position information of the tracking target;
and S800, controlling the tracking equipment to act according to the target point PTZ value.
It should be noted that the three-dimensional position information here may be GPS position information or beidou position information, and in the description of the following embodiments, the GPS position information is used for description, but in the actual implementation process, the three-dimensional position information may also be beidou position information; the tracking device in the invention can perform left-right rotation, pitching rotation and focal length adjustment, and respectively corresponds to a P value (Pan, left-right rotation), a T value (Tilt, pitching rotation) and a Z value (Zoom, focal length adjustment) in the PTZ value.
Step S200 may be performed when the trace device is installed and debugged, and when the trace device is installed and debugged, the GPS measurement tool is used to measure and acquire the GPS location information of the first reference point and the second reference point.
The invention introduces the second reference point, namely a state position when the tracking device is aligned with the second base point is introduced as a newly added reference position, so that after the position information of the tracking target is obtained, the PTZ value of the target point can be directly calculated by combining the stored position information of the first reference point and the second reference point, and devices such as an electronic compass and the like are not needed, thereby not only having higher tracking precision, but also having lower product cost.
In the present invention, unless otherwise limited, the point (e.g., the second base point, the target point) at which the tracking device is aimed refers to the image (e.g., the second base point, the target point) corresponding to the point in the image captured by the tracking device, and does not refer to the point at which the lens center is aimed.
In some embodiments, the second reference point corresponds to a center point of the image acquired by the tracking device, which is beneficial to enable the tracking target to be correspondingly located at the center position of the image acquired by the tracking device.
In some embodiments, a method of controlling a tracking motion of a tracking device according to a target point PTZ value includes:
s810, acquiring current PTZ information of the tracking device, wherein the current PTZ information is a target point PTZ value in the previous action, and the previous target point PTZ value can be directly acquired to serve as the current PTZ value;
and S820, calculating a PTZ change value according to the current PTZ information and the target point PTZ information, and controlling the tracking equipment to act according to the PTZ change value.
For ease of understanding, a current PTZ value is defined, the current PTZ value including P 1 、T 1 、Z 1 Target PTZ value includes P 2 、T 2 、Z 2 The PTZ variation values include Δ P, Δ T and Δ Z, and then Δ P = P 2 -P 1 ，△T＝T 2 -T 1 ，△Z＝Z 2 -Z 1 。
In an actual implementation process, a state position when the tracking device is aligned with the second pedestal point may be used as a reference position, in this application, both the current PTZ value and the target PTZ value are based on the reference position, and the reference position is used as a zero point position, that is, when the tracking device is at the reference position, the P value, the T value, and the Z value in the PTZ values are all equal to zero, which is more favorable for simplifying the calculation.
In some embodiments, the method of calculating the target point PTZ value includes calculating a target point P value of the tracking device a from the alignment second reference point to the alignment tracking target, i.e., step S600 includes step S610, and the method of calculating the target point P value (S610) includes:
s611, calculating a rotation angle beta of the tracking device from the alignment second reference point to the alignment tracking target for horizontal rotation;
and S612, determining the rotation direction of the horizontal rotation of the tracking device from the alignment second reference point to the alignment tracking target.
In some embodiments, the method of calculating a rotation angle for horizontal rotation of the tracking device from the alignment second reference point to the alignment tracking target in step S611 includes:
s6111, converting the latitude and longitude information of the first reference point, the second reference point and the tracking target into plane coordinate information on a horizontal plane,
s6112, referring to fig. 2, constructing a first virtual triangle Δ ABC with the first reference point a, the second reference point B, and the tracking device c as vertexes on the horizontal plane, and calculating each side length of the first virtual triangle, that is, calculating side lengths AB, BC, and AC;
s6113, calculating an included angle BAC corresponding to the position of the first reference point A in the virtual triangle Delta ABC according to the cosine theorem and the inverse cosine function, and setting the included angle BAC as the rotation angle beta of the horizontal rotation.
Specifically, according to the cosine theorem, there are:
cosβ＝(AB 2 、BC 2 、AC 2 )/2AB*AC (1)
since the side lengths AB, BC, AC can be calculated from the first reference point a, the second reference point B, and the plane coordinate information of the tracking target on the horizontal plane, β can be obtained according to equation (1) and the inverse cosine function, that is:
β＝arccos[(AB 2 、BC 2 、AC 2 )/2AB*AC] (2)
in some embodiments, the method of determining the rotation direction of the tracking device a for horizontal rotation from the alignment second reference point B to the alignment tracking target c in step S612 includes:
s6121 (same as S6111), converting the latitude and longitude information of the first reference point, the second reference point and the tracking target into plane coordinate information on a horizontal plane; in the actual implementation process, S6121 and S6111 may be used for calculation of the rotation angle of the horizontal rotation and determination of the rotation direction together after one time;
s6122, referring to fig. 3, establishing a linear equation according to the plane coordinate information of the first reference point a and the second reference point B in the horizontal plane;
s6123, judging the tracking target to judge the rotation direction according to the plane coordinate information of the tracking target c in the horizontal plane and the first linear equation.
Specifically, the plane coordinates of the first base point a, the second base point B, and the tracking target c on the horizontal plane are (x) 1 ，y 1 )、(x 2 ，y 2 )、(x 3 ，y 3 )；
When step S6122 is executed, according to (x) 1 ，y 1 )、(x 2 ，y 2 ) The following linear equation is established:
y＝ax+b (3)
in the formula (3), a and b are constants.
When step S6123 is executed, x is 3 Substituting into the linear equation to calculate y 0 ＝ax 3 + b, comparison y 0 And y 3 If y is 3 Greater than y 0 The rotation direction is clockwise in a plan view, and if y 3 Less than y 0 The rotation direction is counterclockwise in a plan view.
As can be seen from the above, the first reference point and the second reference point are simultaneously taken as reference positions in the calculation of the target point P value.
In some embodiments, the method of calculating the target point PTZ value comprises calculating a target point T value for the tracking device from vertically down to the alignment tracking target, i.e. step S600 comprises step S620, the method of calculating the target point T value comprising (S620):
s621, calculating a second spacing distance L between the first reference point A and the tracking target C according to the three-dimensional position information of the first reference point A and the tracking target C 2 Calculating the height difference H between the first reference point A and the tracking target C;
s622, according to the second spacing distance L 2 And calculating the rotation angle theta of the tracking device A from the vertical direction to the vertical direction for pitching rotation aiming at the tracking target, wherein the rotation angle theta of pitching rotation is the value of the target point T.
Referring specifically to fig. 4, the ratio of the height difference H to the second spacing distance L2 is the sine of the rotation angle θ of the pitch angle, i.e.:
Sinθ＝H/L 2 (4)
from equation (4), the calculation formula of the rotation angle of the pitch rotation is as follows:
θ＝arcsin(H/L 2 ) (5)
as can be seen from the above, the first reference point is taken as the reference position at the time of the target point T value calculation.
In some embodiments, the method of calculating the target point PTZ value comprises calculating a target point Z value, i.e. step S600 comprises step S630, and the method of calculating the target point Z value comprises (S630):
s631, presetting a focusing formula, wherein one variable of the focusing formula is a second separation distance L between the first reference point a and the tracking target C 2 ；
S632, calculating a second spacing distance L between the first reference point and the tracking target according to the three-dimensional position information of the first reference point and the tracking target 2 ；
S633, according to the second spacing distance L 2 And a preset focusing formula, and calculating a Z value of the target point.
As can be seen from the above, the first reference point is taken as the reference position when the target point T value is calculated.
In some embodiments, the target tracking method of the present invention further comprises: and S300, calibrating the tracking equipment.
Specifically, the S300 method for calibrating the tracking device includes:
s320, presetting a focusing formula;
s340, controlling the tracking equipment to align to a second reference point, and enabling a central point of the image collected by the tracking equipment to correspond to the second reference point;
s360, calculating a first spacing distance L between the first reference point A and the second reference point B according to the three-dimensional position information of the first reference point A and the second reference point B 1 As the first spacing distance L 1 ；
S380, controlling the tracking equipment to act according to a calibration track, wherein the starting point and the stopping point of the calibration track are both the second reference points; in step S380, observing whether the center point of the acquired image is shifted when the tracking device is at the start point and the stop point; if not, saving the focusing formula; and if not, adjusting the focusing formula and recalibrating the tracking equipment.
Correspondingly, an embodiment of the present invention further provides a target tracking system, with reference to fig. 5, including:
a reference point presetting module 10, configured to preset a first reference point and a second reference point, and acquire and store three-dimensional position information of the first reference point and the second reference point, where the three-dimensional position information includes longitude and latitude information and height information, and the first reference point corresponds to a tracking device;
a collection module 20 for acquiring three-dimensional position information of a tracking target;
a conversion module 30 for calculating a target point PTZ value of the tracking device from alignment with the second reference point to alignment with the tracking target, based on the first reference point, the second reference point, and the three-dimensional position information of the tracking target;
and the control module 40 is used for controlling the tracking equipment to act according to the target point PTZ value.
Correspondingly, an embodiment of the present invention further provides an apparatus, including:
a processor, a memory, and a communication bus;
the communication bus is used for connecting the processor and the memory;
the processor is configured to execute the computer program stored in the memory to implement the object tracking method as described in any of the above.
Accordingly, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, the computer program being configured to enable the computer to execute the target tracking method as described in any one of the above.
It should be noted that the Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, or discrete hardware components.
It should be noted that the computer readable medium of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
The computer readable medium may be embodied in the electronic device; or may be separate and not incorporated into the electronic device.
Computer program code for carrying out operations for aspects of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a wide area network (wAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (8)
1. A target tracking method, comprising:
presetting a first reference point and a second reference point, and acquiring and storing three-dimensional position information of the first reference point and the second reference point, wherein the three-dimensional position information comprises longitude and latitude information and height information, the first reference point corresponds to a tracking device, and the second reference point corresponds to a point in an image acquired by the tracking device;
acquiring three-dimensional position information of a tracking target;
calculating a target point PTZ value when the tracking device is aligned with the tracking target according to the first reference point, the second reference point and the three-dimensional position information of the tracking target;
controlling the tracking device to act according to the target point PTZ value, the method of calculating the target point PTZ value comprising calculating a target point P value for the tracking device from targeting the second reference point to targeting the tracking target, the method of calculating the target point P value comprising:
calculating a rotation angle of the tracking device from aligning the second reference point to aligning the tracking target for horizontal rotation;
determining a rotation direction of the tracking device from aligning the second reference point to aligning the tracking target for horizontal rotation;
wherein the method of determining a rotation direction of the tracking device from aligning the second reference point to horizontally rotating the tracking target includes:
converting the latitude and longitude information of the first reference point, the second reference point and the tracking target into plane coordinate information on a horizontal plane;
establishing a first linear equation according to the plane coordinate information of the first reference point and the second reference point in the horizontal plane;
and judging the rotation direction of the tracking target according to the plane coordinate information of the tracking target in the horizontal plane and the first linear equation.
2. The target tracking method of claim 1, wherein the method of calculating the rotation angle for horizontal rotation of the tracking device from alignment with the second reference point to alignment with the tracking target comprises:
converting the latitude and longitude information of the first reference point, the second reference point and the tracking target into plane coordinate information on a horizontal plane,
constructing a first virtual triangle with the first reference point, the second reference point and the tracking device as vertexes on the horizontal plane, and calculating each side length of the first virtual triangle;
and calculating an included angle corresponding to the first reference point position in the virtual triangle according to a cosine theorem and an inverse cosine function, and taking the included angle as the rotation angle of the horizontal rotation.
3. The target tracking method of claim 1, wherein the method of calculating the target point PTZ value comprises calculating a target point T value for the tracking device from vertically down to aiming the tracking target, the method of calculating the target point T value comprising:
calculating a second interval distance between the first reference point and the tracking target according to the three-dimensional position information of the first reference point and the tracking target, and calculating a height difference between the first reference point and the tracking target;
and calculating a rotation angle of the tracking device from a downward direction along the vertical direction to the target to be tracked for pitching rotation according to the second spacing distance and the height difference, wherein the rotation angle of the pitching rotation is the value of the target point T.
4. The target tracking method of claim 1, wherein: the method of calculating the target point PTZ value includes calculating a target point Z value, the method of calculating the target point Z value including:
presetting a focusing formula;
calculating a second spacing distance between the first reference point and the tracking target according to the three-dimensional position information of the first reference point and the tracking target;
and calculating the Z value of the target point according to the second spacing distance and the preset focusing formula.
5. The target tracking method of claim 1, further comprising calibrating the tracking device, the method of calibrating the tracking device comprising:
presetting a focusing formula;
controlling the tracking equipment to align to the second reference point, so that the central point of the acquired image of the tracking equipment corresponds to the second reference point;
calculating a second spacing distance between the first reference point and the second reference point according to the three-dimensional position information of the first reference point and the second reference point, and automatically focusing according to the second spacing distance;
controlling the tracking equipment to act according to a calibration track, wherein the starting point and the stopping point of the calibration track are both the second reference point;
observing whether the central point of the acquired image has deviation when the tracking equipment is at the starting point and the stopping point; if not, saving the focusing formula; and if not, adjusting the focusing formula and recalibrating the tracking equipment.
6. A target tracking system, comprising:
the device comprises a reference point presetting module, a tracking device and a control module, wherein the reference point presetting module is used for presetting a first reference point and a second reference point, acquiring and storing three-dimensional position information of the first reference point and the second reference point, the three-dimensional position information comprises longitude and latitude information and height information, and the first reference point corresponds to the tracking device;
the system comprises a collecting module, a tracking module and a processing module, wherein the collecting module is used for acquiring three-dimensional position information of a tracking target;
a conversion module for calculating a target point PTZ value of the tracking device from aiming at the second reference point to aiming at the tracking target according to the first reference point, the second reference point and the three-dimensional position information of the tracking target;
a control module for controlling the tracking device to act according to the target point PTZ value, wherein the method for calculating the target point PTZ value comprises calculating a target point P value from the second reference point to the tracking target, and the method for calculating the target point P value comprises:
calculating a rotation angle of the tracking device from aligning the second reference point to aligning the tracking target for horizontal rotation;
determining a rotation direction of the tracking device from aligning the second reference point to horizontally rotating the tracking target;
wherein the method of determining a rotation direction of the tracking device from aligning the second reference point to horizontally rotating the tracking target includes:
converting the latitude and longitude information of the first reference point, the second reference point and the tracking target into plane coordinate information on a horizontal plane;
establishing a first linear equation according to the plane coordinate information of the first reference point and the second reference point in the horizontal plane;
and judging the rotation direction of the tracking target according to the plane coordinate information of the tracking target in the horizontal plane and the first linear equation.
7. A computer device, comprising:
a processor, a memory, and a communication bus;
the communication bus is used for connecting the processor and the memory;
the processor is configured to execute a computer program stored in the memory to implement the object tracking method of any one of claims 1-5.
8. A computer-readable storage medium, having stored thereon a computer program for causing a computer to execute the object tracking method according to any one of claims 1 to 5.
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