CN101902616A - Quick stereo positioning method for video monitoring - Google Patents
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- CN101902616A CN101902616A CN2009101423553A CN200910142355A CN101902616A CN 101902616 A CN101902616 A CN 101902616A CN 2009101423553 A CN2009101423553 A CN 2009101423553A CN 200910142355 A CN200910142355 A CN 200910142355A CN 101902616 A CN101902616 A CN 101902616A
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Abstract
The invention provides a quick stereo positioning method for video monitoring. The automatic positioning and adjusting control method suitable for a video monitoring system comprises the following steps: setting a positioning target, calculating the camera focal length, calculating the deviation angle of the target and a CCD center, calculating the number of moving steps of a cradle head motor, calculating zoom magnification, adjusting zoom and adjusting real-time positioning of the target. The method can automatically calculate the offset of the target and the number of steps of a self attitude adjusting motor required to move according to the relative position of the target area in the whole CCD image area, after the zoom magnification of the a lens is adjusted as required, a user can adjust the image without continuously depending on the actions of eyes of and a mouse, and the actions can be continuously and automatically controlled in position, thereby greatly improving the working efficiency of the monitoring system, and also improving the convenience and rapidness of using the monitoring system in a narrow bandwidth network environment for a user side.
Description
[technical field]
The present invention relates to a kind of image/video processing method, refer in particular to the quick stereo positioning method of image in a kind of video monitoring.
[background technology]
In the existing digital network video monitoring system,, only can move and reach the purpose of adjusting position of image by cradle head control to image in the video point of front end monitoring camera.And in practical surveillance was used, for a certain zone that monitors image, the user often may need rapidly its location and amplify this partial images and check.And existing monitoring camera have only come the monitoring camera The Cloud Terrace carried out repeatedly by the human eye real time discriminating and by mouse operation and control software on/down/numerous and diverse control action on a left side/right side after with the feature area-of-interest in image between two parties, again by the control camera lens amplify/dwindle/focus on/aperture can carry out image scaling, can finish a series of three-dimensional location amplification process, observe the required image of paying close attention to part.Yet, numerous and diverse step like this must cause whole adjustment process, and comparatively poor efficiency is slow, when accident takes place to amplify the regional fast reaction of monitored picture, will there be problems such as reaction is not prompt enough in the corresponding speed of system, at present most of in addition supervisory control system all is to be based upon under the network environment of narrow bandwidth, during original method specific implementation, long usually being difficult to of its time-delay of client accepted, how to be solved this difficult problem and become to need the problem of facing in the industry badly.
[summary of the invention]
The objective of the invention is to overcome above-mentioned defective, provide a kind of can control automatically monitoring camera accurately with appointed area image placed in the middle and convergent-divergent for the quick stereo positioning method for video monitoring of checking.
The object of the present invention is achieved like this: a kind of quick stereo positioning method for video monitoring is characterized in that: it comprises step
A) set localizing objects, the user adopts the image form by client, selects target setting by direct click of mouse or frame; If click, then system judges that click place is the target original position and calculates this target image position coordinates, if the frame choosing, then selected frame selects the central point of image to be the target original position and to calculate this target image position coordinates;
B) calculate focal length of camera, determine its focal length according to used CCD size of video camera and the horizontal or vertical angle of camera lens;
The calculating coincidence formula of focal length of camera among the described step b
Wherein L is a focal length of camera to be calculated, and H is CCD height or width, and a is the horizontal or vertical angle of camera lens;
C) calculate the angle of deviation at object and CCD center, determine the angle of deviation at object and CCD center according to object and CCD center line segment length and focal length of camera;
The calculating coincidence formula of the angle of deviation among the described step c
Wherein b is the angle of deviation at object to be calculated and CCD center, and x is object and CCD center line segment length, and L is for calculating focal length of camera;
D) calculate horizontal stage electric machine and move step number, draw the mobile step number of horizontal stage electric machine according to the maximum step number of the angle of deviation at object and CCD center and horizontal stage electric machine adjustment permission;
Motor moves the pedometer operator and closes formula in the described steps d
Wherein c is that horizontal stage electric machine to be determined moves step number, the maximum step number that Smax allows for the horizontal stage electric machine adjustment, and b is the angle of deviation at object and CCD center;
E) calculate zoom and transfer multiplying power, choose the ratio of image and entire image by mouse among the calculation procedure a and determine the multiplying power that image amplifies;
F) zoom adjustment is adjusted zoom according to calculating multiplying power, detects object simultaneously with whether the CCD centreline space is offset, and as if being offset, then stops zoom, gets back to step c and redefines the angle of deviation, The Cloud Terrace moves step number and zoom ratio;
G) adjust target and locate in real time, detect object and whether be offset,, then stop zoom, get back to step c and redefine the angle of deviation, The Cloud Terrace moves step number and zoom ratio as if being offset with the CCD centreline space.
Beneficial effect of the present invention has been to provide a cover to be applicable to the automatic location adjustment control method of video monitoring system, this method can be according to the relative position of target area in the whole CCD image region, automatically calculate side-play amount and self attitude of object and adjust the required mobile step number of motor, behind the required adjustment zoom ratio of self camera lens, do not need the user to continue to rely on human eye and mouse action adjustment image, and can the automatically-controlled continuous action put in place, not only improved the operating efficiency of supervisory control system greatly, also improved user side using the convenience and quickness of supervisory control system under the narrow bandwidth network environment.
[description of drawings]
Below in conjunction with accompanying drawing in detail concrete structure of the present invention is described in detail
Fig. 1 is a method flow diagram of the present invention
Fig. 2 is a realization effect schematic diagram of the present invention
Fig. 3 is a focal length of camera algorithm schematic diagram of the present invention
Fig. 4 is target object of the present invention and CCD center angle algorithm schematic diagram
[embodiment]
As shown in Figure 1, the present invention relates to a kind of quick stereo positioning method for video monitoring, it comprises step
A) set localizing objects, as Fig. 2, the user adopts the image form usually by client, selects target setting by direct click of mouse or frame; If click, then system judges that click place is the target original position and calculates this target image position coordinates, if the frame choosing, then selected frame selects the central point of image to be the target original position and to calculate this target image position coordinates;
B) calculate focal length of camera, determine its focal length according to used CCD size of video camera and the horizontal or vertical angle of camera lens;
As Fig. 3, this calculates coincidence formula
Wherein L is a focal length of camera to be calculated
H is CCD height or width (be generally known: for example common 1/4 " CCD)
A is the horizontal or vertical angle of camera lens, what a got that vertical angle or level angle depend on that H gets in this formula is height or the width of CCD, both corresponding mutually levels of getting simultaneously or vertical value (known: the value of a is provided by video camera manufacturer or the angle lens parameter of testing the video camera zoom ratio correspondence of acquisition can get).
C) calculate the angle of deviation at object and CCD center, determine the angle of deviation at object and CCD center according to object and CCD center line segment length and focal length of camera;
Described CCD centerline length, the CCD size of using as common integrated camera is 1/4 ".1/4 " being the CCD catercorner length, is that the target surface height that calculates CCD at 4: 3 is 2.4mm according to CCD the ratio of width to height, and width is 3.2mm and then can obtains its centerline length.
As Fig. 4, the calculating coincidence formula of the angle of deviation
Wherein b is the angle of deviation at object to be calculated and CCD center
X is object and CCD center line segment length (after choosing target, can calculate this target image location coordinate information among the step a, the difference in conjunction with this pixel and CCD central point pixel coordinate information can draw again)
L is the focal length of camera value that previous step is calculated gained suddenly
D) calculate horizontal stage electric machine and move step number, draw the mobile step number of horizontal stage electric machine according to the maximum step number of the angle of deviation at object and CCD center and horizontal stage electric machine adjustment permission;
Mobile pedometer operator is closed formula
Wherein c is that horizontal stage electric machine to be determined moves step number
The maximum step number (known) that Smax allows for the horizontal stage electric machine adjustment
B is the angle of deviation (known, previous step is calculated gained suddenly again) at object and CCD center.
E) calculate zoom and transfer multiplying power, choose the ratio of image and entire image by mouse among the calculation procedure a and determine the multiplying power that image amplifies.
F) zoom adjustment is adjusted zoom according to calculating multiplying power, detects object simultaneously with whether the CCD centreline space is offset, and as if being offset, then stops zoom, gets back to step c and redefines the angle of deviation, The Cloud Terrace moves step number and zoom ratio.
G) adjust target and locate in real time, detect object and whether be offset,, then stop zoom, get back to step c and redefine the angle of deviation, The Cloud Terrace moves step number and zoom ratio as if being offset with the CCD centreline space.
This shows, the method that the present invention relates to can be according to the relative position of target area in the whole CCD image region, automatically calculate side-play amount and self attitude of object and adjust the required mobile step number of motor, behind the required adjustment zoom ratio of self camera lens, do not need the user to continue to rely on human eye and mouse action adjustment image, and can the automatically-controlled continuous action put in place, not only improved the operating efficiency of supervisory control system greatly, also improved user side using the convenience and quickness of supervisory control system under the narrow bandwidth network environment.
Claims (4)
1. quick stereo positioning method for video monitoring, it is characterized in that: it comprises step
A) set localizing objects, the user adopts the image form by client, selects target setting by direct click of mouse or frame; If click, then system judges that click place is the target original position and calculates this target image position coordinates, if the frame choosing, then selected frame selects the central point of image to be the target original position and to calculate this target image position coordinates;
B) calculate focal length of camera, determine its focal length according to used CCD size of video camera and the horizontal or vertical angle of camera lens;
C) calculate the angle of deviation at object and CCD center, determine the angle of deviation at object and CCD center according to object and CCD center line segment length and focal length of camera;
D) calculate horizontal stage electric machine and move step number, draw the mobile step number of horizontal stage electric machine according to the maximum step number of the angle of deviation at object and CCD center and horizontal stage electric machine adjustment permission;
E) calculate zoom and transfer multiplying power, choose the ratio of image and entire image by mouse among the calculation procedure a and determine the multiplying power that image amplifies;
F) zoom adjustment is adjusted zoom according to calculating multiplying power, detects object simultaneously with whether the CCD centreline space is offset, and as if being offset, then stops zoom, gets back to step c and redefines the angle of deviation, The Cloud Terrace moves step number and zoom ratio;
G) adjust target and locate in real time, detect object and whether be offset,, then stop zoom, get back to step c and redefine the angle of deviation, The Cloud Terrace moves step number and zoom ratio as if being offset with the CCD centreline space.
2. quick stereo positioning method for video monitoring as claimed in claim 1 is characterized in that: the calculating coincidence formula of focal length of camera among the described step b
Wherein L is a focal length of camera to be calculated, and H is CCD height or width, and a is the horizontal or vertical angle of camera lens.
3. quick stereo positioning method for video monitoring as claimed in claim 1 is characterized in that: the calculating coincidence formula of the angle of deviation among the described step c
Wherein b is the angle of deviation at object to be calculated and CCD center, and x is object and CCD center line segment length, and L is for calculating focal length of camera.
4. quick stereo positioning method for video monitoring as claimed in claim 1 is characterized in that: motor moves the pedometer operator and closes formula in the described steps d
Wherein c is that horizontal stage electric machine to be determined moves step number, the maximum step number that Smax allows for the horizontal stage electric machine adjustment, and b is the angle of deviation at object and CCD center.
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| CN2009101423553A CN101902616A (en) | 2009-06-01 | 2009-06-01 | Quick stereo positioning method for video monitoring |
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| CN102045548A (en) * | 2010-12-28 | 2011-05-04 | 天津市亚安科技电子有限公司 | Method for controlling automatic zoom of PTZ (pan/tilt/zoom) camera |
| CN102098499A (en) * | 2011-03-24 | 2011-06-15 | 杭州华三通信技术有限公司 | Pan/ tilt/ zoom (PTZ) camera control method, device and system thereof |
| CN102591366A (en) * | 2012-02-17 | 2012-07-18 | 广州盈可视电子科技有限公司 | Method and device for controlling cloud deck |
| CN102615665A (en) * | 2011-06-10 | 2012-08-01 | 苏州谷夫道自动化科技有限公司 | Automatic positioning system and method |
| CN102902465A (en) * | 2011-07-27 | 2013-01-30 | 永泰软件有限公司 | Intelligent video control method |
| CN103024276A (en) * | 2012-12-17 | 2013-04-03 | 沈阳聚德视频技术有限公司 | Positioning and focusing method of pan-tilt camera |
| CN103108170A (en) * | 2013-02-28 | 2013-05-15 | 深圳市云宙多媒体技术有限公司 | Video monitoring cloud platform controlling method and device |
| WO2014043973A1 (en) * | 2012-09-24 | 2014-03-27 | 天津市亚安科技股份有限公司 | Calculation method for automatic locating angle of pan-tilt-zoom camera |
| CN103905792A (en) * | 2014-03-26 | 2014-07-02 | 武汉烽火众智数字技术有限责任公司 | 3D positioning method and device based on PTZ surveillance camera |
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| TWI566596B (en) * | 2012-06-13 | 2017-01-11 | 鴻海精密工業股份有限公司 | Method and system for determining shooting range of lens |
| CN106454065A (en) * | 2015-08-04 | 2017-02-22 | 佳能株式会社 | Information processing apparatus and control method therefor |
| CN107438152A (en) * | 2016-05-25 | 2017-12-05 | 中国民用航空总局第二研究所 | A kind of motion cameras is to panorama target fast positioning method for catching and system |
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| CN108513077A (en) * | 2018-05-28 | 2018-09-07 | 北京文香信息技术有限公司 | A method of it is placed in the middle by mouse control camera position |
| CN108759834A (en) * | 2018-04-28 | 2018-11-06 | 温州大学激光与光电智能制造研究院 | A kind of localization method based on overall Vision |
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| CN102045548A (en) * | 2010-12-28 | 2011-05-04 | 天津市亚安科技电子有限公司 | Method for controlling automatic zoom of PTZ (pan/tilt/zoom) camera |
| CN102098499A (en) * | 2011-03-24 | 2011-06-15 | 杭州华三通信技术有限公司 | Pan/ tilt/ zoom (PTZ) camera control method, device and system thereof |
| CN102098499B (en) * | 2011-03-24 | 2013-01-30 | 杭州华三通信技术有限公司 | Pan/ tilt/ zoom (PTZ) camera control method, device and system thereof |
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| CN105427282A (en) * | 2015-11-05 | 2016-03-23 | 浙江宇视科技有限公司 | Method and device for testing 3D positioning accuracy |
| CN105427282B (en) * | 2015-11-05 | 2018-07-13 | 浙江宇视科技有限公司 | A kind of test method and device of 3D positioning accuracies |
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| CN107948946A (en) * | 2017-11-09 | 2018-04-20 | 南京南自信息技术有限公司 | A kind of industrial site high accuracy personnel positioning ball-shaped camera tracking |
| CN107948946B (en) * | 2017-11-09 | 2020-06-02 | 南京南自信息技术有限公司 | High-precision personnel positioning dome camera tracking method for industrial places |
| CN109982029A (en) * | 2017-12-27 | 2019-07-05 | 浙江宇视科技有限公司 | A kind of camera supervised scene Automatic adjustment method and device |
| CN109982029B (en) * | 2017-12-27 | 2021-11-16 | 浙江宇视科技有限公司 | Automatic adjusting method and device for camera monitoring scene |
| CN108759834A (en) * | 2018-04-28 | 2018-11-06 | 温州大学激光与光电智能制造研究院 | A kind of localization method based on overall Vision |
| CN108759834B (en) * | 2018-04-28 | 2023-03-21 | 温州大学激光与光电智能制造研究院 | Positioning method based on global vision |
| CN108513077A (en) * | 2018-05-28 | 2018-09-07 | 北京文香信息技术有限公司 | A method of it is placed in the middle by mouse control camera position |
| CN108513077B (en) * | 2018-05-28 | 2021-01-01 | 安徽文香信息技术有限公司 | Method for controlling camera to be centered through mouse |
| CN108805940A (en) * | 2018-06-27 | 2018-11-13 | 亿嘉和科技股份有限公司 | A kind of fast algorithm of zoom camera track and localization during zoom |
| CN108805940B (en) * | 2018-06-27 | 2021-06-04 | 亿嘉和科技股份有限公司 | Method for tracking and positioning zoom camera in zooming process |
| CN113947820A (en) * | 2020-07-15 | 2022-01-18 | 宁夏六盘峰云科技有限公司 | Terminal capable of supervising arrival and circle patrol of circle patrol personnel in farm |
| CN112799422B (en) * | 2021-04-06 | 2021-07-13 | 国网江苏省电力有限公司泰州供电分公司 | Unmanned aerial vehicle flight control method and device for power inspection |
| CN112799422A (en) * | 2021-04-06 | 2021-05-14 | 众芯汉创（北京）科技有限公司 | Unmanned aerial vehicle flight control method and device for power inspection |
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