CN102629986A - Automatic tracking and shooting method - Google Patents
Automatic tracking and shooting method Download PDFInfo
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- CN102629986A CN102629986A CN2012101022155A CN201210102215A CN102629986A CN 102629986 A CN102629986 A CN 102629986A CN 2012101022155 A CN2012101022155 A CN 2012101022155A CN 201210102215 A CN201210102215 A CN 201210102215A CN 102629986 A CN102629986 A CN 102629986A
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Abstract
The invention discloses an automatic tracking and shooting method. The automatic tracking and shooting method comprises the following steps of: 1. determining physical coordinate systems of A, B, C, D points of a region to be shot and tracked; 2. shooting pan-tilt coordinate values of the A, B, C and D points of the region to be shot and tracked by using a PTZ camera; 3. determining pan-tilt coordinate systems, i.e. a, b, c, d points of the A, B, C, D points of the region to be shot and tracked; 4. calculating an intersection point e and vanishing points p and q of the pan-tilt coordinate a, b, c, d points; 5. quartering the pan-tilt coordinate a, b, c and d of the region to be shot and tracked by using connecting lines of the intersection point e and the vanishing points p and q and extending lines of the connecting lines; 6. determining the quartering regions of the pan-tilt coordinates where an object to be tracked and shot is located; 7. repeatedly quartering the quartering regions of the pan-tilt coordinates where the object to be tracked and shot is located by adopting the method in the step 5; 8. finally obtaining the coordinate values of the center of a quadrangle being approximate to the pan-tilt coordinate values of the object to be shot; and 9. when an error is less than a set value, driving the PTZ camera to shoot by using an automatic tracking and shooting main machine according to the pan-tilt coordinate values of the object to be shot obtained through calculation.
Description
Technical field
The present invention relates to the shooting field, relate in particular to a kind of auto-tracking shooting method.
Background technology
Now; The demand of video capture more and more widely; Such as: various movie and video programs, news report, concert, competitive sports, meeting etc. all need be carried out video capture, and also increasingly high to the requirement of video capture, often need carry out the shooting of multi-angle, many scenes.
At present; To the video capture of multi-angle, many scenes, be through the multi-section video camera being set, arranging a plurality of photographers, doing track up by each photographer's manual work; In instructor in broadcasting's platform, switch and montage as required at last, finally form only picture and export to spectators.
The mode of multi-angle, the shooting of many scene videos is carried out in manual work, and to photographer's shooting technical ability, instructor in broadcasting's switching, montage level all have higher requirement; Because equipment and personnel have high input, the floor working strength is big, and human cost is high.Simultaneously, be subject to shooting and instructor in broadcasting personnel's ability, the reliability of shooting all can not be guaranteed with the controllability of output picture preferably.
Summary of the invention
Technical problem to be solved by this invention provides a kind of auto-tracking shooting method, and the device structure that this method adopts is simple, Installation and Debugging convenient, and automatic, high precision tracking object carries out the picture center and takes.
For solving the problems of the technologies described above, the invention provides a kind of auto-tracking shooting method, comprise monopod video camera and auto-tracking shooting main frame, may further comprise the steps:
(1) confirms the physical coordinates system of 4 of shooting area ABCD to be tracked;
(2) monopod video camera is taken the The Cloud Terrace coordinate figure of 4 of shooting area ABCD to be tracked;
(3) confirm The Cloud Terrace coordinate system abcd 4 points of 4 of shooting area ABCD to be tracked;
(4) calculate intersection point e and vanishing point p and the q of 4 of The Cloud Terrace coordinate abcd;
(5) utilize line and the extended line thereof of above-mentioned intersection point e, vanishing point p and q the The Cloud Terrace coordinate abcd quartering with shooting area to be tracked;
(6) confirm the zone of the residing above-mentioned The Cloud Terrace coordinate quartering of shot object to be tracked;
(7) treat the method iteration quartering of the residing subregion such as above-mentioned of track up object according to step (5), until the The Cloud Terrace coordinate figure of the coordinate figure at the last tetragonal center of gained and object to be shot differ very little till;
(8) approximate the The Cloud Terrace coordinate figure of object to be shot with the coordinate figure at the tetragonal center of last gained;
The The Cloud Terrace coordinate figure of the object to be shot that calculates above the auto-tracking shooting main frame basis when (9) above-mentioned error is less than set point drives monopod video camera and takes.
In the optimized technical scheme, said step (2) and step (3) also comprise the steps:
(1) the artificial monopod video camera The Cloud Terrace position of moving makes the A point of camera views center facing to physical coordinates system, and the The Cloud Terrace coordinate system coordinate figure of record this point is confirmed as a point of The Cloud Terrace coordinate system with it;
(2) repeat above-mentioned steps (1), B point, C point and the D point of record physical coordinates system are confirmed as d point, c point and the d point of The Cloud Terrace coordinate system respectively with it;
(3) hide The Cloud Terrace origin and reference axis, form complete shooting area The Cloud Terrace coordinate system to be tracked.
Further, preferred scheme is that the iterations of said step (7) is 10 times.The error that said step (8) is set is 1CM.
The present invention proposes a kind of is the basis with the perspective science, the coordinate of target object is carried out analytical calculation, thereby obtain the camera pan-tilt coordinate figure; Direct actuated camera The Cloud Terrace track up target object; And can accomplish autozoom, make target object be positioned at the center of camera views all the time, and the feature effect is arranged; And the auto-tracking shooting algorithm of this method use iterative method, precision is very high.Compared with prior art, have following useful technique effect:
1, system configuration is simple, and it is just passable that main frame adds a band cloud platform video camera.
2, system's Installation and Debugging are convenient, and the mounting strap monopod video camera confirms that 4 of area to be targeted ABCD get final product.
3, positioning accuracy is high, can reach 1 centimetre.
Description of drawings
Fig. 1 is device structure sketch map of the present invention and shooting area sketch map to be tracked;
Fig. 2 is that the physical coordinates that initial point is set up is a sketch map for shooting area to be tracked shown in Figure 1 with the A point;
Monopod video camera was taken the sketch map of shooting area to be tracked when Fig. 3 was (0,0) for the The Cloud Terrace coordinate;
Fig. 4 treats shooting area The Cloud Terrace coordinate sketch map for Fig. 3 hides behind reference axis and the initial point;
Fig. 5 treats shooting area The Cloud Terrace coordinate vanishing point and with the sketch map of its quartering for shown in Figure 4;
Fig. 6 is the zone shown in Figure 5 sketch map of the quartering once more.
Embodiment
Below in conjunction with accompanying drawing preferred implementation of the present invention is elaborated.
Embodiment:
As shown in Figure 1, the hardware device that a kind of track up method of the present invention is adopted comprises: monopod video camera and auto-tracking shooting main frame.Rectangle ABCD is a shooting area to be tracked among Fig. 1; Monopod video camera is installed in the front upper place of shooting area to be tracked; The auto-tracking shooting main frame calculates output camera pan-tilt coordinate through obtaining the coordinate of photographic subjects object to be tracked, thus the shooting orientation and the angle of control video camera.
Rectangle ABCD is a shooting area to be tracked among Fig. 1, is initial point with A point shown in Figure 1, sets up coordinate system as shown in Figure 2, and it is defined as physical coordinates system; For example: AB is long 6 meters, long 8 meters of AD, and then the D coordinate of ordering is exactly (0,8); C point coordinates (6,8), B point coordinates (6,0).
General camera pan-tilt is made up of two motors, and a controls lens level swings, and another controls lens is swung vertically; If video camera has zoom function, that also has an Electric Machine Control lens group to move forward and backward zoom in camera lens.Come to confirm the computational methods of The Cloud Terrace coordinate system in view of the above.Therefore, the The Cloud Terrace coordinate system needs three dimensions to represent, wherein the x axle is represented horizontal direction, and the y axle is represented vertical direction, and the z axle is represented fore-and-aft direction.
As shown in Figure 3, when being monopod video camera The Cloud Terrace coordinate, take the image of shooting area to be tracked for (0,0), wherein quadrangle abcd is exactly the mapping of rectangle ABCD in camera review in the physical coordinates system.
Manually the control The Cloud Terrace moves, and makes the camera views center facing to a point in the physical coordinates system, and the coordinate figure of record this point The Cloud Terrace coordinate system is defined as The Cloud Terrace coordinate mooring points a with it, in like manner can corresponding one by one physics coordinate system and the some b point c point d of The Cloud Terrace coordinate system.The The Cloud Terrace coordinate system is under video camera is taken, to obtain, so it meets the perspective science principle.Fig. 3 is hidden reference axis and initial point, just can obtain Fig. 4, Fig. 4 is complete shooting area The Cloud Terrace coordinate system to be tracked, and wherein ac hands over bd in an e.
According to the perspective science basic theories, (not parallel with picture) of all two straight lines that are parallel to each other physically all will disappear to a bit, and this point is called the point that disappears (or claiming vanishing point).It is theoretical that the video that video camera is taken meets perspective science.The physical coordinates of known target to be taken will be controlled camera pan-tilt (input The Cloud Terrace coordinate figure), makes the initial point of the image that video camera takes drop on the target to be taken (even S point coincidence that the s of The Cloud Terrace coordinate system point and physical coordinates are).
As shown in Figure 2, suppose that the S point is exactly a shot object to be tracked, the S point is mapped as some s as shown in Figure 5 in the The Cloud Terrace coordinate system, and some s is that physical coordinates is the mapping that S is ordered among Fig. 2, and the coordinate of some s is unknown, and the coordinate of some S is known.
Calculate the some s coordinate shown in Fig. 5, need carry out according to following location algorithm:
Step 1: set up physical coordinates system like Fig. 1, Fig. 2, confirm 4 physical location coordinates of ABCD, control camera pan-tilt with the auto-tracking shooting main frame and take 4 records of ABCD camera pan-tilt coordinate figure; As shown in Figure 3; In Fig. 3, confirm the mapping abcd of 4 of ABCD, Fig. 3 is simplified set up the The Cloud Terrace coordinate system, utilize 2 definite straight line mathematical methods to calculate line segment ac, line segment bd; And obtain intersection point e, this e point is exactly the E point in the physical coordinates system.Calculate the intersection point p of line segment ad, line segment bc, calculate the intersection point p of line segment ab, line segment cd, theoretical according to perspective science, the p point is the vanishing point of line segment ad, line segment bc, and the q point is the vanishing point of line segment ab, line segment cd.The inventor can obtain Fig. 5 like this.
Step 2: in Fig. 5, the extended line of line segment pe hands over cd in a n, and ab is in m for the intersection section; The extended line intersection section ad that makes qe is in a j, and bc is in k for the intersection section.Like this line segment mn be exactly physical coordinates be the mapping of the line segment MN among Fig. 2, line segment jk is exactly the mapping of the line segment JK in the physical coordinates system.Line segment mn and line segment jk are divided into four little quadrangle amej, mbke, ekcn, jemd to quadrangle abcd.These four little quadrangles are that physical coordinates is the mapping of rectangle AMEJ, MBKE, EKCN, JEMD among Fig. 2.In fact rectangle AMEJ, MBKE, EKCN, JEMD are equal-sized four rectangles.
Step 3: in Fig. 2; Point S in quadrangle ABCD, can calculation level S be the Left or right, some S of straight line MN on straight line JK or below come diacritical point S to be divided among four little quadrangle AMEJ, MBKE, EKCN, the JEMD which at quadrangle ABCD.The S point is in little quadrangle EKCH among Fig. 2.
Step 4: know that through the step 3 inventor physical coordinates mooring points S is in quadrangle EKCH, and with it mutually in the The Cloud Terrace coordinate system of mapping actual shooting point s to be tracked also just in quadrangle ekcn.The inventor asks the mid point f of line segment ek to Fig. 5 The Cloud Terrace coordinate system, calculates the mid point l of line segment cn, calculates the mid point g of line segment en, calculates the mid point h of line segment kc, and to divide quadrangle ekcn equally be four little quadrangles to line segment fl line segment gh like this.Kn is in the i point for line segment ec intersection section, and the i point is exactly the center of quadrangle ekcn.The inventor just can obtain Fig. 6 like this.
Step 5: inventor's repeating step three in Fig. 2 physical coordinates system, but quadrangle ABCD replaces with little quadrangle EKCN, the inventor obtains the intersection I of line segment EC line segment KN.Cross parallel lines FL intersection section EK that the I point is line segment BC in a F, intersection section CN is in a L; Cross parallel lines GH intersection section BC that the I point is line segment CD in a H, intersection section EN is in a G.Line segment FL line segment GH is divided into four littler quadrangles to little quadrangle EKCN like this.The inventor can calculate a S in quadrangle FKNI.Point T is the center of quadrangle FKNI.Making uses the same method continues four fens quadrangles N time, obtains a very little quadrangle at last, and this tetragonal center approximates the position of a S, and this error is very little, if dissatisfied this error, can continue four fens quadrangles arrive suitable till.General 10 times just passable.This repeats to cut apart tetragonal method and on mathematics, is iterative method.
Step 6: the process of inventor's repeating step four, five physical coordinates are the rectangle that tetragonal mapping in four fens comes four fens The Cloud Terrace coordinate systems set by step.Same iteration N time obtains a little rectangle at last, calculates the center of this little rectangle, iterations with until at last the The Cloud Terrace coordinate figure of the coordinate figure at the tetragonal center of gained and object to be shot differ very little till; This value approximates the coordinate of a s.If error is too big, can strengthen iterations.Iteration reduces error
Step 7: the inventor has known the coordinate s of shot object to be tracked at the The Cloud Terrace coordinate system, directly says the word to drive The Cloud Terrace to this point, can accomplish auto-tracking shooting.Confirm shot object The Cloud Terrace coordinate to be tracked, drive monopod video camera, accomplish track up.
Need to prove that at last the above is merely preferred embodiment of the present invention, rather than to the qualification of technical scheme of the present invention, anyly be equal to replacement or corresponding improvement, still within protection scope of the present invention what technical characterictic of the present invention was done.
Claims (4)
1. an auto-tracking shooting method comprises monopod video camera and auto-tracking shooting main frame, it is characterized in that, may further comprise the steps:
(1) confirms the physical coordinates system of 4 of shooting area ABCD to be tracked;
(2) monopod video camera is taken the The Cloud Terrace coordinate figure of 4 of shooting area ABCD to be tracked;
(3) confirm The Cloud Terrace coordinate system abcd 4 points of 4 of shooting area ABCD to be tracked;
(4) calculate intersection point e and vanishing point p and the q of 4 of The Cloud Terrace coordinate abcd;
(5) utilize line and the extended line thereof of above-mentioned intersection point e, vanishing point p and q the The Cloud Terrace coordinate abcd quartering with shooting area to be tracked;
(6) confirm the zone of the residing above-mentioned The Cloud Terrace coordinate quartering of shot object to be tracked;
(7) treat the method iteration quartering of the residing subregion such as above-mentioned of track up object according to step (5), until the The Cloud Terrace coordinate figure of the coordinate figure at the last tetragonal center of gained and object to be shot differ very little till;
(8) approximate the The Cloud Terrace coordinate figure of object to be shot with the coordinate figure at the tetragonal center of last gained;
The The Cloud Terrace coordinate figure of the object to be shot that calculates above the auto-tracking shooting main frame basis when (9) above-mentioned error is less than set point drives monopod video camera and takes.
2. a kind of auto-tracking shooting method as claimed in claim 1 is characterized in that: said step (2) and step (3) also comprise the steps:
(1) the artificial monopod video camera The Cloud Terrace position of moving makes the A point of camera views center facing to physical coordinates system, and the The Cloud Terrace coordinate system coordinate figure of record this point is confirmed as a point of The Cloud Terrace coordinate system with it;
(2) repeat above-mentioned steps (1), B point, C point and the D point of record physical coordinates system are confirmed as d point, c point and the d point of The Cloud Terrace coordinate system respectively with it;
(3) hide The Cloud Terrace origin and reference axis, form complete shooting area The Cloud Terrace coordinate system to be tracked.
3. a kind of auto-tracking shooting method as claimed in claim 1 is characterized in that: the iterations of said step (7) is 10 times.
4. a kind of auto-tracking shooting method as claimed in claim 1 is characterized in that: the error that said step (8) is set is 1CM.
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| CN201210102215.5A CN102629986B (en) | 2012-04-10 | 2012-04-10 | Automatic tracking and shooting method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109120849A (en) * | 2018-09-19 | 2019-01-01 | 北京文香信息技术有限公司 | A kind of intelligent image pickup method for the tracking of micro- class |
| CN110349219A (en) * | 2018-04-04 | 2019-10-18 | 杭州海康威视数字技术股份有限公司 | A kind of Camera extrinsic scaling method and device |
| CN113506340A (en) * | 2021-06-15 | 2021-10-15 | 浙江大华技术股份有限公司 | Method and equipment for predicting cloud deck pose and computer readable storage medium |
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| WO2011070708A1 (en) * | 2009-12-08 | 2011-06-16 | パナソニック株式会社 | Image processing apparatus |
| CN202334717U (en) * | 2011-11-29 | 2012-07-11 | 上海迈辉信息技术有限公司 | Automatic tracking camera device |
| CN103206917A (en) * | 2012-01-11 | 2013-07-17 | 广州市奥威亚电子科技有限公司 | Indoor location method |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2011070708A1 (en) * | 2009-12-08 | 2011-06-16 | パナソニック株式会社 | Image processing apparatus |
| CN202334717U (en) * | 2011-11-29 | 2012-07-11 | 上海迈辉信息技术有限公司 | Automatic tracking camera device |
| CN103206917A (en) * | 2012-01-11 | 2013-07-17 | 广州市奥威亚电子科技有限公司 | Indoor location method |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110349219A (en) * | 2018-04-04 | 2019-10-18 | 杭州海康威视数字技术股份有限公司 | A kind of Camera extrinsic scaling method and device |
| CN109120849A (en) * | 2018-09-19 | 2019-01-01 | 北京文香信息技术有限公司 | A kind of intelligent image pickup method for the tracking of micro- class |
| CN109120849B (en) * | 2018-09-19 | 2020-09-18 | 安徽文香信息技术有限公司 | Intelligent shooting method for micro-class tracking |
| CN113506340A (en) * | 2021-06-15 | 2021-10-15 | 浙江大华技术股份有限公司 | Method and equipment for predicting cloud deck pose and computer readable storage medium |
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| CN102629986B (en) | 2014-06-11 |
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