CN102629986B - Automatic tracking and shooting method - Google Patents
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- CN102629986B CN102629986B CN201210102215.5A CN201210102215A CN102629986B CN 102629986 B CN102629986 B CN 102629986B CN 201210102215 A CN201210102215 A CN 201210102215A CN 102629986 B CN102629986 B CN 102629986B
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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 shooting field, relate in particular to a kind of auto-tracking shooting method.
Background technology
Now, the demand of video capture is more and more extensive, such as: various movie and video programs, news report, concert, competitive sports, meeting etc. all need to carry out video capture, and also more and more higher to the requirement of video capture, often need to carry out the shooting of multi-angle, many scenes.
At present, for the video capture of multi-angle, many scenes, be by multi-section video camera being set, arranging multiple photographers, manually doing track up by each photographer, finally in instructor in broadcasting's platform, switch and montage as required, finally form most suitable picture and export to spectators.
The mode of manually carrying out multi-angle, the shooting of many scene videos, to photographer's shooting technical ability, instructor in broadcasting's switching, montage level have higher requirement; Because equipment and personnel have high input, floor working strength is large, and human cost is high.Meanwhile, be limited to shooting and instructor in broadcasting personnel's ability, the controllability of the reliability of shooting and output picture all can not be guaranteed preferably.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of auto-tracking shooting method, and simple, the Installation and Debugging of device structure that the method adopts are convenient, automatically, high precision tracking object carries out picture center and take.
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, comprise the following steps:
(1) determine 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) determine 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 the line of above-mentioned intersection point e, vanishing point p and q and extended line thereof by the The Cloud Terrace coordinate abcd quartering of shooting area to be tracked;
(6) determine the region of the residing above-mentioned The Cloud Terrace coordinate quartering of shot object to be tracked;
(7) treat the residing subregion such as above-mentioned of track up object according to the method iteration quartering of step (5), until the coordinate figure at the tetragonal center of last gained and the The Cloud Terrace coordinate figure of 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;
(9) when above-mentioned error is less than set point, auto-tracking shooting main frame drives monopod video camera to take according to the The Cloud Terrace coordinate figure of the object to be shot calculating above.
In preferred technical scheme, described step (2) and step (3) also comprise the steps:
(1) moved by hand monopod video camera The Cloud Terrace position, makes the A point of camera views center facing to physical coordinates system, records the The Cloud Terrace coordinate system coordinate figure of this point, is defined as a point of The Cloud Terrace coordinate system;
(2) repeat above-mentioned steps (1), record B point, C point and the D point of physical coordinates system, it is defined as respectively to d point, c point and the d point of The Cloud Terrace coordinate system;
(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 described step (7) is 10 times.The error that described step (8) is set is 1CM.
The present invention proposes a kind of take perspective science as basis, the coordinate of target object is carried out to analytical calculation, thereby obtain camera pan-tilt coordinate figure, directly actuated camera The Cloud Terrace track up target object, and can complete autozoom, make target object be positioned at all the time the center of camera views, and have feature effect, and the auto-tracking shooting algorithm of this method use iterative method, precision is very high.Compared with prior art, there is following useful technique effect:
1, system configuration is simple, and a main frame adds one and is with monopod video camera just passable.
2, system Installation and Debugging are convenient, and mounting strap monopod video camera, determines 4 of area to be targeted ABCD.
3, positioning precision is high, can reach 1 centimetre.
Accompanying drawing explanation
Fig. 1 is device structure schematic diagram of the present invention and shooting area schematic diagram to be tracked;
Fig. 2 is that the physical coordinates that shooting area to be tracked shown in Fig. 1 is set up take A point as initial point is schematic diagram;
When Fig. 3 is The Cloud Terrace coordinate for (0,0), monopod video camera is taken the schematic diagram of shooting area to be tracked;
Fig. 4 is that Fig. 3 hides and treats shooting area The Cloud Terrace coordinate schematic diagram after reference axis and initial point;
Fig. 5 treats shooting area The Cloud Terrace coordinate vanishing point and by the schematic diagram of its quartering shown in Fig. 4;
Fig. 6 is the schematic diagram of the quartering again of region shown in Fig. 5.
Embodiment
Below in conjunction with accompanying drawing, the preferred embodiment 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 adopts comprises: monopod video camera and auto-tracking shooting main frame.In Fig. 1, rectangle ABCD is shooting area to be tracked, monopod video camera is arranged on the front upper place of shooting area to be tracked, auto-tracking shooting main frame, by obtaining the coordinate of photographic subjects object to be tracked, calculates output camera pan-tilt coordinate, thereby controls shooting orientation and the angle of video camera.
In Fig. 1, rectangle ABCD is shooting area to be tracked, take the A point shown in Fig. 1 as initial point, sets up coordinate system as shown in Figure 2, is defined as physical coordinates system, for example: long 6 meters of AB, long 8 meters of AD, the coordinate that D is ordered is exactly (0,8), C point coordinates (6,8), B point coordinates (6,0).
General camera pan-tilt is made up of two motors, controls camera lens level for one and swings, and another is controlled camera lens and swings 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.Carry out accordingly to determine the computational methods of The Cloud Terrace coordinate system.Therefore, The Cloud Terrace coordinate system needs three dimensions to represent, wherein x axle represents horizontal direction, and y axle represents vertical direction, and z axle represents fore-and-aft direction.
As shown in Figure 3, when being monopod video camera The Cloud Terrace coordinate for (0,0), take the image of shooting area to be tracked, wherein quadrangle abcd is exactly rectangle ABCD in the physical coordinates system mapping in camera review.
Manually control The Cloud Terrace and move, make camera views center facing to a point in physical coordinates system, record the coordinate figure of this point The Cloud Terrace coordinate system, be defined as The Cloud Terrace coordinate mooring points a, in like manner the some b point c point d of corresponding physics coordinate system and The Cloud Terrace coordinate system one by one.The Cloud Terrace coordinate system is to obtain under video camera is taken, so it meets perspective science principle.Fig. 3 is hidden to 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 perspective science basic theories, (not parallel with picture) of all physically two straight lines that are parallel to each other all will disappear to a bit, and this point is called the point that disappears (or claiming vanishing point).The video that video camera is taken meets perspective science theory.The physical coordinates of known target to be taken, control camera pan-tilt (input The Cloud Terrace coordinate figure), makes the initial point of the image of video camera shooting drop on (even if the S point of the s of The Cloud Terrace coordinate system point and physical coordinates system overlaps) in target to be taken.
As shown in Figure 2, suppose that S point is exactly shot object to be tracked, S point is mapped as some s as shown in Figure 5 in The Cloud Terrace coordinate system, and some s is that in Fig. 2, physical coordinates is the mapping that S is ordered, 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 to carry out according to following location algorithm:
Step 1: set up as shown in Figure 1, Figure 2 physical coordinates system, determine 4 physical location coordinates of ABCD, control 4 of ABCD of camera pan-tilt shooting with auto-tracking shooting main frame and record camera pan-tilt coordinate figure, as shown in Figure 3, the mapping abcd that determines 4 of ABCD in Fig. 3, simplifies and sets up The Cloud Terrace coordinate system Fig. 3, utilizes 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 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, according to perspective science theory, p point is the vanishing point of line segment ad, line segment bc, and q point is the vanishing point of line segment ab, line segment cd.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 intersection section; Make the extended line intersection section ad of qe in a j, bc is in k for intersection section.Like this line segment mn be exactly physical coordinates be the mapping of the line segment MN in Fig. 2, line segment jk is exactly the mapping of the line segment JK in physical coordinates system.Line segment mn and line segment jk are divided into four little quadrangle amej, mbke, ekcn, jemd quadrangle abcd.These four little quadrangles are that physical coordinates is the mapping of rectangle AMEJ, MBKE, EKCN, JEMD in Fig. 2.In fact rectangle AMEJ, MBKE, EKCN, JEMD are equal-sized four rectangles.
Step 3: in Fig. 2, point S in quadrangle ABCD, Left or right, the some S that can calculation level S be straight line MN be on straight line JK or below carry out diacritical point S and be divided into which in four little quadrangle AMEJ, MBKE, EKCN, JEMD at quadrangle ABCD.In Fig. 2, S point is in little quadrangle EKCH.
Step 4: know that by 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.Inventor asks the mid point f of line segment ek to Fig. 5 The Cloud Terrace coordinate system, calculate 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 quadrangle ekcn is divided equally is four little quadrangles to line segment fl line segment gh like this.Kn is in i point for line segment ec intersection section, and i point is exactly the center of quadrangle ekcn.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, inventor obtains the intersection I of line segment EC line segment KN.Cross parallel lines FL intersection section EK that I point is line segment BC in a F, intersection section CN is in a L; Cross parallel lines GH intersection section BC that 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 less quadrangles little quadrangle EKCN like this.Inventor can calculate a S in quadrangle FKNI.Point T is the center of quadrangle FKNI.Make to use the same method and continue four points of quadrangles N time, finally obtain a very little quadrangle, this tetragonal center approximates the position of a S, and this error is very little, if dissatisfied this error can continue four points of quadrangles till suitable.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 is the rectangle that four points of tetragonal mappings carry out four points of The Cloud Terrace coordinate systems by step 5 physical coordinates.Same iteration N time, finally obtains a little rectangle, calculates the center of this little rectangle, iterations with until finally the coordinate figure at the tetragonal center of gained and the The Cloud Terrace coordinate figure of object to be shot differ very little till; This value approximates the coordinate of a s.If error is too large, can strengthen iterations.Iteration reduces error
Step 7: inventor has known the coordinate s of shot object to be tracked at The Cloud Terrace coordinate system, directly says the word and drives The Cloud Terrace to this point, can complete auto-tracking shooting.Determine shot object The Cloud Terrace coordinate to be tracked, drive monopod video camera, complete track up.
Finally it should be noted that, the foregoing is only preferred embodiment of the present invention, rather than restriction to technical solution of the present invention, any being equal to that the technology of the present invention feature is done, replaces or corresponding improvement, still within protection scope of the present invention.
Claims (3)
1. an auto-tracking shooting method, comprises monopod video camera and auto-tracking shooting main frame, it is characterized in that, comprises the following steps:
(1) determine 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; Determine The Cloud Terrace coordinate system abcd 4 points of 4 of shooting area ABCD to be tracked;
(3) moved by hand monopod video camera The Cloud Terrace position, makes the A point of camera views center facing to physical coordinates system, records the The Cloud Terrace coordinate system coordinate figure of this point, is defined as a point of The Cloud Terrace coordinate system; Repetitive manual moves monopod video camera The Cloud Terrace position, makes camera views center B point, C point and the D point facing to physical coordinates system, records B point, C point and D point that physical coordinates is, and it is defined as respectively to b point, c point and the d point of The Cloud Terrace coordinate system; Hide The Cloud Terrace origin and reference axis, form complete shooting area The Cloud Terrace coordinate system 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 the line of above-mentioned intersection point e, vanishing point p and q and extended line thereof by the The Cloud Terrace coordinate abcd quartering of shooting area to be tracked;
(6) determine the region of the residing above-mentioned The Cloud Terrace coordinate quartering of shot object to be tracked;
(7) treat the residing subregion such as above-mentioned of track up object according to the method iteration quartering of step (5), until the coordinate figure at the tetragonal center of last gained and the The Cloud Terrace coordinate figure of 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;
(9) while being less than set point with the difference of the coordinate figure at the tetragonal center of last gained and the The Cloud Terrace coordinate figure of object to be shot, auto-tracking shooting main frame drives monopod video camera to take according to the The Cloud Terrace coordinate figure of the object to be shot calculating above.
2. a kind of auto-tracking shooting method as claimed in claim 1, is characterized in that: the iterations of described step (7) is 10 times.
3. a kind of auto-tracking shooting method as claimed in claim 1, is characterized in that: the set point in described step (9) is 1CM.
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| 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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