CN104680540B - A kind of video camera space area coverage acquisition methods for simple monitored object - Google Patents
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Abstract
The invention discloses a kind of video camera space area coverage acquisition methods for simple monitored object, comprise the following steps：Monitored area three-dimensional physical model is imported, determines the installation site of video camera；In three-dimensional coordinate system, according to the installation site of video camera, six faces of view frustums are obtained, obtain video camera range of exposures；Obtain institute of the simple monitored object surface in video camera range of exposures a little；The point in S3 is classified by the plane on residing simple monitored object, a set is formed per a kind of point；By the two-dimensional coordinate be converted to a little on same plane the point in a set, the convex closure that the two-dimensional coordinate point in the plane is formed is obtained；Convex closure corresponding to each set is obtained with this；Space area coverage of the video camera on simple monitored object is obtained according to convex closure.Using the present invention, space area coverage of the video camera to simple monitored object can be accurately obtained.
Description
Technical field
The present invention relates to image identification technical field, more particularly to a kind of acquisition methods of video camera space area coverage.
Background technology
Video monitoring system is applied to many occasions, such as transformer station's unattended system.Video monitoring system
The basis unattended as support transformer station is, it is necessary to the running status of real-time monitoring equipment.Video camera after mounting, is analyzed
The spatial coverage of the presetting bit monitored object of video camera, foundation can be provided for the accuracy of presetting bit.Video camera at present
Layout be all first according to two-dimentional drawing install, after installing further according to naked eyes identify adjust video camera presetting bit, belong to mesh
Survey layout method.This method lacks flexibility, and precision is low, and differs and surely monitor equipment exactly.Using range estimation cloth
Office's method, generally require repeatedly to carry out scene exploration on the spot, the fund brought wastes.
The content of the invention
The purpose of the present invention is overcome the deficiencies in the prior art, there is provided a kind of video camera for simple monitored object
Space area coverage acquisition methods.Using this method, video camera can be obtained in a pre-installation model is covered to the space of monitored object
Enclose, the setting of installation site and presetting bit for video camera provides foundation, avoids estimating layout method's flexibility deficiency, accuracy
Deficiency low, precision is low, avoid repeatedly carrying out the fund waste that scene exploration on the spot is brought.
The purpose of the present invention is achieved through the following technical solutions：
A kind of video camera space area coverage acquisition methods for simple monitored object, comprise the following steps：
S1：Monitored area three-dimensional physical model is imported, determines the installation site of video camera；
S2：In three-dimensional coordinate system, according to the installation site of video camera, six faces of view frustums are obtained, are taken the photograph
Camera range of exposures；
S3：Obtain institute of the simple monitored object surface in video camera range of exposures a little；
S4：The point in S3 is classified by the plane on residing simple monitored object, a set is formed per a kind of point；
S5：By the two-dimensional coordinate be converted to a little on same plane the point in a set, two in the plane are obtained
The convex closure that dimension coordinate point is formed；Convex closure corresponding to each set is obtained with this；
S6：Space area coverage of the video camera on simple monitored object is obtained according to convex closure.
Further, in the S2, the projection matrix of video camera isImaged
The plane equation in six faces of the view frustums of machine is as follows：
Left cutting face：x(m41+m11)+y(m42+m12)+z(m43+m13)+(m44+m14)=0；
Right cutting face：x(m41-m11)+y(m42-m12)+z(m43-m13)+(m44-m14)=0；
Upper cutting face：x(m21-m11)+y(m22-m12)+z(m23-m13)+(m24-m14)=0；
Lower cutting face:x(m21+m11)+y(m22+m12)+z(m23+m13)+(m24+m14)=0；
It is near to cut face:x(m31+m11)+y(m32+m12)+z(m33+m13)+(m34+m14)=0；
It is remote to cut face:x(m31-m11)+y(m32-m12)+z(m33-m13)+(m34-m14)=0；
In this way, obtain video camera range of exposures；
In the S3, the institute on simple monitored object surface is a little represented by set R, and the P that sets up an office (Px, Py, Pz) is in R set
A bit, if P is in video camera range of exposures, it is necessary to meet：
A little, the point in video camera range of exposures forms set U for institute in traversal set R.
Further, the S4 is included as follows step by step：
S4.1：Simple monitored object surface forms a little set U in video camera range of exposures, appoints in set U
Take three point A (xA, yA, zA)、B(xB, yB, zB)、C(xC, yC, zC), one plane of this 3 points compositions；
By
Obtain
According to plane equation general expression ax+by-cz+d=0
Obtain
By A (xA, yA, zA) bring plane equation general expression into
(yAzB-yAzC-yBzA+yBzC+yCzA-yCzB)xA+(-xAzB+xAzC+xBzA-xBzC-xCzA+xCzB)yA+(xAyB-
xAyC-xByA+yC+xCyA-xCyB)zA+ d=0
Obtain d=-xAyBzC+xAyCzB+xByAzC-xByCzA-xCyAzB+xCyBzA；
So obtain 3 points of A, B, C plane equation
(yAzB-yAzC-yBzA+yBzC+yCzA-yCzB)x+(-xAzB+xAzC+xBzA-xBzC-xCzA+xCzB)y+(xAyB-xAyC-
xByA+xByC+xCyA-xCyB)z+(-xAyBzC+xAyCzB+xByAzC-xByCzA-xCyAzB+xCyBzA)=0；
S4.2：Travel through institute in set U and a little, bring each point into plane equation respectively；A points, B points, C points and meet plane
The point of equation is a kind of point, collectively forms a set；By A points, B points, C points and meet that the point of plane equation moves from set U
Remove；
S4.3：S4.1, S4.2 are repeated, until institute is a little all removed in set U；
Wherein O is coordinate origin.
Further, in the S5, gathered corresponding to convex closure the step of it is as follows：
S5.1：Appoint in a set and take three not conllinear point R, P, Q；
Unitization vectorObtain
Wherein<,>Represent inner product of vectors；
Unitization vectorObtain
Thus, any point K two-dimensional coordinate is in the setObtain two-dimensional coordinate
Point；
S5.2：Appoint in two-dimensional coordinate point and take a point G, travel through institute in the set and a little, find with point G apart from farthest point
H；
S5.3：Using point H as basic point, vector is respectively constituted with other each points in the set；It is vectorial for angle identical, than
Compared with the size of vector field homoemorphism, retain the maximum vector of modulus value, give up the point in addition to point H in its complement vector；
S5.4：In the remaining points of S5.3, respectively using every bit as basic point, vector is formed with other each points；For angle
Identical vector, compare the size of vector field homoemorphism, retain the maximum vector of modulus value, give up in its complement vector in addition to basic point
Point；
S5.5：In the remaining points of S5.4, it is a little optionally basic point, vector is formed with other each points；By adjacent vector
End points connection in the angle of composition in addition to summit；Compare vectorial angle between any two, select two maximum vectors of angle,
The two vectorial basic points are connected with end points；The convex polygon of formation is convex closure corresponding to the set.
Further, the S6 is included as follows step by step：
S6.1：Give up the convex closure for only including three points, convex closure is divided into several triangles, the face of triangle by residue
Product
Wherein, a, b, c are respectively the Atria side length of side, p=(a+b+c)/2；
All triangle area sums are convex closure area；
S6.2：All convex closure areas are added and obtain space area coverage of the video camera on simple monitored object.
The advantages of the present invention are：
Using the present invention, space area coverage of the video camera to simple monitored object can be accurately obtained, so as to be shooting
The installation site of machine and the setting of presetting bit provide foundation, avoid range estimation layout method flexibility deficiency, accuracy is low, precision is low
Deficiency, avoid repeatedly carrying out the fund waste that scene exploration on the spot is brought.
Brief description of the drawings
In order to illustrate more clearly of embodiments of the invention, below by describing what is used required in the embodiment of the present invention
Accompanying drawing is briefly described.It will be apparent that drawings in the following description are only some embodiments described in the present invention, it is right
For those skilled in the art, without creative efforts, it can also be obtained according to following accompanying drawing
Its accompanying drawing.
Fig. 1 is the structural representation of simple monitored object；
Fig. 2 is the schematic diagram of camera view cone body；
Fig. 3 is the schematic diagram that simple monitored object is located in video camera range of exposures；
Fig. 4 is the schematic diagram A for obtaining convex closure；
Fig. 5 is the schematic diagram B for obtaining convex closure；
Fig. 6 is the schematic diagram C for obtaining convex closure；
Fig. 7 is the schematic diagram D for obtaining convex closure；
Fig. 8 is the schematic diagram of convex closure；
Fig. 9 is the schematic diagram that convex closure is divided into multiple triangles.
Embodiment
In order that those skilled in the art more fully understands the present invention, below in conjunction with the accompanying drawing in the embodiment of the present invention
Clear, complete description is carried out to the technical scheme in the embodiment of the present invention.It will be apparent that embodiment described below is only
It is the part in the embodiment of the present invention, rather than all.The embodiment recorded based on the present invention, those skilled in the art are not
The other all embodiments obtained in the case of paying creative work, in the scope of protection of the invention.
Heretofore described simple monitored object represents to be in polyhedral monitored object, such as cuboid, octahedron etc..
Embodiment：
In the present embodiment, by taking the simple monitored object in cuboid shown in Fig. 1 as an example, to video camera space area coverage
Acquisition methods illustrate.
A kind of video camera space area coverage acquisition methods for simple monitored object, comprise the following steps：
S1：Monitored area three-dimensional physical model is imported, determines the installation site of video camera；
S2：In three-dimensional coordinate system, according to the installation site of video camera, six faces of view frustums are obtained, are taken the photograph
Camera range of exposures；
S3：Obtain institute of the simple monitored object surface in video camera range of exposures a little；
S4：The point in S3 is classified by the plane on residing simple monitored object, a set is formed per a kind of point；
S5：By the two-dimensional coordinate be converted to a little on same plane the point in a set, two in the plane are obtained
The convex closure that dimension coordinate point is formed；Convex closure corresponding to each set is obtained with this；
S6：Space area coverage of the video camera on simple monitored object is obtained according to convex closure.
Step S2~S6 is described in detail below.
Detailed description to S2.
It is the schematic diagram of camera view cone body under the installation site shown in Fig. 2.
Using O points in Fig. 2 as coordinate origin, according to camera installation locations, the projection matrix for trying to achieve video camera is
The plane equation for obtaining six faces of the view frustums of video camera is as follows：
Left cutting face：x(m41+m11)+y(m42+m12)+z(m43+m13)+(m44+m14)=0；
Right cutting face：x(m41-m11)+y(m42-m12)+z(m43-m13)+(m44-m14)=0；
Upper cutting face：x(m21-m11)+y(m22-m12)+z(m23-m13)+(m24-m14)=0；
Lower cutting face:x(m21+m11)+y(m22+m12)+z(m23+m13)+(m24+m14)=0；
It is near to cut face:x(m31+m11)+y(m32+m12)+z(m33+m13)+(m34+m14)=0；
It is remote to cut face:x(m31-m11)+y(m32-m12)+z(m33-m13)+(m34-m14)=0；
In this way, obtain video camera range of exposures；
It should be noted that the derivation method of video camera projection matrix is prior art, here is omitted.
Detailed description to S3.
The institute on simply monitored object surface is a little represented that the P that sets up an office (Px, Py, Pz) is a bit in R set, if P by set R
In video camera range of exposures, it is necessary to meet：
A little, the point in video camera range of exposures forms set U for institute in traversal set R.
Fig. 3 is the schematic diagram that simple monitored object is located in video camera range of exposures, and wherein dash area is represented to be located at and taken the photograph
Part in camera range of exposures, for set U.
Detailed description to S4.
S4.1：Appoint in set U and take three point A (xA, yA, zA)、B(xB, yB, zB)、C(xC, yC, zC), this 3 points form one
Plane；
By
Obtain
According to plane equation general expression ax+by-cz+d=0
Obtain
By A (xA, yA, zA) bring plane equation general expression into
(yAzB-yAzC-yBzA+yBzC+yCzA-yCzB)xA+(-xAzB+xAzC+xBzA-xBzC-xCzA+xCzB)yA+(xAyB-
xAyC-xByA+yC+xCyA-xCyB)zA+ d=0
Obtain d=-xAyBzC+xAyCzB+xByAzC-xByCzA-xCyAzB+xCyBzA；
So obtain 3 points of A, B, C plane equation
(yAzB-yAzC-yBzA+yBzC+yCzA-yCzB)x+(-xAzB+xAzC+xBzA-xBzC-xCzA+xCzB)y+(xAyB-xAyC-
xByA+xByC+xCyA-xCyB)z+(-xAyBzC+xAyCzB+xByAzC-xByCzA-xCyAzB+xCyBzA)=0；
S4.2：Travel through institute in set U and a little, bring each point into plane equation respectively；A points, B points, C points and meet plane
The point of equation is a kind of point, collectively forms a set；By A points, B points, C points and meet that the point of plane equation moves from set U
Remove；
S4.3：S4.1, S4.2 are repeated, until institute is a little all removed in set U.
Detailed description to S5.
S5.1：Appoint in a set and take three not conllinear point R, P, Q；
Unitization vectorObtain
Wherein<,>Represent inner product of vectors；
Unitization vectorObtain
Thus, any point K two-dimensional coordinate is in the setObtain two-dimensional coordinate
Point；
S5.2：Take a point G as shown in figure 4, appointing in two-dimensional coordinate point, travel through in the set institute a little, find with point G away from
From farthest point H.
S5.3：As shown in figure 4, using point H as basic point, vector is respectively constituted with other each points in the set；For angle phase
Same vector, compare the size of vector field homoemorphism, retain the maximum vector of modulus value, give up the point in addition to point H in its complement vector.
As shown in figure 4,WithCollinearly, the big vector of modulus value is retainedCut-off point N.
S5.4：In the remaining points of S5.3, respectively using every bit as basic point, vector is formed with other each points；For angle
Identical vector, compare the size of vector field homoemorphism, retain the maximum vector of modulus value, give up in its complement vector in addition to basic point
Point.
S5.4 is described in detail below：
As shown in figure 5, with K points position basic point, vector is formed with other each points,WithCollinearly, retain modulus value it is big to
Amount, cut-off point G.Then in left point, it is basic point to choose a point in addition to K points, and vector is formed with other each points；For
Angle identical vector, compare the size of vector field homoemorphism, retain the maximum vector of modulus value, give up in its complement vector in addition to basic point
Point.Constantly repeatedly, until in the point being retained, each point is by as a basic point excessively.
S5.5：The remaining points of S5.4 are as shown in Figure 6.It is a little optionally basic point, with other each points in the remaining points of S5.4
Form vector；End points in the angle that adjacent vector is formed in addition to summit connects；Compare vectorial angle between any two, select
Two maximum vectors of angle are selected, the two vectorial basic points are connected with end points；The convex polygon of formation is the set pair
The convex closure answered.
Specifically, as shown in fig. 7, it is basic point to select K points, vector is formed with other each points.Tie point L and point M, tie point
M and point H, tie point H and point I, tie point H and point I.Wherein,WithAngle it is maximum, therefore, tie point K and point J, company
Contact K and point L.The convex polygon as shown in Figure 8 formed is convex closure corresponding to the set.
According to said method obtain convex closure corresponding to each set.
Detailed description to S6.
S6.1：Give up the convex closure for only including three points, convex closure is divided into several triangles by residue.With described in Fig. 8
Convex closure exemplified by, be divided into four triangles as shown in Figure 9.
Calculate the area of each triangle
Wherein, a, b, c are respectively the Atria side length of side, p=(a+b+c)/2.
All triangle area sums are convex closure area.
S6.2：All convex closure areas are added and obtain space area coverage of the video camera on simple monitored object.
As described above, you can preferably realize the present invention.
Claims (5)
1. a kind of video camera space area coverage acquisition methods for simple monitored object, it is characterised in that including following step
Suddenly：
S1：Monitored area three-dimensional physical model is imported, determines the installation site of video camera；
S2：In three-dimensional coordinate system, according to the installation site of video camera, six faces of view frustums are obtained, obtain video camera
Range of exposures；
S3：Obtain institute of the simple monitored object surface in video camera range of exposures a little；
S4：The point in S3 is classified by the plane on residing simple monitored object, a set is formed per a kind of point；
S5：By the two-dimensional coordinate be converted to a little on same plane the point in a set, the two dimension seat in the plane is obtained
The convex closure that punctuate is formed；Convex closure corresponding to each set is obtained with this；
S6：Space area coverage of the video camera on simple monitored object is obtained according to convex closure.
2. a kind of video camera space area coverage acquisition methods for simple monitored object according to claim 1, its
It is characterised by：
In the S2, the projection matrix of video camera isObtain the six of the view frustums of video camera
The plane equation in individual face is as follows：
Left cutting face：x(m41+m11)+y(m42+m12)+Z(m43+m13)+(m44+m14)=0；
Right cutting face：x(m41-m11)+y(m42-m12)+Z(m43-m13)+(m44-m14)=0；
Upper cutting face：x(m21-m11)+y(m22-m12)+Z(m23-m13)+(m24-m14)=0；
Lower cutting face：x(m21+m11)+y(m22+m12)+Z(m23+m13)+(m24+m14)=0；
It is near to cut face：x(m31+m11)+y(m32+m12)+Z(m33+m13)+(m34+m14)=0；
It is remote to cut face：x(m31-m11)+y(m32-m12)+Z(m33-m13)+(m34-m14)=0；
In this way, obtain video camera range of exposures；
In the S3, the institute on simple monitored object surface is a little represented by set R, and the P that sets up an office (Px, Py, Pz) is one in R set
Point, if P is in video camera range of exposures, it is necessary to meet：
A little, the point in video camera range of exposures forms set U for institute in traversal set R.
3. a kind of video camera space area coverage acquisition methods for simple monitored object according to claim 1, its
It is characterised by, the S4 is included as follows step by step：
S4.1：Simple monitored object surface forms a little set U in video camera range of exposures, appoints in set U and takes three
Point A (xA, yA, zA)、B(xB, yBzB)、C(xC, yC, zC), one plane of this 3 points compositions；
By
Obtain
According to plane equation general expression ax+by+cz+d=0
Obtain
By A (xA, yA, zA) bring plane equation general expression into
(yAzB-yAzC-yBzA+yBzC+yCzA-yCzB)xA+(-xAzB+xAzC+xBzA-xBzC-xCzA+xCzB)yA+(xAyB-xAyC-xByA
+yC+xCyA-xCyB)zA+ d=0
Obtain d=-xAyBzC+xAyCzB+xByAzC-xByCzA-xCyAzB+xCyBzA；
So obtain 3 points of A, B, C plane equation
(yAzB-yAzC-yBzA+yBzC+yCzA-yCzB)x+(-xAzB+xAzC+xBzA-xBzC-xCzA+xczB)y+(xAyB-xAyC-xByA+
xByC+xCyA-xCyB)z+(-xAyBzC+xAyCzB+xByAzC-xByCzA-xCyAzB+xCyBzA)=0；
S4.2：Travel through institute in set U and a little, bring each point into plane equation respectively；A points, B points, C points and meet plane equation
Point be a kind of point, collectively form a set；By A points, B points, C points and meet that the point of plane equation removes from set U；
S4.3：S4.1, S4.2 are repeated, until institute is a little all removed in set U；
Wherein O is coordinate origin.
4. a kind of video camera space area coverage acquisition methods for simple monitored object according to claim 1, its
Be characterised by, in the S5, gathered corresponding to convex closure the step of it is as follows：
S5.1：Appoint in a set and take three not conllinear point R, P, Q；
Unitization vectorObtain
Wherein<,>Represent inner product of vectors；
Unitization vectorObtain
Thus, any point K two-dimensional coordinate is in the setObtain two-dimensional coordinate point；
S5.2：Appoint in two-dimensional coordinate point and take a point G, travel through institute in the set and a little, find with point G apart from farthest point H；
S5.3：Using point H as basic point, vector is respectively constituted with other each points in the set；For angle identical vector, compare to
The size of the mould of amount, retain the maximum vector of modulus value, give up the point in addition to point H in its complement vector；
S5.4：In the remaining points of S5.3, respectively using every bit as basic point, vector is formed with other each points；It is identical for angle
Vector, compare the size of vector field homoemorphism, retain the maximum vector of modulus value, give up the point in addition to basic point in its complement vector；
S5.5：In the remaining points of S5.4, it is a little optionally basic point, vector is formed with other each points；Adjacent vector is formed
Angle in addition to summit end points connection；Compare vectorial angle between any two, two maximum vectors of angle are selected, by this
Two vectorial basic points are connected with end points；The convex polygon of formation is convex closure corresponding to the set.
5. a kind of video camera space area coverage acquisition methods for simple monitored object according to claim 1, its
It is characterised by, the S6 is included as follows step by step：
S6.1：Give up the convex closure for only including three points, remaining convex closure is divided into several triangles, the area of triangle
Wherein, a, b, c are respectively the Atria side length of side, p=(a+b+c)/2；
All triangle area sums are convex closure area；
S6.2：All convex closure areas are added and obtain space area coverage of the video camera on simple monitored object.
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