CN104700409B - A method of according to monitoring objective adjust automatically preset positions of camera - Google Patents
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Abstract
The invention discloses a kind of methods according to monitoring objective adjust automatically preset positions of camera, include the following steps：Obtain the position of monitoring objective；Determine two-dimensional level rotation angle and second vertical rotation angle of the video camera relative to monitoring objective in three-dimensional system of coordinate；Two-dimensional level rotation angle and second vertical rotation angle are separately converted to three dimensions angle；Angle according to two-dimensional level rotation angle, second vertical rotation angle and three dimensions angle calculation camera lens relative to video camera angle in the horizontal direction and vertical direction；According to monitoring objective at a distance from video camera, monitoring area width and camera lens image-forming component catercorner length obtain focal length and visual angle.Using the present invention, preset positions of camera can be automatically generated, video camera is enable fast and accurately to go to presetting bit, avoid the deficiency that the flexibility of range estimation layout method is insufficient, accuracy is low, precision is low, avoided and repeatedly carry out the fund waste that scene exploration on the spot is brought.
Description
Technical field
The present invention relates to field of image recognition more particularly to a kind of methods of adjustment preset positions of camera.
Background technology
Video monitoring system is applied to many occasions, such as substation's unattended system.Video monitoring system
The basis unattended as support substation, needs the operating status of real-time monitoring equipment.The layout of video camera is all at present
It is first installed according to two-dimentional drawing, identifies the presetting bit of adjustment video camera after installing further according to naked eyes, belong to range estimation layout method.
This method lacks flexibility, and precision is low, and differs and surely accurately monitor equipment.Using range estimation layout method, often
Need the fund waste for repeatedly carrying out scene exploration on the spot, bringing.
Invention content
The purpose of the present invention is to overcome the deficiencies of the prior art and provide a kind of according to the camera shooting of monitoring objective adjust automatically
The method of machine presetting bit.Using this method, preset positions of camera can be automatically generated according to the position of monitoring objective, make camera shooting function
It is enough fast and accurately to go to presetting bit, avoid the deficiency that the flexibility of range estimation layout method is insufficient, accuracy is low, precision is low.
The purpose of the present invention is achieved through the following technical solutions：
A method of according to monitoring objective adjust automatically preset positions of camera, include the following steps：
S1：The three-dimensional physical model for importing monitored region obtains the position of monitoring objective, and chosen distance monitoring objective is most
Close video camera；
S2：Determine two-dimensional level rotation angle and second vertical of the video camera relative to monitoring objective in three-dimensional system of coordinate
Rotation angle；
S3：Two-dimensional level rotation angle and second vertical rotation angle are separately converted to three dimensions angle；
S4：According to two-dimensional level rotation angle, second vertical rotation angle and three dimensions angle calculation camera lens
Relative to the angle of video camera angle in the horizontal direction and vertical direction, camera lens relative to video camera in the horizontal direction
Angle and vertical direction angle be video camera presetting bit angle；
S5：According to monitoring objective at a distance from video camera, monitoring area width and camera lens image-forming component diagonal line
Length obtains focal length and visual angle；
Presetting bit angle, focal length and the visual angle of video camera collectively form presetting bit.
Further, in the S2, in three-dimensional system of coordinate, the center of video camera and the center of monitoring objective are thrown respectively
Shadow obtains subpoint C ", P ", line segment C " P " and the angle of X-axis are two of video camera relative to monitoring objective on X-Z plane
Tie up horizontal rotation angle α；The center of video camera and the center of monitoring objective are projected on an x-y plane respectively, obtain subpoint
C ', P ', line segment C ' P ' and the angle of Y-axis are second vertical rotation angle β of the video camera relative to monitoring objective.
Further, the coordinate in the central three-dimensional space coordinates of the center of video camera and monitoring objective is respectively C
(Cx, Cy, Cz), P (Px, Py, Pz), video camera relative to monitoring objective two-dimensional level rotation angle be α, video camera relative to
The second vertical rotation angle of monitoring objective is β；
In the S3：
The corresponding three dimensions angles of α are α 1；
As Cy ＜ Py, then α 1=-90 °-α；
As Cy >=Py, then α 1=- α；
The corresponding three dimensions angles of β are β 1；
As | Cx-Px |≤0.1＆Cz ＞ Pz, then β 1=180 °；
As | Cx-Px |≤0.1＆Cz≤Pz, then β 1=0 °；
As | Cz-Pz |≤0.1＆Cx ＞ Px, then β 1=270 °；
As | Cz-Pz |≤0.1＆Cx≤Px, then β 1=90 °；
As | Cx-Px | ＞ 0.1＆ | Cz-Pz | ＞ 0.1＆Cx ＞ Px＆Cz ＞ Pz, then β 1=-90 °-β；
As | Cx-Px | ＞ 0.1＆ | Cz-Pz | ＞ 0.1＆Cx ＞ Px＆Cz ＞ Pz, then β 1=- β；
As | Cx-Px | ＞ 0.1＆ | Cz-Pz | ＞ 0.1＆Cx ＜ Px＆Cz ＞ Pz, then β 1=90 °+β；
As | Cx-Px | ＞ 0.1＆ | Cz-Pz | ＞ 0.1＆Cx ＜ Px＆Cz ＞ Pz, then β 1=β.
Further, video camera is α relative to the two-dimensional level rotation angle of monitoring objective, and video camera is relative to monitoring mesh
Target second vertical rotation angle is β, and the corresponding three dimensions angles of α are α 1, and the corresponding three dimensions angles of β are β 1；
α 2 is camera lens relative to video camera angle in the horizontal direction, and β 2 is camera lens relative to video camera
In vertical angle；
Arrange β 2=0 ° when Y-axis negative direction of the camera lens towards video camera, the axis of camera lens towards video camera is square
To when α 2=0 °.
Further, in the S5：
F=w* λ * Dis/W
Wherein, f is focal length, fov is visual angle, W is monitoring area width, L is camera lens image-forming component diagonal line length
Degree, Dis are the distance of monitoring objective and video camera, λ is that monitoring area shows ratio shared on the image.
The advantages of the present invention are：
Using this method, preset positions of camera can be automatically generated according to the position of monitoring objective, enable video camera quickly,
Accurately go to presetting bit, avoid the deficiency that range estimation layout method flexibility is insufficient, accuracy is low, precision is low, avoid repeatedly into
The fund waste that row scene exploration on the spot is brought.
Description of the drawings
It, below will be to using required in the description embodiment of the present invention in order to illustrate more clearly of the embodiment of the present invention
Attached drawing is briefly described.It will be apparent that the accompanying drawings in the following description is 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 attached drawing
Its attached drawing.
Fig. 1 is the schematic diagram of two-dimensional level rotation angle and second vertical rotation angle；
Fig. 2 is the schematic diagram of camera supervised range.
Specific implementation mode
In order to make those skilled in the art more fully understand the present invention, following will be combined with the drawings in the embodiments of the present invention
Technical solution in the embodiment of the present invention carries out clear, complete description.It will be apparent that embodiment described below is only
It is the part in the embodiment of the present invention, rather than all.Based on the embodiment that the present invention records, those skilled in the art are not
The other all embodiments obtained in the case of making the creative labor, within the protection scope of the present invention.
Embodiment：
A method of according to monitoring objective adjust automatically preset positions of camera, include the following steps：
S1：The three-dimensional physical model for importing monitored region obtains the position of monitoring objective, and chosen distance monitoring objective is most
Close video camera；
S2：Determine two-dimensional level rotation angle and second vertical of the video camera relative to monitoring objective in three-dimensional system of coordinate
Rotation angle；
S3：Two-dimensional level rotation angle and second vertical rotation angle are separately converted to three dimensions angle；
S4：According to two-dimensional level rotation angle, second vertical rotation angle and three dimensions angle calculation camera lens
Relative to the angle of video camera angle in the horizontal direction and vertical direction, camera lens relative to video camera in the horizontal direction
Angle and vertical direction angle be video camera presetting bit angle；
S5：According to monitoring objective at a distance from video camera, monitoring area width and camera lens image-forming component diagonal line
Length obtains focal length and visual angle；
Presetting bit angle, focal length and the visual angle of video camera collectively form presetting bit.
S2~S5 is described in detail below.
Detailed description to S2.
As shown in Figure 1, in three-dimensional system of coordinate, the center of video camera is point C, and the center of monitoring objective is point P.
The center of video camera and the center of monitoring objective are projected on X-Z plane respectively, obtain subpoint C ", P ", line
Section C " P " and the angle of X-axis are two-dimensional level rotation angle α of the video camera relative to monitoring objective,
The center of video camera and the center of monitoring objective are projected on an x-y plane respectively, obtain subpoint C ', P ', line
Section C ' P ' and the angle of Y-axis are second vertical rotation angle β of the video camera relative to monitoring objective,
Detailed description to S3.
Coordinate in the center of video camera and the central three-dimensional space coordinates of monitoring objective is respectively C (Cx, Cy, Cz), P
(Px, Py, Pz).
The corresponding three dimensions angles of α are α 1；
As Cy ＜ Py, then α 1=-90 °-α；
As Cy >=Py, then α 1=- α；
The corresponding three dimensions angles of β are β 1；
As | Cx-Px |≤0.1＆Cz ＞ Pz, then β 1=180 °；
As | Cx-Px |≤0.1＆Cz≤Pz, then β 1=0 °；
As | Cz-Pz |≤0.1＆Cx ＞ Px, then β 1=270 °；
As | Cz-Pz |≤0.1＆Cx≤Px, then β 1=90 °；
As | Cx-Px | ＞ 0.1＆ | Cz-Pz | ＞ 0.1＆Cx ＞ Px＆Cz ＞ Pz, then β 1=-90 °-β；
As | Cx-Px | ＞ 0.1＆ | Cz-Pz | ＞ 0.1＆Cx ＞ Px＆Cz ＜ Pz, then β 1=- β；
As | Cx-Px | ＞ 0.1＆ | Cz-Pz | ＞ 0.1＆Cx ＜ Px＆Cz ＞ Pz, then β 1=90 °+β；
As | Cx-Px | ＞ 0.1＆ | Cz-Pz | ＞ 0.1＆Cx ＜ Px＆Cz ＞ Pz, then β 1=β.
In this way, can three dimensions angle be separately converted to for two-dimensional level rotation angle and second vertical rotation angle.
Detailed description to S4.
α 2 is camera lens relative to video camera angle in the horizontal direction, and β 2 is camera lens relative to video camera
In vertical angle.Arrange β 2=0 ° when Y-axis negative direction of the camera lens towards video camera, axis of the camera lens towards video camera
α 2=0 ° when positive direction.
α 2 and β 2 is the presetting bit angle of video camera.
Detailed description to S5.
As shown in Fig. 2, the quadrangle that A, B, D, E point are constituted is the monitoring area of video camera, and monitoring area width W=| AB
|, monitoring objective and video camera distance Dis=| CP |.
Focal length and visual angle are calculated by following formula：
F=w* λ * Dis/W
Wherein, f is focal length, fov is visual angle, L is camera lens image-forming component catercorner length, λ is that monitoring area is aobvious
Show ratio shared on the image.
λ=1 indicates all over the screen.
Presetting bit angle, focal length and the visual angle of video camera collectively form presetting bit.
It needs in display monitoring target on picture, video camera is made fast and accurately to go to the pre- of above-mentioned steps production
Set avoids the deficiency that the flexibility of range estimation layout method is insufficient, accuracy is low, precision is low, and avoiding repeatedly progress, scene is surveyed on the spot
The fund waste that measuring tape comes.
As described above, the present invention can be realized preferably.
Claims (2)
1. a kind of method according to monitoring objective adjust automatically preset positions of camera, which is characterized in that include the following steps：
S1：The three-dimensional physical model for importing monitored region, obtains the position of monitoring objective, and chosen distance monitoring objective is nearest
Video camera；
S2：Determine video camera relative to two-dimensional level rotation angle of the monitoring objective in three-dimensional system of coordinate and second vertical rotation
Angle；
S3：Two-dimensional level rotation angle and second vertical rotation angle are separately converted to three dimensions angle；
S4：It is opposite according to two-dimensional level rotation angle, second vertical rotation angle and three dimensions angle calculation camera lens
In the angle of video camera angle in the horizontal direction and vertical direction, camera lens are relative to video camera angle in the horizontal direction
The angle of degree and vertical direction is the presetting bit angle of video camera；
S5：According to monitoring objective at a distance from video camera, monitoring area width and camera lens image-forming component catercorner length
Obtain focal length and visual angle；
Presetting bit angle, focal length and the visual angle of video camera collectively form presetting bit；
In the S2, in three-dimensional system of coordinate, the center at the center of video camera and monitoring objective is projected in X-Z plane respectively
On, obtain subpoint C ", P ", the angle of line segment C " P " and X-axis is that video camera is rotated relative to the two-dimensional level of monitoring objective
Angle [alpha]；The center of video camera and the center of monitoring objective are projected on an x-y plane respectively, obtain subpoint C ', P ', line segment
C ' P ' and the angle of Y-axis are second vertical rotation angle β of the video camera relative to monitoring objective；
Coordinate in the center of video camera and the central three-dimensional space coordinates of monitoring objective be respectively C (Cx, Cy, Cz), P (Px,
Py, Pz), video camera is α relative to the two-dimensional level rotation angle of monitoring objective, and video camera hangs down relative to the two dimension of monitoring objective
Direct rotary gyration is β；
In the S3：
The corresponding three dimensions angles of α are α 1；
As Cy ＜ Py, then α 1=-90 °-α；
As Cy >=Py, then α 1=- α；
The corresponding three dimensions angles of β are β 1；
As | Cx-Px |≤0.1＆Cz ＞ Pz, then β 1=180 °；
As | Cx-Px |≤0.1＆Cz≤Pz, then β 1=0 °；
As | Cz-Pz |≤0.1＆Cx ＞ Px, then β 1=270 °；
As | Cz-Pz |≤0.1＆Cx≤Px, then β 1=90 °；
As | Cx-Px | ＞ 0.1＆ | Cz-Pz | ＞ 0.1＆Cx ＞ Px＆Cz ＞ Pz, then β 1=-90 °-β；
As | Cx-Px | ＞ 0.1＆ | Cz-Pz | ＞ 0.1＆Cx ＞ Px＆Cz ＜ Pz, then β 1=- β；
As | Cx-Px | ＞ 0.1＆ | Cz-Pz | ＞ 0.1＆Cx ＜ Px＆Cz ＞ Pz, then β 1=90 °+β；
As | Cx-Px | ＞ 0.1＆ | Cz-Pz | ＞ 0.1＆Cx ＜ Px＆Cz ＜ Pz, then β 1=β.
2. a kind of method according to monitoring objective adjust automatically preset positions of camera according to claim 1, feature exist
In：
Video camera is α, second vertical of the video camera relative to monitoring objective relative to the two-dimensional level rotation angle of monitoring objective
Rotation angle is β, and the corresponding three dimensions angles of α are α 1, and the corresponding three dimensions angles of β are β 1；
In the S4, camera lens are α 2 relative to video camera angle in the horizontal direction, and camera lens are relative to camera shooting
Machine is β 2 in vertical angle；Have：
Arrange camera lens towards video camera Y-axis negative direction when β 2=0 °, camera lens towards video camera axis positive direction when α
2=0 °.
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| CN105635698B (en) * | 2016-04-01 | 2018-07-27 | 成都信息工程大学 | A method of Optimal Supervisory Control position is generated according to monitoring objective position |
| CN106027887B (en) * | 2016-05-20 | 2019-01-25 | 北京格灵深瞳信息技术有限公司 | For the method, apparatus and electronic equipment of the rifle ball linkage control of rotating mirror holder |
| CN107943108B (en) * | 2017-12-11 | 2021-03-23 | 日立楼宇技术（广州）有限公司 | Automatic tracking shooting method, device and system for fully mechanized coal mining face |
| CN109815813B (en) * | 2018-12-21 | 2021-03-05 | 深圳云天励飞技术有限公司 | Image processing method and related product |
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| CN103148832A (en) * | 2013-01-30 | 2013-06-12 | 天津市亚安科技股份有限公司 | Detection method of installation inclination angle of video camera |
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| CN103148832A (en) * | 2013-01-30 | 2013-06-12 | 天津市亚安科技股份有限公司 | Detection method of installation inclination angle of video camera |
| CN103237198A (en) * | 2013-04-15 | 2013-08-07 | 四川华雁信息产业股份有限公司 | Camera coordinated processing method, camera coordinated processing device and camera |
| CN103826103A (en) * | 2014-02-27 | 2014-05-28 | 浙江宇视科技有限公司 | Cruise control method for tripod head video camera |
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