CN105791751B - A kind of image privacy screen method and ball machine based on ball machine - Google Patents
A kind of image privacy screen method and ball machine based on ball machine Download PDFInfo
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- CN105791751B CN105791751B CN201410829299.1A CN201410829299A CN105791751B CN 105791751 B CN105791751 B CN 105791751B CN 201410829299 A CN201410829299 A CN 201410829299A CN 105791751 B CN105791751 B CN 105791751B
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Abstract
The invention discloses a kind of image privacy screen method and ball machine based on ball machine, this method comprises: determining that ball machine generates piece image when meeting setting condition；When detecting the instruction that privacy screen region is set on the image, at least one privacy area is arranged according to the instruction on the image, and record coordinate of at least one privacy area in image coordinate system；Coordinate of at least one privacy area in image coordinate system is converted to the rotational angle of its corresponding ball machine, the rotational angle of ball machine includes horizontal angle angle value and pitch angle angle value；Ball machine is during continuous rotation, when determining that any privacy area enters in ball machine angular field of view, according to the rotational angle of the corresponding ball machine of any privacy area, display position of any privacy area in the video image of current location is determined, and block is blocked in superposition on any privacy area；The video image for the current location that block is blocked in superposition is output on monitoring screen and is shown.The present invention can be improved privacy area setting efficiency.
Description
Technical field
The present invention relates to technical field of video monitoring more particularly to a kind of image privacy screen methods and ball based on ball machine
Machine.
Background technique
Privacy screen is the practical monitor camera miscellaneous function of one kind developed in recent years.Privacy screen function is
Refer to user when carrying out video monitoring to some region, monitor camera should not be shown in prison to set by user in monitoring area
Target on control screen is blocked.For example, the region for inputting password in ATM machine is set when the ATM machine to bank is monitored
It is set to privacy area, what user saw on monitoring screen is exactly that privacy area is superimposed the opaque video figure for blocking block
Picture.
Currently, ball-shaped camera (ball machine) is mostly used to be monitored as monitor camera, it is being monitored using ball machine
While, also the target set by user in monitoring area that should not be shown on monitoring screen is blocked.Assuming that ball machine exists
The collected video image in current location is defined as a scene, and the setting scheme of the existing privacy area based on ball machine is such as
Under:
If a vehicle of the ball machine in the visual angle of current location is set as privacy area, then, and the implementation process of the program
It include: rotation ball machine, until vehicle is shown in the center of real-time video；The multiplying power for adjusting ball machine camera lens, will be in real-time video
Vehicle be adjusted to suitable size (a quarter or so that the size of vehicle is about real-time video picture)；In real-time video picture
Block is blocked in setting, and the length that block is blocked in adjustment covers vehicle until blocking block with width completely.If necessary to be arranged in next scene
Privacy area needs to turn to ball machine next scene and repeats the above process.
The scheme of existing setting privacy area, which has the following deficiencies:, to be needed to carry out privacy area respectively in multiple scenes
When setting, after the setting that the privacy area of current scene is completed using the above process, need to rotate ball machine manually to next field
Scape repeats the setting that above-mentioned implementation process carries out next privacy area, has set until by the privacy area in multiple scenes
At the scheme operating process of this set privacy area is complicated, and waste of manpower and time, user experience are very poor.
Summary of the invention
The present invention provides a kind of image privacy screen method and ball machine based on ball machine, exist in the prior art to solve
The problem of setting privacy screen region is complicated for operation on image, poor user experience.
The image privacy screen method based on ball machine that the present invention provides a kind of, comprising:
Determine that ball machine generates piece image when meeting setting condition；
When detecting the instruction that privacy screen region is set on the image, set on the image according to described instruction
At least one privacy area is set, and records the coordinate of at least one privacy area in image coordinate system；
Coordinate of at least one the described privacy area in image coordinate system is converted at least one described privacy area
The rotational angle of corresponding ball machine, the rotational angle of the ball machine include horizontal angle angle value and pitch angle angle value, wherein the figure
As the rotational angle of upper each pixel and ball machine corresponds；
Ball machine is during continuous rotation, when determining that any privacy area is entered in ball machine angular field of view, according to described
The rotational angle of the corresponding ball machine of one privacy area determines that any privacy area is aobvious in the video image of current location
Show position, and block is blocked in superposition on any privacy area；
The video image of the current location for being superimposed and blocking block is output on monitoring screen and is shown.
In the method, described image is panoramic picture, it is determined that when meeting setting condition, ball machine generates piece image,
It specifically includes:
When confirmly detecting the instruction for generating panoramic picture, ball machine carries out within the scope of set angle according to setting rule
Repeatedly rotation, every primary rotation of completion, acquires piece image；
According to preset algorithm, all images within the scope of collected set angle are carried out to the splicing of panoramic picture, it is raw
At a width panoramic picture and obtain the panoramic picture.
The embodiment of the present invention, by the way that the setting of privacy screen block can be carried out in a wider context using panoramic picture, from
And further improve the setting efficiency and the experience of user of privacy screen block.
In the method, coordinate of at least one the described privacy area in image coordinate system is converted to described at least one
The rotational angle of the corresponding ball machine of a privacy area, specifically includes:
According to the rotational angle one-to-one relationship of each pixel in described image and ball machine, will it is described at least one
It is corresponding that coordinate (x2, y2) of the setting pixel in panoramic picture coordinate system on privacy area is converted to the setting pixel
Ball machine rotational angle (x1, y1)；
Using the rotational angle of the corresponding ball machine of the setting pixel as the corresponding ball of at least one described privacy area
The rotational angle of machine；
Wherein, the rotational angle one-to-one relationship of each pixel in described image and ball machine are as follows:
X1=m*180*x2
Y1=m*180*y2
Wherein, m is the first proportionality coefficient of setting, and 180 indicate the conversion coefficient between radian and angle.
Using the embodiment of the present invention, the rotational angle of the corresponding ball machine of privacy area can be calculated, thus hidden to calculate
Display position of the private occlusion area in video image provides premise.
In the method, the shape of any privacy area is the geometric figure of rule, then according to any privacy
The rotational angle of the corresponding ball machine in region determines display position of any privacy area in the video image of current location
It sets, specifically includes:
According to the rotational angle (x1, y1) of the corresponding ball machine of pixel at any privacy area center, current location
The rotational angle (cx, cy) of the corresponding ball machine of pixel at video image center, current location video image center picture
The pixel at position of the vegetarian refreshments in real space and ball machine camera lens distance a, any privacy area center is in practical sky
Between in position and ball machine camera lens distance b, determine the video of the pixel in current location at any privacy area center
Coordinate (xt, yt) in image coordinate system, wherein the central point of current video image is the coordinate of current screen image coordinate system
Origin；
According to seat of the pixel at any privacy area center in the video image coordinate system of current location
The shape for marking (xt, yt), any privacy area, determines any privacy area in the video image of current location
Display position；
Wherein, the calculation of described (xt, yt) is as follows:
Xt=2*n*b*cos (y1) * sin (x1-cx)
Yt=2*n* [a*cos (cy)-b*cos (y1)]/sin (cy)
Wherein, n is the second proportionality coefficient.
Using the embodiment of the present invention, can calculate into the privacy screen region in ball machine angular field of view in current video
Display position in image calculates the privacy screen area as long as the privacy screen region of setting enters in ball machine angular field of view
Display position of the domain in current video image, if a part in a privacy screen region enters in ball machine angular field of view,
This part privacy screen region in ball machine angular field of view is then only showed access into current video image.
In the method, the geometric figure of the rule is rectangle or round or ellipse.
Display position in this way convenient for calculating privacy screen region in current video image.
The present invention also provides a kind of ball machines, comprising:
Generation unit when meeting setting condition for determining, generates piece image；
Setting unit, when for detecting the instruction that privacy screen region is arranged on the image, according to described instruction
At least one privacy area is set on the image, and records the seat of at least one privacy area in image coordinate system
Mark；
Converting unit, for by coordinate of at least one the described privacy area in image coordinate system be converted to it is described at least
The rotational angle of the corresponding ball machine of one privacy area, the rotational angle of the ball machine include horizontal angle angle value and pitch angle
Value, wherein each pixel in described image and the rotational angle of ball machine correspond；
Determination unit determines that any privacy area enters in ball machine angular field of view for ball machine during continuous rotation
When, according to the rotational angle of the corresponding ball machine of any privacy area, determine any privacy area in current location
Display position in video image, and block is blocked in superposition on any privacy area；
Display unit is shown for the video image for being superimposed the current location for blocking block to be output on monitoring screen
Show.
In the ball machine, the generation unit is specifically used for:
When confirmly detecting the instruction for generating panoramic picture, ball machine carries out within the scope of set angle according to setting rule
Repeatedly rotation, every primary rotation of completion, acquires piece image；
According to preset algorithm, all images within the scope of collected set angle are carried out to the splicing of panoramic picture, it is raw
At a width panoramic picture and obtain the panoramic picture.
In the ball machine, the converting unit is specifically used for:
According to the rotational angle one-to-one relationship of each pixel in described image and ball machine, will it is described at least one
It is corresponding that coordinate (x2, y2) of the setting pixel in panoramic picture coordinate system on privacy area is converted to the setting pixel
Ball machine rotational angle (x1, y1)；
Using the rotational angle of the corresponding ball machine of the setting pixel as the corresponding ball of at least one described privacy area
The rotational angle of machine；
Wherein, the rotational angle one-to-one relationship of each pixel in described image and ball machine are as follows:
X1=m*180*x2
Y1=m*180*y2
Wherein, m is the first proportionality coefficient of setting, and 180 indicate the conversion coefficient between radian and angle.
In the ball machine, the determination unit is specifically used for:
When the shape of any privacy area is the geometric figure of rule, according to the picture at any privacy area center
The rotational angle (x1, y1) of the corresponding ball machine of vegetarian refreshments, the corresponding ball machine of pixel at the video image center of current location turn
Position and ball machine camera lens of the pixel at the video image center of dynamic angle (cx, cy), current location in real space away from
Position of the pixel in real space and ball machine camera lens distance b from a, any privacy area center, determine described in
Coordinate (xt, yt) of the pixel at any privacy area center in the video image coordinate system of current location, wherein work as forward sight
The central point of frequency image is the coordinate origin of current screen image coordinate system；
According to seat of the pixel at any privacy area center in the video image coordinate system of current location
The shape for marking (xt, yt), any privacy area, determines any privacy area in the video image of current location
Display position；
Wherein, the calculation of described (xt, yt) is as follows:
Xt=2*n*b*cos (y1) * sin (x1-cx)
Yt=2*n* [a*cos (cy)-b*cos (y1)]/sin (cy)
Wherein, n is the second proportionality coefficient.
Preferably, the geometric figure of the rule is rectangle or round or ellipse.
Image privacy screen method and ball machine based on ball machine are provided using the present invention, has the advantages that and passes through
Multiple privacy screen regions on the image that ball machine generates, and the position of set privacy screen region in the picture is not limited
It sets, is able to use family and multiple privacy screen regions are disposably set, it is easy to operate；And make ball machine in subsequent monitoring process
In, when ball machine turns to the position where privacy screen region, the corresponding position on monitoring screen, which is shown, blocks block.
Detailed description of the invention
Fig. 1 is the image privacy screen method flow diagram provided in an embodiment of the present invention based on ball machine；
Fig. 2 is the flow chart provided in an embodiment of the present invention for generating panoramic picture；
Fig. 3 is ball machine schematic diagram provided in an embodiment of the present invention.
Specific embodiment
With reference to the accompanying drawings and examples the image privacy screen method to proposed by the present invention based on ball machine and ball machine into
Row more detailed description.
The image privacy screen method based on ball machine that the embodiment of the invention provides a kind of, as shown in Figure 1, comprising:
Step 101, determine that ball machine generates piece image when meeting setting condition.
Wherein, ball machine, that is, ball-shaped camera can rotate in Different Plane；The image that ball machine generates can be current
The piece image that station acquisition arrives is also possible to panoramic picture, and panoramic picture refers to that ball machine rotates within the scope of certain angle, and every turn
Dynamic one acquisition piece image, the image that institute's acquired image is spliced according to preset algorithm.
Step 102, when detecting the instruction that privacy screen region is arranged on the image, according to described instruction described
At least one privacy area is set on image, and records the coordinate of at least one privacy area in image coordinate system.
Specifically, user can be used mouse that privacy screen region is arranged on the image, can only setting one, can also be
Multiple occlusion areas are arranged in different location, and multiple privacy screen regions are directly arranged on the image, and setting privacy can be improved and hide
The rate in region is kept off, user experience is enhanced.
The foundation of image coordinate system can according to the actual situation depending on, it is preferable that using the center of image as coordinate origin, build
Vertical image coordinate system, the coordinate system are a two-dimensional coordinate system, then when privacy screen region being arranged on the image, each privacy is hidden
Just there is the coordinate of its corresponding image coordinate system in gear region.Preferably, by the set point on privacy screen region in image coordinate
Coordinate in system is as the coordinate of the privacy screen region in scape image coordinate system.
Step 103, by coordinate of at least one the described privacy area in image coordinate system be converted to it is described at least one
The rotational angle of the corresponding ball machine of privacy area, the rotational angle of the ball machine include horizontal angle angle value and pitch angle angle value,
In, the rotational angle of each pixel in described image and ball machine corresponds.
Preferably, after the horizontal angle angle value refers to the linear projection to horizontal plane of ball machine camera lens direction, the ginseng with horizontal plane
The angle of line is examined, after the pitch angle angle value refers to the linear projection to the perpendicular with horizontal plane of ball machine camera lens direction,
With the angle of the reference line of the perpendicular, the rotational angle of ball machine is represented by (horizontal angle angle value, pitch angle angle value).It obtains
Privacy area is converted to the corresponding rotational angle of ball machine after the coordinate in scape image coordinate system, by image coordinate, to calculate
Display position of the privacy screen region on monitoring screen.
Ball machine both horizontally and vertically rotates, and specifically, the rotatable angular range of horizontal direction is 0 degree -360
Degree, the rotatable angular range of vertical direction are 0 degree of -90 degree, then the rotational angle of ball machine includes horizontal angle angle value and pitch angle
Angle value, after horizontal angle angle value refers to the linear projection to horizontal plane of ball machine camera lens direction, angle with the reference line of horizontal plane is described
Ginseng after pitch angle angle value refers to the linear projection to the perpendicular with horizontal plane of ball machine camera lens direction, with the perpendicular
Examine the angle of line.
Step 104, ball machine is during continuous rotation, when determining that any privacy area is entered in ball machine angular field of view, root
According to the rotational angle of the corresponding ball machine of any privacy area, determine any privacy area in the video figure of current location
Display position as in, and block is blocked in superposition on any privacy area.
The result is stored after the rotational angle for the corresponding ball machine of all privacy areas being arranged, when ball machine is held
Row monitor task, if set any privacy area enters in ball machine angular field of view, is adjusted during continuous rotation
With the rotational angle of the corresponding ball machine of any privacy area of storage, and determine that the privacy area works as forward sight ball machine is collected
Display position in frequency image, while block is blocked in superposition on the privacy area, to achieve the purpose that privacy screen.
Step 105, the video image of the current location for being superimposed and blocking block is output on monitoring screen and is shown.
Using the embodiment of the present invention, by the way that multiple privacy screen regions are arranged on the image that ball machine generates, and to institute
There is no limit be able to use family and multiple privacy screen areas be disposably arranged for the position of the privacy screen region of setting on the image
Domain, it is easy to operate；And make ball machine during subsequent monitoring, when ball machine turns to the position where privacy screen region,
It is shown in the corresponding position of monitoring screen and blocks block.
Based on the above embodiment, by coordinate of at least one the described privacy area in image coordinate system be converted to it is described extremely
The rotational angle of few corresponding ball machine of a privacy area, specifically includes:
It, will at least one described privacy according to the rotational angle one-to-one relationship of each pixel on image and ball machine
Coordinate (x2, y2) of the setting pixel in image coordinate system on region is converted to the corresponding ball machine of the setting pixel
Rotational angle (x1, y1)；
Using the rotational angle of the corresponding ball machine of the setting pixel as the corresponding ball of at least one described privacy area
The rotational angle of machine；
Wherein, the rotational angle one-to-one relationship of each pixel on image and ball machine are as follows:
X1=m*180*x2
Y1=m*180*y2
Wherein, x1 indicates the horizontal angle angle value of ball machine, and y1 identifies the pitch angle angle value of ball machine, and m is the first ratio system of setting
Number is related to the size of panoramic image coordinate system；180 indicate the conversion coefficient between radian and angle.
Wherein, the setting pixel on privacy area can be one, it is preferable that the shape of privacy area is the several of rule
What figure.
Specifically, the setting pixel on privacy area may be multiple, the respectively vertex of privacy area.
Using the embodiment of the present invention, the rotational angle of the corresponding ball machine of privacy area can be calculated, thus hidden to calculate
Display position of the private occlusion area in video image provides premise.
Based on the above embodiment, it is preferable that the shape of any privacy area is the geometric figure of rule, then according to institute
The rotational angle for stating the corresponding ball machine of any privacy area determines any privacy area in the video image of current location
Display position, specifically include:
According to the rotational angle (x1, y1) of the corresponding ball machine of pixel at any privacy area center, current location
The rotational angle (cx, cy) of the corresponding ball machine of pixel at video image center, current location video image center picture
The pixel at position of the vegetarian refreshments in real space and ball machine camera lens distance a, any privacy area center is in practical sky
Between in position and ball machine camera lens distance b, determine the video of the pixel in current location at any privacy area center
Coordinate (xt, yt) in image coordinate system, wherein the central point of current video image is the coordinate of current screen image coordinate system
Origin；
According to seat of the pixel at any privacy area center in the video image coordinate system of current location
The shape for marking (xt, yt), any privacy area, determines any privacy area in the video image of current location
Display position；
Wherein, the calculation of described (xt, yt) is as follows:
Xt=2*n*b*cos (y1) * sin (x1-cx)
Yt=2*n* [a*cos (cy)-b*cos (y1)]/sin (cy)
Wherein, x1 indicates that the horizontal angle angle value of the corresponding ball machine of pixel at any of the above-described privacy area center, cx indicate
The horizontal angle angle value of the corresponding ball machine of pixel at the video image center of current location, y1 are indicated in any of the above-described privacy area
The pitch angle angle value of the corresponding ball machine of the pixel of the heart, cy indicate the corresponding ball of pixel at the video image center of current location
The pitch angle angle value of machine, n are that the second proportionality coefficient can be pressed specifically, the proportionality coefficient is related to the resolution ratio of ball machine and focal length
It is adjusted according to the actual resolution ratio and focal length of ball machine.
Using the embodiment of the present invention, can calculate into the privacy screen region in ball machine angular field of view in current video
Display position in image calculates the privacy screen area as long as the privacy screen region of setting enters in ball machine angular field of view
Display position of the domain in current video image, if a part in a privacy screen region enters in ball machine angular field of view,
This part privacy screen region in ball machine angular field of view is then only showed access into current video image.
Based on the above embodiment, the geometric figure of the rule is rectangle or round or ellipse.Specifically, setting is hidden
Private occlusion area is rectangle, round or ellipse.Display in this way convenient for calculating privacy screen region in current video image
Position.
Based on the various embodiments described above, it is preferable that as shown in Fig. 2, described image is panoramic picture, it is determined that meet setting item
When part, ball machine generates piece image, specifically includes:
Step 201, when confirmly detecting the instruction for generating panoramic picture, ball machine is according to setting rule, in set angle model
Enclose it is interior repeatedly rotated, every primary rotation of completion acquires piece image.
Specifically, ball machine both horizontally and vertically rotates, angular range in the horizontal direction can be 0-360
Degree can be 0-90 degree in the angular range of vertical direction, can also be for other angular ranges here without limitation.Ball machine is being set
When determining repeatedly to be rotated in angular range, ball machine specifically can be since initial position, according to the step-length and setting of setting
Direction is repeatedly rotated.
Step 202, according to preset algorithm, all images within the scope of collected set angle are subjected to panoramic picture
Splicing generates a width panoramic picture, wherein each pixel on panoramic picture and the rotational angle of ball machine correspond.
Wherein, preset algorithm includes that all images within the scope of collected set angle can be carried out panoramic picture
The algorithm of splicing, here without limitation.Each pixel on panoramic picture and the rotational angle of ball machine correspond, that is,
It says, each pixel corresponds to a rotational angle of ball machine on panoramic picture.
A width panoramic picture can be generated using the embodiment of the present invention, panoramic picture reflects the collected certain angle of ball machine
The image in range is spent, privacy screen region is set on the panoramic picture, can be further improved setting privacy screen region
Efficiency, improve user experience.
The embodiment of the invention also provides a kind of ball machines, as shown in Figure 3, comprising:
Generation unit 301 when meeting setting condition for determining, generates piece image；
Setting unit 302, when for detecting the instruction that privacy screen region is arranged on the image, according to the finger
At least one privacy area is arranged in order on the image, and records at least one described privacy area in image coordinate system
Coordinate；
Converting unit 303, it is described for being converted to coordinate of at least one the described privacy area in image coordinate system
The rotational angle of the corresponding ball machine of at least one privacy area, the rotational angle of the ball machine include horizontal angle angle value and pitch angle
Angle value, wherein each pixel in described image and the rotational angle of ball machine correspond；
Determination unit 304 determines that any privacy area enters ball machine angular field of view for ball machine during continuous rotation
When interior, according to the rotational angle of the corresponding ball machine of any privacy area, determine any privacy area in current location
Video image in display position, and on any privacy area superposition block block；
Display unit 305, for the video image for being superimposed the current location for blocking block to be output to monitoring screen
Display.
In the ball machine, the generation unit is specifically used for:
When confirmly detecting the instruction for generating panoramic picture, ball machine carries out within the scope of set angle according to setting rule
Repeatedly rotation, every primary rotation of completion, acquires piece image；
According to preset algorithm, all images within the scope of collected set angle are carried out to the splicing of panoramic picture, it is raw
At a width panoramic picture and obtain the panoramic picture.
In the ball machine, the converting unit is specifically used for:
According to the rotational angle one-to-one relationship of each pixel in described image and ball machine, will it is described at least one
It is corresponding that coordinate (x2, y2) of the setting pixel in panoramic picture coordinate system on privacy area is converted to the setting pixel
Ball machine rotational angle (x1, y1)；
Using the rotational angle of the corresponding ball machine of the setting pixel as the corresponding ball of at least one described privacy area
The rotational angle of machine；
Wherein, the rotational angle one-to-one relationship of each pixel in described image and ball machine are as follows:
X1=m*180*x2
Y1=m*180*y2
Wherein, m is the first proportionality coefficient of setting, and 180 indicate the conversion coefficient between radian and angle.
In the ball machine, the determination unit is specifically used for:
When the shape of any privacy area is the geometric figure of rule, according to the picture at any privacy area center
The rotational angle (x1, y1) of the corresponding ball machine of vegetarian refreshments, the corresponding ball machine of pixel at the video image center of current location turn
Position and ball machine camera lens of the pixel at the video image center of dynamic angle (cx, cy), current location in real space away from
Position of the pixel in real space and ball machine camera lens distance b from a, any privacy area center, determine described in
Coordinate (xt, yt) of the pixel at any privacy area center in the video image coordinate system of current location, wherein work as forward sight
The central point of frequency image is the coordinate origin of current screen image coordinate system；
According to seat of the pixel at any privacy area center in the video image coordinate system of current location
The shape for marking (xt, yt), any privacy area, determines any privacy area in the video image of current location
Display position；
Wherein, the calculation of described (xt, yt) is as follows:
Xt=2*n*b*cos (y1) * sin (x1-cx)
Yt=2*n* [a*cos (cy)-b*cos (y1)]/sin (cy)
Wherein, n is the second proportionality coefficient.
Preferably, the geometric figure of the rule is rectangle or round or ellipse.
Using the image privacy screen method and ball machine provided by the invention based on ball machine, have the advantages that logical
Multiple privacy screen regions on the image that ball machine generates are crossed, and do not limit the position of set privacy screen region in the picture
It sets, is able to use family and multiple privacy screen regions are disposably set, it is easy to operate；And make ball machine in subsequent monitoring process
In, when ball machine turns to the position where privacy screen region, the corresponding position on monitoring screen, which is shown, blocks block.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (8)
1. a kind of image privacy screen method based on ball machine characterized by comprising
Determine that ball machine generates piece image when meeting setting condition；
Detect on the image be arranged privacy screen region instruction when, be arranged on the image according to described instruction to
A few privacy area, and record the coordinate of at least one privacy area in image coordinate system；
It is corresponding that coordinate of at least one the described privacy area in image coordinate system is converted at least one described privacy area
Ball machine rotational angle, the rotational angle of the ball machine includes horizontal angle angle value and pitch angle angle value, wherein in described image
Each pixel and ball machine rotational angle correspond；
Ball machine is during continuous rotation, when determining that any privacy area is entered in ball machine angular field of view, according to described any hidden
The rotational angle of the corresponding ball machine in private region, determines display position of any privacy area in the video image of current location
It sets, and block is blocked in superposition on any privacy area；
The video image of the current location for being superimposed and blocking block is output on monitoring screen and is shown；
Wherein, coordinate of at least one the described privacy area in image coordinate system is converted at least one described privacy area
The rotational angle of corresponding ball machine, specifically includes:
It, will at least one described privacy according to the rotational angle one-to-one relationship of each pixel in described image and ball machine
Coordinate (x2, y2) of the setting pixel in panoramic picture coordinate system on region is converted to the corresponding ball of the setting pixel
The rotational angle (x1, y1) of machine；
Using the rotational angle of the corresponding ball machine of the setting pixel as the corresponding ball machine of at least one described privacy area
Rotational angle；
Wherein, the rotational angle one-to-one relationship of each pixel in described image and ball machine are as follows:
X1=m*180*x2
Y1=m*180*y2
Wherein, m is the first proportionality coefficient of setting, and 180 indicate the conversion coefficient between radian and angle.
2. the method as described in claim 1, which is characterized in that described image is panoramic picture, it is determined that meet and impose a condition
When, ball machine generates piece image, it specifically includes:
When confirmly detecting the instruction for generating panoramic picture, ball machine carries out multiple according to setting rule within the scope of set angle
Rotation, every primary rotation of completion, acquires piece image；
According to preset algorithm, all images within the scope of collected set angle are carried out to the splicing of panoramic picture, generate one
Width panoramic picture simultaneously obtains the panoramic picture.
3. the method as described in claim 1, which is characterized in that the shape of any privacy area is the geometric graph of rule
Shape determines any privacy area in current location then according to the rotational angle of the corresponding ball machine of any privacy area
Video image in display position, specifically include:
According to the rotational angle (x1, y1) of the corresponding ball machine of pixel at any privacy area center, the view of current location
The rotational angle (cx, cy) of the corresponding ball machine of the pixel of frequency picture centre, the video image center of current location pixel
The pixel at position in real space and ball machine camera lens distance a, any privacy area center is in real space
Position and ball machine camera lens distance b, determine the video image of the pixel in current location at any privacy area center
Coordinate (xt, yt) in coordinate system, wherein the central point of current video image is that the coordinate of current screen image coordinate system is former
Point；
According to coordinate of the pixel at any privacy area center in the video image coordinate system of current location
The shape of (xt, yt), any privacy area determine that any privacy area is aobvious in the video image of current location
Show position；
Wherein, the calculation of described (xt, yt) is as follows:
Xt=2*n*b*cos (y1) * sin (x1-cx)
Yt=2*n* [a*cos (cy)-b*cos (y1)]/sin (cy)
Wherein, n is the second proportionality coefficient.
4. method as claimed in claim 3, which is characterized in that the geometric figure of the rule is rectangle or circle or ellipse
Shape.
5. a kind of ball machine characterized by comprising
Generation unit when meeting setting condition for determining, generates piece image；
Setting unit, when for detecting the instruction that privacy screen region is arranged on the image, according to described instruction in institute
It states and at least one privacy area is set on image, and record the coordinate of at least one privacy area in image coordinate system；
Converting unit, for by coordinate of at least one the described privacy area in image coordinate system be converted to it is described at least one
The rotational angle of the corresponding ball machine of privacy area, the rotational angle of the ball machine include horizontal angle angle value and pitch angle angle value,
In, the rotational angle of each pixel in described image and ball machine corresponds；
Determination unit, for ball machine during continuous rotation, when determining that any privacy area is entered in ball machine angular field of view, root
According to the rotational angle of the corresponding ball machine of any privacy area, determine any privacy area in the video figure of current location
Display position as in, and block is blocked in superposition on any privacy area；
Display unit is shown for the video image for being superimposed the current location for blocking block to be output on monitoring screen；
Wherein, the converting unit is specifically used for:
It, will at least one described privacy according to the rotational angle one-to-one relationship of each pixel in described image and ball machine
Coordinate (x2, y2) of the setting pixel in panoramic picture coordinate system on region is converted to the corresponding ball of the setting pixel
The rotational angle (x1, y1) of machine；
Using the rotational angle of the corresponding ball machine of the setting pixel as the corresponding ball machine of at least one described privacy area
Rotational angle；
Wherein, the rotational angle one-to-one relationship of each pixel in described image and ball machine are as follows:
X1=m*180*x2
Y1=m*180*y2
Wherein, m is the first proportionality coefficient of setting, and 180 indicate the conversion coefficient between radian and angle.
6. ball machine as claimed in claim 5, which is characterized in that the generation unit is specifically used for:
When confirmly detecting the instruction for generating panoramic picture, ball machine carries out multiple according to setting rule within the scope of set angle
Rotation, every primary rotation of completion, acquires piece image；
According to preset algorithm, all images within the scope of collected set angle are carried out to the splicing of panoramic picture, generate one
Width panoramic picture simultaneously obtains the panoramic picture.
7. the ball machine as described in claim 5, which is characterized in that the determination unit is specifically used for:
When the shape of any privacy area is the geometric figure of rule, according to the pixel at any privacy area center
The angle of rotation of the rotational angle (x1, y1) of corresponding ball machine, the corresponding ball machine of pixel at the video image center of current location
Spend (cx, cy), current location video image center position of the pixel in real space and ball machine camera lens distance a,
Position of the pixel at any privacy area center in real space and ball machine camera lens distance b, determine described any
Coordinate (xt, yt) of the pixel at privacy area center in the video image coordinate system of current location, wherein current video figure
The central point of picture is the coordinate origin of current screen image coordinate system；
According to coordinate of the pixel at any privacy area center in the video image coordinate system of current location
The shape of (xt, yt), any privacy area determine that any privacy area is aobvious in the video image of current location
Show position；
Wherein, the calculation of described (xt, yt) is as follows:
Xt=2*n*b*cos (y1) * sin (x1-cx)
Yt=2*n* [a*cos (cy)-b*cos (y1)]/sin (cy)
Wherein, n is the second proportionality coefficient.
8. ball machine as claimed in claim 7, which is characterized in that the geometric figure of the rule is rectangle or circle or ellipse
Shape.
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