CN108574825A - A kind of method of adjustment and device of monopod video camera - Google Patents

A kind of method of adjustment and device of monopod video camera Download PDF

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Publication number
CN108574825A
CN108574825A CN201710142664.5A CN201710142664A CN108574825A CN 108574825 A CN108574825 A CN 108574825A CN 201710142664 A CN201710142664 A CN 201710142664A CN 108574825 A CN108574825 A CN 108574825A
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China
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picture
video camera
point
target area
monopod video
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CN201710142664.5A
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CN108574825B (en
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蔡永锦
郑炜
周波
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Huawei Technologies Co Ltd
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Huawei Technologies Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Studio Devices (AREA)

Abstract

The invention relates to field of video monitoring more particularly to the methods of adjustment and device of a kind of monopod video camera, more accurately to make target area be moved to the imaging picture center of monopod video camera.Target area central point and at least two characteristic points are defined in the embodiment of the present application, and position relationship in picture is produced at the 0th, it is identical as the position relationship produced at the 0th in picture that target area central point and at least two characteristic points produce the position relationship in picture at i-th, therefore the coordinate and position relationship on picture can be produced at i-th according to each characteristic point, determine that target area central point produces the coordinate of picture at i-th, to provide foundation to carry out N number of adjustment process, and pass through N number of adjustment process, reduce influencing for the rotational structure error for the hardware being subject in monopod video camera rotary course, to more accurately make target area be moved to the imaging picture center of monopod video camera.

Description

A kind of method of adjustment and device of monopod video camera
Technical field
The invention relates to field of video monitoring more particularly to the methods of adjustment and device of a kind of monopod video camera.
Background technology
Monopod video camera (Pan/Tilt/Zoom, PTZ) is a kind of in safety-protection system supports comprehensive (vertical, level) turn The video camera of dynamic and camera lens zoom control.Pan/Tilt/Zoom camera mainly has including two kinds of mode of appearance：The first is ball machine, main Building block includes that the electronic devices such as integrated movement, high-speed stepper motor holder, embedded encoded plate are built in spherical shield It is interior.Second is the common external holder of video camera, and main building block is that common video camera passes through the bus interface such as 485 External holder.
Pan/Tilt/Zoom camera compared to common camera main advantage be its support vertical direction rotate upwardly and downwardly, horizontal direction Left-right rotation and along optical axis direction image zoom zoom control, so as to make user observe surrounding in all directions Object, the limitation of the visual field not camera subject installation site, setting angle and camera lens visual angle, can both observe panoramic picture, also may be used To be amplified observation to local objects.
During specifically used, user generally requires the target area paid close attention to during using monopod video camera Domain is placed in the center in the visual field, is then amplified.Fig. 1 illustrates a kind of showing for production picture of monopod video camera It is intended to, Fig. 1 a illustrate the schematic diagram that user it is expected the production picture of the monopod video camera reached.In Fig. 1, holder Entire production picture 102 is shown on the imaging picture of video camera, user has selected the target area 101 in the upper right corner, such as Fig. 1 a institutes Show, user it is expected the target area 101 in Fig. 1 being moved at the center of imaging picture and is amplified display.
Scheme target area being moved in the prior art at the center of imaging picture is manual positioning.Specifically, It is horizontal, the vertical rotation angle by manually adjusting monopod video camera so that target area is located at the center of imaging picture. But this project plan comparison is time-consuming, and needs visually to judge whether that object is at the center of imaging picture repeatedly, then carries out not It manually adjusts disconnectedly, and precision is relatively low.On the other hand, there are error, the prior arts in rotary course for hardware rotation structure It is middle by target area be moved to imaging picture center at when, be affected by the error of the rotational structure of hardware.
Invention content
The embodiment of the present application provides a kind of method of adjustment and device of monopod video camera, more accurately to make target area Domain is moved to the imaging picture center of monopod video camera.
In a first aspect, the embodiment of the present application provides a kind of method of adjustment of monopod video camera, including：Acquisition is taken the photograph positioned at holder Target area in the 0th production picture of camera.The 0th production picture specifically refers to monopod video camera institute in the embodiment of the present application The raw frames of shooting are specifically the pictures before carrying out the 1st adjustment process captured by monopod video camera；It takes the photograph for i-th Picture processed refers to the picture that monopod video camera is exported after i-th of adjustment process.The target of target area is determined later Regional center o'clock produces the coordinate in picture at the 0th, each characteristic point at least two characteristic points in target area exists Coordinate and target area central point and at least two characteristic points in 0th production picture produce the position in picture at the 0th Relationship is set, passes through the shooting angle of N number of adjustment process adjusting monopod video camera later, wherein N is the integer more than or equal to 1.
0th production picture of monopod video camera refers to the initial production picture of monopod video camera, and user is initial Target area is determined on production picture.Adjusting apparatus can produce the coordinate value that target area is determined on picture at the 0th, Such as usually, target area can be a rectangle, and adjusting apparatus can produce at the 0th and determine target area on picture Four vertex coordinate value.Then adjusting apparatus can determine the central point of target area, target area according to geometric knowledge Central point is the geometric center point of target area.
Further, for i-th of adjustment process during N number of adjustment, following operation is executed, i is more than or equal to 1 and small In the integer equal to N：The imaging picture of the coordinate and monopod video camera on picture is produced at (i-1)-th according to target area central point The coordinate of face central point, ith adjust the shooting angle of monopod video camera；In the monopod video camera after i-th of adjustment process On i-th of production picture of output, determine that each characteristic point at least two characteristic points produces the seat on picture at i-th Mark；The coordinate and position relationship on picture are produced at i-th according to each characteristic point, determine that target area central point exists The coordinate of i-th of production picture；Wherein, target area central point and at least two characteristic points produce the position in picture at i-th It is identical as the position relationship produced at the 0th in picture to set relationship；If it is determined that target area central point produces picture at i-th The distance between imaging picture central point of coordinate and monopod video camera is more than distance threshold, then is existed according to target area central point The imaging picture central point of coordinate and monopod video camera on i-th of production picture, i+1 time adjustment monopod video camera.If Determine that target area central point is produced at i-th at a distance between the coordinate of picture and the imaging picture central point of monopod video camera No more than distance threshold, then terminates flow, no longer monopod video camera is adjusted.
Target area central point and at least two characteristic points are defined in the embodiment of the present application to produce in picture at the 0th Position relationship, target area central point and at least two characteristic points produced at i-th position relationship in picture at the 0th The position relationship produced in picture is identical, therefore coordinate and the position on picture can be produced at i-th according to each characteristic point Relationship determines that target area central point produces the coordinate of picture at i-th；And then monopod video camera can be adjusted in ith Shooting angle judges the distance between target area central point and imaging picture central point after ith adjustment later.That is, A kind of error compensation mechanism is provided in the embodiment of the present application, can reduce the hardware being subject in monopod video camera rotary course The influence of rotational structure error, to more accurately make the central point of target area be located at the central point of imaging picture.
Further, if judging, the distance between target area central point and imaging picture central point are more than after ith adjustment Distance threshold then carries out i+1 time adjustment.As it can be seen that reducing and adjusting by N number of adjustment process in the embodiment of the present application Due to error caused by the hardware rotation structure by monopod video camera in journey, so as to so that after that adjustment process The distance between target area central point and imaging picture central point are less than distance threshold, i.e., more accurately target area are made to move It moves to the imaging picture center of monopod video camera.
Optionally, adjusting apparatus needs to produce at least two characteristic points determined in picture in target area at the 0th. Graphic feature extraction algorithm can be used to choose some special points from target area, these two dimensions in gradation of image signal It is all changed significantly on direction, referred to as angle point.Angle point has the advantages that invariable rotary, therefore compares suitable for image Match.The Corner Detection method of adjustment of industry has very much, optionally, Harris operators will be used to be determined at least from target area Two angle points are as at least two characteristic points.
Harris algorithms think that characteristic point is the corresponding pixel of great interest value in subrange.Therefore it is calculating After the interest value of complete each point, the maximum point of all partial interest values in original image is extracted.In practical operation, it can choose more A more apparent interest value of coordinate difference is more a little bigger, is convenient for, using these points as vertex, constituting the feature of a polygon in this way Region.
In a kind of scheme optionally for determining position relationship, target area central point and at least two features are determined The position relationship in picture is produced o'clock at the 0th, including：For the fisrt feature point and second feature at least two characteristic points Point executes following operation, wherein fisrt feature point and second feature point are two characteristic points at least two characteristic points：Really It makes intersection point of the target area central point on the line of fisrt feature point and second feature point and is produced at the 0th and sat in picture Mark；It produces at the 0th and is determined in picture：The first distance, intersection point and second feature point between intersection point and fisrt feature point it Between second distance and intersection point and target area central point between third distance；It will determine to produce picture at the 0th In first distance, second distance and third distance between proportionate relationship as position relationship.
It is optional during determining target area central point at i-th and producing the coordinate of picture based on said program Ground produces at i-th coordinate and position relationship on picture according to each characteristic point, determines that target area central point exists The coordinate of i-th of production picture, including：For the fisrt feature point and second feature point at least two characteristic points, execute with Lower operation：Produced on picture at i-th, according to fisrt feature point and second feature point and the first distance and second distance it Between proportionate relationship, determine that intersection point produces the coordinate in picture at i-th；The seat in picture is produced at i-th according to intersection point Proportionate relationship and fisrt feature o'clock between mark and the first distance and third distance produce the coordinate of picture at i-th, Determine that target area central point produces the coordinate of picture at i-th.Can so be determined by geometrical relationship position relationship with And target area central point produces the coordinate of picture at i-th, and specific solution party is provided for repeatedly adjustment monopod video camera Case, and improve the efficiency of monopod video camera adjustment process.
Optionally, another optionally embodiment is provided, the coordinate on picture is produced at i-th according to each characteristic point, And position relationship, determine that target area central point produces the coordinate of picture at i-th, including：For at least two features Fisrt feature point in point and second feature point are produced at i-th on picture, according to fisrt feature point and second feature point, with And the first proportionate relationship between distance and second distance, determine that intersection point produces the coordinate in picture at i-th；According to intersection point The proportionate relationship and second feature point produced at i-th between coordinate and second distance in picture and third distance exist The coordinate of i-th of production picture, determines that target area central point produces the coordinate of picture at i-th.
During specific adjustment, in scheme, picture optionally being produced at (i-1)-th according to target area central point for one kind On coordinate and monopod video camera imaging picture central point, ith adjust monopod video camera shooting angle, including：According to Target area central point produces sensor target surface width, the monopod video camera of coordinate on picture, monopod video camera at (i-1)-th Sensor target surface height, monopod video camera produce (i-1)-th production picture when camera lens effective focal length, monopod video camera at As the height of the imaging picture of the width and monopod video camera of picture, determine：During ith adjusts monopod video camera： The rotation angle in rotation angle and/or vertical direction in monopod video camera horizontal direction.The embodiment of the present application is specific real It applies example part and provides formula for example, details are not described herein.Horizontal direction described in the embodiment of the present application refers to The horizontal rotation face of holder rotating mechanism, vertical direction refer to the vertical rotary face of holder rotating mechanism.
Optionally, the coordinate and position relationship on picture are produced at i-th according to each characteristic point, determines target After regional center o'clock produces the coordinate of picture at i-th, further include：If it is determined that target area central point produces picture at i-th The distance between the coordinate in face and the imaging picture central point of monopod video camera are not more than distance threshold, then：According to target area Size and i-th production picture size, the multiplying power of monopod video camera is amplified, it is whole to make target area be extended to A imaging picture.The multiplying power of monopod video camera may include the multiplying power of optics aspect camera lens or the multiplying power of number aspect.
Second aspect, the embodiment of the present application provide a kind of monopod video camera adjusting apparatus, monopod video camera adjusting apparatus packet Memory, transceiver and processor are included, wherein：Memory is for storing instruction；Processor is used for according to execution memory storage Instruction, and control transceiver carry out signal receive and signal send, when processor execute memory storage instruction when, holder Video camera adjusting apparatus is for executing any method in above-mentioned first aspect or first aspect.
The third aspect, the embodiment of the present application provides a kind of monopod video camera adjusting apparatus, for realizing above-mentioned first aspect Or any one method in first aspect, including corresponding function module, it is respectively used to realize the step in above method.
Fourth aspect, the embodiment of the present application provide a kind of computer readable storage medium, in computer readable storage medium It is stored with instruction, when run on a computer so that computer executes the arbitrary possible of first aspect or first aspect Method in realization method.
5th aspect, the embodiment of the present application provide it is a kind of comprising instruction computer program product, when its on computers When operation so that computer executes the method in the arbitrary possible realization method of first aspect or first aspect.
Target area central point and at least two characteristic points are defined in the embodiment of the present application to produce in picture at the 0th Position relationship, target area central point and at least two characteristic points produced at i-th position relationship in picture at the 0th The position relationship produced in picture is identical, therefore coordinate and the position on picture can be produced at i-th according to each characteristic point Relationship determines that target area central point produces the coordinate of picture at i-th；And then monopod video camera can be adjusted in ith Shooting angle judges the distance between target area central point and imaging picture central point after ith adjustment later.
Further, if judging, the distance between target area central point and imaging picture central point are more than after ith adjustment Distance threshold then carries out i+1 time adjustment.As it can be seen that by N number of adjustment process in the embodiment of the present application, so as to reduce holder During camera rotation by the rotational structure error of hardware influenced, so as to so that after that adjustment process mesh It marks the distance between regional center point and imaging picture central point and is less than distance threshold, i.e., more accurately target area is made to move To the imaging picture center of monopod video camera.
Description of the drawings
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment Attached drawing is briefly introduced.
Fig. 1 is a kind of schematic diagram of the production picture of monopod video camera；
Fig. 1 a are the schematic diagram for the production picture that user it is expected the monopod video camera reached；
Fig. 2 is a kind of structural schematic diagram of monopod video camera；
Fig. 3 is a kind of method flow schematic diagram of the method for adjustment of monopod video camera provided by the embodiments of the present application；
Fig. 3 a are the method flow schematic diagram of the method for adjustment of another monopod video camera provided by the embodiments of the present application；
Fig. 3 b are the position of characteristic point and target area central point on the 0th production picture provided in the embodiment of the present application Relation schematic diagram；
Fig. 3 c produce picture to Fig. 3 b for what is provided in the embodiment of the present application by i-th after ith adjustment process The position relationship schematic diagram of upper characteristic point and target area central point；
Fig. 3 d are characteristic point and target area central point on the 0th production picture of another kind provided in the embodiment of the present application Position relationship schematic diagram；
Fig. 3 e produce picture to Fig. 3 d for what is provided in the embodiment of the present application by i-th after ith adjustment process The position relationship schematic diagram of upper characteristic point and target area central point；
Fig. 3 f are showing for the rotation angle in a kind of determining monopod video camera horizontal direction provided in the embodiment of the present application It is intended to；
Fig. 4 is a kind of structural schematic diagram of the adjusting apparatus of monopod video camera provided by the embodiments of the present application；
Fig. 5 is the structural schematic diagram of the adjusting apparatus of another monopod video camera provided by the embodiments of the present application.
Specific implementation mode
In order to make the purpose, technical solution and advantageous effect of the application be more clearly understood, below in conjunction with attached drawing and implementation Example, is further elaborated the application.It should be appreciated that specific embodiment described herein is only used to explain this Shen Please, it is not used to limit the application.
Fig. 2 illustrates a kind of structural schematic diagram for monopod video camera that the embodiment of the present application can be applicable in, such as Fig. 2 Shown, the master control borad 1103 of monopod video camera 1101 is connect with network communication interface 1113, and master control borad 1103 includes processor 1102.Master control borad 1103 is connected to by control line 1107 with coding processing device 1106, the production picture captured by camera lens 1104, i.e., Vision signal 1108 can be transmitted to master control borad 1103 by sensor 1105 and coding processing device 1106.Master control borad 1103 can connect Pick battery plate 1109, and electromechanical version 1109 is carried out up and down by the left and right control motor 1112 connected and upper and lower control motor 1111 The rotation of left and right, to realize the adjustment to monopod video camera.
Fig. 2 is merely illustrative to show that a kind of structure type of possible monopod video camera, the embodiment of the present application are provided The adjusting apparatus of monopod video camera a kind of be applicable to the monopod video cameras of other multiple structural forms, the embodiment of the present application institute The adjusting apparatus of the monopod video camera of offer may be disposed in the processor 1102 in above-mentioned Fig. 2.
The method that Fig. 3 and Fig. 3 a illustrate a kind of method of adjustment of monopod video camera provided by the embodiments of the present application Flow diagram.As shown in figure 3, the method for adjustment includes the following contents：
Step 201, adjusting apparatus obtains the target area being located in the 0th production picture of monopod video camera；The application is real It is specifically to carry out the 1st tune to apply the raw frames that the 0th production picture in example specifically refers to captured by monopod video camera It has suffered the picture captured by monopod video camera before journey；I-th of production picture in following the description refers to being adjusted by i-th The picture that monopod video camera is exported after journey.
Step 202, adjusting apparatus determines that the target area central point of target area produces the seat in picture at the 0th Each characteristic point at least two characteristic points in mark, target area produces coordinate and target area in picture at the 0th Domain central point and at least two characteristic points produce the position relationship in picture at the 0th；
Step 203, adjusting apparatus pass through it is N number of adjustment process adjusting monopod video camera shooting angle, wherein N be more than Integer equal to 1；Wherein, for i-th of adjustment process during N number of adjustment, i is more than or equal to 1 and whole less than or equal to N Number executes following steps 205 to the content of step 208.
Step 205, adjusting apparatus produces the coordinate on picture and holder camera shooting according to target area central point at (i-1)-th The coordinate of the imaging picture central point of machine, ith adjust the shooting angle of monopod video camera；
Step 206, adjusting apparatus is produced in monopod video camera exports after i-th of adjustment process i-th on picture, Determine that each characteristic point at least two characteristic points produces the coordinate on picture at i-th；
Step 207, adjusting apparatus produces the coordinate and position relationship on picture according to each characteristic point at i-th, really Make the coordinate that target area central point produces picture at i-th；Wherein, target area central point and at least two characteristic points exist Position relationship in i-th of production picture is identical as the position relationship produced at the 0th in picture；
Step 208, adjusting apparatus is if it is determined that target area central point produces the coordinate and monopod video camera of picture at i-th The distance between imaging picture central point be more than distance threshold, then produced on picture at i-th according to target area central point Coordinate and monopod video camera imaging picture central point, i+1 time adjustment monopod video camera.In the embodiment of the present application I-1 production picture specifically refers to carry out (i-1)-th adjustment process to the 0th captured by monopod video camera production picture Produce picture；I-th of production picture specifically refers to carry out i-th of tune to the 0th production picture captured by monopod video camera It has suffered the production picture of journey；I+1 production picture specifically refers to carry out the 0th production picture captured by monopod video camera The production picture of i+1 adjustment process.
Target area central point and at least two characteristic points are defined in the embodiment of the present application to produce in picture at the 0th Position relationship, target area central point and at least two characteristic points produced at i-th position relationship in picture at the 0th The position relationship produced in picture is identical, therefore coordinate and the position on picture can be produced at i-th according to each characteristic point Relationship determines that target area central point produces the coordinate of picture at i-th；And then monopod video camera can be adjusted in ith Shooting angle judges the distance between target area central point and imaging picture central point after ith adjustment later.That is, A kind of error compensation mechanism is provided in the embodiment of the present application, can reduce the hardware being subject in monopod video camera rotary course The influence of rotational structure error, to more accurately make the central point of target area be located at the central point of imaging picture.
Further, if judging, the distance between target area central point and imaging picture central point are more than after ith adjustment Distance threshold then carries out i+1 time adjustment.As it can be seen that reducing and adjusting by N number of adjustment process in the embodiment of the present application Due to error caused by the hardware rotation structure by monopod video camera in journey, so as to so that after that adjustment process The distance between target area central point and imaging picture central point are less than distance threshold, i.e., more accurately target area are made to move It moves to the imaging picture center of monopod video camera.
In above-mentioned steps 201, the 0th production picture of monopod video camera refers to the initial production picture of monopod video camera Face, user determine target area on initial production picture.Adjusting apparatus can produce at the 0th and determine mesh on picture The coordinate value in region is marked, such as usually, target area can be a rectangle, and adjusting apparatus can produce picture at the 0th On determine target area four vertex coordinate value.Then adjusting apparatus can determine target area according to geometric knowledge Central point, target area central point is the geometric center point of target area, for example target area is rectangle, then target area center Point is two cornerwise intersection points of the rectangle, if the target area is circle, target area central point is that this is circular The center of circle.
Optionally, above-mentioned steps 202, adjusting apparatus needs to produce at the 0th to be determined in target area extremely in picture Few two characteristic points.Graphic feature extraction algorithm can be used to choose some special points from target area, these points are in image It is all changed significantly on the two-dimensional directional of grey scale signal, referred to as angle point.Angle point has the advantages that invariable rotary, therefore relatively more suitable It shares in images match.The Corner Detection method of adjustment of industry has very much, optionally, Harris operators will be used from target area At least two angle points determined are as at least two characteristic points.
The expression formula of Harris operators can be as shown in formula (1)：
I=det (M)-ktr 2(M) ... formula (2)
The middle g in formula (1) and formula (2)xFor the gradient in the directions x, gyFor the gradient in the directions y, G (s) is Gauss plate, det (M) it is determinant of a matrix, trFor the straight mark of matrix, k is acquiescence constant, and optionally, can use k is 0.04；Indicate convolution.
Above-mentioned formula (1) formula (2) is explained, it is as follows：
For each point of the gray level image of target area, this is calculated in horizontal and vertical first derivative and two The product of person.The new image of three width can be obtained in this way, and the corresponding attribute value of each pixel in three width images is respectively gx, gy And gxgy.Gaussian filtering is carried out to this three width image, finally calculates the corresponding interest value I each put on original image.
Harris algorithms think that characteristic point is the corresponding pixel of great interest value in subrange.Therefore it is calculating After the interest value of complete each point, the maximum point of all partial interest values in original image is extracted.In practical operation, it can choose more A more apparent interest value of coordinate difference is more a little bigger, is convenient for, using these points as vertex, constituting the feature of a polygon in this way Region.
After adjusting apparatus is adjusted process every time, it is required for determining at least two characteristic points on new production picture In each characteristic point coordinate.Optionally, it can be realized by Image Feature Matching algorithm, Image Feature Matching algorithm Purpose is to find the correspondence between characteristic point in two images.In the embodiment of the present application, ith adjusted Cheng Qian's Image characteristic point combination is denoted as I[n], the image characteristic point combination after ith adjustment process is denoted as J[n], then the process of images match It can be used to formula (3) expression：
J[n]=f (I[n]) ... formula (3)
As it can be seen that the image characteristic point of Cheng Qian can be adjusted in the embodiment of the present application by images match formula (3) and ith Combination is denoted as I[n], find out the combination of the image characteristic point after ith adjustment process and be denoted as J[n].Specific images match formula industry Have very much, such as the matching method based on template, the corners Matching method based on singular value decomposition.
In above-mentioned steps 207, adjusting apparatus produces coordinate and position on picture according to each characteristic point at i-th Relationship determines that target area central point produces the coordinate of picture at i-th, and specifically there are many realization methods, such as root According to the distance between each characteristic point of determination and target area central point, later in the holder after i-th of adjustment process On i-th of production picture of video camera output, according to the distance between each characteristic point and target area central point and each Characteristic point determines that target area central point produces the coordinate of picture at i-th.
A kind of optionally scheme is provided in the embodiment of the present application, determines target area central point and at least two characteristic points The position relationship in picture is produced at the 0th, including：For the fisrt feature point and second feature at least two characteristic points Point executes following operation, wherein fisrt feature point and second feature point are two characteristic points at least two characteristic points：Really It makes intersection point of the target area central point on the line of fisrt feature point and second feature point and is produced at the 0th and sat in picture Mark；It produces at the 0th and is determined in picture：The first distance, intersection point and second feature point between intersection point and fisrt feature point it Between second distance and intersection point and target area central point between third distance；It will determine to produce picture at the 0th In first distance, second distance and third distance between proportionate relationship as position relationship.Target in the embodiment of the present application Intersection point of the regional center point on the line of fisrt feature point and second feature point is concretely from target area central point to Draw vertical line on the line of one characteristic point and second feature point, the intersection point of vertical line and fisrt feature point and the line of second feature point is For intersection point.
Correspondingly, optionally, the coordinate and position relationship on picture are produced at i-th according to each characteristic point, is determined Go out the coordinate that target area central point produces picture at i-th, including：For at least two characteristic points fisrt feature point and Second feature point, at i-th produce picture on, according to fisrt feature point and second feature point and the first distance and second away from Proportionate relationship between determines that intersection point produces the coordinate in picture at i-th；It is produced in picture at i-th according to intersection point Coordinate and the first distance and third distance between proportionate relationship and fisrt feature o'clock the seat of picture is produced at i-th Mark, determines that target area central point produces the coordinate of picture at i-th.
Optionally, another optionally embodiment is provided, the coordinate on picture is produced at i-th according to each characteristic point, And position relationship, determine that target area central point produces the coordinate of picture at i-th, including：For at least two features Fisrt feature point in point and second feature point are produced at i-th on picture, according to fisrt feature point and second feature point, with And the first proportionate relationship between distance and second distance, determine that intersection point produces the coordinate in picture at i-th；According to intersection point The proportionate relationship and second feature point produced at i-th between coordinate and second distance in picture and third distance exist The coordinate of i-th of production picture, determines that target area central point produces the coordinate of picture at i-th.
Fig. 3 b are illustrated on the 0th production picture provided in the embodiment of the present application in characteristic point and target area The position relationship schematic diagram of heart point, Fig. 3 c are illustrated to Fig. 3 b by i-th of production picture after ith adjustment process The position relationship schematic diagram of characteristic point and target area central point on face.It is introduced with reference to Fig. 3 b and Fig. 3 c, in Fig. 3 b In, fisrt feature point is point A, and second feature point is point B, and target area central point is point O, and target area central point is in the first spy Intersection point on the line of sign point and second feature point is Ob；It produces at the 0th and is determined in picture：Intersection point and fisrt feature point it Between the first distance, the second distance between intersection point and second feature point and the between intersection point and target area central point Three distances；By the proportionate relationship between the first distance produced at the 0th in picture, second distance and the third distance determined As position relationship.
In on i-th of production picture shown in Fig. 3 c, fisrt feature point is expressed as point A ', and second feature point is expressed as a little B ', target area central point are point O ', intersection point of the target area central point on the line of fisrt feature point and second feature point For Ob’.In figure 3 c, fisrt feature point point A ' and second feature point point B ' are first determined.Later according to the first distance and second Proportionate relationship between distance, determines intersection point point O ', that is to say, that the distance between point O ' and point A ' and point O ' and point B ' it Between distance ratio it is identical as the ratio of the first distance and second distance.
Further determine that out that target area central point point O ' specifically can calculate the first distance and third apart from it Between ratio, and the distance between point O ' and point A ' determine O ' and point ObThe distance between ', and then determine intersection point point Ob' coordinate.
Another optionally scheme is the ratio that can be calculated between second distance and third distance, and point O ' and point The distance between B ' determines O ' and point ObThe distance between ', and then determine intersection point point Ob' coordinate.
A kind of scheme is provided in the embodiment of the present application again, for making adjusting apparatus be produced at i-th according to each characteristic point Coordinate on picture and position relationship determine that target area central point produces the coordinate of picture at i-th.Fig. 3 d examples Property show that the position relationship of characteristic point and target area central point shows on provided in the embodiment of the present application the 0th production picture It is intended to, Fig. 3 e are illustrated to Fig. 3 d by characteristic point and target on i-th of production picture after ith adjustment process The position relationship schematic diagram of regional center point.It is introduced with reference to Fig. 3 d and Fig. 3 e, in Fig. 3 d, for example there are three spies Point, respectively point A, point B and point C are levied, target area central point is point O, lines of the central point point O in target area in point A and point B On intersection point be Ob；Intersection points of the target area central point point O on the line of point A and point C is Oc；
According to point ObProportionate relationship on the line segment of point A and point B at a distance from point A and point B, point OCPoint A's and point C Proportionate relationship on line segment at a distance from point A and point C can find out and be taken the photograph by i-th after ith adjustment process in Fig. 3 e Point O on picture processedb' and point Oc' position, with point Ob' it is that intersection point makees a vertical line O vertical with A ' B 'c' O ', with point Oc' it is vertical Foot makees a vertical line O vertical with A ' C 'c' O ', after intersection point O ' the as adjustment of above-mentioned two vertical lines in picture in target area Heart point.
In above-mentioned steps 205, the coordinate and monopod video camera on picture are produced at (i-1)-th according to target area central point Imaging picture central point, ith adjust monopod video camera shooting angle, including：
Coordinate, the sensor target surface of monopod video camera produced on picture at (i-1)-th according to target area central point are wide Degree, the sensor target surface height of monopod video camera, monopod video camera produce (i-1)-th production picture when camera lens effective focal length, The height of the width of the imaging picture of monopod video camera and the imaging picture of monopod video camera, is determined：Ith adjustment holder is taken the photograph During camera：The rotation angle in rotation angle and/or vertical direction in monopod video camera horizontal direction.
Horizontal direction described in the embodiment of the present application refers to the horizontal rotation face of holder rotating mechanism, vertical direction Refer to the vertical rotary face of holder rotating mechanism.
Fig. 3 f illustrate the rotation in a kind of determining monopod video camera horizontal direction provided by the embodiments of the present application The schematic diagram of angle is described in detail with reference to Fig. 3 f.
In Fig. 3 f, line segment FC is imaging sensor (sensor) plate, and EG is the optical axis of monopod video camera, and point E is in optically focused The heart, G points are imaging picture central point.The length of EG is camera lens effective focal length.The length of FC is sensor target surface width.Point D is target area central point, and point D is fallen in the sides FG, and point D is on the right side at sight center, to make point D fall at sight center On, i.e., target area central point is moved to imaging picture central point, then needs the rotation in horizontal direction right rotation horizontal direction Angle.
Following formula (4) can be obtained from Fig. 3 f：
According to formula (4) and then derive formula (5)
Correspondingly, the rotation angle in vertical direction can be obtained by formula (6)：
In formula (4), formula (5) and formula (6), in conjunction with Fig. 3 f can be obtained formula (7), formula (8), formula (9) and Formula (10).
Formula (11) and formula (12) can be obtained by merging above-mentioned formula (4) to formula (10)：
In formula (4) to formula (12),
Δ α is during ith adjusts monopod video camera：Rotation angle in monopod video camera horizontal direction；
WSensor target surface widthFor sensor target surface width；
fCamera lens effective focal lengthFor camera lens effective focal length；
xDThe coordinate of the x-axis on picture is produced at (i-1)-th for target area central point；
Δ θ is during ith adjusts monopod video camera：Rotation angle in monopod video camera vertical direction；
HSensor target surface heightFor sensor target surface width；
fCamera lens effective focal lengthFor camera lens effective focal length；
yDThe coordinate of the y-axis on picture is produced at (i-1)-th for target area central point；
ΔLThe distance between horizontal direction target area central point and imaging picture central pointFor horizontal direction target area central point and imaging picture central point it Between distance；
ΔHThe distance between vertical direction target area central point and imaging picture central pointFor vertical direction target area central point and imaging picture central point it Between distance；
HIt is imaged the height of pictureTo be imaged the height of picture；
WIt is imaged the width of pictureTo be imaged the width of picture.
Based on the above, the embodiment of the present application can be mitigated by multiple approximation computation error compensation since holder images Target area central point and imaging picture central point after being rotated caused by error caused by structure when the hardware rotation of machine The problem of deviation, to more accurately make target area be moved to the imaging picture center of monopod video camera.And the application is real It applies in example to industrial control computer (Industrial Personal Computer, IPC) the total volume modeling of internal mechanical, passes through Visual angle mode calculates the method for adjustment of rotation angle, can allow the ball machine more accurately to rotate to corresponding approximate location as early as possible, Including horizontal and vertical position.
Further, optionally, the coordinate and position relationship on picture are produced at i-th according to each characteristic point, is determined Go out after the coordinate that target area central point produces picture at i-th, further includes：If it is determined that target area central point is at i-th It produces the distance between the coordinate of picture and the imaging picture central point of monopod video camera and is not more than distance threshold, then：According to mesh The size for marking the size and i-th of production picture in region, is amplified the multiplying power of monopod video camera, to make target area expand Greatly to entire imaging picture.The multiplying power of monopod video camera may include the multiplying power of optics aspect camera lens or the multiplying power of number aspect.
Fig. 4 illustrates a kind of adjusting apparatus of monopod video camera provided by the embodiments of the present application.
Based on same idea, the embodiment of the present application provides a kind of adjusting apparatus 400 of monopod video camera, above-mentioned for executing The adjusting apparatus 400 of method flow, the monopod video camera includes acquiring unit 401, determination unit 402 and adjustment unit 403.
Acquiring unit 401, for obtaining the target area in the 0th production picture of monopod video camera；The application is real It is specifically to carry out the 1st tune to apply the raw frames that the 0th production picture in example specifically refers to captured by monopod video camera It has suffered the picture captured by monopod video camera before journey；And i-th of production picture refers to that holder is taken the photograph after i-th of adjustment process The picture that camera is exported.
Determination unit 402 produces the seat in picture for determining the target area central point of target area at the 0th Each characteristic point at least two characteristic points in mark, target area produces coordinate and target area in picture at the 0th Domain central point and at least two characteristic points produce the position relationship in picture at the 0th.0th production picture of monopod video camera Refer to the initial production picture of monopod video camera, user determines target area on initial production picture.Adjusting apparatus 400 can produce the coordinate value that target area is determined on picture at the 0th, such as usually, and target area can be one Rectangle, adjusting apparatus 400 can produce the coordinate value on four vertex that target area is determined on picture at the 0th.Then it adjusts Engagement positions 400 can determine that the central point of target area, target area central point are the geometry of target area according to geometric knowledge Central point.
Adjustment unit 403, for by it is N number of adjustment process adjusting monopod video camera shooting angle, wherein N for more than Integer equal to 1；Wherein, for i-th of adjustment process during N number of adjustment, i is more than or equal to 1 and whole less than or equal to N Number executes following operation：
The imaging picture center of the coordinate and monopod video camera on picture is produced at (i-1)-th according to target area central point The coordinate of point, ith adjust the shooting angle of monopod video camera；In the monopod video camera output after i-th of adjustment process On i-th of production picture, determine that each characteristic point at least two characteristic points produces the coordinate on picture at i-th；Root The coordinate and position relationship on picture are produced at i-th according to each characteristic point, determine target area central point at i-th Produce the coordinate of picture；Wherein, target area central point and at least two characteristic points produce the position relationship in picture at i-th It is identical as the position relationship produced at the 0th in picture；If it is determined that target area central point produced at i-th the coordinate of picture with The distance between imaging picture central point of monopod video camera is more than distance threshold, then according to target area central point at i-th Produce the imaging picture central point of the coordinate and monopod video camera on picture, i+1 time adjustment monopod video camera.If it is determined that Target area central point is produced little at a distance between the coordinate of picture and the imaging picture central point of monopod video camera at i-th In distance threshold, then terminates flow, no longer monopod video camera is adjusted.
Target area central point and at least two characteristic points are defined in the embodiment of the present application to produce in picture at the 0th Position relationship, target area central point and at least two characteristic points produced at i-th position relationship in picture at the 0th The position relationship produced in picture is identical, therefore coordinate and the position on picture can be produced at i-th according to each characteristic point Relationship determines that target area central point produces the coordinate of picture at i-th；And then monopod video camera can be adjusted in ith Shooting angle judges the distance between target area central point and imaging picture central point after ith adjustment later.That is, A kind of error compensation mechanism is provided in the embodiment of the present application, can reduce the hardware being subject in monopod video camera rotary course The influence of rotational structure error, to more accurately make the central point of target area be located at the central point of imaging picture.
Further, if judging, the distance between target area central point and imaging picture central point are more than after ith adjustment Distance threshold then carries out i+1 time adjustment.As it can be seen that reducing and adjusting by N number of adjustment process in the embodiment of the present application Due to error caused by the hardware rotation structure by monopod video camera in journey, so as to so that after that adjustment process The distance between target area central point and imaging picture central point are less than distance threshold, i.e., more accurately target area are made to move It moves to the imaging picture center of monopod video camera.
Optionally, adjusting apparatus 400 needs to produce at least two features determined in picture in target area at the 0th Point.Graphic feature extraction algorithm can be used to choose some special points from target area, these are in gradation of image signal It is all changed significantly on two-dimensional directional, referred to as angle point.Angle point has the advantages that invariable rotary, therefore compares suitable for image Matching.The Corner Detection method of adjustment of industry has very much, optionally, will use that Harris operators determine from target area to Few two angle points are as at least two characteristic points.
Harris algorithms think that characteristic point is the corresponding pixel of great interest value in subrange.Therefore it is calculating After the interest value of complete each point, the maximum point of all partial interest values in original image is extracted.In practical operation, it can choose more A more apparent interest value of coordinate difference is more a little bigger, is convenient for, using these points as vertex, constituting the feature of a polygon in this way Region.
After adjusting apparatus is adjusted process every time, it is required for determining at least two characteristic points on new production picture In each characteristic point coordinate.Optionally, it can be realized by Image Feature Matching algorithm, Image Feature Matching algorithm Purpose is to find the correspondence between characteristic point in two images.Specific images match formula industry has very much, such as base Matching method in template, corners Matching method based on singular value decomposition etc..
In a kind of scheme optionally for determining position relationship, determination unit 402 is used for：For at least two features Fisrt feature point in point and second feature point execute following operation, wherein fisrt feature point and second feature point are at least two Two characteristic points in a characteristic point：Determine target area central point on the line of fisrt feature point and second feature point Intersection point produces coordinate in picture at the 0th；It produces at the 0th and is determined in picture：First between intersection point and fisrt feature point The third distance between second distance and intersection point and target area central point between distance, intersection point and second feature point；It will Proportionate relationship between the first distance produced at the 0th in picture, second distance and the third distance determined is as position Relationship.
It is optional during determining target area central point at i-th and producing the coordinate of picture based on said program Ground, determination unit 402, is used for：For the fisrt feature point and second feature point at least two characteristic points, following behaviour is executed Make：It is produced on picture at i-th, according between fisrt feature point and second feature point and the first distance and second distance Proportionate relationship determines that intersection point produces the coordinate in picture at i-th；The coordinate in picture is produced at i-th according to intersection point, with And the first proportionate relationship and fisrt feature o'clock between distance and third distance produces the coordinate of picture at i-th, determines Target area central point produces the coordinate of picture at i-th.
Optionally, another optionally embodiment is provided, optionally it is determined that unit 402, is used for：For at least two spies Fisrt feature point in sign point and second feature point are produced at i-th on picture, according to fisrt feature point and second feature point, And the first proportionate relationship between distance and second distance, determine that intersection point produces the coordinate in picture at i-th；According to vertical Foot produces proportionate relationship and second feature point between coordinate and second distance and third distance in picture at i-th The coordinate that picture is produced at i-th, determines that target area central point produces the coordinate of picture at i-th.
It can so determine that position relationship and target area central point produce the seat of picture at i-th by geometrical relationship Mark provides specific solution for repeatedly adjustment monopod video camera, and improves the efficiency of monopod video camera adjustment process.
During specific adjustment, optionally in scheme, adjustment unit 403 is used for one kind：According to target area central point Coordinate, sensor target surface width, the sensor target surface of monopod video camera of monopod video camera produced at (i-1)-th on picture are high Degree, monopod video camera produce (i-1)-th production picture when camera lens effective focal length, monopod video camera imaging picture width and The height of the imaging picture of monopod video camera, is determined：During ith adjusts monopod video camera：Monopod video camera is horizontal The rotation angle in rotation angle and/or vertical direction on direction.The embodiment of the present application provides above-mentioned formula and is used for example, Details are not described herein.
Optionally, adjustment unit 403 are additionally operable to：If it is determined that target area central point produced at i-th the coordinate of picture with The distance between imaging picture central point of monopod video camera is not more than distance threshold, then：According to the size of target area and i-th The size of a production picture, is amplified the multiplying power of monopod video camera, to make target area be extended to entire imaging picture. The multiplying power of monopod video camera may include the multiplying power of optics aspect camera lens or the multiplying power of number aspect.
It should be understood that the division of above each unit is only a kind of division of logic function, it in actual implementation can be whole Or be partially integrated on a physical entity, it can also be physically separate.In the embodiment of the present application, it to be used for the transmitting-receiving of receiving and transmitting signal Unit, such as user receive the vision signal captured by monopod video camera, alternatively referred to as produce picture, Transmit-Receive Unit can be by receiving Hair machine realizes that acquiring unit, determination unit and the adjustment unit in monopod video camera can be realized by processor.Such as Fig. 5 institutes Show, the adjusting apparatus 500 of monopod video camera may include processor 501, transceiver 502 and memory 503.Wherein, memory 503 can be used for storing code when processor 501 carries into execution a plan, which can be that the adjusting apparatus 500 of monopod video camera goes out Program/the code pre-installed when factory.
Fig. 5 illustrates a kind of structural representation of the adjusting apparatus of monopod video camera provided by the embodiments of the present application Figure.
Based on same idea, the application provides a kind of adjusting apparatus 500 of monopod video camera, for executing above method stream Journey.Fig. 5 is a kind of structural schematic diagram of the adjusting apparatus of monopod video camera provided by the present application.The adjustment of the monopod video camera fills It includes processor 501, transceiver 502, memory 503 and communication interface 504 to set 500；Wherein, processor 501, transceiver 502, Memory 503 and communication interface 504 are connected with each other by bus 505.Processor 501 in the embodiment of the present application can be in Fig. 2 Processor 1102, transceiver 502 and memory 503 be mountable in monopod video camera 1101 on master control borad 1103, Huo Zhean Loaded on other positions in monopod video camera 1101, the communication interface 504 in the embodiment of the present application can be the network communication in Fig. 2 Interface 1113.
Bus 505 can be Peripheral Component Interconnect standard (peripheral component interconnect, abbreviation PCI) bus or expanding the industrial standard structure (extended industry standard architecture, abbreviation EISA) Bus etc..Bus can be divided into address bus, data/address bus, controlling bus etc..For ease of indicating, only with a thick line in Fig. 5 It indicates, it is not intended that an only bus or a type of bus.
Memory 503 may include volatile memory (volatile memory), such as random access memory (random-access memory, abbreviation RAM)；Memory can also include nonvolatile memory (non-volatile ), such as flash memory (flash memory), hard disk (hard disk drive, abbreviation HDD) or solid state disk memory (solid-state drive, abbreviation SSD)；Memory 503 can also include the combination of the memory of mentioned kind.
Communication interface 504 can be wire communication access port, wireless communication interface or combinations thereof, wherein wire communication connects Mouth for example can be Ethernet interface.Ethernet interface can be optical interface, electrical interface or combinations thereof.Wireless communication interface can be with For WLAN interface.
Processor 501 can be central processing unit (central processing unit, abbreviation CPU), network processing unit The combination of (network processor, abbreviation NP) or CPU and NP.Processor can further include hardware chip.On It can be application-specific integrated circuit (application-specific integrated circuit, abbreviation to state hardware chip ASIC), programmable logic device (programmable logic device, abbreviation PLD) or combinations thereof.Above-mentioned PLD can be Complex Programmable Logic Devices (complex programmable logic device, abbreviation CPLD), field programmable logic Gate array (field-programmable gate array, abbreviation FPGA), Universal Array Logic (generic array Logic, abbreviation GAL) or its arbitrary combination.
Optionally, memory 503 can be also used for storage program instruction, and processor 501 calls to be stored in the memory 503 Program instruction, one or more of Fig. 3 and Fig. 3 a illustrated embodiments step or in which optional embodiment party can be executed Formula so that the adjusting apparatus 500 of monopod video camera realizes the function of the adjusting apparatus 500 of monopod video camera in the above method.
Processor 501 is executed for calling the program instruction stored in the memory 503：
Obtain the target area being located in the 0th production picture of monopod video camera；0th production picture in the embodiment of the present application Mask body refers to the raw frames captured by monopod video camera, is that holder images before carrying out the 1st adjustment process specifically Picture captured by machine；And i-th of production picture refers to the picture that monopod video camera is exported after i-th of adjustment process.
Determine the target area central point of target area produced at the 0th the coordinate in picture, in target area extremely Each characteristic point in few two characteristic points produces coordinate and target area central point and at least two in picture at the 0th A characteristic point produces the position relationship in picture at the 0th.By it is N number of adjustment process adjusting monopod video camera shooting angle, Wherein, N is the integer more than or equal to 1.
0th production picture of monopod video camera refers to the initial production picture of monopod video camera, and user is initial Target area is determined on production picture.Adjusting apparatus 500 can produce the coordinate that target area is determined on picture at the 0th Value, for example usually, target area can be a rectangle, adjusting apparatus 500 can produce at the 0th and determine mesh on picture Mark the coordinate value on four vertex in region.Then adjusting apparatus 500 can determine the central point of target area according to geometric knowledge, Target area central point is the geometric center point of target area.
Further, for i-th of adjustment process during N number of adjustment, i is more than or equal to 1 and whole less than or equal to N Number executes following operation：The imaging of the coordinate and monopod video camera on picture is produced at (i-1)-th according to target area central point The coordinate of picture central point, ith adjust the shooting angle of monopod video camera；After i-th of adjustment process holder image On i-th of production picture of machine output, determine that each characteristic point at least two characteristic points is produced at i-th on picture Coordinate；The coordinate and position relationship on picture are produced at i-th according to each characteristic point, determine target area central point The coordinate of picture is produced at i-th；Wherein, target area central point and at least two characteristic points are produced at i-th in picture Position relationship is identical as the position relationship produced at the 0th in picture；If it is determined that target area central point produces picture at i-th Coordinate and the distance between the imaging picture central point of monopod video camera be more than distance threshold, then according to target area central point The imaging picture central point of the coordinate and monopod video camera on picture, i+1 time adjustment monopod video camera are produced at i-th. If it is determined that target area central point produced at i-th picture coordinate and monopod video camera imaging picture central point between away from From no more than distance threshold, then terminates flow, no longer monopod video camera is adjusted.
Target area central point and at least two characteristic points are defined in the embodiment of the present application to produce in picture at the 0th Position relationship, target area central point and at least two characteristic points produced at i-th position relationship in picture at the 0th The position relationship produced in picture is identical, therefore coordinate and the position on picture can be produced at i-th according to each characteristic point Relationship determines that target area central point produces the coordinate of picture at i-th；And then monopod video camera can be adjusted in ith Shooting angle judges the distance between target area central point and imaging picture central point after ith adjustment later.That is, A kind of error compensation mechanism is provided in the embodiment of the present application, can reduce the hardware being subject in monopod video camera rotary course The influence of rotational structure error, to more accurately make the central point of target area be located at the central point of imaging picture.
Further, if judging, the distance between target area central point and imaging picture central point are more than after ith adjustment Distance threshold then carries out i+1 time adjustment.As it can be seen that reducing and adjusting by N number of adjustment process in the embodiment of the present application Due to error caused by the hardware rotation structure by monopod video camera in journey, so as to so that after that adjustment process The distance between target area central point and imaging picture central point are less than distance threshold, i.e., more accurately target area are made to move It moves to the imaging picture center of monopod video camera.
Optionally, adjusting apparatus 500 needs to produce at least two features determined in picture in target area at the 0th Point.Graphic feature extraction algorithm can be used to choose some special points from target area, these are in gradation of image signal It is all changed significantly on two-dimensional directional, referred to as angle point.Angle point has the advantages that invariable rotary, therefore compares suitable for image Matching.The Corner Detection method of adjustment of industry has very much, optionally, will use that Harris operators determine from target area to Few two angle points are as at least two characteristic points.
Harris algorithms think that characteristic point is the corresponding pixel of great interest value in subrange.Therefore it is calculating After the interest value of complete each point, the maximum point of all partial interest values in original image is extracted.In practical operation, it can choose more A more apparent interest value of coordinate difference is more a little bigger, is convenient for, using these points as vertex, constituting the feature of a polygon in this way Region.
After adjusting apparatus is adjusted process every time, it is required for determining at least two characteristic points on new production picture In each characteristic point coordinate.Optionally, it can be realized by Image Feature Matching algorithm, Image Feature Matching algorithm Purpose is to find the correspondence between characteristic point in two images.Specific images match formula industry has very much, such as base Matching method in template, corners Matching method based on singular value decomposition etc..
In a kind of scheme optionally for determining position relationship, processor 501 is used for：For at least two characteristic points In fisrt feature point and second feature point, execute following operation, wherein fisrt feature point and second feature point are at least two Two characteristic points in characteristic point：Determine target area central point hanging down on the line of fisrt feature point and second feature point Foot produces coordinate in picture at the 0th；It produces at the 0th and is determined in picture：Between intersection point and fisrt feature point first away from From between, intersection point and second feature point second distance and intersection point and target area central point between third distance；It will be true Proportionate relationship between the first distance produced at the 0th in picture, second distance and the third distance made is closed as position System.
It is optional during determining target area central point at i-th and producing the coordinate of picture based on said program Ground, processor 501, is used for：For the fisrt feature point and second feature point at least two characteristic points, following operation is executed： It is produced on picture at i-th, according to the ratio between fisrt feature point and second feature point and the first distance and second distance Relationship determines that intersection point produces the coordinate in picture at i-th；The coordinate in picture, Yi Ji are produced at i-th according to intersection point Proportionate relationship and fisrt feature o'clock between one distance and third distance produce the coordinate of picture at i-th, determine target Regional center o'clock produces the coordinate of picture at i-th.Position relationship and target area can be so determined by geometrical relationship Central point produces the coordinate of picture at i-th, provides specific solution for repeatedly adjustment monopod video camera, and improve Monopod video camera adjusts the efficiency of process.
Optionally, another optionally embodiment is provided, optionally, processor 501 is used for：For at least two features Fisrt feature point in point and second feature point are produced at i-th on picture, according to fisrt feature point and second feature point, with And the first proportionate relationship between distance and second distance, determine that intersection point produces the coordinate in picture at i-th；According to intersection point The proportionate relationship and second feature point produced at i-th between coordinate and second distance in picture and third distance exist The coordinate of i-th of production picture, determines that target area central point produces the coordinate of picture at i-th.
During specific adjustment, optionally in scheme, processor 501 is used for one kind：Existed according to target area central point Sensor target surface width, the sensor target surface of monopod video camera of coordinate, monopod video camera on (i-1)-th production picture are high Degree, monopod video camera produce (i-1)-th production picture when camera lens effective focal length, monopod video camera imaging picture width and The height of the imaging picture of monopod video camera, is determined：During ith adjusts monopod video camera：Monopod video camera is horizontal The rotation angle in rotation angle and/or vertical direction on direction.The embodiment of the present application provides above-mentioned formula and is used for example, Details are not described herein.
Optionally, processor 501 are additionally operable to：If it is determined that target area central point produces the coordinate and cloud of picture at i-th The distance between imaging picture central point of platform video camera is not more than distance threshold, then：According to the size of target area and i-th The size for producing picture, is amplified the multiplying power of monopod video camera, to make target area be extended to entire imaging picture.Cloud The multiplying power of platform video camera may include the multiplying power of optics aspect camera lens or the multiplying power of number aspect.
It should be understood by those skilled in the art that, the embodiment of the present application can be provided as method, system or computer program production Product.Therefore, in terms of the embodiment of the present application can be used complete hardware embodiment, complete software embodiment or combine software and hardware Embodiment form.Moreover, it wherein includes computer available programs generation that the embodiment of the present application, which can be used in one or more, The meter implemented in the computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) of code The form of calculation machine program product.
The embodiment of the present application is with reference to the method, equipment (system) and computer program product according to the embodiment of the present application Flowchart and/or the block diagram describe.It should be understood that can be realized by computer program instructions in flowchart and/or the block diagram The combination of flow and/or box in each flow and/or block and flowchart and/or the block diagram.These calculating can be provided Processing of the machine program instruction to all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices Device is to generate a machine so that the instruction executed by computer or the processor of other programmable data processing devices generates For realizing the function of being specified in one flow of flow chart or multiple flows and/or one box of block diagram or multiple boxes Device.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy Determine in the computer-readable memory that mode works so that instruction generation stored in the computer readable memory includes referring to Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device so that count Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, in computer or The instruction executed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one The step of function of being specified in a box or multiple boxes.
Obviously, those skilled in the art can carry out the embodiment of the present application various modification and variations without departing from this Shen Spirit and scope please.In this way, if these modifications and variations of the embodiment of the present application belong to the application claim and its wait Within the scope of technology, then the application is also intended to include these modifications and variations.

Claims (15)

1. a kind of method of adjustment of monopod video camera, which is characterized in that including：
Obtain the target area being located in the 0th production picture of monopod video camera；
Determine that the target area central point of the target area produces coordinate, the target area in picture at described 0th Each characteristic point at least two characteristic points in domain produces coordinate and the target area in picture at described 0th Domain central point and at least two characteristic point produce the position relationship in picture at described 0th；
Pass through the shooting angle of monopod video camera described in N number of adjustment process adjusting, wherein the N is the integer more than or equal to 1； Wherein, for i-th of adjustment process during N number of adjustment, the i is the integer more than or equal to 1 and less than or equal to N, Execute following operation：
The imaging of the coordinate and the monopod video camera on picture is produced at described (i-1)-th according to the target area central point The coordinate of picture central point, ith adjust the shooting angle of the monopod video camera；
On i-th of production picture of the monopod video camera output, described at least two are being determined after i-th of adjustment process Each characteristic point in a characteristic point produces the coordinate on picture at described i-th；
Coordinate and the position relationship on picture are produced at described i-th according to each characteristic point, are determined described Target area central point produces the coordinate of picture at described i-th；Wherein, the target area central point and described at least two It is identical as the position relationship produced at described 0th in picture that characteristic point produces the position relationship in picture at described i-th；
If it is determined that the target area central point produces the imaging picture of the coordinate and the monopod video camera of picture at described i-th The distance between face central point is more than distance threshold, then is produced on picture at described i-th according to the target area central point Coordinate and the monopod video camera imaging picture central point, the i+1 time adjustment monopod video camera.
2. the method as described in claim 1, which is characterized in that determine the target area central point and described at least two Characteristic point produces the position relationship in picture at described 0th, including：
For the fisrt feature point and second feature point at least two characteristic point, following operation is executed, wherein described the One characteristic point and second feature point are two characteristic points at least two characteristic point：
Determine that intersection point of the target area central point on the line of the fisrt feature point and second feature point exists Coordinate in the 0th production picture；
It produces at described 0th and is determined in picture：Between the intersection point and fisrt feature point first distance, it is described hang down Third between sufficient second distance and the intersection point and the target area central point between the second feature point away from From；
First distance, the second distance and the third distance produced at described 0th in picture that will be determined Between proportionate relationship as the position relationship.
3. method as claimed in claim 2, which is characterized in that described to be produced at described i-th according to each characteristic point Coordinate on picture and the position relationship determine that the target area central point produces the seat of picture at described i-th Mark, including：
For the fisrt feature point and second feature point at least two characteristic point, following operation is executed：
It is produced on picture at described i-th, according to the fisrt feature point and second feature point and first distance Proportionate relationship between the second distance determines that the intersection point produces the coordinate in picture at described i-th；
Coordinate in picture and first distance and the third are produced at described i-th according to the intersection point apart from it Between proportionate relationship and the fisrt feature point coordinate of picture is produced at described i-th, determine in the target area Heart point produces the coordinate of picture at described i-th.
4. the method as described in claims 1 to 3 any claim, which is characterized in that described according in the target area Heart point produces the imaging picture central point of the coordinate and the monopod video camera on picture at described (i-1)-th, and ith adjusts institute The shooting angle of monopod video camera is stated, including：
The sensing of coordinate on picture, the monopod video camera is produced at described (i-1)-th according to the target area central point Device target surface width, the sensor target surface height of the monopod video camera, monopod video camera production (i-1)-th production picture The width of the imaging picture of camera lens effective focal length, the monopod video camera when face and the imaging picture of the monopod video camera Highly, it determines：
During ith adjusts the monopod video camera：It rotation angle in the monopod video camera horizontal direction and/or hangs down The upward rotation angle of histogram.
5. method as claimed in claim 4, which is characterized in that it is described according to the target area central point described (i-1)-th The sensor target surface width of coordinate, the monopod video camera on a production picture, the sensor target surface of the monopod video camera Highly, the monopod video camera produce it is described (i-1)-th production picture when camera lens effective focal length, the monopod video camera at As the height of the imaging picture of the width and monopod video camera of picture, determine：Ith adjusts the monopod video camera In the process：The rotation angle in rotation angle and/or vertical direction in the monopod video camera horizontal direction, including：
Wherein, Δ α is during ith adjusts the monopod video camera：Rotation in the monopod video camera horizontal direction Angle；
WSensor target surface widthFor sensor target surface width；
fCamera lens effective focal lengthFor camera lens effective focal length；
WIt is imaged the width of pictureTo be imaged the width of picture；
xDThe coordinate of the x-axis on picture is produced at described (i-1)-th for target area central point；
Δ θ is during ith adjusts the monopod video camera：Rotation angle in the monopod video camera vertical direction；
HSensor target surface heightFor sensor target surface width；
fCamera lens effective focal lengthFor camera lens effective focal length；
HIt is imaged the height of pictureTo be imaged the width of picture；
yDThe coordinate of the y-axis on picture is produced at described (i-1)-th for target area central point.
6. method according to any one of claims 1 to 5, which is characterized in that described obtain is located at monopod video camera It is every at least two characteristic points determined in the target area after target area in 0th production picture Before a characteristic point produces the coordinate in picture at described 0th, further include：
At least two angle points that Harris operators are determined from the target area will be used as at least two characteristic point.
7. the method as described in claim 1 to 6 any claim, which is characterized in that described according to each characteristic point Coordinate and the position relationship on picture are produced at described i-th, determine the target area central point described the After the coordinate of i production picture, further include：
If it is determined that the target area central point produces the imaging picture of the coordinate and the monopod video camera of picture at described i-th The distance between face central point is not more than the distance threshold, then：
According to the size of the size of the target area and i-th of production picture, to the multiplying power of the monopod video camera into Row amplification.
8. a kind of adjusting apparatus of monopod video camera, which is characterized in that including：
Acquiring unit, for obtaining the target area in the 0th production picture of monopod video camera；
Determination unit produces the seat in picture for determining the target area central point of the target area at described 0th Each characteristic point at least two characteristic points in mark, the target area produces the coordinate in picture at described 0th, with And the target area central point and at least two characteristic point produce the position relationship in picture at described 0th；
Adjustment unit, for by it is N number of adjustment process adjusting described in monopod video camera shooting angle, wherein the N for more than Integer equal to 1；Wherein, for i-th of adjustment process during N number of adjustment, the i is more than or equal to 1 and to be less than Integer equal to N executes following operation：
The imaging of the coordinate and the monopod video camera on picture is produced at described (i-1)-th according to the target area central point The coordinate of picture central point, ith adjust the shooting angle of the monopod video camera；
On i-th of production picture of the monopod video camera output, described at least two are being determined after i-th of adjustment process Each characteristic point in a characteristic point produces the coordinate on picture at described i-th；
Coordinate and the position relationship on picture are produced at described i-th according to each characteristic point, are determined described Target area central point produces the coordinate of picture at described i-th；Wherein, the target area central point and described at least two It is identical as the position relationship produced at described 0th in picture that characteristic point produces the position relationship in picture at described i-th；
If it is determined that the target area central point produces the imaging picture of the coordinate and the monopod video camera of picture at described i-th The distance between face central point is more than distance threshold, then is produced on picture at described i-th according to the target area central point Coordinate and the monopod video camera imaging picture central point, the i+1 time adjustment monopod video camera.
9. adjusting apparatus as claimed in claim 8, which is characterized in that the determination unit is used for：
For the fisrt feature point and second feature point at least two characteristic point, following operation is executed, wherein described the One characteristic point and second feature point are two characteristic points at least two characteristic point：
Determine that intersection point of the target area central point on the line of the fisrt feature point and second feature point exists Coordinate in the 0th production picture；
It produces at described 0th and is determined in picture：Between the intersection point and fisrt feature point first distance, it is described hang down Third between sufficient second distance and the intersection point and the target area central point between the second feature point away from From；
First distance, the second distance and the third distance produced at described 0th in picture that will be determined Between proportionate relationship as the position relationship.
10. adjusting apparatus as claimed in claim 9, which is characterized in that the determination unit is used for：
For the fisrt feature point and second feature point at least two characteristic point, following operation is executed：
It is produced on picture at described i-th, according to the fisrt feature point and second feature point and first distance Proportionate relationship between the second distance determines that the intersection point produces the coordinate in picture at described i-th；
Coordinate in picture and first distance and the third are produced at described i-th according to the intersection point apart from it Between proportionate relationship and the fisrt feature point coordinate of picture is produced at described i-th, determine in the target area Heart point produces the coordinate of picture at described i-th.
11. the adjusting apparatus as described in claim 8 to 10 any claim, which is characterized in that the adjustment unit is used In：
The sensing of coordinate on picture, the monopod video camera is produced at described (i-1)-th according to the target area central point Device target surface width, the sensor target surface height of the monopod video camera, monopod video camera production (i-1)-th production picture The width of the imaging picture of camera lens effective focal length, the monopod video camera when face and the imaging picture of the monopod video camera Highly, it determines：
During ith adjusts the monopod video camera：It rotation angle in the monopod video camera horizontal direction and/or hangs down The upward rotation angle of histogram.
12. adjusting apparatus as claimed in claim 11, which is characterized in that the adjustment unit is determined according to following formula： During ith adjusts the monopod video camera：Rotation angle in the monopod video camera horizontal direction and/or Vertical Square Upward rotation angle：
Wherein, Δ α is during ith adjusts the monopod video camera：Rotation in the monopod video camera horizontal direction Angle；
WSensor target surface widthFor sensor target surface width；
fCamera lens effective focal lengthFor camera lens effective focal length；
WIt is imaged the width of pictureTo be imaged the width of picture；
xDThe coordinate of the x-axis on picture is produced at described (i-1)-th for target area central point；
Δ θ is during ith adjusts the monopod video camera：Rotation angle in the monopod video camera vertical direction；
HSensor target surface heightFor sensor target surface width；
fCamera lens effective focal lengthFor camera lens effective focal length；
HIt is imaged the height of pictureTo be imaged the width of picture；
yDThe coordinate of the y-axis on picture is produced at described (i-1)-th for target area central point.
13. the adjusting apparatus as described in claim 8 to 12 any claim, which is characterized in that the determination unit is also used In：
At least two angle points that Harris operators are determined from the target area will be used as at least two characteristic point.
14. the adjusting apparatus as described in claim 8 to 13 any claim, which is characterized in that the adjustment unit is also used In：
If it is determined that the target area central point produces the imaging picture of the coordinate and the monopod video camera of picture at described i-th The distance between face central point is not more than the distance threshold, then：
According to the size of the size of the target area and i-th of production picture, to the multiplying power of the monopod video camera into Row amplification.
15. a kind of adjusting apparatus of monopod video camera, which is characterized in that the adjusting apparatus includes processor, transceiver and deposits Reservoir；
For storing instruction, the processor is used for the instruction according to the execution memory storage to the memory, and controls The transceiver carries out signal reception and signal is sent, described when the processor executes the instruction of the memory storage Adjusting apparatus is used to execute the method as described in claim 1-7 is any.
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