CN109345599A - A kind of coordinate transformation method and system of ground coordinate and Pan/Tilt/Zoom camera - Google Patents
A kind of coordinate transformation method and system of ground coordinate and Pan/Tilt/Zoom camera Download PDFInfo
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- CN109345599A CN109345599A CN201811366346.8A CN201811366346A CN109345599A CN 109345599 A CN109345599 A CN 109345599A CN 201811366346 A CN201811366346 A CN 201811366346A CN 109345599 A CN109345599 A CN 109345599A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
- G06T7/85—Stereo camera calibration
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- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
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Abstract
The invention discloses the coordinate methods and system of a kind of ground coordinate and Pan/Tilt/Zoom camera, are related to safety-security area.This method comprises: obtaining the ground coordinate of target position；It is changed the mechanism according to coordinate and the ground coordinate of the target position is converted into vertical height angle θ and horizontal azimuth of the Pan/Tilt/Zoom camera when its picture center is directed at the target positionThe coordinate transformation mechanism is established by following step: establishing Pan/Tilt/Zoom camera coordinate system；Determine the ground coordinate of the target position and the vertical height angle θ of the Pan/Tilt/Zoom camera and horizontal azimuth in the Pan/Tilt/Zoom camera coordinate systemBetween coordinate transformation relation, the coordinate transformation relation includes related conversion parameter.This method can reliably and accurately realize the mutual conversion between the ground coordinate of target and Pan/Tilt/Zoom camera coordinate, this method is simple and has good accuracy and reliability by the corresponding relationship established between the ground coordinate of target and Pan/Tilt/Zoom camera coordinate.
Description
Technical field
The present invention relates to safety-security area, in particular to the coordinate transformation method of a kind of ground coordinate and Pan/Tilt/Zoom camera and
System.
Background technique
Pan/Tilt/Zoom camera is applied very extensive in protection and monitor field at present, and the coordinate of Pan/Tilt/Zoom camera is in practical applications
It is all highly important parameter.Specifically, by taking a kind of common application scenarios as an example, more particularly in order in various monitoring fields
Effectively grasp the state of target to be monitored in scape, the prior art to Pan/Tilt/Zoom camera carry out target following propose plurality of target with
Track method, especially with regard to ball machine, i.e. the widely applied ball-shaped camera in field of intelligent video surveillance at present, about ball machine
Method for tracking target, specifically include that the method for tracking target based on template matching, the tracking based on feature pixel；
In addition, there are also a kind of trackings of more complicated tracking study detection.
But the above method still has some shortcomings: there are reliability it is not high or tracking study detection track side
Method is more complex, and accuracy and reliability in practical applications is unsatisfactory.
The coordinate parameters of Pan/Tilt/Zoom camera are all referred in the above method, so that video camera can effectively track monitored mesh
Mark, it would therefore be highly desirable to a kind of conversion method that can reliably and accurately realize the coordinate about Pan/Tilt/Zoom camera be proposed, so that PTZ
Video camera can be by more reliable and accurately use various practical applications in including but not limited to above-mentioned target following scene
In scene.
Summary of the invention
In order to overcome technical problem as described above, the present invention proposes the coordinate turn of a kind of ground coordinate and Pan/Tilt/Zoom camera
Change method and system, this method passes through the corresponding relationship established between the ground coordinate of target and Pan/Tilt/Zoom camera coordinate, Neng Gouke
The mutual conversion between the ground coordinate of target and Pan/Tilt/Zoom camera coordinate is leaned on and is accurately realized, this method is simple and has very
Good accuracy and reliability.Specific technical solution of the present invention is as follows:
In a first aspect, the present invention proposes the coordinate transformation method of a kind of ground coordinate and Pan/Tilt/Zoom camera, this method comprises:
Obtain the ground coordinate of target position；
It is changed the mechanism according to coordinate and the ground coordinate of the target position is converted into Pan/Tilt/Zoom camera at its picture center pair
Vertical height angle θ and horizontal azimuth when the quasi- target position
Further, the coordinate transformation mechanism is established by following step:
Establish earth axes and Pan/Tilt/Zoom camera coordinate system；
Determine the ground coordinate of the target position and the vertical height angle θ of the Pan/Tilt/Zoom camera and horizontal azimuthIt
Between coordinate transformation relation, the coordinate transformation relation includes related conversion parameter, wherein under the correlation conversion parameter passes through
Step is stated to determine:
It is demarcated in the earth axes and the Pan/Tilt/Zoom camera coordinate system, comprising: by the Pan/Tilt/Zoom camera
Navigate to horizontal azimuthPosition, randomly select at least two different vertical height angle θ1And θ2, and obtain corresponding
It is directed toward the ground coordinate (x of two points on ground in Pan/Tilt/Zoom camera picture center1,y1) and (x2,y2)；
Pass through θ obtained by calibrating1And θ2And (x1,y1) and (x2,y2) determine the phase in above-mentioned coordinate transformation relation
Close conversion parameter.
Further, the earth axes are established by GNSS coordinate system, and the ground coordinate is GNSS coordinate.
Further, the GNSS coordinate system is GPS coordinate system, and the GNSS coordinate is GPS coordinate, the GPS coordinate
The X and Y-axis of system respectively represent the latitude and longitude coordinates direction of earth surface GPS coordinate system, with the X and Y-axis of the GPS coordinate system
The X and Y-axis of the camera coordinate system are established, and the Z axis of the camera coordinate system is perpendicular to the X and Y-axis.
Further, the video camera is ball machine, and the coordinate transformation relation may be expressed as:
Wherein, (x, y) is the ground latitude and longitude coordinates that ball machine picture center is directed toward, and the correlation conversion parameter includes: ball machine installation position
GPS latitude and longitude coordinates (the x set0,y0), ball machine horizontal zero optical axis it is parallel with GPS coordinate X-axis when ball machine angleWith it is described
The mounting height h of ball machine.
Further, the coordinate transformation method of the ground coordinate and Pan/Tilt/Zoom camera further include:
The Pan/Tilt/Zoom camera is positioned to target positioning, the vertical height angle at the target positioning is θ and level side
Parallactic angle is
Further, further includes:
The coordinate transformation mechanism is also able to achieve the vertical height by Pan/Tilt/Zoom camera at its picture center alignment target position
Spend angle θ and horizontal azimuthBe converted to the ground coordinate of the target position.
Second aspect, the present invention propose the coordinate transformation system of a kind of ground coordinate and Pan/Tilt/Zoom camera, comprising:
Ground coordinate obtains module, for obtaining the ground coordinate of target position；
Pan/Tilt/Zoom camera coordinate determining module, for being turned the ground coordinate of the target position by coordinate transferring
It is changed to vertical height angle θ and horizontal azimuth of the Pan/Tilt/Zoom camera when its picture center is directed at the target position
The third aspect, the present invention propose the coordinate transformation device of a kind of ground coordinate and Pan/Tilt/Zoom camera, which is characterized in that
Including processor and memory, the memory is stored at least one section of program, and described program is executed by the processor with reality
The coordinate transformation method of ground coordinate and Pan/Tilt/Zoom camera now as described in relation to the first aspect.
Fourth aspect, the present invention propose a kind of computer readable storage medium, which is characterized in that deposit in the storage medium
At least one section of program is contained, at least one section of program is executed by the processor to realize that ground as described in relation to the first aspect is sat
The coordinate transformation method of mark and Pan/Tilt/Zoom camera.
Technical solution provided by the invention has the benefit that
The present invention passes through the ground coordinate for obtaining target position first；Then it is changed the mechanism according to coordinate by the target position
The ground coordinate set is converted to vertical height angle θ and level of the Pan/Tilt/Zoom camera when its picture center is directed at the target position
AzimuthThis method is changed the mechanism by the coordinate established between the ground coordinate of target and Pan/Tilt/Zoom camera coordinate, Neng Goufang
Just the mutual conversion between the ground coordinate and Pan/Tilt/Zoom camera coordinate of target is realized, this method is simple and has well accurately
Property and reliability.
Detailed description of the invention
Fig. 1 show the coordinate transformation method flow chart of a kind of ground coordinate and Pan/Tilt/Zoom camera of the invention；
Fig. 2 is a kind of method for building up flow chart of coordinate transformation mechanism in the present invention；
Fig. 3 is a kind of schematic diagram of Pan/Tilt/Zoom camera coordinate system in the present invention；
Fig. 4 is to convert determination method for parameter flow chart in a kind of coordinate transformation relation of the present invention；
Fig. 5 show conversion determination method for parameter flow chart embodiment signal in another coordinate transformation relation of the invention
Figure；
Fig. 6 show a GPS coordinate schematic diagram when target point is directed toward at a kind of ball machine picture center of the invention；
Fig. 7 show GPS coordinate schematic diagram when another target point is directed toward at a kind of ball machine picture of the invention center；
Fig. 8 shows a kind of GPS coordinate by known target position of the present invention and obtains a kind of conversion of corresponding ball machine coordinate
Result schematic diagram；
Fig. 9 show the coordinate transformation system schematic diagram of a kind of ground coordinate and Pan/Tilt/Zoom camera that the present invention announces；
Figure 10 shows the coordinate transformation device of a kind of ground coordinate and Pan/Tilt/Zoom camera involved in the embodiment of the present invention
Structural schematic diagram.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Case is described in further detail.
It should be noted that the applicable field of the coordinate transformation method of ground coordinate and Pan/Tilt/Zoom camera proposed by the invention
Scape is extensive.In safety-security area now, in a kind of possible practical operation, for the cruiser in city or emphasis cell
Team, we generally require the patrol situation of these squad cars of real-time tracking, so that being able to observe that mesh by monitor camera
Cursor position, can be by ground in the ground coordinate of known target position the security situation in these security protection regions is effectively ensured
Coordinate is converted to coordinate of the monitor camera when its picture center is directed at the target position.
As shown in Figure 1 it is the coordinate transformation method flow chart of a kind of ground coordinate and Pan/Tilt/Zoom camera of the invention, shows
The specific implementation process of this method, comprising:
In a step 101, the ground coordinate of target position is obtained；
Goal position is the object for current interest, in a kind of possible target following scene, be can be
It is deployed in patrol fleet or the police car in security protection area.In a kind of possible realization, these need tracked target object that can lead
The dynamic ground coordinate for reporting itself is optionally the ground coordinate of target object, other can also be taken feasible in the present invention
The mode on the ground of target position can be obtained, in the present invention and with no restriction.
In a step 102, the ground coordinate of the target position Pan/Tilt/Zoom camera is converted to according to coordinate transformation mechanism to exist
Its picture center is directed at vertical height angle θ and horizontal azimuth when the target position
After the ground coordinate for getting target position by step 101, it can be changed the mechanism by coordinate by the target position
The ground coordinate set is converted to vertical height angle θ and level of the Pan/Tilt/Zoom camera when its picture center is directed at the target position
AzimuthIt should be noted that above-mentioned coordinate transformation mechanism should be able to indicate that the ground coordinate of the target position and PTZ are taken the photograph
Vertical height angle θ and horizontal azimuth of the camera when its picture center is directed at the target positionBetween transformational relation,
In a kind of possible realization, it is known that the ground coordinate of target position is changed the mechanism available Pan/Tilt/Zoom camera according to this coordinate
Vertical height angle θ and horizontal azimuth when its picture center is directed at the target positionIn alternatively possible realization
In, it is known that the vertical height angle θ and horizontal azimuth of Pan/Tilt/Zoom cameraAccording to this coordinate transformation mechanism also its available picture
Center is directed at the ground coordinate of the target position.
It should be noted that the ground coordinate in the technical solution of the application, established at the earth's surface including all
Earth axes, so it is easy to understand that this earth axes have a kind of supposed premise, and being exactly will within the scope of certain distance
A plane is regarded on ground as, can be GNSS coordinate optionally, the GNSS coordinate optionally, including GPS coordinate is carrying out
When the specific descriptions of scheme, following the description will be illustrated with GPS coordinate, but is not limited GNSS coordinate with this and sat as GPS
Mark, those skilled in the art should be understood that the ground coordinate including other GNSS coordinate can also be used as technical solution of the present invention
Optional implementation condition.It should be noted that for indicating target object using latitude and longitude coordinates in the present invention program
GPS coordinate, such as: (longitude, latitude).
In addition, it should also be noted that, Pan/Tilt/Zoom camera in the technical solution of the application, optionally, including ball machine, i.e.,
Ball-shaped camera, in the specific descriptions of the scheme of progress, following the description will be illustrated by taking ball machine as an example, but not with this
Limit.
If Fig. 2 is a kind of method for building up flow chart that coordinate is changed the mechanism in the present invention, the specific reality of this method is shown
Apply step, comprising:
In step 201, earth axes and Pan/Tilt/Zoom camera coordinate system are established；
The earth axes are exactly to regard ground as coordinate system that a plane is established within the scope of certain distance,
In a kind of possible realization, the earth axes are established by GNSS coordinate system, and the ground coordinate is GNSS coordinate.
If Fig. 3 is a kind of schematic diagram of Pan/Tilt/Zoom camera coordinate system in the present invention, technical solution of the present invention is shown specific
One of implementation process reference frame, optionally, the GNSS coordinate system are GPS coordinate system, and the GNSS coordinate is GPS
Coordinate, the X and Y-axis of the GPS coordinate system respectively represent the latitude and longitude coordinates direction of earth surface GPS coordinate system, described
The X and Y-axis of GPS coordinate system establish the X and Y-axis of the camera coordinate system, and the Z axis of the camera coordinate system is perpendicular to institute
X and Y-axis are stated, the video camera is ball machine, (x in Fig. 30,y0) it is ball machine in the GPS coordinate of floor projection point, it needs to illustrate
It is, it is contemplated that the visual range of common ball machine only has 1 to 3 kilometers, therefore assume that X in the technical solution of the present invention, and Y-axis is
One plane, simultaneously, it is assumed that the Z axis of ball machine coordinate system is perpendicular to ground, then it is three-dimensional to establish XYZ as shown in Figure 3
Coordinate system, the coordinate system provide reference frame for following implementation steps, are the bases for carrying out coordinate conversion.
In step 202, determine the ground coordinate of the target position and the vertical height angle θ of the Pan/Tilt/Zoom camera and
Horizontal azimuthBetween coordinate transformation relation, the coordinate transformation relation includes related conversion parameter.
Through the above steps 201 establish Pan/Tilt/Zoom camera coordinate system after, the description based on the coordinate system determines the target
The vertical height angle θ and horizontal azimuth of the ground coordinate of position and the Pan/Tilt/Zoom cameraBetween coordinate transformation relation, institute
Stating coordinate transformation relation includes related conversion parameter.In the description of this step, retouched in conjunction with the coordinate system of such as Fig. 3 as exemplary
It states bright.
Based on the reference frame that above-mentioned steps 201 are established, Formula of Coordinate System Transformation is as follows:
Wherein, (x0,y0) it is the GPS latitude and longitude coordinates of ball machine installation site, for known conditions, (x, y) is in ball machine picture
The ground latitude and longitude coordinates that the heart is directed toward,It is constant offset amount (ball machine water when ball machine is in horizontal zero with GPS coordinate X-axis
Ball machine angle when stratosphere position optical axis is parallel with GPS coordinate X-axis),It is ball machine and X-axis when (x, y) is directed toward at ball machine picture center
Horizontal sextant angle, in upper figureWherein, as right in Fig. 2Further explanation schematical sections shown in, OB is ball machine
The central axis of ball machine, the angle with OA are when (x, y) is directed toward at picture centerI.e. the horizontal coordinate (Pan) of ball machine, θ are that ball machine refers to
Vertical angle when to (x, y), h refer to the mounting height of the ball machine.
As can be seen that the conversion parameter of the coordinate transformation relation includes the ball machine from Formula of Coordinate System Transformation (1) and (2)
Mounting height h and ball machine level angle constant offset amountIt is understood that when the ball machine mounting height h and
The constant offset amount of ball machine level angleWhen known, the GPS coordinate of target position height vertical with the Pan/Tilt/Zoom camera
Spend angle θ and horizontal azimuthBetween transformational relation be just determined.
In a kind of possible realization, if Fig. 4 is to convert determination method for parameter in a kind of coordinate transformation relation of the present invention
Flow chart shows the specific implementation step of this method, comprising:
In the description of following step, in conjunction with such as Fig. 3 coordinate system as exemplary description explanation.
In step 401, it is demarcated in the earth axes and the Pan/Tilt/Zoom camera coordinate system, comprising: by institute
It states Pan/Tilt/Zoom camera and navigates to horizontal azimuthPosition, randomly select at least two different vertical height angle θ1And θ2,
And obtain the ground coordinate (x for two points that corresponding Pan/Tilt/Zoom camera picture center is directed toward on ground1,y1) and (x2,y2)；
In step 402, pass through θ obtained by calibrating1And θ2And (x1,y1) and (x2,y2) determine that above-mentioned coordinate conversion is closed
The related conversion parameter in system.
Ball machine is rotated into horizontal azimuthPosition, choose two different height ball machine vertical angle θ1And θ2, and
Obtain the coordinate (x for two points that corresponding ball machine center is directed toward on ground1,y1), (x2,y2), it can be obtained by (1) and (2) formula
It arrives:
By available in (3) and (4) formula:
(3) formula or (4) formula are substituted by (5) formula, the calculating formula of the mounting height h of available ball machine at this time, optionally,
It is available by (4) formula:
Then, (5) formula substitution (6) formula can be obtained to the mounting height h of ball machine at this time.
Therefore, in (x0,y0)、With h known to when, as (1) and (2) formula discloses GPS coordinate and the institute of the target position
State the vertical height angle θ and horizontal azimuth of Pan/Tilt/Zoom cameraBetween Conversion Relations.
It should be noted that according to above-mentioned steps 201 to 202 can determine the ground coordinate of the target position with it is described
The vertical height angle θ and horizontal azimuth of Pan/Tilt/Zoom cameraBetween Conversion Relations, that is, establish coordinate between the two turn
The system of changing planes, above-mentioned (1) and (2) formula are only illustrated by taking GPS coordinate as an example, other include that the ground coordinate of GNSS coordinate is also
Available corresponding coordinate transformational relation.
So, so it is easy to understand that the coordinate transformation mechanism established through the invention, which is also able to achieve, images PTZ
Vertical height angle θ and horizontal azimuth of the machine at its picture center alignment target positionBe converted to the ground of the target position
Areal coordinate.
In a kind of possible practical operation, it is known that Pan/Tilt/Zoom camera is when its picture center is directed at the target position
Vertical height angle θ and horizontal azimuthThe coordinate transformation mechanism established by step 201 and step 202, available institute
The ground coordinate of target position is stated, can be GPS coordinate optionally.
After step 102, in a kind of possible practical operation, the Pan/Tilt/Zoom camera can also be positioned to target
At positioning, the vertical height angle at the target positioning is θ and horizontal azimuth is
Through the above steps 101 and step 102 in, in a kind of possible realization, the GPS coordinate of the target position with
The vertical height angle θ and horizontal azimuth of the Pan/Tilt/Zoom cameraBetween transformational relation determine after, when known target position
GNSS coordinate, available Pan/Tilt/Zoom camera is changed the mechanism when its picture center is directed at the target position according to this coordinate
Vertical height angle θ and horizontal azimuth
In practical applications, it is supreme that Pan/Tilt/Zoom camera can also be subjected to rotational positioning by Pan/Tilt/Zoom camera localization method
State video camera vertical height angle θ and horizontal azimuth corresponding to the GPS coordinate of target position
Determination method for parameter flow chart embodiment is converted as figure 5 above is shown in another coordinate transformation relation of the invention
Schematic diagram, Pan/Tilt/Zoom camera is illustrated by taking ball machine as an example in embodiment corresponding to Fig. 5.
GPS coordinate can be read from GIS map by GPS device in-site measurement, or directly, be scene in the present embodiment
Measurement obtains.Specifically include following implementation steps:
In step 501, ball machine is rotated into horizontal zero, i.e., so that
In step 502, ball machine horizontal direction is motionless, rotates ball machine in vertical direction, ground is directed toward at ball machine picture center
Certain point, and the GPS coordinate is it is known that be illustrated in figure 6 a GPS coordinate signal when target point is directed toward at ball machine picture center
Figure, GPS coordinate is (118.0467498249,24.6122291956) as seen from the figure, and reads ball machine level orientation coordinate simultaneously
With vertical orientations coordinate (0,121.39992),
In step 503, ball machine horizontal direction is motionless, continues to rotate ball machine in vertical direction, ball machine picture center is directed toward
Another point of ground is illustrated in figure 7 GPS coordinate schematic diagram when another target point is directed toward at ball machine picture center, should by figure
Point GPS coordinate is known as (118.0463666141,24.6123435973), similar step 502, while reading ball machine level side
Position coordinate and vertical orientations coordinate (0,52.63992).
In step 504, parameter step 502 and 503 obtained substitutes into formula (5) formula and (6) formula, obtainsAnd h, then
(1) formula of substitution and the available (x of (2) formula0,y0), so as to determine the unknown conversion in coordinate transformation relation (1) and (2)
Parameter, i.e. (x0,y0)、And h.
Through the above steps 501 to 504, it can establish the Conversion Relations of frizzing machine coordinate and GPS coordinate, Jin Ershi
The GPS coordinate of target position is known, it is vertically high just ball machine coordinate to be calculated by coordinate transformation relation formula (1) and (2)
Spend angle θ and horizontal azimuthIn a kind of possible practical application scene, the ball machine is positioned to target vertical elevation angle
Vertical height angle θ and horizontal azimuth at horizontal azimuth, at the target positioningJust it can be realized dynamically track
Know the target position of GPS coordinate.
The present embodiment passes through the ground coordinate for obtaining target position first；Then it is changed the mechanism according to coordinate by the target
The ground coordinate of position is converted to vertical height angle θ and water of the Pan/Tilt/Zoom camera when its picture center is directed at the target position
Square parallactic angleThis method is changed the mechanism by the coordinate established between the ground coordinate of target and Pan/Tilt/Zoom camera coordinate, can
Facilitate the mutual conversion between the ground coordinate and Pan/Tilt/Zoom camera coordinate of realizing target, this method is simple and has quasi- well
True property and reliability.
By a kind of available Conversion Relations of GPS coordinate and ball machine coordinate of embodiment corresponding to Fig. 5, i.e.,
Know (x0,y0) be (118.0465368738,24.6122927689),(1) for being 0.000135654 for 163.3778159 and h
Formula and (2) formula.Here under the Conversion Relations, Fig. 8, which is shown, obtains corresponding ball machine by the GPS coordinate of known target position
A kind of transformation result schematic diagram of coordinate: reading ball machine center pointed location GPS coordinate by GPS instrument first is
(118.0462085971,24.6127600042), the GPS coordinate of target position as at this time mutually convert pass by this
System, the level orientation coordinate and vertical orientations coordinate obtained at this time is (34.03998,81.16002).
The present invention also announces the coordinate transformation system of a kind of ground coordinate and Pan/Tilt/Zoom camera, is illustrated in figure 9 public affairs of the invention
The coordinate transformation system schematic diagram of a kind of ground coordinate and Pan/Tilt/Zoom camera of cloth, comprising:
In module 901, ground coordinate obtains module, for obtaining the ground coordinate of target position；
In module 902, Pan/Tilt/Zoom camera coordinate determining module, for passing through coordinate transferring for the target position
Ground coordinate be converted to vertical height angle θ and level side of the Pan/Tilt/Zoom camera when its picture center is directed at the target position
Parallactic angle
It can also include: locating module in a kind of possible realization, for taking the photograph the PTZ after module 902
Camera is positioned to target positioning, and the vertical height angle at the target positioning is θ and horizontal azimuth is
Further, the coordinate transferring, comprising:
Establishment of coordinate system module, for establishing Pan/Tilt/Zoom camera coordinate system；
Coordinate converts determining module, and the GNSS coordinate for determining the target position is vertical with the Pan/Tilt/Zoom camera
Elevation angle θ and horizontal azimuthBetween coordinate transformation relation, the coordinate transformation relation includes related conversion parameter, wherein
The correlation conversion parameter is determined by following submodules:
Submodule is demarcated, for being demarcated in the Pan/Tilt/Zoom camera coordinate system, comprising: determine the Pan/Tilt/Zoom camera
Horizontal azimuth is arrived in positionPosition, randomly select at least two different vertical height angle θ1And θ2, and obtain corresponding
It is directed toward the coordinate (x of two points on ground in Pan/Tilt/Zoom camera picture center1,y1) and (x2,y2)；
Parameter determination submodule, the θ for will be obtained above by demarcating module1And θ2And (x1,y1) and (x2,y2) really
The related conversion parameter in fixed above-mentioned coordinate transformation relation.
Figure 10 shows the structure of the coordinate transformation device of ground coordinate and Pan/Tilt/Zoom camera involved in the embodiment of the present invention
Schematic diagram, the device mainly includes processor 1001, memory 1002 and bus 1003, the memory is stored at least one section
Program, described program are executed the seat to realize ground coordinate and Pan/Tilt/Zoom camera as described in above-described embodiment as the processor
Mark conversion method.
Processor 1001 includes one or more processing cores, and processor 1001 passes through bus 1003 and memory
1002 are connected, and memory 10 is realized when executing the program instruction in memory 1002 for storing program instruction, processor 1001
The coordinate transformation method of ground coordinate and Pan/Tilt/Zoom camera that above method embodiment provides.
Optionally, memory 1002 can be by any kind of volatibility or non-volatile memory device or their group
It closes and realizes, such as static to access memory (SRAM) at any time, electrically erasable programmable read-only memory (EEPROM) is erasable to compile
Journey read-only memory (EPROM), programmable read only memory (PROM), read-only memory (ROM), magnetic memory, flash
Device, disk or CD.
The present invention also provides a kind of computer readable storage medium, be stored in the storage medium at least one instruction,
At least one section of program, code set or instruction set, at least one instruction, at least one section of program, code set or instruction set are by institute
Processor is stated to load and execute with the coordinate conversion side of the ground coordinate and Pan/Tilt/Zoom camera of realizing above method embodiment offer
Method.
Optionally, the present invention also provides a kind of computer program products comprising instruction, when it runs on computers
When, so that computer executes the coordinate transformation method of ground coordinate described in above-mentioned various aspects and Pan/Tilt/Zoom camera.
Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can store computer-readable with one kind
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
The foregoing is merely presently preferred embodiments of the present invention, is not used to limit invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. the coordinate transformation method of a kind of ground coordinate and Pan/Tilt/Zoom camera characterized by comprising
Obtain the ground coordinate of target position；
The ground coordinate of the target position is converted into Pan/Tilt/Zoom camera according to coordinate transformation mechanism and is directed at institute at its picture center
State the vertical height angle θ and horizontal azimuth when target position
2. the coordinate transformation method of ground coordinate according to claim 1 and Pan/Tilt/Zoom camera, which is characterized in that the seat
Mark transformation mechanism is established by following step:
Establish earth axes and Pan/Tilt/Zoom camera coordinate system；
Determine the ground coordinate of the target position and the vertical height angle θ of the Pan/Tilt/Zoom camera and horizontal azimuthBetween
Coordinate transformation relation, the coordinate transformation relation include related conversion parameter, wherein the correlation conversion parameter passes through following steps
It is rapid to determine:
It is demarcated in the earth axes and the Pan/Tilt/Zoom camera coordinate system, comprising: position the Pan/Tilt/Zoom camera
To horizontal azimuthPosition, randomly select at least two different vertical height angle θ1And θ2, and obtain corresponding PTZ
It is directed toward the ground coordinate (x of two points on ground in camera views center1,y1) and (x2,y2)；
Pass through θ obtained by calibrating1And θ2And (x1,y1) and (x2,y2) determine that the correlation in above-mentioned coordinate transformation relation turns
Change parameter.
3. the coordinate transformation method of ground coordinate according to claim 2 and Pan/Tilt/Zoom camera, which is characterized in that describedly
Areal coordinate system is established by GNSS coordinate system, and the ground coordinate is GNSS coordinate.
4. the coordinate transformation method of ground coordinate according to claim 3 and Pan/Tilt/Zoom camera, which is characterized in that described
GNSS coordinate system is GPS coordinate system, and the GNSS coordinate is GPS coordinate, and the X and Y-axis of the GPS coordinate system respectively represent the earth
The camera coordinate system is established with the X and Y-axis of the GPS coordinate system in the latitude and longitude coordinates direction of surface GPS coordinate system
X and Y-axis, and the Z axis of the camera coordinate system is perpendicular to the X and Y-axis.
5. the coordinate transformation method of ground coordinate according to claim 4 and Pan/Tilt/Zoom camera, which is characterized in that described to take the photograph
Camera is ball machine, and the coordinate transformation relation may be expressed as:Wherein, (x, y) is ball machine picture
The ground latitude and longitude coordinates that center is directed toward, the correlation conversion parameter include: the GPS latitude and longitude coordinates (x of ball machine installation site0,
y0), ball machine horizontal zero optical axis it is parallel with GPS coordinate X-axis when ball machine angleWith the mounting height h of the ball machine.
6. the coordinate transformation method of ground coordinate according to any one of claims 1 to 5 and Pan/Tilt/Zoom camera, which is characterized in that
Further include:
The Pan/Tilt/Zoom camera is positioned to target positioning, the vertical height angle at the target positioning is θ and horizontal azimuth
For
7. the coordinate transformation method of ground coordinate according to any one of claims 1 to 5 and Pan/Tilt/Zoom camera, which is characterized in that
Further include:
The coordinate transformation mechanism is also able to achieve the vertical height angle by Pan/Tilt/Zoom camera at its picture center alignment target position
θ and horizontal azimuthBe converted to the ground coordinate of the target position.
8. the coordinate transformation system of a kind of ground coordinate and Pan/Tilt/Zoom camera characterized by comprising
Ground coordinate obtains module, for obtaining the ground coordinate of target position；
Pan/Tilt/Zoom camera coordinate determining module, for being converted to the ground coordinate of the target position by coordinate transferring
Vertical height angle θ and horizontal azimuth of the Pan/Tilt/Zoom camera when its picture center is directed at the target position
9. the coordinate transformation device of a kind of ground coordinate and Pan/Tilt/Zoom camera, which is characterized in that including processor and memory, institute
It states memory and is stored at least one section of program, described program is executed by the processor to realize such as any institute of claim 1 to 7
The coordinate transformation method of the ground coordinate and Pan/Tilt/Zoom camera stated.
10. a kind of computer readable storage medium, which is characterized in that be stored at least one section of program, institute in the storage medium
At least one section of program is stated to be executed by the processor to realize ground coordinate and the PTZ camera shooting as described in claim 1 to 7 is any
The coordinate transformation method of machine.
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