CN109982047A - A method of flight monitoring panorama fusion display - Google Patents
A method of flight monitoring panorama fusion display Download PDFInfo
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- CN109982047A CN109982047A CN201910272078.1A CN201910272078A CN109982047A CN 109982047 A CN109982047 A CN 109982047A CN 201910272078 A CN201910272078 A CN 201910272078A CN 109982047 A CN109982047 A CN 109982047A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
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- 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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/95—Computational photography systems, e.g. light-field imaging systems
- H04N23/951—Computational photography systems, e.g. light-field imaging systems by using two or more images to influence resolution, frame rate or aspect ratio
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/2628—Alteration of picture size, shape, position or orientation, e.g. zooming, rotation, rolling, perspective, translation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/265—Mixing
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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
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
Abstract
The invention discloses a kind of methods of flight monitoring panorama fusion display, designed image process field, including panoramic camera, PTZ cooperates with video camera, server, control terminal, main screen and vice screen, panoramic video splicing device is provided in the panoramic camera, panorama ROI video coprocessor and panoramic video intelligence coprocessor, the present invention passes through software and hardware combining, increase video camera sensing capability, it realizes to mobile Target attribute recognition, and video automatically tracks, it quickly finds potential street accidents risks and the minor issue occurred and quickly handles, realize multichannel panoramic picture fusion display and control, one section of main screen display continuous non-overlapping, the panorama blending image gradually moved according to direction initialization and speed, visually form flight monitoring effect.
Description
Technical field
The present invention relates to field of image processings, and in particular to a method of flight monitoring panorama fusion display.
Background technique
Panorama Collaborative Control video camera is chiefly used in security industry, suitable for the monitoring of the open scene of thin-and-long, such as high speed
Highway road and tunnel monitoring.As vehicles running on expressway is increasing, people propose higher want to monitoring safety
It asks, whole full coverage type monitoring is gradually brought into schedule.
2,000,000 Pan/Tilt/Zoom camera complete monitorings are used on Expressway Road at present, but the same time can only monitor a side
To there is very big blind area；Fixed gunlock, no more than 150 meters of interval arrangement are mostly used in tunnel, but there can be most of tunnels
Scene is the same in road, and image, which is presented, can not differentiate its physical location, and logical place can not be showed in monitoring screen, and problem occurs
It needs to consume a longer time and just can determine that physical location, delay quickly disposition accident opportunity.
Summary of the invention
It is an object of the invention to: a kind of method of flight monitoring panorama fusion display is provided, video camera sense is increased
Know ability, realize that video automatically tracks, quickly find potential street accidents risks and the minor issue occurred and quickly handle,
It realizes multichannel panoramic picture fusion display and control, visually forms flight monitoring effect, meet highway feature.
The technical solution adopted by the invention is as follows:
The present invention be it is a kind of flight monitoring panorama fusion display method, including panoramic camera, PTZ collaboration video camera,
Server, control terminal, main screen and vice screen are provided with panoramic video splicing device, panorama ROI video in the panoramic camera
Coprocessor and panoramic video intelligence coprocessor, further include the first data source display methods:
Step 1: control terminal is joined by system software controls server according to control terminal program time or flying speed
Number is set in advance；
Step 2: panoramic camera is preset in shooting point and shoot and pass through the original video of shooting to field condition
Internal data communication is sent to panoramic video splicing device, carries out splicing into aphorama to the original image of original video
Frequently；
Step 3: increasing inside panoramic camera has panorama ROI video coprocessor, and panorama ROI video coprocessor passes through
Internal data communicates the spliced original image of obtaining step 2, according to the system software sets of control terminal, carries out to panoramic picture
Cut duplicate removal and distortion correction；
Step 4: the panoramic picture absolute coding after distortion correction being compressed, server is sent to by network, server exists
Under the system control of control terminal by the decoding display of panorama blending image in the main screen of control terminal, one section of main screen display is according to setting
Determine direction and panorama blending image that speed gradually moves, visually forms flight monitoring effect, and according in on-site supervision
Heart number of screen sets handoff scenario group, and display is merged in main screen to control different panorama groups；
Further include the second data source display methods:
Step 5: panoramic video intelligence coprocessor is realized the panoramic video in step 2 using video analysis algorithm and is carried out
Moving target detection gives panorama ROI video coprocessor by internal data communication transfer target position, according to panorama ROI
Video coprocessor setting, target position that PTZ cooperates with video camera to go out using the panorama ROI image tracing detection in step 3 and
Size, meanwhile, the PTZ value of PTZ collaboration video camera is converted into according to panoramic coordinates three-dimensional transfer algorithm, while control terminal issues phase
The PTZ value control command answered issues PTZ by RS485 interface or network and cooperates with video camera, to drive PTZ collaboration video camera certainly
Motion tracking moves target；
Step 6: panoramic video intelligence coprocessor becomes characteristic using the high power light of PTZ collaboration video camera, solves in step 5
The PTZ image of code carries out structured analysis, realizes that automatic sequence is under after having extracted a target to mobile Target attribute recognition
One target analysis；
Step 7: the panorama and tracking image for tracking target are alarmed by I/O is conveyed to server, and server is in control terminal
System software controls under by track target panoramic picture decoding display in the vice screen of software control end, flight monitor boundary
Face also can manual switching image at this, and it is realized to scheme control figure, the manually operation such as tracking selection, PTZ control.
Control terminal program time or flying speed carry out parameter and are set in advance, so as to the distortion correction of panoramic pictures and complete
Scape image is merged according to certain logical order panorama, and the video of panoramic camera shooting utilizes panorama after carrying out picture splicing
ROI video coprocessor carries out cutting and goes to be overlapped distortion correction, makes panoramic pictures without repetition, distorts small, and absolute coding pressure
By network transmission to server, server is controlling the decoding display of panorama blending image under the system control of control terminal for contracting
In the main screen at end, the panorama blending image that one section of main screen display gradually moves visually forms flight monitoring effect, can root
Handoff scenario group is set according to on-site supervision center screen quantity, merges display in main screen to control different panorama groups.Meanwhile entirely
Scape video intelligent coprocessor carries out Moving target detection to original video, and gives the location transmission of mobile target to panorama ROI
Video coprocessor is set according to panorama ROI video coprocessor, and PTZ cooperates with the mobile target of Camera location, according to control terminal
The corresponding PTZ value control command issued issues PTZ by RS485 interface or network and cooperates with video camera, so that PTZ collaboration be driven to take the photograph
Camera automatically tracks mobile target；Meanwhile structuring point is carried out to decoded PTZ image using panoramic video intelligence coprocessor
Analysis, identifies people, trolley, cart, Car license recognition, body color, logo etc., is shown in the vice screen of control terminal, carries out automatic
Tracking rapidly finds out the geographical location at alarm and quickly locates so that whole realize the upper moving object complete perception analysis of high speed
Reason acquires convenient for the big data of traffic route.
Further, the first data source and the second data source can simultaneous transmission, main screen display flight monitoring panorama fusion view
Frequently, vice screen display tracking target panoramic video.Main screen and vice screen can show panoramic picture simultaneously, double-click in vice screen complete at this
Scape, can be decoded in software control end program vice screen display panorama collaboration PTZ image, and it is realized with scheme control figure, manually
The operations such as tracking selection, PTZ control.
Further, the parameter in the step 1 includes cutting distortion correction parameter and the setting of panorama fusion parameters, to complete
Width and upper and lower position calibration are merged between scape image, originate panoramic picture and image sequence, the flight monitoring in flight indicating & controlling device
Direction and flight monitor speed, the parameter that every group of scene group is set.By control terminal to cutting distortion correction parameter
And panorama fusion parameters are set in advance, and merge convenient for processor to the distortion correction processing of panoramic picture and panorama.
Further, to the specific steps of original panoramic images cutting duplicate removal in the step 3 are as follows:
Step 41: using can vertical angle of view adjust panoramic camera, enter road imaging among the left screen, from the right side
It goes out among side screen；
Step 42: cutting the lap of two neighboring panoramic picture.
Step 41 can adjust panoramic camera in construction and installation, adjust using to panoramic picture or so and upper lower angle,
Enter road imaging among left screen, goes out among right screen；In step 42 right side of left side panoramic picture with
And the left side of the right panoramic picture is lap, is both needed to cut away.
Further, the method for distortion correction includes the following steps in the step 3,
Step 51: hexagon reconnaissance calibration being carried out to the original panoramic images, forms hexagonal pattern；
Step 52: the hexagonal pattern is split as arbitrary two quadrangles, and one of described two quadrangles
Side is overlapped；
Step 53: using arbitrary quadrilateral projective transformation algorithm, described two quadrangles are subjected to projective transformation, are converted into
Regular quadrangle；
Step 54: by two positive squares in step 53 again with projective transformation algorithm conversion after stretching horizontally two four
Side shape；
Step 55: by the carry out anastomosing and splicing of two quadrangles in step 54 after stretching horizontally, after forming distortion correction
Panoramic picture.
In the reconnaissance calibration of hexagon, the midpoint of the top of the original panoramic images is set as A point, A point is panorama
The following midpoint of the original panoramic images is set as B point by image top midpoint, and B is the following midpoint of panoramic picture, by AB line
The midpoint of section is set as H point；C, D two o'clock needs, and C, D two o'clock is arranged on the right side of panoramic picture and CD line segment is vertical with road,
And guarantee that CD line segment is that the double line of two panoramic pictures guarantees the adjacent complete all standing of panoramic picture, by the midpoint of CD line segment
It is set as I point, the as central point of road width；Similarly, in the left side of panoramic picture setting E, F two o'clock and EF line segment and road
Vertically, and guarantee that EF line segment is that the double line of two panoramic pictures guarantees the adjacent complete all standing of panoramic picture, by EF line segment
Midpoint be set as I point, the as central point of road width；By adjacent spots line, hexagon ADCBEF is formed.By hexagon
ADCBEF is divided into the quadrangle ABCD and quadrangle ABEF of the side AB coincidence, and quadrangle ABCD and quadrangle ABEF projective transformation are calculated
Method is converted twice, it may be assumed that quadrangle transforms to square+square and transforms to quadrangle.It is independent after two quadrangle corrections
Coding, forms quadrangular image after the two width distortion correction of left and right of panoramic picture, is conducive to the compatible existing view of panoramic imagery in this way
Frequency monitoring back-end system, and cross directional stretch is used after distortion correction, i.e., the two width distortion correction of the left and right of 1 panoramic picture
Quadrangular image is shown to respectively on 2 display screens afterwards, effectively reduces the distortion of panoramic picture transverse compression.
In conclusion due to using the technical program, the beneficial effects of the present invention are:
1. a kind of method of flight monitoring panorama fusion display of the present invention, parameter is set in advance in control terminal, make image to by
It is moved to the left or right according to certain logical order, and is carried out entirely by the panorama ROI video coprocessor of panoramic camera
Scape image cuts duplicate removal and distortion correction, realizes panoramic picture multichannel ROI region image absolute coding, effectively reduces panoramic picture
The decoding of panorama blending image is shown the main screen in control terminal by transverse compression distortion, server under the system control of control terminal
On, the panorama blending image that one section of main screen display gradually moves visually forms flight monitoring effect, increases panorama prison
The effect of control.
2. a kind of panorama fusion display & control system of the present invention and aobvious prosecutor method, PTZ cooperates with the mobile target of Camera location, simultaneously
Structured analysis is carried out to decoded PTZ image using panoramic video intelligence coprocessor, so that whole realize moves in high speed
The analysis of object complete perception, improves monitoring effect and coverage area, acquires convenient for the big data of traffic route, while can be quick
It finds out the geographical location at alarm and quickly handles, provide better branch for super expressway mitigation, accident treatment, safety guarantee
It holds.
3. a kind of panorama fusion display & control system of the present invention and aobvious prosecutor method, software and hardware combining realize the fusion of multichannel panoramic picture
Display and control, the characteristics of visually forming flight monitoring effect, meet highway.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings, and the proportionate relationship of all parts in this specification attached drawing does not represent practical selection design
When proportionate relationship, be only the schematic diagram of structure or position, in which:
Fig. 1 is flow diagram of the invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention, i.e., described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is logical
The component for the embodiment of the present invention being often described and illustrated herein in the accompanying drawings can be arranged and be designed with a variety of different configurations.
It should be noted that the relational terms of term " first " and " second " or the like be used merely to an entity or
Operation is distinguished with another entity or operation, and without necessarily requiring or implying between these entities or operation, there are any
This actual relationship or sequence.Moreover, the terms "include", "comprise" or its any other variant be intended to it is non-exclusive
Property include so that include a series of elements process, method, article or equipment not only include those elements, but also
Further include other elements that are not explicitly listed, or further include for this process, method, article or equipment it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including described
There is also other identical elements in the process, method, article or equipment of element.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art
Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
All features disclosed in this specification or disclosed all methods or in the process the step of, in addition to mutually exclusive
Feature and/or step other than, can combine in any way.
It elaborates with reference to the accompanying drawing to the present invention.
Embodiment one
As shown in Figure 1, a kind of method of flight monitoring panorama fusion display of the present invention, including panoramic camera, PTZ collaboration
Video camera, server, control terminal, main screen and vice screen are provided with panoramic video splicing device, panorama in the panoramic camera
ROI video coprocessor and panoramic video intelligence coprocessor, further include the first data source display methods:
Step 1: control terminal is joined by system software controls server according to control terminal program time or flying speed
Number is set in advance；
Step 2: panoramic camera is preset in shooting point and shoot and pass through the original video of shooting to field condition
Internal data communication is sent to panoramic video splicing device, carries out splicing into aphorama to the original image of original video
Frequently；
Step 3: increasing inside panoramic camera has panorama ROI video coprocessor, and panorama ROI video coprocessor passes through
Internal data communicates the spliced original image of obtaining step 2, according to the system software sets of control terminal, carries out to panoramic picture
Cut duplicate removal and distortion correction；
Step 4: the panoramic picture absolute coding after distortion correction being compressed, server is sent to by network, server exists
Under the system control of control terminal by the decoding display of panorama blending image in the main screen of control terminal, one section of main screen display is according to setting
Determine direction and panorama blending image that speed gradually moves, visually forms flight monitoring effect, and according in on-site supervision
Heart number of screen sets handoff scenario group, and display is merged in main screen to control different panorama groups；
Further include the second data source display methods:
Step 5: panoramic video intelligence coprocessor is realized the panoramic video in step 2 using video analysis algorithm and is carried out
Moving target detection gives panorama ROI video coprocessor by internal data communication transfer target position, according to panorama ROI
Video coprocessor setting, target position that PTZ cooperates with video camera to go out using the panorama ROI image tracing detection in step 3 and
Size, meanwhile, according to panoramic coordinates three-dimensional transfer algorithm be converted into PTZ collaboration video camera PTZ value, while control terminal issue
Corresponding PTZ value control command issues PTZ by RS485 interface or network and cooperates with video camera, to drive PTZ collaboration video camera certainly
Motion tracking moves target；
Step 6: panoramic video intelligence coprocessor becomes characteristic using the high power light of PTZ collaboration video camera, solves in step 5
The PTZ image of code carries out structured analysis, realizes that automatic sequence is under after having extracted a target to mobile Target attribute recognition
One target analysis；
Step 7: the panorama and tracking image for tracking target are alarmed by I/O is conveyed to server, and server is in control terminal
System software controls under by track target panoramic picture decoding display in the vice screen of software control end, flight monitor boundary
Face also can manual switching image at this, and it is realized to scheme control figure, the manually operation such as tracking selection, PTZ control.
Control terminal program time or flying speed carry out parameter and are set in advance, so as to the distortion correction of panoramic pictures and complete
Scape image is merged according to certain logical order panorama, and the video of panoramic camera shooting utilizes panorama after carrying out picture splicing
ROI video coprocessor carries out cutting and goes to be overlapped distortion correction, makes panoramic pictures without repetition, distorts small, and absolute coding pressure
By network transmission to server, server is controlling the decoding display of panorama blending image under the system control of control terminal for contracting
In the main screen at end, the panorama blending image that one section of main screen display gradually moves visually forms flight monitoring effect, can root
Handoff scenario group is set according to on-site supervision center screen quantity, merges display in main screen to control different panorama groups.Meanwhile entirely
Scape video intelligent coprocessor carries out Moving target detection to original video, and gives the location transmission of mobile target to panorama ROI
Video coprocessor is set according to panorama ROI video coprocessor, and PTZ cooperates with the mobile target of Camera location, according to control terminal
The corresponding PTZ value control command issued issues PTZ by RS485 interface or network and cooperates with video camera, so that PTZ collaboration be driven to take the photograph
Camera automatically tracks mobile target；Meanwhile structuring point is carried out to decoded PTZ image using panoramic video intelligence coprocessor
Analysis, identifies people, trolley, cart, Car license recognition, body color, logo etc., is shown in the vice screen of control terminal, carries out automatic
Tracking rapidly finds out the geographical location at alarm and quickly locates so that whole realize the upper moving object complete perception analysis of high speed
Reason acquires convenient for the big data of traffic route.
Embodiment two
The present embodiment is to make further carrying out explanation to the present invention.
The present embodiment on the basis of example 1, in a kind of preferred scheme of the present embodiment, the first data source and second
Data source can simultaneous transmission, main screen display flight monitoring panorama merge video, vice screen display tracking target panoramic video.Main screen and
Vice screen can show panoramic picture simultaneously, and panorama at this is double-clicked in vice screen, can decode in software control end program vice screen aobvious
Show that panorama cooperates with PTZ image, and it is realized to scheme control figure, the manually operation such as tracking selection, PTZ control.
Embodiment three
The present embodiment is to make further carrying out explanation to the present invention.
On the basis of above-mentioned, in a kind of preferred scheme of the present embodiment, the parameter in the step 1 includes the present embodiment
Distortion correction parameter and the setting of panorama fusion parameters are cut, between width and upper and lower position calibration is merged panoramic picture, is originated complete
Scape image and image sequence, flight monitoring direction and flight monitor speed, every group of scene group in flight indicating & controlling device are set with
All parameters.Cutting distortion correction parameter and panorama fusion parameters are set in advance by control terminal, convenient for processor to complete
The distortion correction processing of scape image and panorama fusion.
Example IV
The present embodiment is to make further carrying out explanation to the present invention.
The present embodiment is on the basis of above-mentioned, in a kind of preferred scheme of the present embodiment, to original panoramic in the step 3
The specific steps of image cutting duplicate removal are as follows:
Step 41: using can vertical angle of view adjust panoramic camera, enter road imaging among the left screen, from the right side
It goes out among side screen；
Step 42: cutting the lap of two neighboring panoramic picture.
Step 41 can adjust panoramic camera in construction and installation, adjust using to panoramic picture or so and upper lower angle,
Enter road imaging among left screen, goes out among right screen；In step 42 right side of left side panoramic picture with
And the left side of the right panoramic picture is lap, is both needed to cut away.
Further, the method for distortion correction includes the following steps in the step 3,
Step 51: hexagon reconnaissance calibration being carried out to the original panoramic images, forms hexagonal pattern；
Step 52: the hexagonal pattern is split as arbitrary two quadrangles, and one of described two quadrangles
Side is overlapped；
Step 53: using arbitrary quadrilateral projective transformation algorithm, described two quadrangles are subjected to projective transformation, are converted into
Regular quadrangle；
Step 54: by two positive squares in step 53 again with projective transformation algorithm conversion after stretching horizontally two four
Side shape；
Step 55: by the carry out anastomosing and splicing of two quadrangles in step 54 after stretching horizontally, after forming distortion correction
Panoramic picture.
In the reconnaissance calibration of hexagon, the midpoint of the top of the original panoramic images is set as A point, A point is panorama
The following midpoint of the original panoramic images is set as B point by image top midpoint, and B is the following midpoint of panoramic picture, by AB line
The midpoint of section is set as H point；C, D two o'clock needs, and C, D two o'clock is arranged on the right side of panoramic picture and CD line segment is vertical with road,
And guarantee that CD line segment is that the double line of two panoramic pictures guarantees the adjacent complete all standing of panoramic picture, by the midpoint of CD line segment
It is set as I point, the as central point of road width；Similarly, in the left side of panoramic picture setting E, F two o'clock and EF line segment and road
Vertically, and guarantee that EF line segment is that the double line of two panoramic pictures guarantees the adjacent complete all standing of panoramic picture, by EF line segment
Midpoint be set as I point, the as central point of road width；By adjacent spots line, hexagon ADCBEF is formed.By hexagon
ADCBEF is divided into the quadrangle ABCD and quadrangle ABEF of the side AB coincidence, and quadrangle ABCD and quadrangle ABEF projective transformation are calculated
Method is converted twice, it may be assumed that quadrangle transforms to square+square and transforms to quadrangle.It is independent after two quadrangle corrections
Coding, forms quadrangular image after the two width distortion correction of left and right of panoramic picture, is conducive to the compatible existing view of panoramic imagery in this way
Frequency monitoring back-end system, and cross directional stretch is used after distortion correction, i.e., the two width distortion correction of the left and right of 1 panoramic picture
Quadrangular image is shown to respectively on 2 display screens afterwards, effectively reduces the distortion of panoramic picture transverse compression.
The projective transformation algorithm are as follows:
General transformation for mula are as follows:U, v are original panoramic images coordinate,
X, y are panoramic picture coordinate after correction, wherein x=x'/w', y=y'/w'.Transformation matrix4 can be splitted into
Part,Indicate linear transformation, [a31 a32] for translating, [a31 a32]TPerspective transform is generated, by perspective transform
Picture later is not usually parallelogram, unless there is a situation where that mapping view plane is parallel with original plane.Before rewriting
Transformation for mula it is available:So, it is known that transformation
Corresponding several points can seek transformation for mula
If u, v are original panoramic images coordinate, x, y are panoramic picture coordinate after correction, universal transformation formula are as follows:
Transformation matrix4 parts can be splitted into,Indicate linear transformation, [a31 a32] be used for
Translation,
[a31 a32]TPerspective transform is generated,
Fortran can obtain:
Auxiliary variable is defined,
Δx1=x1-x2, Δ x2=x3-x2, Δ x3=x0-x1+x2-x3,
Δy1=y1-y2, Δ y2=y3-y2, Δ y3=y0-y1+y2-y3；
As Δ x3,Δy3When not being 0, obtain,
a11=x1-x0+a12x1, a21=x3-x0+a12x2, a31=x0,
a12=y1-y0+a13y1, a22=y3-y0+a23y3, a32=y0,
As Δ x3,Δy3When being 0, obtain,
a11=x1-x0, a21=x2-x1, a31=x0,
a12=y1-y0, a22=y2-y1, a32=y0,
a13=0, a12=0；
It is obtained according to transformation for mula,
x0=a31, x1=a11+a31-a13x1, x2=a11+a21+a31-a13x2-a23x2, x3=a21+a31-a23x3y0=a32, y1
=a12+a32-a13y1, y2=a12+a22+a32-a23y2-a23y2, y3=a22+a32-a23y3；
Transformed four groups of corresponding points are expressed as,
(0,0)→(x0,y0),(1,0)→(x1,y1),(1,1)→(x2,y2),(0,1)→(x3,y3)。
The above, only the preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto, it is any
Those skilled in the art within the technical scope disclosed by the invention, can without the variation that creative work is expected or
Replacement, should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be limited with claims
Subject to fixed protection scope.
Claims (5)
1. it is a kind of flight monitoring panorama fusion display method, which is characterized in that including panoramic camera, PTZ collaboration video camera,
Server, control terminal, main screen and vice screen are provided with panoramic video splicing device, panorama ROI video in the panoramic camera
Coprocessor and panoramic video intelligence coprocessor, further include the first data source display methods:
Step 1: control terminal is carried out parameter according to control terminal program time or flying speed and is mentioned by system software controls server
Preceding setting；
Step 2: panoramic camera is preset in shooting point and shoot to field condition and the original video of shooting is passed through inside
Data communication is sent to panoramic video splicing device, carries out splicing into panoramic video to the original image of original video；
Step 3: increasing inside panoramic camera has panorama ROI video coprocessor, and panorama ROI video coprocessor passes through inside
The spliced original image of data communication obtaining step 2 cuts panoramic picture according to the system software sets of control terminal
Duplicate removal and distortion correction；
Step 4: the panoramic picture absolute coding after distortion correction being compressed, server is sent to by network, server is controlling
Under the system control at end by the decoding display of panorama blending image in the main screen of control terminal, one section of main screen display is according to setting side
To the panorama blending image gradually moved with speed, flight monitoring effect is visually formed, and according to on-site supervision center screen
Curtain quantity sets handoff scenario group, and display is merged in main screen to control different panorama groups；
Further include the second data source display methods:
Step 5: panoramic video intelligence coprocessor moves the panoramic video realization in step 2 using video analysis algorithm
Target detection gives panorama ROI video coprocessor by internal data communication transfer target position, according to panorama ROI video
Coprocessor setting, the target position and size that PTZ cooperates with video camera that the panorama ROI image tracing detection in step 3 is utilized to go out,
Meanwhile the PTZ value of PTZ collaboration video camera is converted into according to panoramic coordinates three-dimensional transfer algorithm, while control terminal issues accordingly
PTZ value control command by RS485 interface or network issue PTZ cooperate with video camera, thus drive PTZ collaboration video camera automatically with
Track moves target；
Step 6: panoramic video intelligence coprocessor becomes characteristic using the high power light of PTZ collaboration video camera, to decoded in step 5
PTZ image carries out structured analysis, realizes that automatic sequence is to next after having extracted a target to mobile Target attribute recognition
Target analysis；
Step 7: the panorama and tracking image for tracking target are alarmed by I/O is conveyed to server, and server is control terminal
System software control under by track target panoramic picture decoding display in the vice screen of software control end, flight monitoring interface also
Can manual switching image at this, and it is realized to scheme control figure, the manually operation such as tracking selection, PTZ control.
2. a kind of method of flight monitoring panorama fusion display according to claim 1, it is characterised in that: the first data source
With the second data source can simultaneous transmission, main screen display flight monitoring panorama merge video, vice screen display tracking target panoramic video.
3. a kind of method of flight monitoring panorama fusion display according to claim 1, it is characterised in that: the step 1
In parameter include cutting distortion correction parameter and the setting of panorama fusion parameters, between merging width and upper and lower position panoramic picture
Calibration originates panoramic picture and image sequence, flight monitoring direction and flight monitor speed in flight indicating & controlling device, every group of scene
The parameter that group is set.
4. a kind of method of flight monitoring panorama fusion display according to claim 1, it is characterised in that: the step 3
In to original panoramic images cutting duplicate removal specific steps are as follows:
Step 41: using can vertical angle of view adjust panoramic camera, enter road imaging among the left screen, from the right screen
Curtain is intermediate to go out；
Step 42: cutting the lap of two neighboring panoramic picture.
5. a kind of method of flight monitoring panorama fusion display according to claim 1, it is characterised in that: the step 3
The method of middle distortion correction includes the following steps；
Step 51: hexagon reconnaissance calibration being carried out to the original panoramic images, forms hexagonal pattern；
Step 52: the hexagonal pattern is split as arbitrary two quadrangles, and a line weight of described two quadrangles
It closes；
Step 53: using arbitrary quadrilateral projective transformation algorithm, described two quadrangles are subjected to projective transformation, are converted into positive four
Side shape；
Step 54: two positive squares in step 53 are converted into two four sides after stretching horizontally with projective transformation algorithm again
Shape；
Step 55: by the carry out anastomosing and splicing of two quadrangles in step 54 after stretching horizontally, forming panorama after distortion correction
Image.
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