CN110456829A - Positioning and tracing method, device and computer readable storage medium - Google Patents
Positioning and tracing method, device and computer readable storage medium Download PDFInfo
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- CN110456829A CN110456829A CN201910729307.8A CN201910729307A CN110456829A CN 110456829 A CN110456829 A CN 110456829A CN 201910729307 A CN201910729307 A CN 201910729307A CN 110456829 A CN110456829 A CN 110456829A
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- positioning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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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
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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
- H04N23/67—Focus control based on electronic image sensor signals
Abstract
The invention discloses a kind of positioning and tracing method, include the following steps: the first 2D location information for obtaining the video image that video camera takes, the 2nd 2D location information and camera parameter of the target rectangle frame being arranged in the video image；According to the first 2D location information, the 2nd 2D location information and camera parameter, 3D location information is determined；Steering operation is executed according to the camera that the 3D location information controls the video camera, and controls the video camera when the steering operation is executed and completed and executes camera operation, to obtain the video image of the corresponding target position of the target rectangle frame.The invention also discloses a kind of positioning and tracking device and computer readable storage mediums.The present invention can accurately and quickly determine target observations range, position where rapidly control video camera is moved to target is imaged, the video image that target position can rapidly be captured improves the efficiency of video monitoring and the accuracy of monitoring objective position range.
Description
Technical field
The present invention relates to technical field of image processing more particularly to a kind of positioning and tracing methods, device and computer-readable
Storage medium.
Background technique
Locating and tracking technology is widely used in fields such as video monitoring, video conference and automatic recording broadcasting systems, is had very
Big practical application meaning.Traditional locating and tracking technology is realized by manipulating the modes such as external control keyboard, that is, is existed
After observing target in video image, by shaking the control stick of control keyboard, rotation order up and down and amplification contracting are sent
Small order is rotated and scaling up and down with controlling camera.
But since the remolding sensitivity of control stick is lower, control stick user is also required to certain experience, it could be accurately fast
Object observing is captured fastly, therefore by way of shaking control stick and controlling camera rotation, it is difficult to accurately capture sight
Observation of eyes mark is easy so that video image range is excessive or too small, and it is not accurate enough uncontrollable with range of observation that there are locating and trackings
The problems such as.
Above content is only used to facilitate the understanding of the technical scheme, and is not represented and is recognized that above content is existing skill
Art.
Summary of the invention
The main purpose of the present invention is to provide a kind of positioning and tracing method, device and computer readable storage medium, purports
Solving the technical problem that locating and tracking is not accurate enough and range of observation is uncontrollable.
To achieve the above object, the present invention provides a kind of positioning and tracing method, and the positioning and tracing method includes following step
It is rapid:
The first 2D location information for obtaining the video image that video camera takes, the target being arranged in the video image
The 2nd 2D location information and camera parameter of rectangle frame；
According to the first 2D location information, the 2nd 2D location information and camera parameter, 3D location information is determined；
Steering operation is executed according to the camera that the 3D location information controls the video camera, and in the steering operation
It executes and controls the video camera execution camera operation when completing, to obtain the video of the corresponding target position of the target rectangle frame
Image.
In one embodiment, the 3D location information includes horizontal offset, it is described according to the first 2D location information,
2nd 2D location information and camera parameter, the step of determining 3D location information include:
According to the first 2D location information, the 2nd 2D location information and camera parameter, the target rectangle frame is determined
Deviate the horizontal-shift angle of the video image；
According to the holder step angle in the horizontal-shift angle and the camera parameter, the horizontal-shift is determined
Amount.
In one embodiment, described according to the first 2D location information, the 2nd 2D location information and camera parameter, really
The step of fixed target rectangle frame deviates the horizontal-shift angle of the video image include:
Obtain the second width in the first width and the 2nd 2D location information in the first 2D location information
And horizontal position coordinate；
According to the horizontal view angle in first width, the second width, horizontal position coordinate and camera parameter, water is determined
Flat deviation angle.
In one embodiment, the 3D location information further includes vertical offset, described to be believed according to the first position 2D
Breath, the 2nd 2D location information and camera parameter, the step of determining 3D location information, further includes:
According to the first 2D location information, the 2nd 2D location information and camera parameter, the target rectangle frame is determined
Deviate the vertical shift angle of the video image；
According to the holder step angle in the vertical shift angle and the camera parameter, the vertical shift is determined
Amount.
In one embodiment, described according to the first 2D location information, the 2nd 2D location information and camera parameter, really
The step of fixed target rectangle frame deviates the vertical shift angle of the video image include:
Obtain the first height in the first 2D location information and the second height in the 2nd 2D location information and mesh
Mark the vertical position coordinate of rectangle frame；
According to the vertical angle of view in first height, the second height, vertical position coordinate and camera parameter, determines and hang down
Straight deviation angle.
In one embodiment, the 3D location information further includes lens focus, it is described according to the first 2D location information,
2nd 2D location information and camera parameter, the step of determining 3D location information, further includes:
Obtain the in the first width in the first 2D location information and the first height and the 2nd 2D location information
Two width, the second height and the first image multiple；
According to first width, the first height, the second width, the second height and the first image multiple, the second figure is determined
As multiple；
The lens focus is determined according to the second image multiple.
In one embodiment, the first 2D location information for obtaining the video image that takes of video camera, in the view
The step of the 2nd 2D location information and camera parameter of the target rectangle frame being arranged in frequency image includes:
If detecting, video camera takes video image, obtains the multimedia data stream of the video image；
The video image is shown based on the multimedia data stream, and obtains the first position the 2D letter of the video image
Breath and camera parameter；
If detecting the corresponding setting operation of the video image, the target rectangle is determined based on setting operation
Frame；
Obtain the 2nd 2D location information of the target rectangle frame.
In one embodiment, the 3D location information includes the horizontal offset, vertical offset and lens focus, institute
Stating the step of executing steering operation according to the camera that the 3D location information controls the video camera includes:
Based on the horizontal offset and vertical offset, controls the camera and execute moving operation；
Based on the lens focus, controls the camera and execute focal-length adjustment operations.
In addition, to achieve the above object, the present invention also provides a kind of positioning and tracking device, the positioning device includes: to deposit
Reservoir, processor and it is stored in the locating and tracking program that can be run on the memory and on the processor, the positioning
The step of trace routine realizes positioning and tracing method above-mentioned when being executed by the processor.
In addition, to achieve the above object, it is described computer-readable the present invention also provides a kind of computer readable storage medium
Locating and tracking program is stored on storage medium, the locating and tracking program realizes locating and tracking above-mentioned when being executed by processor
The step of method.
The present invention by obtaining the first 2D location information of the video image that takes of video camera, in the video image
The 2nd 2D location information and camera parameter of the target rectangle frame of setting, according to the first 2D location information, the 2nd 2D
Confidence breath and camera parameter, determine 3D location information, are held according to the camera that the 3D location information controls the video camera
Row steering operation, and control the video camera when the steering operation is executed and completed and execute camera operation, to obtain the mesh
The video image for marking the corresponding target position of rectangle frame is converted into the position 3D by setting target rectangle frame and by 2D location information
Information accurately and quickly determines target observations range in a manner of controlling camera and turn to, and it is mobile rapidly to control video camera
It is imaged to the position where target, can rapidly capture the video image of target position, improve video monitoring
The accuracy of efficiency and monitoring objective position range.
Detailed description of the invention
Fig. 1 is the apparatus structure schematic diagram for the hardware running environment that the embodiment of the present invention is related to；
Fig. 2 is the flow diagram of positioning and tracing method first embodiment of the present invention；
Fig. 3 is that positioning and tracing method 3D of the present invention scales comparison diagram schematic diagram.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
As shown in Figure 1, Fig. 1 is the structure of the positioning and tracking device for the hardware running environment that the embodiment of the present invention is related to
Schematic diagram.
Positioning and tracking device of the embodiment of the present invention can be PC, be also possible to smart phone, tablet computer, e-book reading
The packaged type terminal device having a display function such as device, portable computer.
As shown in Figure 1, the positioning and tracking device may include: processor 1001, such as CPU, network interface 1004, user
Interface 1003, memory 1005, communication bus 1002.Wherein, communication bus 1002 is for realizing the connection between these components
Communication.User interface 1003 may include display screen (Display), input unit such as keyboard (Keyboard), optional user
Interface 1003 can also include standard wireline interface and wireless interface.Network interface 1004 optionally may include having for standard
Line interface, wireless interface (such as WI-FI interface).Memory 1005 can be high speed RAM memory, be also possible to stable storage
Device (non-volatile memory), such as magnetic disk storage.Memory 1005 optionally can also be independently of aforementioned processing
The storage device of device 1001.
Optionally, positioning and tracking device can also include camera, RF (Radio Frequency, radio frequency) circuit, sensing
Device, voicefrequency circuit, WiFi module etc..Wherein, sensor such as optical sensor and other sensors.Specifically, light sensing
Device may include ambient light sensor and proximity sensor, wherein ambient light sensor can be adjusted according to the light and shade of ambient light
The brightness of display screen.Certainly, positioning and tracking device can also configure barometer, hygrometer, thermometer, infrared sensor etc. other
Sensor, details are not described herein.
It will be understood by those skilled in the art that positioning and tracking device structure shown in Fig. 1 is not constituted to locating and tracking
The restriction of device may include perhaps combining certain components or different component cloth than illustrating more or fewer components
It sets.
As shown in Figure 1, as may include that operating system, network are logical in a kind of memory 1005 of computer storage medium
Believe module, Subscriber Interface Module SIM and locating and tracking program.
In positioning and tracking device shown in Fig. 1, network interface 1004 is mainly used for connecting background server, takes with backstage
Business device carries out data communication；User interface 1003 is mainly used for connecting client (user terminal), carries out data communication with client；
And processor 1001 can be used for calling the locating and tracking program stored in memory 1005.
In the present embodiment, positioning and tracking device includes: memory 1005, processor 1001 and is stored in the memory
On 1005 and the locating and tracking program that can be run on the processor 1001, wherein processor 1001 calls memory 1005
When the locating and tracking program of middle storage, and execute following operation:
The first 2D location information for obtaining the video image that video camera takes, the target being arranged in the video image
The 2nd 2D location information and camera parameter of rectangle frame；
According to the first 2D location information, the 2nd 2D location information and camera parameter, 3D location information is determined；
Steering operation is executed according to the camera that the 3D location information controls the video camera, and in the steering operation
It executes and controls the video camera execution camera operation when completing, to obtain the video of the corresponding target position of the target rectangle frame
Image.
Further, processor 1001 can call the locating and tracking program stored in memory 1005, also execute following
Operation:
According to the first 2D location information, the 2nd 2D location information and camera parameter, the target rectangle frame is determined
Deviate the horizontal-shift angle of the video image；
According to the holder step angle in the horizontal-shift angle and the camera parameter, the horizontal-shift is determined
Amount.
Further, processor 1001 can call the locating and tracking program stored in memory 1005, also execute following
Operation:
Obtain the second width in the first width and the 2nd 2D location information in the first 2D location information
And horizontal position coordinate；
According to the horizontal view angle in first width, the second width, horizontal position coordinate and camera parameter, water is determined
Flat deviation angle.
Further, processor 1001 can call the locating and tracking program stored in memory 1005, also execute following
Operation:
According to the first 2D location information, the 2nd 2D location information and camera parameter, the target rectangle frame is determined
Deviate the vertical shift angle of the video image；
According to the holder step angle in the vertical shift angle and the camera parameter, the vertical shift is determined
Amount.
Further, processor 1001 can call the locating and tracking program stored in memory 1005, also execute following
Operation:
Obtain the first height in the first 2D location information and the second height in the 2nd 2D location information and mesh
Mark the vertical position coordinate of rectangle frame；
According to the vertical angle of view in first height, the second height, vertical position coordinate and camera parameter, determines and hang down
Straight deviation angle.
Further, processor 1001 can call the locating and tracking program stored in memory 1005, also execute following
Operation:
Obtain the in the first width in the first 2D location information and the first height and the 2nd 2D location information
Two width, the second height and the first image multiple；
According to first width, the first height, the second width, the second height and the first image multiple, the second figure is determined
As multiple；
The lens focus is determined according to the second image multiple.
Further, processor 1001 can call the locating and tracking program stored in memory 1005, also execute following
Operation:
If detecting, video camera takes video image, obtains the multimedia data stream of the video image；
The video image is shown based on the multimedia data stream, and obtains the first position the 2D letter of the video image
Breath and camera parameter；
If detecting the corresponding setting operation of the video image, the target rectangle is determined based on setting operation
Frame；
Obtain the 2nd 2D location information of the target rectangle frame.
Further, processor 1001 can call the locating and tracking program stored in memory 1005, also execute following
Operation:
Based on the horizontal offset and vertical offset, controls the camera and execute moving operation；
Based on the lens focus, controls the camera and execute focal-length adjustment operations.
The present invention also provides a kind of positioning and tracing methods, are positioning and tracing method first of the present invention implementation referring to Fig. 2, Fig. 2
The flow diagram of example.
In the present embodiment, realize that the locating and tracking system where positioning and tracing method includes: display terminal and video camera,
Wherein, video camera includes 2D-3D algorithm conversion module and cradle head control execution module, which includes:
Step S10 obtains the first 2D location information of the video image that video camera takes, sets in the video image
The 2nd 2D location information and camera parameter for the target rectangle frame set；
In the present embodiment, from display terminal, the first 2D location information of the video image that video camera takes is obtained,
Wherein, display terminal can be upper computer software, video monitoring system, automatic recording broadcasting system or the video conferencing system at the end PC etc.
Deng；Video camera can be the video camera with video record and network communicating function, such as IPC video camera (IP Camera, network
Video camera) etc., it can be monitored camera shooting, and the information such as video image are sent to display terminal.View is taken in video camera
After frequency image, by the video image converting multimedia data flow, display terminal obtains the multimedia sended over from video camera
Data flow, and video image being shown on display terminal to, display terminal can be from multimedia number by definition multimedia data flow
According to the first 2D location information for obtaining video image in stream, wherein the first 2D location information includes the first width and the first height.
Target rectangle frame can be arranged after showing video image in display terminal on the video image that display terminal is shown,
On display terminal be arranged target rectangle frame mode can be manual touch-control or mouse locking, target rectangle frame can be from
The rectangle of family setting or other irregular shapes by certain rule are converted into target rectangle frame, are setting up target rectangle frame
The camera parameter of the corresponding 2nd 2D location information of target rectangle frame and current camera is obtained afterwards.Wherein, the 2nd 2D
Confidence breath includes that the second width, the second height, the first image multiple, horizontal position coordinate and the upright position of target rectangle frame are sat
Mark, camera parameter includes the horizontal view angle, vertical angle of view and holder step angle of camera.
The view obtained from IPC video camera is shown using the end PC upper computer software for example, referring to Fig. 3, in this programme
Shown in Fig. 3 (a) before frequency image, video image such as 3D scaling, mouse can be passed through on the video image that upper computer software is shown
A target rectangle frame delimited, shown in target rectangle frame of the target rectangle frame as where letter A, upper computer software obtains the first 2D
Location information and the 2nd 2D location information.The first width W of first 2D location information, that is, video image and the first height H, second
2D location information is the second width w, the second height h, horizontal position coordinate x, the upright position seat of set target rectangle frame
Y and the first image multiple current_ratio is marked, and by 7 informations parameter of the first 2D location information and the 2nd 2D location information
Deng being handed down to IPC video camera, IPC video camera obtains above-mentioned first 2D location information and the 2nd 2D location information, and obtains camera shooting
The camera parameter of head itself, i.e. horizontal view angle α, vertical angle of view β and 0.069444 ° of holder step angle/step, different manufacturers are taken the photograph
The camera parameter of camera is different, is not specifically limited in the present embodiment.
Step S20 determines the position 3D according to the first 2D location information, the 2nd 2D location information and camera parameter
Information；
In the present embodiment, it after video camera obtains the first 2D location information, the 2nd 2D location information and camera parameter, takes the photograph
2D-3D algorithm conversion module in camera passes through according to the first 2D location information, the 2nd 2D location information and camera parameter
First 2D location information and the 2nd 2D location information are converted into camera pan-tilt control and held by 2D-3D location information transfer algorithm
The identifiable 3D location information of row module.Specifically, 3D location information includes that horizontal offset, vertical offset and camera lens are burnt
Away from.
For example, the IPC video camera in this programme obtains the first 2D location information, the 2nd 2D location information and camera parameter
Afterwards, according to the first 2D location information, the 2nd 2D location information and camera parameter, 3D location information is determined, i.e., according to video figure
First width W of picture and the first height H, the second width w, the second height h, horizontal position coordinate of set target rectangle frame
X, the lens parameters horizontal view angle α of vertical position coordinate y and the first image multiple current_ratio and IPC video camera,
The informations parameter such as vertical angle of view β and 0.069444 ° of holder step angle/step, by 2D-3D location information transfer algorithm, by
One 2D location information and the 2nd 2D location information are converted into 3D location information, i.e. horizontal offset pan_off, vertical offset
Tilt_off and lens focus target_zoom.
Step S30 executes steering operation according to the camera that the 3D location information controls the video camera, and described
Steering operation, which executes, controls the video camera execution camera operation when completing, to obtain the corresponding target position of the target rectangle frame
The video image set.
In the present embodiment, the first 2D location information and the 2nd 2D location information camera pan-tilt control is converted into execute
After the identifiable 3D location information of module, camera pan-tilt control execution module obtains 3D from 2D-3D algorithm conversion module
Confidence breath, and the parameter among 3D location information is sequentially input, the corresponding association of 3D location information is obtained by cradle head control agreement
View order, wherein cradle head control agreement can be VISCA, PELCO-D/P agreement or other cradle head control agreements, the present embodiment
In be not specifically limited.Cradle head control execution module obtains the corresponding protocol command of different parameters in 3D location information, by obtaining
The camera for the different protocol commands control video cameras got executes the steering operation of different directions, such as can control camera lens to
It is upper downwards, to from left to right, zoom, focusing or stopping etc., the final camera for controlling video camera goes to previously positioned target
Corresponding target position in rectangle frame, and imaged, to control the video image that video camera obtains target position, to carry out reality
When positioning and tracking.
For example, the cradle head control execution module in IPC video camera in this programme obtains and passes through 2D-3D algorithm conversion module
By the 3D location information after the first 2D location information and the conversion of the 2nd 2D location information, i.e. acquisition horizontal offset pan_off, hang down
Straight offset tilt_off and lens focus target_zoom, and according to horizontal offset pan_off, vertical offset tilt_
The 3D location information of off and lens focus target_zoom, the camera that cradle head control execution module controls IPC video camera turn
To the corresponding target position of target rectangle frame being previously arranged on the video image that display terminal is shown, if target position is on a left side
Upper angle is then moved up according to horizontal offset pan_off and vertical offset tilt_off control camera to the left, and according to
Lens focus target_zoom controls camera and executes focal-length adjustment operations, turns to the progress of target position to control camera lens
Observation.
The positioning and tracing method that the present embodiment proposes, by the first position 2D for obtaining the video image that video camera takes
Information, the 2nd 2D location information of the target rectangle frame being arranged in the video image and camera parameter, then according to institute
The first 2D location information, the 2nd 2D location information and camera parameter are stated, determines 3D location information, finally according to the position 3D
The camera that information controls the video camera executes steering operation, and controls the camera shooting when the steering operation is executed and completed
Machine executes camera operation, to obtain the video image of the corresponding target position of the target rectangle frame, by the way that target rectangle is arranged
Frame and by 2D location information be converted into 3D location information by control camera turn in a manner of, accurately and quickly determine target see
Range is examined, the position where video camera is moved to target is rapidly controlled and is imaged, can rapidly capture target position
Video image, improve the efficiency of video monitoring and the accuracy of monitoring objective position range.
Based on first embodiment, the second embodiment of positioning and tracing method of the present invention, in the present embodiment, the position 3D are proposed
Information includes horizontal offset, and step S20 includes:
Step a determines the target according to the first 2D location information, the 2nd 2D location information and camera parameter
Rectangle frame deviates the horizontal-shift angle of the video image；
Wherein, horizontal-shift angle is the horizontal-shift angle that target rectangle frame deviates video image, can be target rectangle
The center of frame deviate the center of video image level angle or other can indicate that target rectangle frame deviates view
The level angle of frequency image, such as the horizontal-shift angle θ in Fig. 3 (a).
In the present embodiment, 2D-3D algorithm conversion module gets the first 2D location information, the 2nd 2D location information and takes the photograph
As based on horizontal offset is calculated, being obtained from the first 2D location information, the 2nd 2D location information and camera parameter after head parameter
Parameter required for calculating is taken, horizontal-shift angle is calculated, calculating parameter required for horizontal offset can be width, correlation
Horizontal coordinate, relevant camera parameter level visual angle or other parameters etc..
In one embodiment, step a includes:
Obtain the second width in the first width and the 2nd 2D location information in the first 2D location information
And horizontal position coordinate；
According to the horizontal view angle in first width, the second width, horizontal position coordinate and camera parameter, water is determined
Flat deviation angle.
In the present embodiment, 2D-3D algorithm conversion module obtains relevant parameter required for calculating horizontal-shift angle, packet
Include second of target rectangle frame in the first width of video image in the first 2D location information and the 2nd 2D location information
Width and horizontal position coordinate, wherein the first width can be the width of video image, width half or width can be represented
Pixel number etc.；Horizontal position coordinate can be the abscissa in the target rectangle frame upper left corner or the lower left corner, target rectangle
The abscissa of frame center or other can represent the abscissa of target rectangle frame position.
In the present embodiment, after 2D-3D algorithm conversion module obtains relevant parameter required for calculating horizontal-shift angle,
After obtaining the horizontal view angle in the first width, the second width, horizontal position coordinate and camera parameter, the first width of input,
Horizontal view angle in second width, horizontal position coordinate and camera parameter calculates horizontal-shift by 2D-3D transfer algorithm
Angle.Referring to Fig. 3 (a), the formula of horizontal-shift angle θ are as follows:
θ=arctan (BC/OC)
Wherein, (α/2) OC=AC/tan, BC=x+w/2, AC=W/2, W is the first width, w is the second width, x is water
Flat position coordinates and α are the horizontal view angle in camera parameter.
Step b determines the water according to the holder step angle in the horizontal-shift angle and the camera parameter
Flat offset.
In the present embodiment, after 2D-3D algorithm conversion module calculates horizontal-shift angle, horizontal-shift angle and cloud are obtained
Platform step angle can calculate one of the parameter in 3D location information according to horizontal-shift angle and holder step angle ---
Horizontal offset.Wherein, horizontal-shift angle is the horizontal-shift angle that target rectangle frame deviates video image, can be target square
The center of shape frame deviate the center of video image level angle or other can indicate that target rectangle frame deviates
The level angle of video image, holder step angle are determined that the holder of the camera of different manufacturers is walked by the parameter of camera
Also different into angle, holder step angle is constant value.For example, as it is known that horizontal-shift angle θ and holder step angle are
0.069444 °/step, θ/0.069444 horizontal offset pan_off=can be calculated.
The positioning and tracing method that the present embodiment proposes, by according to the first 2D location information, the 2nd 2D location information
With camera parameter, determine that the target rectangle frame deviates the horizontal-shift angle of the video image, then according to the water
Holder step angle in flat deviation angle and the camera parameter, determines the horizontal offset, first determines horizontal-shift
Angle, then determine horizontal offset, horizontal offset can be accurately determined according to horizontal-shift angle and holder step angle, mention
Height calculates the accuracy of horizontal offset, and then improves the accurate of the distance that cradle head control module control camera moves horizontally
Property.
Based on first embodiment, the 3rd embodiment of positioning and tracing method of the present invention, in the present embodiment, the position 3D are proposed
Information includes vertical offset, step S20, further includes:
Step c determines the target according to the first 2D location information, the 2nd 2D location information and camera parameter
Rectangle frame deviates the vertical shift angle of the video image；
Wherein, vertical shift angle is the vertical deviation angle that target rectangle frame deviates video image, can be target rectangle
The center of frame deviate the center of video image vertical shift angle or other can indicate that target rectangle frame is inclined
Vertical shift angle from video image, such as the vertical shift angle φ in Fig. 3.
In the present embodiment, 2D-3D algorithm conversion module gets the first 2D location information, the 2nd 2D location information and takes the photograph
As based on vertical offset is calculated, being obtained from the first 2D location information, the 2nd 2D location information and camera parameter after head parameter
Parameter required for calculating is taken, vertical shift angle is calculated, calculating parameter required for vertical offset can be height, correlation
Vertical coordinate, the vertical angle of view of relevant camera parameter or other parameters etc..
In one embodiment, step c includes:
Obtain the first height in the first 2D location information and the second height in the 2nd 2D location information and mesh
Mark the vertical position coordinate of rectangle frame；
According to the vertical angle of view in first height, the second height, vertical position coordinate and camera parameter, determines and hang down
Straight deviation angle.
In the present embodiment, 2D-3D algorithm conversion module obtains relevant parameter required for calculating vertical shift angle, packet
Include second of target rectangle frame in the first height and the 2nd 2D location information of video image in the first 2D location information
Height and vertical position coordinate, wherein the first height can be the height of video image, height half or can represent height
Pixel number etc.；Vertical position coordinate can be the ordinate in the target rectangle frame upper left corner or the lower left corner, target rectangle
The ordinate of frame center or other can represent the ordinate of target rectangle frame position.
In the present embodiment, after 2D-3D algorithm conversion module obtains relevant parameter required for calculating vertical shift angle,
After obtaining the vertical angle of view in the first height, the second height, vertical position coordinate and camera parameter, the first height of input,
Vertical angle of view in second height, vertical position coordinate and camera parameter calculates vertical shift by 2D-3D transfer algorithm
Angle.Referring to Fig. 3 (a), the formula of vertical shift angle φ are as follows:
Wherein, H is the first height, h is the second height, y is vertical position coordinate and β is the vertical view in camera parameter
Angle.
Step d determines described hang down according to the holder step angle in the vertical shift angle and the camera parameter
Straight offset.
In the present embodiment, after 2D-3D algorithm conversion module calculates vertical shift angle, vertical shift angle and cloud are obtained
Platform step angle can calculate one of the parameter in 3D location information according to vertical shift angle and holder step angle ---
Vertical offset.Wherein, vertical shift angle is the vertical shift angle that target rectangle frame deviates video image, can be target
The center of rectangle frame deviate the center of video image vertical angle or other can indicate that target rectangle frame is inclined
Vertical angle from video image, holder step angle determined by the parameter of camera, the holder of the camera of different manufacturers
Step angle is also different, and holder step angle is constant value.For example, as it is known that vertical shift angle φ and holder step angle are
0.069444 °/step, φ/0.069444 vertical offset tilt_off=can be calculated.
The positioning and tracing method that the present embodiment proposes, by according to the first 2D location information, the 2nd 2D location information
It with camera parameter, determines that the target rectangle frame deviates the vertical shift angle of the video image, is then hung down according to described
Holder step angle in straight deviation angle and the camera parameter, determines the vertical offset, first determines vertical shift
Angle, then determine vertical offset, vertical offset can be accurately determined according to vertical shift angle and holder step angle, mention
Height calculates the accuracy of vertical offset, and then improves the accurate of the distance that cradle head control module control camera vertically moves
Property.
Based on first embodiment, the fourth embodiment of positioning and tracing method of the present invention, in the present embodiment, the position 3D are proposed
Information includes lens focus, step S20, further includes:
Step e obtains the first width in the first 2D location information and the first height and the 2nd 2D location information
In the second width, second height and the first image multiple；
In the present embodiment, relevant parameter required for 2D-3D algorithm conversion module acquisition calculating lens focus, including the
In one 2D location information the first width of video image and first height and the 2nd 2D location information in target rectangle frame
The second width, second height and the first image multiple, wherein the first width can be the half of the width of video image, width
Or pixel number that width can be represented etc.；First height can be the height of video image, the half of height or energy
Enough represent pixel number of height etc.；Second width can be the width of target rectangle frame, width half or being capable of generation
Pixel number of table width etc.；Second height can be the height of target rectangle frame, height half or height can be represented
Pixel number of degree etc.；First image multiple, second image times calculated when being last execution locating and tracking program
Number, it is to be appreciated that calculate the second image multiple if it is first time, then the first image multiple is equal to pre-set initial
Value, as initial value can be 1, it is preferable that can the steering operation of camera execute complete when, using the second image multiple as the
One image multiple simultaneously stores.
Step f is determined according to first width, the first height, the second width, the second height and the first image multiple
Second image multiple；
In the present embodiment, after 2D-3D algorithm conversion module obtains relevant parameter required for calculating the second image multiple,
It is the first width of input, first high after obtaining the first width, the first height, the second width, the second height and the first image multiple
Degree, the second width, the second height and the first image multiple calculate the second image multiple by 2D-3D transfer algorithm.With reference to Fig. 3
(a), the formula of the second image multiple target_ratio are as follows:
Target_ratio=target_ratio/source_area*current_ratio
Wherein, the area source_area=W*H of video image, the area target_ratio=w* of target rectangle frame
H, W are the first width, H is the first height, w is the second width, h is the second height and current_ratio is the first image times
Number.
Step g determines the lens focus according to the second image multiple.
In the present embodiment, after 2D-3D algorithm conversion module determines the second image multiple, the second image multiple, root are obtained
According to the functional relation of the second image multiple and lens focus, one of the parameter in 3D location information can be calculated --- camera lens is burnt
Away from.Wherein, the functional relation of the second image multiple and lens focus is measured by video camera or is fitted Lai the camera shooting of different manufacturers
Second image multiple of machine is different with the functional relation of lens focus, generally non-linear relation.For example, as it is known that the second image times
The functional relation f (x) of number target_ratio and the second image multiple and lens focus, can calculate lens focus
Target_zoom=f (target_ratio).
The positioning and tracing method that the present embodiment proposes, by obtaining the first width in the first 2D location information and the
One height and the second width in the 2nd 2D location information, the second height and the first image multiple, then according to described first
Width, the first height, the second width, the second height and the first image multiple, determine the second image multiple, finally according to described the
Two image multiples determine the lens focus, first determine the second image multiple, then determine lens focus, can be according to the second image
The functional relation of multiple and the second image multiple and lens focus accurately determines lens focus, improves and calculates the accurate of lens focus
Property, and then improve the accuracy that cradle head control module control camera executes focal-length adjustment operations.
Based on first embodiment, the 5th embodiment of positioning and tracing method of the present invention, in the present embodiment, step are proposed
S10 includes:
Step h, if detecting, video camera takes video image, obtains the multimedia data stream of the video image；
In the present embodiment, video camera and display terminal are connected by the network port, shoot video figure by video camera
Picture, if detecting, video camera takes video image, and the video image taken is converted to multimedia data stream by video camera,
And by multimedia data stream to display terminal, display terminal then obtains the corresponding multimedia data stream of video image.
Step i shows the video image based on the multimedia data stream, and obtains the first 2D of the video image
Location information and camera parameter；
In the present embodiment, after display terminal obtains the corresponding multimedia data stream of video image, multi-medium data is circulated
Change video image into, multimedia data stream is converted into can be in the video image that display terminal is shown.
Step j determines the mesh based on setting operation if detecting the corresponding setting operation of the video image
Mark rectangle frame；
In the present embodiment, after display terminal shows video image, it can be arranged on the video image that display terminal is shown
Target rectangle frame, wherein the mode of setting target rectangle frame, which can be, to be locked by mouse or in the manual touch-control locking of touch screen
The rectangle of target position or other irregular shapes.If detecting the corresponding setting behaviour of video image shown in display terminal
Make, then setting operation is converted by target rectangle frame by certain rule, and lock the target rectangle where the target position
Frame, wherein rectangle or irregular shape are converted into the rule of target rectangle frame are as follows: if being provided that rectangle, directly lock
The rectangle is target rectangle frame；If being provided that irregular shape, by the detection highest point of irregular shape, minimum point,
The position of the point of the point and rightmost of leftmost, is arranged a target rectangle frame, all by the borderline all the points of irregular shape
It is included.
Step k obtains the 2nd 2D location information of the target rectangle frame.
In the present embodiment, after target rectangle frame is set up on the video image that display terminal is shown, then target square is obtained
The corresponding 2nd 2D location information of shape frame, wherein the 2nd 2D location information includes the second width of target rectangle frame, second high
Degree, the first image multiple, horizontal position coordinate and vertical position coordinate.
The positioning and tracing method that the present embodiment proposes, if obtaining institute by detecting that video camera takes video image
The multimedia data stream of video image is stated, the video image is then shown based on the multimedia data stream, and described in acquisition
The first 2D location information and camera parameter of video image, if finally detecting the corresponding setting behaviour of the video image
Make, then the target rectangle frame is determined based on setting operation, obtain the 2nd 2D location information of the target rectangle frame, In
The mode of target rectangle frame is set on video image, facilitates user's quick lock in target rectangle frame, accurately captures observation mesh
Mark determines observation location and range.
Based on first embodiment, the sixth embodiment of positioning and tracing method of the present invention, in the present embodiment, step are proposed
S30 includes:
Step l is based on the horizontal offset and vertical offset, controls the camera and executes moving operation；
In the present embodiment, after 2D location information is converted into 3D location information, cradle head control execution module obtains the position 3D
Information inputs the horizontal offset in 3D location information, by cradle head control agreement, obtains the corresponding agreement of horizontal offset and refers to
It enables, is moved right to the left according to acquired protocol instructions control camera；Or the vertical shift in input 3D location information
Amount obtains the corresponding protocol instructions of vertical offset by cradle head control agreement, controls camera shooting according to acquired protocol instructions
Head moves up or down；Or horizontal offset and vertical offset in input 3D location information, it is assisted by cradle head control
View obtains the corresponding protocol instructions of vertical offset, according to acquired protocol instructions control camera to upper left or lower-left or
Upper right or bottom right are mobile.
Step m is based on the lens focus, controls the camera and executes focal-length adjustment operations.
In the present embodiment, after 2D location information is converted into 3D location information, cradle head control execution module obtains the position 3D
Information inputs the lens focus in 3D location information, by cradle head control agreement, obtains the corresponding protocol instructions of lens focus,
Focal-length adjustment operations are executed according to acquired protocol instructions control camera, focal-length adjustment operations, which can be, to be increased focal length, subtracts
Small focal length, focusing etc..For example, figure (a) is to show before focusing in display terminal as shown in the scaling comparison diagram in Fig. 3
Video image and setting target rectangle frame, figure (b) be the video image shown after focusing, i.e., control camera execution
After mobile and focal-length adjustment operations, the position where going to the alphabetical A in target rectangle frame is imaged, and finally determines alphabetical A
Position tracks and is amplified to the video image as shown in figure (b).
The positioning and tracing method that the present embodiment proposes controls institute by being based on the horizontal offset and vertical offset
It states camera and executes moving operation, and then be based on the lens focus, control the camera and execute focal-length adjustment operations, control
Camera executes mobile and focal-length adjustment operations, reach control camera turn to the corresponding target position of photographic subjects rectangle frame into
Row shooting, realizes the positioning and tracking to object observing.
In addition, the embodiment of the present invention also proposes a kind of computer readable storage medium, the computer readable storage medium
On be stored with locating and tracking program, following operation is realized when the locating and tracking program is executed by processor:
Further, following operation is also realized when the locating and tracking program is executed by processor:
The first 2D location information for obtaining the video image that video camera takes, the target being arranged in the video image
The 2nd 2D location information and camera parameter of rectangle frame；
According to the first 2D location information, the 2nd 2D location information and camera parameter, 3D location information is determined；
Steering operation is executed according to the camera that the 3D location information controls the video camera, and in the steering operation
It executes and controls the video camera execution camera operation when completing, to obtain the video of the corresponding target position of the target rectangle frame
Image.
Further, following operation is also realized when the locating and tracking program is executed by processor:
According to the first 2D location information, the 2nd 2D location information and camera parameter, the target rectangle frame is determined
Deviate the horizontal-shift angle of the video image；
According to the holder step angle in the horizontal-shift angle and the camera parameter, the horizontal-shift is determined
Amount.
Further, following operation is also realized when the locating and tracking program is executed by processor:
Obtain the second width in the first width and the 2nd 2D location information in the first 2D location information
And horizontal position coordinate；
According to the horizontal view angle in first width, the second width, horizontal position coordinate and camera parameter, water is determined
Flat deviation angle.
Further, following operation is also realized when the locating and tracking program is executed by processor:
According to the first 2D location information, the 2nd 2D location information and camera parameter, the target rectangle frame is determined
Deviate the vertical shift angle of the video image；
According to the holder step angle in the vertical shift angle and the camera parameter, the vertical shift is determined
Amount.
Further, following operation is also realized when the locating and tracking program is executed by processor:
Obtain the first height in the first 2D location information and the second height in the 2nd 2D location information and mesh
Mark the vertical position coordinate of rectangle frame；
According to the vertical angle of view in first height, the second height, vertical position coordinate and camera parameter, determines and hang down
Straight deviation angle.
Further, following operation is also realized when the locating and tracking program is executed by processor:
Obtain the in the first width in the first 2D location information and the first height and the 2nd 2D location information
Two width, the second height and the first image multiple；
According to first width, the first height, the second width, the second height and the first image multiple, the second figure is determined
As multiple；
The lens focus is determined according to the second image multiple.
Further, following operation is also realized when the locating and tracking program is executed by processor:
If detecting, video camera takes video image, obtains the multimedia data stream of the video image；
The video image is shown based on the multimedia data stream, and obtains the first position the 2D letter of the video image
Breath and camera parameter；
If detecting the corresponding setting operation of the video image, the target rectangle is determined based on setting operation
Frame；
Obtain the 2nd 2D location information of the target rectangle frame.
Further, following operation is also realized when the locating and tracking program is executed by processor:
Based on the horizontal offset and vertical offset, controls the camera and execute moving operation；
Based on the lens focus, controls the camera and execute focal-length adjustment operations.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the system that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or system institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or system.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied in the form of software products, which is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that terminal device (it can be mobile phone,
Computer, server, air conditioner or network equipment etc.) execute method described in each embodiment of the present invention.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of positioning and tracing method, which is characterized in that the positioning and tracing method the following steps are included:
The first 2D location information for obtaining the video image that video camera takes, the target rectangle being arranged in the video image
The 2nd 2D location information and camera parameter of frame；
According to the first 2D location information, the 2nd 2D location information and camera parameter, 3D location information is determined；
Steering operation is executed according to the camera that the 3D location information controls the video camera, and is executed in the steering operation
The video camera is controlled when completion and executes camera operation, to obtain the video figure of the corresponding target position of the target rectangle frame
Picture.
2. positioning and tracing method as described in claim 1, which is characterized in that the 3D location information includes horizontal offset,
It is described according to the first 2D location information, the 2nd 2D location information and camera parameter, the step of determining 3D location information packet
It includes:
According to the first 2D location information, the 2nd 2D location information and camera parameter, determine that the target rectangle frame deviates
The horizontal-shift angle of the video image；
According to the holder step angle in the horizontal-shift angle and the camera parameter, the horizontal offset is determined.
3. positioning and tracing method as claimed in claim 2, which is characterized in that described according to the first 2D location information,
Two 2D location informations and camera parameter determine that the target rectangle frame deviates the step of the horizontal-shift angle of the video image
Suddenly include:
Obtain the second width and water in the first width and the 2nd 2D location information in the first 2D location information
Flat position coordinates；
According to the horizontal view angle in first width, the second width, horizontal position coordinate and camera parameter, determine horizontal inclined
Move angle.
4. positioning and tracing method as described in claim 1, which is characterized in that the 3D location information further includes vertical shift
Amount, it is described according to the first 2D location information, the 2nd 2D location information and camera parameter, determine the step of 3D location information
Suddenly, further includes:
According to the first 2D location information, the 2nd 2D location information and camera parameter, determine that the target rectangle frame deviates
The vertical shift angle of the video image；
According to the holder step angle in the vertical shift angle and the camera parameter, the vertical offset is determined.
5. positioning and tracing method as claimed in claim 4, which is characterized in that described according to the first 2D location information,
Two 2D location informations and camera parameter determine that the target rectangle frame deviates the step of the vertical shift angle of the video image
Suddenly include:
Obtain the first height in the first 2D location information and the second height and target square in the 2nd 2D location information
The vertical position coordinate of shape frame；
According to the vertical angle of view in first height, the second height, vertical position coordinate and camera parameter, determine vertical inclined
Move angle.
6. positioning and tracing method as described in claim 1, which is characterized in that the 3D location information further includes lens focus,
It is described according to the first 2D location information, the 2nd 2D location information and camera parameter, the step of determining 3D location information, also
Include:
It obtains second wide in the first width in the first 2D location information and the first height and the 2nd 2D location information
Degree, the second height and the first image multiple；
According to first width, the first height, the second width, the second height and the first image multiple, the second image times is determined
Number；
The lens focus is determined according to the second image multiple.
7. positioning and tracing method as described in claim 1, which is characterized in that the video image for obtaining video camera and taking
The first 2D location information, the target rectangle frame being arranged in the video image the 2nd 2D location information and camera parameter
The step of include:
If detecting, video camera takes video image, obtains the multimedia data stream of the video image；
Show the video image based on the multimedia data stream, and obtain the first 2D location information of the video image with
And camera parameter；
If detecting the corresponding setting operation of the video image, the target rectangle frame is determined based on setting operation；
Obtain the 2nd 2D location information of the target rectangle frame.
8. positioning and tracing method as described in any one of claim 1 to 7, which is characterized in that the 3D location information includes institute
State horizontal offset, vertical offset and lens focus, the camera shooting that the video camera is controlled according to the 3D location information
Head execute steering operation the step of include:
Based on the horizontal offset and vertical offset, controls the camera and execute moving operation；
Based on the lens focus, controls the camera and execute focal-length adjustment operations.
9. a kind of positioning and tracking device, which is characterized in that the positioning and tracking device includes: memory, processor and is stored in
On the memory and the locating and tracking program that can run on the processor, the locating and tracking program is by the processor
It realizes when execution such as the step of positioning and tracing method described in any item of the claim 1 to 8.
10. a kind of computer readable storage medium, which is characterized in that be stored on the computer readable storage medium positioning with
Track program realizes such as locating and tracking described in any item of the claim 1 to 8 when the locating and tracking program is executed by processor
The step of method.
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