CN110460806A - A kind of web camera with holder realizes the algorithm of 3D positioning and privacy screen - Google Patents
A kind of web camera with holder realizes the algorithm of 3D positioning and privacy screen Download PDFInfo
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- CN110460806A CN110460806A CN201810424944.XA CN201810424944A CN110460806A CN 110460806 A CN110460806 A CN 110460806A CN 201810424944 A CN201810424944 A CN 201810424944A CN 110460806 A CN110460806 A CN 110460806A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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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
- H04N23/62—Control of parameters via user interfaces
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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
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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
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Abstract
A kind of web camera with holder realizes the algorithm of 3D positioning and privacy screen, including following technical step: 3D modeling；Establish equivalent plane model；Lens screen distance and object distance are measured, judges its actual influence to modeling；3D positioning, coordinate convert calculating process；The picture frame zoom analysis of 3D positioning；Viewing area projection, is arranged privacy screen function；It draws a conclusion, writes code；The invention considers practical structures difference and target surface difference, establishes one based on theory of geometric optics and meets actual mathematical modelling algorithms, to achieve the effect that optimize 3D positioning, while facilitating the exploitation of subsequent privacy screen function.
Description
Technical field
The present invention relates to monitoring technology field, especially a kind of web camera with holder realizes that 3D positioning hides with privacy
The algorithm of gear realizes 3D positioning and privacy screen in the type with holder such as clipping the ball and ptz bullet.
Background technique
Currently, in monitoring technology field, in the market in the product with holder, generally existing 3D locating effect is bad and privacy
The undesirable problem of occlusion effect, structure is simple, and design is not scientific, results in a short time, can not be set by single structure
Meter solves the technical problem；
Such as: a kind of 3D localization method and device based on PTZ monitor camera, application number: 201410114204.8, it should
Invention provides a kind of 3D localization method based on PTZ monitor camera, which comprises acquisition PTZ monitor camera is clapped
The real scene video picture taken the photograph；Interested area size and scalable manner are demarcated in setting；It is flat to obtain imaging sensor imaging
The water of the two-dimensional physical coordinate of target's center's point on face and the optical axis of the PTZ monitor camera relative to target's center's point
Gentle vertical direction angle；According to the corresponding adjustment camera pan-tilt motor of the both horizontally and vertically angle；According to setting
Area-of-interest size and scalable manner calculate scaling, and accordingly control camera lens zoom scaling, obtain feeling emerging
The high-definition picture in interesting region；There are following technological deficiencies for the patent:
1. not accounting for the difference and target surface difference of product practical structures；
2. the correlated error of hardware and structure does not have modeling experiment, match poor:
3. not having the specific implementation of privacy screen, have a single function incomplete；
4. excessively using most basic function algorithm, do not have creative advanced calculating；
Summary of the invention
It is an object of the present invention to provide a kind of, and the web camera with holder realizes the algorithm of 3D positioning and privacy screen,
The algorithm uses accurate Modeling and Design, and theory support abundant effectively overcomes in the prior art, related 3D locating effect
Bad problem is also added into the design of privacy screen algorithm, substantially increases the quality leap of monitoring technology, algorithm design letter
It is single, it is easy to spread, it is safe and reliable.
In order to solve the above technical problems, the present invention provides a kind of web camera realization 3D positioning and privacy screening with holder
The algorithm of gear considers practical structures difference and target surface difference, establishes one based on theory of geometric optics and meet actual mathematical modulo
Type algorithm to achieve the effect that optimize 3D positioning, while facilitating the exploitation of subsequent privacy screen function, specifically, including as follows
Technical step:
Step 1: 3D modeling；
Firstly, hardware and Structural Design Requirement, including following 3 point design；
1, when guaranteeing lens zoom, central point is remained unchanged, i.e., at camera lens optical center and target surface center point-blank；
2, hardware needs that the horizontal departure value of the fulcrum of sensor target surface central point and entire holder can be obtained and erects
Straight deviation；
3, structure and hardware need to keep field of view horizontal plane and rotation horizontal plane it is consistent；
Secondly, formal modeling, as depicted in figs. 1 and 2: since target surface center is not on central point, need to consider practical knot
The position of structure determines fulcrum A, therefore the rotary motion trace of practical target surface central point C is spherical surface, and the rotary motion trace of focus is also
Spherical surface, Internal Spherical Surface are the moving surface of focus；
Finally, the motion profile of the central point of equivalent eyeglass regards spherical outside surface as, coordinate system is established according to practical situation,
Middle object distance parameter is to be fluctuated according to actual conditions；
Illustrate as an example, the object distance parameter default is 10M；
Further, Q: the point where actual object；P: position of the object on equivalent mirror surface；D: target surface center dotted line；
GU: object distance；Face: OLMN: equivalent eyeglass；G: equivalent eyeglass central point；
Illustrate as an example, might not be in due to fulcrum on the line of focus and luminous point, so face
OLMN might not be tangent with circle；
Step 2: establishing equivalent plane model；
An areal model is resettled with top view, during target surface center relatively rotates central point rotation, in target surface
The variation track of the heart is equivalent to an inner circle, i.e., inner circle shown in Fig. 3, then the rotary motion trace of equivalent eyeglass is drawn, then can obtain
The outer circle of Fig. 3 out；
Illustrate as an example, the angu-lar deviation ∠ α that the target surface center and fulcrum starting is arranged is 0；
Further, during the position of focus also changes simultaneously after lens zoom；
Illustrate as an example, it includes: the angle of center of rotation that the parameter clearly determined is needed in the model of the 3D modeling
Spend deviation and length, target surface central point locus, focal length value.
Further, as shown in Figure 3: the variation track of focus is not necessarily round, according to the difference of current environment object distance, is
It obtains clearly as actual needs adjusts position of the equivalent eyeglass with respect to imaging surface, i.e. adjustment focus value, so when owning
Just focal variation track can be seen as justifying when the environment in the visual field is all in same object distance；
Step 3: measurement lens screen distance and object distance, judge its actual influence to modeling；It is as shown in Figure 4:
Further, since target surface ED width determines, in the case where sensor is constant, the visual field of the camera lens of different multiplying
Angle is fixed, and theoretically can calculate the value of lens screen distance by surveying the numerical value of field angle；
But in actual conditions, due to survey field angle mode it is higher to data required precision, therefore which realize difficulty compared with
Greatly, the practical calculated value for using adjustment lens screen distance of the present invention confirms the effect of practical 3D positioning, with this measure one it is suitable
Value；
Further, the object of different object distances will disperse out after rotation such as in current picture in same position, more
Remote object is closer to side；
Step 4: 3D is positioned, coordinate converts calculating process；
Further, any object on picture is clicked, by calculating, one new PTZ value of generation carrys out rotary platform should
Object is moved to the central point in the visual field；Or some region on any selection picture, the central point in the region is moved on in picture
The heart, then amplify the entire picture of the area filling or reduce the region and original visual field size is made to be equal to chosen area size；
Further, as shown in figure 5, the basic parameter setting of coordinate conversion calculating process are as follows: fulcrum A
(0,0,0)；Current focus e, current angular are (P0, T0)；The picture position coordinate 256*256 (a, b) of click, the object distance at this
For d, current target surface width is a height of (w0, h0), and the center of rotation angle of deviation is α, deviation g；E1D1It is equivalent for target surface schematic diagram FG
Mirror surface, ∠ α and line ɡ need to be obtained according to practical structures value；
Further, the coordinate conversion calculating process includes:
1, fulcrum A (x0, y0, z0) is calculated；
Z0=g*sin (T0+ α)；
X0=g*cos (T0+ α) * cosP0；
Y0=g*cos (T0+ α) * sinP0；
2, as shown in fig. 6, calculating the centre coordinate B (x1, y1, z1) of equivalent mirror surface, length and width (w1, h1), due to lens screen distance
Deviation very little can be considered definite value, therefore obtain the value i (CA2) of lens screen distance subsequently through debugging, tabulate for different camera lenses
Save, so when assert that i (CA2) is known quantity, and since imaging is clear, M is the close shape being overlapped with B2 point theory at this time
State；
Further, equivalent mirror surface center point coordinate:
Z1=z0+i*sin (T0-+)；
X1=z0+i*cos (T0) * cosP0；
Y1=y0+i*cos (T0) * sinP0,
3, the coordinate M at the actual imaging blur circle of A2, B2 is calculated；
Further, the actual coordinate M (x6, y6, z6) of object on target surface, the position (w3, h3) on target surface are preferentially calculated；
W3=(a-128)/256*w0；
H3=(b-128)/256*h0；
Z6=z0+h3*cos (T0)；
X6=x0+h3*sin (T0) sin (P0)+w3*cos (P0)
Y6=y0+h3*sin (T0) cos (P0)+w3*sin (P0)
4, the coordinate of actual object C (x3, y3, z3) is calculated:
Z3=z6+ (z1-z6)/(i) * (d+i)
Y3=y6+ (y1-y6)/(i) * (d+i)
X3=x6+ (x1-x6)/(i) * (d+i)
5, as shown in fig. 7, target target surface central point is located at E (x5, y5, z5) target position level angle P2, T2；ED is target
Face schematic diagram；∠ α and line ɡ need to be obtained according to practical structures value；
P2=arctan (x3/y3)；
OH/sin (+90 ° of α)=g/sin β
γ=arctan (z3/sqrt (x3*x3+y3*y3+z3*z3))；
T2=∠ DAX+ (180 ° of-∠ α-∠ DCA-90)；
The vertical face XOY in the face CDA, therefore the coordinate that can project C point first obtains level angle P value, then known ∠ to the face XOY
ADC, line AD, the value of line AC can find out ∠ ACD according to the proportionate relationship of triangle Zhong Jiao and side, so that ∠ DAC is found out again,
∠ COX is found out again, show that current vertical angle value is T2=∠ DAX+ ∠ CAX=∠ DAX+ (180 ° of-∠ α-∠ DCA-90).
Step 5: the picture frame zoom analysis of 3D positioning；
Further, as shown in figure 8, it is as follows using the shadow region of the picture frame function selection of 3D positioning, according to step 4
In coordinate convert calculation method, can by the central point of chosen area optimize moving on in the visual field, if picture frame mode is served as reasons
It draws from left to right, then increase multiplying factor, so that chosen area fills up entire picture；If picture frame mode is then to reduce again from right toward Zola
Rate, so that current picture becomes picture frame region picture of a size；
It by inference before, obtains: field angle θ=arctan (target surface length/2/ lens screen distance) * 2=arctan (practical view
Wild width/2/ object distance) * 2；
And object distance and target surface length are it is known that can obtain:
Target surface length * object distance=practical visual field width * lens screen distance
So obtaining new conclusion: the multiplying power that the multiplying power of practical visual field variation changes with lens screen distance is inversely proportional；
And lens screen distance has been tabulated and has been stored in memory, and thus can be realized and accurate becomes the size of present viewing field
Change.
Step 6: as shown in Figure 9: privacy screen function is arranged in viewing area projection；
Further, occlusion area is set, and then while PTZ value changes, blocking block can also update simultaneously, block original
The region being first arranged；Function mathematical model is to converse the actual coordinate of setting area to come and save, according to current pivot angle
Degree, by the plane where the region project to sensor target surface, intercepts the projected area in the parallelogram in target surface region, more
Rectangle is then expanded as if boundary has been encountered in projected area in projected area by new occlusion area；
In 3D positioning in step 4, four angles of chosen area are calculated as target point, save its reality
The normal vector of coordinate and current target plane, defining the value is region normal vector；
Further, the update occlusion area includes following concrete measure:
1, target surface centre coordinate and optical center coordinate are asked；
2, the normal vector of current target surface plane is sought；
3, whether the angle of the angle and target surface plane normal vector that judge region normal vector can assert current screening less than 90 °
Whether gear region may fall in the visual field；
4, the space coordinate in current the target surface upper left corner and the lower right corner is sought；
5, four angles of occlusion area and optical center handover are got up respectively, intersects its extended line with target surface plane, finds out friendship
Point；
Illustrate as an example, finds out intersection point i.e. according to the relationship of similar triangles, find out the coordinate, equivalent plane shows
It is intended to as shown in Figure 10；
Further, EF is equivalent to the occlusion area being arranged, and AB is equivalent mirror surface, and CD is target surface, due to point F, point O's
Coordinate is known, and △ MFO is similar to △ KPO, lens screen distance PO be it is known, finally, the value of MO is vector FO dot product to FO value
Current target surface normal vector so the coordinate of K can be found out in the following way, and can use the same manner again divided by the mould of the normal vector
Find out the space coordinate of its excess-three corner points；
MFO: △ KPO=MO:PO=μ of △
K (x, y, z)=O (x, y, z)+vector FO/ μ
Be converted to the plane coordinates on target surface；
Current EFGH is set as the region of the new privacy screen block projected, ABCD is sensor target surface；It has asked front
The coordinate of point D and point B out can find out the plane coordinates of corner in the following way；
Illustrate as an example, by taking point E as an example, finds out the length of ED；
As shown in figure 11: ED dot product normal vector AD can be found out in plane divided by the mould of AD, the Diff E of point E and point D
Value, then by Pythagorean theorem, find out ordinate difference；
The transverse and longitudinal coordinate difference that point E Yu point B can similarly be found out, judges the relationship of four differences, so as to find out E point coordinate,
Then the coordinate of its excess-three point is found out with same way again；
Step 7: drawing a conclusion, code is write；
Further, by the functional interface individual packages of 3D positioning and privacy screen, power function is individually put in lens_
In space.c, reserved major function interface is as follows:
1, mode is overturn according to present image to perform corresponding processing target surface coordinate:
static void ptz_check_rotate(ptz_3dpos_t*space,int rotate)
2, target surface coordinate is converted into space coordinate:
Static pos_3d_t ptz_calculate_target_cdt
(ptz_space_info_t*info,ptz_pos_t*pstPtz,pos_xy_t image)
3, it is the PTZ value of target position by space coordinate conversion:
Int ptz_calculate_target
(ptz_space_info_t*info,ptz_pos_t*pstPtz,ptz_target_space_t*pstTarget)
4, the practical reserved external interface used will change into the PT value of target after the processing of target surface coordinate:
int ptz_space_locate(ptz_pos_t*src,ptz_3dpos_t info,int rotate)
5, privacy screen block coordinate is set:
int ptz_set_pm_cdt(int pm_idx,ptz_pos_t src,ptz_pm_info_t pm_src,ptz_
pm_t*pm_dst)
6, privacy screen block region is updated:
int ptz_pm_update(int pm_idx,ptz_pos_t pos_src,ptz_pm_info_t*dst)
7, retain privacy screen module in Avserver, open up a thread for PTZ type, blocked for real-time update
Region.
As a kind of practical application for example, original consider not open up thread, refreshed in af thread, discovery brush
New real-time is inadequate, therefore is individually for privacy screen and opens up a thread, in detail as shown in Figure 12；
The positive effect of the present invention:
1, the web camera 3D locating effect with holder is undesirable mostly in the market, does not account for product practical structures
Difference and target surface difference, the present invention is based on the theory of geometric optics and product practical structures and target surface difference in optical design,
To re-start mathematical modeling；
2, the present invention perfectly solves the problems, such as the correlated error of hardware and structure by setting modeling requirement:
A, when camera lens need to guarantee zoom, central point is remained unchanged, i.e., need to guarantee at camera lens optical center and target surface center at one
Straight line；
B, structure needs that the horizontal departure value of the fulcrum of sensor target surface central point and entire holder can be obtained and erects
Straight deviation；
C, structure and hardware need to keep field of view horizontal plane and rotation horizontal plane it is consistent；
Detailed description of the invention
Fig. 1 is the embodiment 3D that a kind of web camera with holder of the present invention realizes 3D positioning and the algorithm of privacy screen
The schematic diagram of modeling；
Fig. 2 is that a kind of web camera with holder of the present invention realizes that 3D positioning and the algorithm embodiment 3D of privacy screen are built
Effect picture after mould；
Fig. 3 is that a kind of web camera with holder of the present invention realizes that 3D positioning is equivalent with the algorithm embodiment of privacy screen
The schematic diagram of areal model；
Fig. 4 is the algorithm embodiment object distance that a kind of web camera with holder of the present invention realizes 3D positioning and privacy screen
To the effect picture of the actual influence of modeling；
Fig. 5 is that a kind of web camera with holder of the present invention realizes that 3D positioning and the algorithm embodiment 3D of privacy screen are fixed
Equivalent floor map in position；
Fig. 6 is that a kind of web camera with holder of the present invention realizes that 3D positioning and the algorithm embodiment 3D of privacy screen are fixed
Equivalent mirror surface center point coordinate schematic diagram in position；
Fig. 7 is that a kind of web camera with holder of the present invention realizes that 3D positioning and the algorithm embodiment 3D of privacy screen are fixed
Target target surface center point coordinate schematic diagram in position；
Fig. 8 is that a kind of web camera with holder of the present invention realizes that 3D positioning and the algorithm embodiment 3D of privacy screen are fixed
The picture frame zoom schematic diagram of position；
Fig. 9 is that a kind of web camera with holder of the present invention realizes that 3D positioning and the algorithm embodiment of privacy screen are arranged
Region project effect diagram；
Figure 10 is that a kind of web camera with holder of the present invention realizes that 3D is positioned with the algorithm embodiment of privacy screen more
New occlusion area schematic diagram；
Figure 11 is that a kind of web camera with holder of the present invention is realized in the algorithm embodiment of 3D positioning and privacy screen
Floor map on target surface；
Figure 12 is that a kind of web camera with holder of the present invention is realized in the algorithm embodiment of 3D positioning and privacy screen
The code skeleton schematic diagram of privacy screen.
Specific embodiment
With reference to the accompanying drawing to a preferred embodiment of the present invention will be described in detail.
A kind of web camera with holder realizes the algorithm of 3D positioning and privacy screen, considers practical structures difference and target
Face difference establishes one based on theory of geometric optics and meets actual mathematical modelling algorithms, to achieve the effect that optimize 3D positioning,
Facilitate the exploitation of subsequent privacy screen function, including following technical step simultaneously:
Step 1: 3D modeling；
Firstly, hardware and Structural Design Requirement, including following 3 points；
1, when guaranteeing lens zoom, central point is remained unchanged, i.e., at camera lens optical center and target surface center point-blank；
2, hardware needs that the horizontal departure value of the fulcrum of sensor target surface central point and entire holder can be obtained and erects
Straight deviation；
3, structure and hardware need to keep field of view horizontal plane and rotation horizontal plane it is consistent；
Secondly, formal modeling, as depicted in figs. 1 and 2: since target surface center is not on central point, need to consider practical knot
The position of structure determines fulcrum A, therefore the rotary motion trace of practical target surface central point C is spherical surface, and the rotary motion trace of focus is also
Spherical surface, Internal Spherical Surface are the moving surface of focus；
Finally, the motion profile of the central point of equivalent eyeglass regards spherical outside surface as, coordinate system is established according to practical situation,
Middle object distance parameter is to be fluctuated according to actual conditions；
Illustrate as an example, the object distance parameter default is 10M；
Further, Q: the point where actual object；P: position of the object on equivalent mirror surface；D: target surface center dotted line；
GU: object distance；Face: OLMN: equivalent eyeglass；G: equivalent eyeglass central point；
Illustrate as an example, might not be in due to fulcrum on the line of focus and luminous point, so face
OLMN might not be tangent with circle；
Step 2: establishing equivalent plane model；
An areal model is resettled with top view, during target surface center relatively rotates central point rotation, in target surface
The variation track of the heart is equivalent to an inner circle, i.e., inner circle shown in Fig. 3, then the rotary motion trace of equivalent eyeglass is drawn, then can obtain
The outer circle of Fig. 3 out；
Illustrate as an example, the angu-lar deviation ∠ α that the target surface center and fulcrum starting is arranged is 0；
Further, during the position of focus also changes simultaneously after lens zoom；
Illustrate as an example, it includes: the angle of center of rotation that the parameter clearly determined is needed in the model of the 3D modeling
Spend deviation and length, target surface central point locus, focal length value.
Further, as shown in Figure 3: the variation track of focus is not necessarily round, according to the difference of current environment object distance, is
It obtains clearly as actual needs adjusts position of the equivalent eyeglass with respect to imaging surface, i.e. adjustment focus value, so when owning
Just focal variation track can be seen as justifying when the environment in the visual field is all in same object distance；
Step 3: measurement lens screen distance and object distance, judge its actual influence to modeling；It is as shown in Figure 4:
Further, since target surface ED width determines, in the case where sensor is constant, the visual field of the camera lens of different multiplying
Angle is fixed, and theoretically can calculate the value of lens screen distance by surveying the numerical value of field angle；
But in actual conditions, due to survey field angle mode it is higher to data required precision, therefore which realize difficulty compared with
Greatly, the practical calculated value for using adjustment lens screen distance of the present invention confirms the effect of practical 3D positioning, with this measure one it is suitable
Value；
Further, the object of different object distances will disperse out after rotation such as in current picture in same position, more
Remote object is closer to side；
Step 4: 3D is positioned, coordinate converts calculating process；
Further, any object on picture is clicked, by calculating, one new PTZ value of generation carrys out rotary platform should
Object is moved to the central point in the visual field；Or some region on any selection picture, the central point in the region is moved on in picture
The heart, then amplify the entire picture of the area filling or reduce the region and original visual field size is made to be equal to chosen area size；
Further, as shown in figure 5, the basic parameter setting of coordinate conversion calculating process are as follows: fulcrum A
(0,0,0)；Current focus e, current angular are (P0, T0)；The picture position coordinate 256*256 (a, b) of click, the object distance at this
For d, current target surface width is a height of (w0, h0), and the center of rotation angle of deviation is α, deviation g；E1D1It is equivalent for target surface schematic diagram FG
Mirror surface, ∠ α and line ɡ need to be obtained according to practical structures value；
Further, the coordinate conversion calculating process includes:
1, fulcrum A (x0, y0, z0) is calculated；
Z0=g*sin (T0+ α)；
X0=g*cos (T0+ α) * cosP0；
Y0=g*cos (T0+ α) * sinP0；
2, as shown in fig. 6, calculating the centre coordinate B (x1, y1, z1) of equivalent mirror surface, length and width (w1, h1), due to lens screen distance
Deviation very little can be considered definite value, therefore obtain the value i (CA2) of lens screen distance subsequently through debugging, tabulate for different camera lenses
Save, so when assert that i (CA2) is known quantity, and since imaging is clear, M is the close shape being overlapped with B2 point theory at this time
State；
Further, equivalent mirror surface center point coordinate:
Z1=z0+i*sin (T0-+)；
X1=z0+i*cos (T0) * cosP0；
Y1=y0+i*cos (T0) * sinP0,
3, the coordinate M at the actual imaging blur circle of A2, B2 is calculated；
Further, the actual coordinate M (x6, y6, z6) of object on target surface, the position (w3, h3) on target surface are preferentially calculated；
W3=(a-128)/256*w0；
H3=(b-128)/256*h0；
Z6=z0+h3*cos (T0)；
X6=x0+h3*sin (T0) sin (P0)+w3*cos (P0)
Y6=y0+h3*sin (T0) cos (P0)+w3*sin (P0)
4, the coordinate of actual object C (x3, y3, z3) is calculated:
Z3=z6+ (z1-z6)/(i) * (d+i)
Y3=y6+ (y1-y6)/(i) * (d+i)
X3=x6+ (x1-x6)/(i) * (d+i)
5, as shown in fig. 7, target target surface central point is located at E (x5, y5, z5) target position level angle P2, T2；ED is target
Face schematic diagram；∠ α and line ɡ need to be obtained according to practical structures value；
P2=arctan (x3/y3)；
OH/sin (+90 ° of α)=g/sin β
γ=arctan (z3/sqrt (x3*x3+y3*y3+z3*z3))；
T2=∠ DAX+ (180 ° of-∠ α-∠ DCA-90)；
The vertical face XOY in the face CDA, therefore the coordinate that can project C point first obtains level angle P value, then known ∠ to the face XOY
ADC, line AD, the value of line AC can find out ∠ ACD according to the proportionate relationship of triangle Zhong Jiao and side, so that ∠ DAC is found out again,
∠ COX is found out again, show that current vertical angle value is T2=∠ DAX+ ∠ CAX=∠ DAX+ (180 ° of-∠ α-∠ DCA-90).
Step 5: the picture frame zoom analysis of 3D positioning；
Further, as shown in figure 8, it is as follows using the shadow region of the picture frame function selection of 3D positioning, according to step 4
In coordinate convert calculation method, can by the central point of chosen area optimize moving on in the visual field, if picture frame mode is served as reasons
It draws from left to right, then increase multiplying factor, so that chosen area fills up entire picture；If picture frame mode is then to reduce again from right toward Zola
Rate, so that current picture becomes picture frame region picture of a size；
It by inference before, obtains: field angle θ=arctan (target surface length/2/ lens screen distance) * 2=arctan (practical view
Wild width/2/ object distance) * 2；
And object distance and target surface length are it is known that can obtain:
Target surface length * object distance=practical visual field width * lens screen distance
So obtaining new conclusion: the multiplying power that the multiplying power of practical visual field variation changes with lens screen distance is inversely proportional；
And lens screen distance has been tabulated and has been stored in memory, and thus can be realized and accurate becomes the size of present viewing field
Change.
Step 6: as shown in Figure 9: privacy screen function is arranged in viewing area projection；
Further, occlusion area is set, and then while PTZ value changes, blocking block can also update simultaneously, block original
The region being first arranged；Function mathematical model is to converse the actual coordinate of setting area to come and save, according to current pivot angle
Degree, by the plane where the region project to sensor target surface, intercepts the projected area in the parallelogram in target surface region, more
Rectangle is then expanded as if boundary has been encountered in projected area in projected area by new occlusion area；
In 3D positioning in step 4, four angles of chosen area are calculated as target point, save its reality
The normal vector of coordinate and current target plane, defining the value is region normal vector；
Further, the update occlusion area includes following concrete measure:
1, target surface centre coordinate and optical center coordinate are asked；
2, the normal vector of current target surface plane is sought；
3, whether the angle of the angle and target surface plane normal vector that judge region normal vector can assert current screening less than 90 °
Whether gear region may fall in the visual field；
4, the space coordinate in current the target surface upper left corner and the lower right corner is sought；
5, four angles of occlusion area and optical center handover are got up respectively, intersects its extended line with target surface plane, finds out friendship
Point；
Illustrate as an example, finds out intersection point i.e. according to the relationship of similar triangles, find out the coordinate, equivalent plane shows
It is intended to as shown in Figure 10；
Further, EF is equivalent to the occlusion area being arranged, and AB is equivalent mirror surface, and CD is target surface, due to point F, point O's
Coordinate is known, and △ MFO is similar to △ KPO, lens screen distance PO be it is known, finally, the value of MO is vector FO dot product to FO value
Current target surface normal vector so the coordinate of K can be found out in the following way, and can use the same manner again divided by the mould of the normal vector
Find out the space coordinate of its excess-three corner points；
MFO: △ KPO=MO:PO=μ of △
K (x, y, z)=O (x, y, z)+vector FO/ μ
Be converted to the plane coordinates on target surface；
Current EFGH is set as the region of the new privacy screen block projected, ABCD is sensor target surface；It has asked front
The coordinate of point D and point B out can find out the plane coordinates of corner in the following way；
Illustrate as an example, by taking point E as an example, finds out the length of ED；
As shown in figure 11: ED dot product normal vector AD can be found out in plane divided by the mould of AD, the Diff E of point E and point D
Value, then by Pythagorean theorem, find out ordinate difference；
The transverse and longitudinal coordinate difference that point E Yu point B can similarly be found out, judges the relationship of four differences, so as to find out E point coordinate,
Then the coordinate of its excess-three point is found out with same way again；
Step 7: drawing a conclusion, code is write；
Further, by the functional interface individual packages of 3D positioning and privacy screen, power function is individually put in lens_
In space.c, reserved major function interface is as follows:
1, mode is overturn according to present image to perform corresponding processing target surface coordinate:
static void ptz_check_rotate(ptz_3dpos_t*space,int rotate)
2, target surface coordinate is converted into space coordinate:
Static pos_3d_t ptz_calculate_target_cdt
(ptz_space_info_t*info,ptz_pos_t*pstPtz,pos_xy_t image)
3, it is the PTZ value of target position by space coordinate conversion:
Int ptz_calculate_target
(ptz_space_info_t*info,ptz_pos_t*pstPtz,ptz_target_space_t*pstTarget)
4, the practical reserved external interface used will change into the PT value of target after the processing of target surface coordinate:
int ptz_space_locate(ptz_pos_t*src,ptz_3dpos_t info,int rotate)
5, privacy screen block coordinate is set:
int ptz_set_pm_cdt(int pm_idx,ptz_pos_t src,ptz_pm_info_t pm_src,ptz_
pm_t*pm_dst)
6, privacy screen block region is updated:
int ptz_pm_update(int pm_idx,ptz_pos_t pos_src,ptz_pm_info_t*dst)
7, retain privacy screen module in Avserver, open up a thread for PTZ type, blocked for real-time update
Region.
As a kind of practical application for example, original consider not open up thread, refreshed in af thread, discovery brush
New real-time is inadequate, therefore is individually for privacy screen and opens up a thread, in detail as shown in Figure 12；
The present invention is based on the theory of geometric optics and product practical structures and target surface difference in optical design, to re-start
Mathematical modeling；The present invention perfectly solves the problems, such as the correlated error of hardware and structure by setting modeling requirement；
It is above-described to be merely a preferred embodiment of the present invention, it should be understood that the explanation of above embodiments is only used
In facilitating the understanding of the method and its core concept of the invention, it is not intended to limit the scope of protection of the present invention, it is all of the invention
Any modification for being made within thought and principle, equivalent replacement etc., should all be included in the protection scope of the present invention.
Claims (7)
1. the algorithm that a kind of web camera with holder realizes 3D positioning and privacy screen, which is characterized in that including following skill
Art step:
Step 1: 3D modeling；
Firstly, central point remains unchanged when guaranteeing lens zoom, i.e., at camera lens optical center and target surface center point-blank；
Hardware needs that the horizontal departure value and vertical deflection value of the fulcrum of sensor target surface central point and entire holder can be obtained；Knot
Structure and hardware need to keep field of view horizontal plane and rotation horizontal plane it is consistent；
Secondly, formal modeling, considers that the position of practical structures determines fulcrum A, the rotary motion trace of practical target surface central point C
For spherical surface, the rotary motion trace of focus is also spherical surface, and Internal Spherical Surface is the moving surface of focus；
Finally, the motion profile of the central point of equivalent eyeglass regards spherical outside surface as, coordinate system is established according to practical situation, wherein object
It is fluctuated according to the actual situation away from parameter；
Step 2: establishing equivalent plane model；
An areal model is resettled with top view, during target surface center relatively rotates central point rotation, target surface center
Variation track is equivalent to an inner circle, then the rotary motion trace of equivalent eyeglass is drawn, and obtains outer circle；The position of focus after lens zoom
It sets also while in variation；
Illustrate as an example, needed in the model of the 3D modeling parameter clearly determined include: center of rotation angle it is inclined
Difference and length, target surface central point locus, focal length value.
Step 3: measurement lens screen distance and object distance, judge its actual influence to modeling；Using the calculated value of adjustment lens screen distance come really
The effect for recognizing practical 3D positioning, measures a suitable value with this；The object of different object distances is such as in current picture in same
Position will disperse out after rotation, and remoter object is closer to side；
Step 4: 3D is positioned, coordinate converts calculating process；
Any object on picture is clicked, by calculating, one new PTZ value of generation carrys out rotary platform and the object is moved to the visual field
Central point；Or some region on any selection picture, the central point in the region is moved on into picture center, then amplify the region
Filling entire picture or reducing the region makes original visual field size be equal to chosen area size；
Step 5: the picture frame zoom analysis of 3D positioning；
Shadow region is chosen using the picture frame function of 3D positioning, calculation method, chosen area are converted according to the coordinate in step 4
Central point optimization move on in the visual field, if picture frame mode be by drawing from left to right, increase multiplying factor, so that chosen area is filled up
Entire picture；If picture frame mode is then to reduce multiplying power toward Zola from right, so as to become picture frame region of a size for current picture
Picture；
By inference before, obtain: (the practical visual field is wide by * 2=arctan by field angle θ=arctan (target surface length/2/ lens screen distance)
Spend/2/ object distance) * 2；
And object distance and target surface length are it is known that can obtain:
Target surface length * object distance=practical visual field width * lens screen distance
So obtaining new conclusion: the multiplying power that the multiplying power of practical visual field variation changes with lens screen distance is inversely proportional；And lens screen distance has been made
Table is stored in memory, and thus be can be realized and accurate is changed the size of present viewing field；
Step 6: viewing area projects, privacy screen function is set；
Occlusion area is set, then while PTZ value changes, blocks block also while updating, block the region being originally arranged；Function
Energy mathematical model is to converse the actual coordinate of setting area to come and save, according to current operation angle, by the region project
Plane to where sensor target surface intercepts the projected area in the parallelogram in target surface region, updates occlusion area, such as throw
It penetrates region and has encountered boundary, then rectangle is expanded as into projected area；
Step 7: drawing a conclusion, code is write；
By the functional interface individual packages of 3D positioning and privacy screen, power function is individually put in lens_space.c.
2. a kind of web camera with holder according to claim 1 realizes the algorithm of 3D positioning and privacy screen,
It is characterized in that, object distance parameter default described in step 1 is 10M.
3. a kind of web camera with holder according to claim 1 realizes the algorithm of 3D positioning and privacy screen,
It is characterized in that, the angu-lar deviation ∠ α that the target surface center and fulcrum starting are arranged in step 2 is 0.
4. a kind of web camera with holder according to claim 1 realizes the algorithm of 3D positioning and privacy screen,
It is characterized in that, the basic parameter setting of the coordinate conversion calculating process are as follows: fulcrum A (0,0,0)；Current focus e, when
Preceding angle is (P0, T0)；The picture position coordinate 256*256 (a, b) of click, the object distance at this is d, and current target surface width is a height of
(w0, h0), the center of rotation angle of deviation are α, deviation g；E1D1For target surface schematic diagram；FG be equivalent mirror surface, ∠ α and line ɡ according to
Practical structures value obtains.
5. a kind of web camera with holder according to claim 4 realizes the algorithm of 3D positioning and privacy screen,
It is characterized in that, the coordinate conversion calculating process includes:
1, fulcrum A (x0, y0, z0) is calculated；
Z0=g*sin (T0+ α)；
X0=g*cos (T0+ α) * cosP0；
Y0=g*cos (T0+ α) * sinP0；
2, the centre coordinate B (x1, y1, z1) of equivalent mirror surface is calculated, length and width (w1, h1) can be considered due to lens screen distance deviation very little
Definite value, thus subsequently through debugging obtain lens screen distance value i (CA2), carry out tabulation preservation for different camera lenses, so when assert
I (CA2) is known quantity, and since imaging is clear, and M is close to the state being overlapped with B2 point theory at this time；
Equivalent mirror surface center point coordinate:
Z1=z0+i*sin (T0-+)；
X1=z0+i*cos (T0) * cosP0；
Y1=y0+i*cos (T0) * sinP0,
3, the coordinate M at the actual imaging blur circle of A2, B2 is calculated；The actual coordinate M (x6, y6, z6) of object on target surface is calculated,
Position (w3, h3) on target surface；
W3=(a-128)/256*w0；
H3=(b-128)/256*h0；
Z6=z0+h3*cos (T0)；
X6=x0+h3*sin (T0) sin (P0)+w3*cos (P0)
Y6=y0+h3*sin (T0) cos (P0)+w3*sin (P0)
4, the coordinate of actual object C (x3, y3, z3) is calculated:
Z3=z6+ (z1-z6)/(i) * (d+i)
Y3=y6+ (y1-y6)/(i) * (d+i)
X3=x6+ (x1-x6)/(i) * (d+i)
5, target target surface central point is located at E (x5, y5, z5) target position level angle P2, T2；ED is target surface schematic diagram；∠ α and
Line ɡ is obtained according to practical structures value；
P2=arctan (x3/y3)；
OH/sin (+90 ° of α)=g/sin β
γ=arctan (z3/sqrt (x3*x3+y3*y3+z3*z3))；
T2=∠ DAX+ (180 ° of-∠ α-∠ DCA-90)；
The vertical face XOY in the face CDA, the coordinate for projecting C point obtain level angle P value, then known ∠ ADC, line AD, line AC to the face XOY
Value, ∠ ACD can be found out according to the proportionate relationship of triangle Zhong Jiao and side, to find out ∠ DAC again, then find out ∠ COX, obtain
Current vertical angle value is T2=∠ DAX+ ∠ CAX=∠ DAX+ (180 ° of-∠ α-∠ DCA-90) out.
6. a kind of web camera with holder according to claim 1 realizes the algorithm of 3D positioning and privacy screen,
It is characterized in that, the update occlusion area includes following concrete measure:
1, target surface centre coordinate and optical center coordinate are asked；
2, the normal vector of current target surface plane is sought；
3, whether the angle of the angle and target surface plane normal vector that judge region normal vector can assert current blocked area less than 90 °
Whether domain may fall in the visual field；
4, the space coordinate in current the target surface upper left corner and the lower right corner is sought；
5, four angles of occlusion area and optical center handover are got up respectively, intersects its extended line with target surface plane, finds out intersection point；
EF is equivalent to the occlusion area being arranged, and AB is equivalent mirror surface, and CD is target surface, due to point F, the coordinate of point O be it is known,
And △ MFO is similar to △ KPO, lens screen distance PO be it is known, finally, the value of MO is the current target surface normal vector of vector FO dot product to FO value
Again divided by the mould of the normal vector, so the coordinate of K can be found out in the following way, and its excess-three side can be found out with the same manner
The space coordinate of angle point；
MFO: △ KPO=MO:PO=μ of △
K (x, y, z)=O (x, y, z)+vector FO/ μ
Be converted to the plane coordinates on target surface；
Current EFGH is set as the region of the new privacy screen block projected, ABCD is sensor target surface；Front has found out point D
With the coordinate of point B, the plane coordinates of corner can be found out in the following way；
ED dot product normal vector AD can be found out in plane divided by the mould of AD, the abscissa difference of point E and point D, then fixed by hooking stock
Reason, finds out ordinate difference；
The transverse and longitudinal coordinate difference that point E Yu point B can similarly be found out, judges the relationship of four differences, so as to find out E point coordinate, then
The coordinate of its excess-three point is found out with same way again.
7. a kind of web camera with holder according to claim 1 realizes the algorithm of 3D positioning and privacy screen,
It is characterized in that, the major function interface reserved in the step 7 is as follows:
1, mode is overturn according to present image to perform corresponding processing target surface coordinate:
static void ptz_check_rotate(ptz_3dpos_t*space,int rotate)
2, target surface coordinate is converted into space coordinate:
Static pos_3d_t ptz_calculate_target_cdt
(ptz_space_info_t*info,ptz_pos_t*pstPtz,pos_xy_t image)
3, it is the PTZ value of target position by space coordinate conversion:
Int ptz_calculate_target
(ptz_space_info_t*info,ptz_pos_t*pstPtz,ptz_target_space_t*pstTarget)
4, the practical reserved external interface used will change into the PT value of target after the processing of target surface coordinate:
int ptz_space_locate(ptz_pos_t*src,ptz_3dpos_t info,int rotate)
5, privacy screen block coordinate is set:
int ptz_set_pm_cdt(int pm_idx,ptz_pos_t src,ptz_pm_info_t pm_src,ptz_pm_
t*pm_dst)
6, privacy screen block region is updated:
int ptz_pm_update(int pm_idx,ptz_pos_t pos_src,ptz_pm_info_t*dst)
7, retain privacy screen module in Avserver, open up a thread for PTZ type, be used to real-time update blocked area
Domain.
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