CN111246097B - PTZ scanning path generation method based on graph perception - Google Patents
PTZ scanning path generation method based on graph perception Download PDFInfo
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- CN111246097B CN111246097B CN202010060744.8A CN202010060744A CN111246097B CN 111246097 B CN111246097 B CN 111246097B CN 202010060744 A CN202010060744 A CN 202010060744A CN 111246097 B CN111246097 B CN 111246097B
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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
- 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
- H04N23/671—Focus control based on electronic image sensor signals in combination with active ranging signals, e.g. using light or sound signals emitted toward objects
Abstract
The invention relates to the technical field of PTZ (Pan/Tilt/zoom), aims to solve the problem of low efficiency of the conventional manual PTZ scanning path setting, and provides a PTZ scanning path generation method based on graphic perception, which comprises the following steps: determining a plurality of position points in the space of the camera shooting site, and determining PTZ path points corresponding to the position points, wherein the PTZ path points at least comprise PTZ coordinates corresponding to the position points; arranging a plurality of graphic marks in one plane of a shooting field, wherein the positions of the graphic marks can determine a region to be shot in the shooting field; the PTZ camera carries out comprehensive scanning on the shooting field and determines the PTZ coordinate corresponding to the graphic sign; and determining a PTZ coordinate area according to the PTZ coordinates corresponding to the graphic marks, and generating a PTZ scanning path capable of covering all PTZ path points in the PTZ coordinate area. The PTZ scanning path is automatically generated, the installation and deployment efficiency is improved, and the method is suitable for classrooms.
Description
Technical Field
The invention relates to the technical field of PTZ, in particular to a PTZ scanning path generation method.
Background
PTZ, namely Pan, Tilt, Zoom, refers to a video camera supporting omni-directional (horizontal, vertical) movement and Zoom control. The PTZ camera is internally provided with two motors in the horizontal direction and the vertical direction, and the two motors are positioned at different angles, so that the PTZ camera faces different angles.
Deploying a camera in a venue such as a classroom, obtaining video images of the venue using the camera, and scanning and recognizing faces from the images is a novel application. When the field size is larger, the common camera can not present images of all people in the picture any more, and a PTZ camera can be used instead. The PTZ camera changes the shooting angle and the magnification factor through the movement of the internal motor, so that the person image in a wider and farther range can be clearly collected, and the problems are solved. For an object in any field, when the PTZ camera is aligned with the object and appears in the center of the screen, the offset angles of the two motors form the PTZ coordinates (x, y) of the object, where x represents the motor offset angle in the horizontal direction of the PTZ camera and y represents the motor offset angle in the vertical direction of the PTZ camera.
The PTZ camera provides a motion function, but requires control of the motion. Under the prior art, some PTZ solutions define their movement behavior in a manual manner. Specifically, a plurality of PTZ coordinates and the magnification factor corresponding to the PTZ coordinates are manually set by providing a network interface, and the PTZ camera is adjusted to the PTZ coordinates according to the sequential control motor during operation and ensures that the lens magnification factor corresponds to the magnification factor defined by the PTZ coordinates, so that a scanning path is formed. However, this method has a problem of low installation and deployment efficiency, and for example, in a case where there are a plurality of locations having different specifications, manual setting is required for each location, and each setting takes several to ten or several minutes.
Disclosure of Invention
The invention aims to solve the problem of low efficiency of the existing mode for setting a PTZ scanning path, and provides a PTZ scanning path generation method based on graphic perception.
The technical scheme adopted by the invention for solving the technical problems is as follows: the PTZ scanning path generation method based on graphic perception comprises the following steps:
step 1, a PTZ camera is arranged corresponding to a shooting site, a plurality of position points are determined in the space of the shooting site, at least one part of the position points are in a region to be shot, PTZ path points corresponding to the position points are determined, and the PTZ path points at least comprise PTZ coordinates corresponding to the position points;
step 2, arranging a plurality of graphic signs in one plane of the shooting site, wherein the positions of the graphic signs can determine a region to be shot in the shooting site;
step 3, the PTZ camera carries out comprehensive scanning on the shooting field, and determines the PTZ coordinate corresponding to the graphic sign after the PTZ camera collects the picture of the graphic sign;
and 4, determining a PTZ coordinate area corresponding to the area to be shot according to the PTZ coordinates corresponding to the graphic marks, selecting all PTZ path points in the PTZ coordinate area, and generating a PTZ scanning path capable of covering all the PTZ path points in the PTZ coordinate area.
Further, in order to realize the determination of the position points, in step 1, the method for determining a plurality of position points in the space of the imaging field includes:
setting default specification information of a shooting site and position information of a PTZ camera, wherein the default specification information at least comprises a default length and a default width, the default length is not less than the actual length of the shooting site, and the default width is not less than the actual width of the shooting site;
and selecting a plurality of position points in a plane of the default specification camera shooting site according to the preset length interval and the preset width interval, wherein the plane and the plane where the graphic mark is located are the same plane.
Further, in order to determine the PTZ coordinates corresponding to each location point, in step 1, the method for determining the PTZ path point corresponding to each location point includes:
respectively calculating the horizontal transverse distance, the horizontal longitudinal distance and the height difference of each position point relative to the PTZ camera according to the preset length interval, the preset width interval, the default specification information of the shooting site and the position information of the PTZ camera;
respectively calculating the horizontal offset angle of the PTZ camera and the vertical distance of the position point relative to the vertical line of the PTZ camera on the wall according to the horizontal transverse distance and the horizontal longitudinal distance, calculating the vertical offset angle of the PTZ camera according to the vertical distance and the height difference, and determining the PTZ coordinate corresponding to each position point according to the horizontal offset angle and the vertical offset angle.
Further, in order to obtain a face image with an appropriate size, the PTZ path point further includes a lens magnification factor corresponding to each position point, and the method for determining the lens magnification factor includes:
and respectively calculating distance information between each position point and the PTZ camera according to the vertical distance and the height difference, and determining the lens magnification corresponding to each position point according to the distance information.
Further, in order to determine the location points, in step 1, the method for determining a plurality of location points in the space of the imaging field further includes:
and selecting a plurality of position points in a space area which can be scanned by the PTZ camera according to the preset angle interval between the motor in the horizontal direction and the motor in the vertical direction of the PTZ camera.
Further, in step 2, in order to scan and photograph the human face, the plane is a plane with a preset height away from the ground.
Further, in order to determine the area to be photographed, in step 2, the number of the graphic marks is four, the area to be photographed is a quadrilateral area to be photographed determined by the positions of the four graphic marks, and the PTZ coordinate area of the area to be photographed is a quadrilateral coordinate area determined by four PTZ coordinates corresponding to the four graphic marks.
Further, in order to determine the PTZ coordinate corresponding to the graphic symbol, in step 3, the method for determining the PTZ coordinate corresponding to the graphic symbol includes:
when the PTZ camera acquires the picture of the graphic sign and the picture of the graphic sign is positioned in the center of the picture, acquiring the current offset angles of the motors in two directions of the PTZ camera, forming a PTZ coordinate according to the current offset angles of the motors in the two directions, and taking the PTZ coordinate as the PTZ coordinate corresponding to the graphic sign; or
And after the PTZ camera acquires the picture of the graphic sign, acquiring the current offset angles of the motors in the two directions of the PTZ camera, calculating an angle difference value according to the relative position of the graphic sign in the picture and the center of the picture, and calculating to obtain the PTZ coordinate corresponding to the graphic sign according to the current offset angles and the angle difference value of the motors in the two directions of the PTZ camera.
Further, in order to generate a PTZ scan path, in step 4, the method for generating a PTZ scan path capable of covering all PTZ path points in the PTZ coordinate region includes:
connecting the PTZ path points in the PTZ coordinate area according to any sequence to generate a PTZ scanning path capable of covering all the PTZ path points in the PTZ coordinate area; or
And connecting the PTZ path points in the PTZ coordinate area in a row and then alternately connecting the head and tail PTZ path points of adjacent rows to generate the PTZ scanning path capable of covering all the PTZ path points in the PTZ coordinate area.
Further, in order to effectively perform scanning and shooting on the area to be shot, the step 4 further includes:
and expanding the PTZ coordinate area according to a preset proportion to generate an expanded area, selecting all PTZ path points in the expanded area, and generating a PTZ scanning path capable of covering all PTZ path points in the expanded area.
The invention has the beneficial effects that: according to the PTZ scanning path generation method based on the graph perception, the plurality of graph marks are arranged in the shooting site, and the PTZ camera automatically generates the scanning path for scanning and shooting the area to be shot determined by the graph marks after identifying the graph marks, so that a user does not need to manually set the PTZ scanning path, the workload of installation personnel is reduced, and the installation and deployment efficiency is improved.
Drawings
Fig. 1 is a schematic flowchart of a PTZ scanning path generation method based on graph sensing according to an embodiment of the present invention;
fig. 2 is a schematic diagram for explaining a principle of determining a horizontal motor offset angle in a PTZ coordinate corresponding to a position point according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating the principle of determining the vertical motor offset angle in the PTZ coordinate corresponding to a location point according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the principle of selecting all PTZ path points in a PTZ coordinate region according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating an embodiment of generating a PTZ scan path from a PTZ coordinate region;
description of reference numerals:
an A-PTZ camera; b-a location point; offset angle of the horizontal motor of the x-PTZ camera; offset angle of the y-PTZ camera vertical motor; d 1-horizontal lateral distance of location point from PTZ camera; d 2-horizontal longitudinal distance of location point from PTZ camera; d 3-vertical distance of the location point on a vertical line on the wall relative to the PTZ camera; h-height difference of the location point and the PTZ camera; s1-area formed by PTZ coordinate corresponding to the position point; S2-PTZ coordinate area corresponding to the area to be shot.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
The PTZ scanning path generation method based on graphic perception comprises the following steps: step 1, a PTZ camera is arranged corresponding to a shooting site, a plurality of position points are determined in the space of the shooting site, at least one part of the position points are in a region to be shot, PTZ path points corresponding to the position points are determined, and the PTZ path points at least comprise PTZ coordinates corresponding to the position points; step 2, arranging a plurality of graphic signs in one plane of the shooting site, wherein the positions of the graphic signs can determine a region to be shot in the shooting site; step 3, the PTZ camera carries out comprehensive scanning on the shooting field, and determines the PTZ coordinate corresponding to the graphic sign after the PTZ camera collects the picture of the graphic sign; and 4, determining a PTZ coordinate area corresponding to the area to be shot according to the PTZ coordinates corresponding to the graphic marks, selecting all PTZ path points in the PTZ coordinate area, and generating a PTZ scanning path capable of covering all the PTZ path points in the PTZ coordinate area.
After the PTZ camera is installed, a plurality of position points are required to be selected in the space of a shooting site, the area formed by the position points can at least cover the area to be shot, PTZ path points corresponding to the position points are determined, the PTZ path points at least comprise PTZ coordinates corresponding to the position points, the PTZ coordinates corresponding to the position points are used for representing the motor offset angle when the PTZ camera is aligned with the position points, and the motor offset angle of the PTZ camera comprises the offset angles of two motors in the horizontal direction and the vertical direction of the PTZ camera; then, setting a plurality of graphic marks in a plane of the shooting site, wherein the positions of the graphic marks can determine a plane to-be-shot area in the shooting site; secondly, the PTZ camera carries out comprehensive scanning on the shooting field, the PTZ camera has a pattern recognition function, after all pattern marks are scanned and recognized, the PTZ coordinate corresponding to each pattern mark is determined, and the PTZ coordinate corresponding to each pattern mark is used for representing the motor offset angle when the PTZ camera is aligned to the pattern mark; then, determining a PTZ coordinate area corresponding to the area to be shot according to the PTZ coordinate corresponding to each graphic mark, namely determining a coordinate area determined by the PTZ coordinate corresponding to each graphic mark, wherein the PTZ coordinate area corresponds to the area to be shot; and finally, selecting all PTZ path points in the PTZ coordinate area, generating a PTZ scanning path capable of covering all the PTZ path points in the PTZ coordinate area, and comprehensively scanning the area to be shot by the PTZ camera according to the PTZ scanning path and the PTZ coordinates in the PTZ path points. Once the scanning area is determined by the deployment graphic mark in the installation and deployment stage of the PTZ camera, the PTZ scanning path is fixed, the PTZ camera always uses the scanning path in the subsequent scanning, and when the size or the structure of the imaging field is changed, the installation position of the PTZ camera is changed or the PTZ camera is moved to other imaging fields, the PTZ scanning path can be regenerated by the method.
Examples
The PTZ scanning path generation method based on the graphic perception, as shown in FIG. 1, includes the following steps:
s1, correspondingly setting a PTZ camera and a shooting site, determining a plurality of position points in the space of the shooting site, wherein at least one part of the position points are in a region to be shot, determining PTZ path points corresponding to the position points, and the PTZ path points at least comprise PTZ coordinates corresponding to the position points;
the image pickup field can be a classroom, the area to be picked up can be a seat area of a student, and the PTZ camera can be installed at a position which is horizontally centered and vertically above a wall in front of the classroom, for example, a position which is horizontally centered and 1.8-3 meters away from the ground and faces the face of the student.
The method for determining a plurality of position points in the space of the camera field can be as follows:
setting default specification information of a shooting site and position information of a PTZ camera, wherein the default specification information at least comprises a default length and a default width, the default length is not less than the actual length of the shooting site, and the default width is not less than the actual width of the shooting site;
and selecting a plurality of position points in a plane of the default specification camera shooting site according to the preset length interval and the preset width interval, wherein the plane and the plane where the graphic mark is located are the same plane.
Specifically, the default specification information of the shooting site at least includes a default length and a default width of the shooting site, the position information of the PTZ camera may include a distance between the PTZ camera and the periphery of the default specification shooting site and a height from the ground, and the default specification information of the shooting site and the position information of the PTZ camera may be set through an API interface provided by the PTZ camera.
As shown in fig. 4, a region S1 indicates a region formed by PTZ coordinates corresponding to a position point, and in the figure, a cross number indicates a PTZ path point corresponding to each position point, where a preset length interval and a preset width interval may be set according to actual needs, the preset length interval may be set according to a distance between front and rear adjacent seat intervals, the preset width interval may be set according to a distance between left and right adjacent seat intervals, the smaller the preset length interval and the preset width interval, the higher the scanning accuracy, and the preset length interval and the preset width interval are preferably 1 meter according to a standard of an adjacent seat region in a classroom, that is, a distance between two horizontally adjacent position points and a distance between two vertically adjacent position points are 1 meter. The position points and the corresponding PTZ path points form a plurality of rows according to the preset width interval.
In order to accurately scan and shoot the faces of students in a classroom, one plane of the default-specification shooting field can be a plane with a preset height from the ground, wherein the preset height can be the height from the standard faces of the national standard students sitting down to the ground, and the preset height can also be set according to the actual conditions of the students such as age and height.
The PTZ path point determination method corresponding to the plurality of position points determined by the above method may be:
respectively calculating the horizontal transverse distance, the horizontal longitudinal distance and the height difference of each position point relative to the PTZ camera according to the preset length interval, the preset width interval, the default specification information of the shooting site and the position information of the PTZ camera;
respectively calculating the horizontal offset angle of the PTZ camera and the vertical distance of the position point relative to the vertical line of the PTZ camera on the wall according to the horizontal transverse distance and the horizontal longitudinal distance, calculating the vertical offset angle of the PTZ camera according to the vertical distance and the height difference, and determining the PTZ coordinate corresponding to each position point according to the horizontal offset angle and the vertical offset angle.
As shown in fig. 2, the horizontal lateral distance of the position point B with respect to the PTZ camera a is d1, i.e. the horizontal distance of the projection point of the position point B on the wall where the PTZ camera is located from the PTZ camera a, the horizontal longitudinal distance of the position point B with respect to the PTZ camera a is d2, i.e. the distance of the position point B from the projection point thereof on the wall where the PTZ camera is located, then according to the horizontal lateral distance d1 and the horizontal longitudinal distance d2 of the position point B with respect to the PTZ camera a, the horizontal offset angle of the PTZ camera, i.e. the offset angle of the horizontal motor, is determined as x, the vertical distance of the position point B with respect to the vertical line of the PTZ camera a on the wall is determined as d3, wherein,
as shown in fig. 3, the height difference of the position point B with respect to the PTZ camera a is h, and then the vertical offset angle of the PTZ camera, that is, the offset angle of the vertical direction motor, is determined as y according to the vertical distance d3 of the position point B with respect to the vertical line of the PTZ camera on the wall and the height difference h of the position point B with respect to the PTZ camera a, thereby determining the PTZ coordinate (x, y) corresponding to the position point B. In the same way, the PTZ coordinate corresponding to each position point can be obtained.
For the position points selected by the method, the PTZ path points may further include a lens magnification factor corresponding to each position point, and the method for determining the lens magnification factor includes:
and respectively calculating distance information between each position point and the PTZ camera according to the vertical distance and the height difference, and determining the lens magnification corresponding to each position point according to the distance information.
Specifically, the lens magnification factor corresponding to each position point can be determined according to the linear distance between each position point and the PTZ camera, and after the PTZ scanning path is generated, when the PTZ camera is aligned with the position point, that is, the PTZ camera is located in the PTZ coordinate corresponding to the position point, the lens magnification factor corresponding to the position point can be adjusted to obtain a clearer face image.
Furthermore, the method for determining a plurality of position points in the space of the camera field further comprises:
and selecting a plurality of position points in a space area which can be scanned by the PTZ camera according to the preset angle interval between the motor in the horizontal direction and the motor in the vertical direction of the PTZ camera.
Specifically, the motor in the horizontal direction and the motor in the vertical direction of the PTZ camera are offset within a certain angular range, and generally, the motor in the horizontal direction of the PTZ camera is offset within an angular range of 0 to 180 degrees, and the motor in the vertical direction is offset within an angular range of 0 to 90 degrees. The spatial region that can be scanned by the PTZ camera is determined accordingly. Firstly, the motor offset angle in the horizontal direction of the PTZ camera may be fixed, for example, 0 degree, and the motor offset angle in the vertical direction may be adjusted incrementally at preset angle intervals, for example, the motor offset angle in the vertical direction starts from 0 degree and is increased by 10 degrees each time, and after each increase, a plurality of position points are selected on the imaging path of the PTZ camera determined according to the offset angles of the two motors. Then, fixing the motor offset angle in the vertical direction of the PTZ camera, such as 0 degree, and incrementally adjusting the motor offset angle in the horizontal direction according to a preset angle interval, such as starting from 0 degree and increasing by 10 degrees every time, after each increase, selecting a plurality of position points on the image pickup path of the PTZ camera determined according to the offset angles of the two motors, so that a plurality of position points in a space area which can be scanned by the PTZ camera can be obtained, and meanwhile, PTZ coordinates corresponding to the position points can also be obtained. The preset angle interval can be set according to actual requirements, the smaller the preset angle interval is, so that a denser PTZ scanning path is generated, the higher the accuracy of scanning and shooting is, and otherwise, the lower the accuracy of scanning and shooting is.
S2, arranging a plurality of graphic signs in one plane of the shooting site, wherein the positions of the graphic signs can determine a region to be shot in the shooting site;
the graphic signs can be the graphic signs which are convenient for the detection and identification of an image identification algorithm, the number of the graphic signs can be four, the graphic signs can be respectively arranged at four end points of a rectangular area of a student seat in a classroom, the rectangular seat area of the student is determined by the four graphic signs, if a plurality of position points are selected according to preset length intervals and preset width intervals in the step S1, the graphic signs need to be arranged in the same plane of the selected position points, if the plane of the selected position points in the default specification camera shooting site is a plane with preset height from the ground, the graphic signs also need to be arranged with the same preset height from the ground, and the graphic signs can be arranged on a desk through a support.
S3, the PTZ camera carries out comprehensive scanning on the shooting site, and determines the PTZ coordinate corresponding to the graphic sign after the PTZ camera collects the picture of the graphic sign;
it can be understood that when the PTZ camera is installed and used for the first time, the PTZ camera scans the shooting site comprehensively, in short, the motors in the horizontal direction and the vertical direction of the PTZ camera are respectively offset from the minimum angle to the maximum angle, and in the process, the built-in graphic sensing function of the PTZ camera recognizes each graphic mark and determines the PTZ coordinate corresponding to each graphic mark respectively.
Specifically, the method for determining the PTZ coordinate corresponding to the graphic mark includes:
when the PTZ camera acquires the picture of the graphic sign and the picture of the graphic sign is positioned in the center of the picture, acquiring the current offset angles of the motors in two directions of the PTZ camera, forming a PTZ coordinate according to the current offset angles of the motors in the two directions, and taking the PTZ coordinate as the PTZ coordinate corresponding to the graphic sign; the current offset angles of the motors in both directions of the PTZ camera can be obtained from the PTZ camera parameters.
The method for determining the PTZ coordinate corresponding to the graphic mark further comprises the following steps:
and after the PTZ camera acquires the picture of the graphic sign, acquiring the current offset angles of the motors in the two directions of the PTZ camera, calculating an angle difference value according to the relative position of the graphic sign in the picture and the center of the picture, and calculating to obtain the PTZ coordinate corresponding to the graphic sign according to the current offset angles and the angle difference value of the motors in the two directions of the PTZ camera.
And S4, determining a PTZ coordinate area corresponding to the area to be shot according to the PTZ coordinates corresponding to the graphic marks, selecting all PTZ path points in the PTZ coordinate area, and generating a PTZ scanning path capable of covering all the PTZ path points in the PTZ coordinate area.
Similarly to the determination of the region to be shot by the positions of the four graphic marks, the PTZ coordinates corresponding to the four graphic marks also determine the PTZ coordinate region corresponding to the region to be shot. As shown in fig. 4, the area S2 represents a PTZ coordinate area corresponding to the to-be-imaged area determined by the graphic mark, selects all PTZ path points in the PTZ coordinate area S2, determines PTZ coordinates corresponding to all PTZ path points in the PTZ coordinate area S2, and generates a PTZ scan path capable of covering all PTZ path points in the scan area.
In order to effectively scan and shoot an area to be shot, when the device is actually used, the PTZ coordinate area is enlarged according to a preset proportion to generate an enlarged area, all PTZ path points in the enlarged area are selected, and a PTZ scanning path capable of covering all the PTZ path points in the enlarged area is generated. Wherein the preset proportion of the expansion only needs to ensure that the expansion area is slightly larger than the PTZ coordinate area.
Generating a PTZ scan path capable of covering all PTZ path points in the PTZ coordinate area may be to sequentially connect PTZ coordinates corresponding to all PTZ path points in the PTZ coordinate area S2 in an arbitrary order, so as to obtain the PTZ scan path, as shown in fig. 5, the PTZ coordinates corresponding to all PTZ path points in the PTZ coordinate area may also be connected in a row and then alternately connected to head and tail PTZ path points of an adjacent row, so as to generate the PTZ scan path capable of covering all PTZ path points in the PTZ coordinate area, and the PTZ camera may scan cyclically according to the PTZ scan path. In the process, the PTZ camera is always positioned on a certain PTZ path point or a path between two PTZ path points, when the PTZ camera is positioned on the two PTZ path points, the PTZ camera can ensure that the PTZ path points are uniformly changed to the next PTZ path point from one PTZ path point, and the uniform change is mainly reflected in that the PTZ coordinates of the two PTZ path points and the corresponding lens magnification are uniformly changed.
Claims (10)
1. The PTZ scanning path generation method based on graphic perception is characterized by comprising the following steps of:
step 1, a PTZ camera is arranged corresponding to a shooting site, a plurality of position points are determined in the space of the shooting site, the area formed by the position points at least can cover the area to be shot, PTZ path points corresponding to the position points are determined, and the PTZ path points at least comprise PTZ coordinates corresponding to the position points;
step 2, arranging a plurality of graphic signs in one plane of the shooting site, wherein the positions of the graphic signs can determine a region to be shot in the shooting site;
step 3, the PTZ camera carries out comprehensive scanning on the shooting field, and determines the PTZ coordinate corresponding to the graphic sign after the PTZ camera collects the picture of the graphic sign;
and 4, determining a PTZ coordinate area corresponding to the area to be shot according to the PTZ coordinates corresponding to the graphic marks, selecting all PTZ path points in the PTZ coordinate area, and generating a PTZ scanning path capable of covering all the PTZ path points in the PTZ coordinate area.
2. The PTZ scan path generation method based on graphic perception according to claim 1, wherein in step 1, the method for determining a plurality of position points in the space of the camera field comprises:
setting default specification information of a shooting site and position information of a PTZ camera, wherein the default specification information at least comprises a default length and a default width, the default length is not less than the actual length of the shooting site, and the default width is not less than the actual width of the shooting site;
and selecting a plurality of position points in a plane of the default specification camera shooting site according to the preset length interval and the preset width interval, wherein the plane and the plane where the graphic mark is located are the same plane.
3. The PTZ scan path generation method based on graphic perception according to claim 2, wherein in the step 1, the method for determining the PTZ path point corresponding to each position point comprises:
respectively calculating the horizontal transverse distance, the horizontal longitudinal distance and the height difference of each position point relative to the PTZ camera according to the preset length interval, the preset width interval, the default specification information of the shooting site and the position information of the PTZ camera;
respectively calculating the horizontal offset angle of the PTZ camera and the vertical distance of the position point relative to the vertical line of the PTZ camera on the wall according to the horizontal transverse distance and the horizontal longitudinal distance, calculating the vertical offset angle of the PTZ camera according to the vertical distance and the height difference, and determining the PTZ coordinate corresponding to each position point according to the horizontal offset angle and the vertical offset angle.
4. The graphics perception based PTZ scan path generation method of claim 3, wherein the PTZ path points further include a lens magnification factor corresponding to each location point, the method of determining the lens magnification factor comprising:
and respectively calculating distance information between each position point and the PTZ camera according to the vertical distance and the height difference, and determining the lens magnification corresponding to each position point according to the distance information.
5. The PTZ scan path generation method based on graphic perception according to claim 1, wherein in step 1, the method for determining a plurality of position points in the space of the camera field further comprises:
and selecting a plurality of position points in a space area which can be scanned by the PTZ camera according to the preset angle interval between the motor in the horizontal direction and the motor in the vertical direction of the PTZ camera.
6. The PTZ scan path generation method based on graphic perception according to claim 1, wherein in the step 2, the plane is a plane with a preset height from the ground.
7. The PTZ scan path generation method based on graphic perception according to claim 1, wherein in the step 2, the number of the graphic marks is four, the area to be shot is a quadrilateral area to be shot determined by the positions of the four graphic marks, and the PTZ coordinate area of the area to be shot is a quadrilateral coordinate area determined by four PTZ coordinates corresponding to the four graphic marks.
8. The method for generating PTZ scan path based on graphic perception according to claim 1, wherein in step 3, the method for determining the PTZ coordinate corresponding to the graphic sign comprises:
when the PTZ camera acquires the picture of the graphic sign and the picture of the graphic sign is positioned in the center of the picture, acquiring the current offset angles of the motors in two directions of the PTZ camera, forming a PTZ coordinate according to the current offset angles of the motors in the two directions, and taking the PTZ coordinate as the PTZ coordinate corresponding to the graphic sign; or
And after the PTZ camera acquires the picture of the graphic sign, acquiring the current offset angles of the motors in the two directions of the PTZ camera, calculating an angle difference value according to the relative position of the graphic sign in the picture and the center of the picture, and calculating to obtain the PTZ coordinate corresponding to the graphic sign according to the current offset angles and the angle difference value of the motors in the two directions of the PTZ camera.
9. The PTZ scan path generation method based on graphic perception according to claim 1, wherein in the step 4, the method for generating the PTZ scan path capable of covering all PTZ path points in the PTZ coordinate area comprises the following steps:
connecting the PTZ path points in the PTZ coordinate area according to any sequence to generate a PTZ scanning path capable of covering all the PTZ path points in the PTZ coordinate area; or
And connecting the PTZ path points in the PTZ coordinate area in a row and then alternately connecting the head and tail PTZ path points of adjacent rows to generate the PTZ scanning path capable of covering all the PTZ path points in the PTZ coordinate area.
10. The graphics perception based PTZ scan path generation method as claimed in claim 1, wherein the step 4 further comprises:
and expanding the PTZ coordinate area according to a preset proportion to generate an expanded area, selecting all PTZ path points in the expanded area, and generating a PTZ scanning path capable of covering all PTZ path points in the expanded area.
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