CN111314657B

CN111314657B - Image acquisition method and system based on cluster camera equipment

Info

Publication number: CN111314657B
Application number: CN201911416387.8A
Authority: CN
Inventors: 何佳; 吴翔; 沈亮; 张卡; 尼秀明
Original assignee: Anhui Qingxin Internet Information Technology Co ltd
Current assignee: Anhui Qingxin Internet Information Technology Co ltd
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2021-05-14
Anticipated expiration: 2039-12-31
Also published as: CN111314657A

Abstract

The invention discloses an image acquisition method and system based on cluster camera equipment, which comprises the following steps: acquiring a current central coordinate of an interested target in the panoramic camera equipment, and acquiring a current subregion index corresponding to the interested target according to a minimum deviation value of the current central coordinate relative to a preset central coordinate; obtaining a current grading preset bit index corresponding to the current subregion index according to the corresponding relation between the subregion index n in the preset panoramic shooting equipment and the grading preset bit index R (m, k, i) of the pan-tilt shooting equipment; obtaining an interested target image, wherein the interested target image responds to a video image of an interested target shot by a pan-tilt camera device in the current grading preset bit index for a set time; according to the method and the device, effective images of the interested target in all directions can be obtained, and the defect that the image of the target in one direction can only be obtained in the traditional image obtaining process is overcome.

Description

Image acquisition method and system based on cluster camera equipment

Technical Field

The invention relates to the technical field of image acquisition, in particular to an image acquisition method and system based on cluster camera equipment.

Background

In some very important places, such as the vicinity of important facilities such as military, electric power, communication and the like, the requirement of monitoring is very high, and it is desirable to monitor a large picture of the whole scene without dead angles and to see the action details of objects (such as personnel, vehicles and the like) clearly. Current solutions fall broadly into two categories: 1) and in the manual participation scheme, a plurality of cameras are arranged in an application place, and the most suitable cameras are manually controlled by an attendant to zoom in the action details of the watching target. 2) The automatic monitoring scheme uses an integrated device similar to gun and ball linkage, the whole scene is watched through a gun camera, an interested target is analyzed, and then the ball camera is controlled to be drawn close to see the action details of the target clearly. Of the two schemes, the former scheme is not very convenient because of manual participation in monitoring; in the latter scheme, because the equipment is integrated, the installation positions of the dome camera and the gun camera can only be one, so that in practical application, even if the dome camera draws close to the target, the action details of the target cannot be seen due to the reasons of barrier shielding, non-ideal target orientation and the like, and at the moment, if the target is drawn close from another angle, the action details of the target can be seen clearly.

Disclosure of Invention

Based on the technical problems in the background art, the invention provides an image acquisition method and system based on cluster camera equipment, which can obtain effective images of an interested target in all directions and avoid the defect that the image of the target in one direction can only be acquired in the traditional image acquisition.

The invention provides an image acquisition method based on cluster camera equipment, which comprises the following steps:

acquiring a current central coordinate of an interested target in the panoramic camera equipment, and acquiring a current subregion index corresponding to the interested target according to a minimum deviation value of the current central coordinate relative to a preset central coordinate;

obtaining a current grading preset bit index corresponding to the current subregion index according to the corresponding relation between the subregion index n in the preset panoramic shooting equipment and the grading preset bit index R (m, k, i) of the pan-tilt shooting equipment;

and obtaining an interested target image, wherein the interested target image is a video image of the interested target shot by the pan-tilt camera equipment in response to the current grading preset bit index staying for a set time.

Further, in the correspondence between the subregion index n in the preset panoramic shooting device and the hierarchical preset index of the pan-tilt shooting device, the establishment of the hierarchical preset index includes:

dividing all sequence preset positions of the pan-tilt camera equipment into K levels;

presetting M preset bits in the 0 th level, decomposing each 0 level according to a decomposition relation of adjacent preset bits in a certain proportion in the same picture to obtain hierarchical preset bits R (M, k, i), wherein M represents the M preset bits decomposed from the 0 th level, k represents the current k level, and i represents the ith preset bit of the current level;

according to the grading preset bits R (m, k, i), obtaining the corresponding relation between the grading preset bits and the sequence preset bits;

and obtaining the corresponding relation between the subregion index n and the hierarchical preset bits R (m, k, i) according to the corresponding relation between the subregion index n and the sequence preset bit index.

Further, after the interesting target image is obtained, the pan-tilt camera device resets, enters a next hierarchical preset position, waits for several seconds, obtains the interesting target image on the next hierarchical preset position, resets again, and circularly obtains the interesting target image until the interesting target in the subregion index n of the panoramic camera device finishes image obtaining, and then enters the subregion index n +1 to obtain all the interesting target images in the next subregion index n +1 until the image obtaining of the interesting target in all the subregion indexes is finished.

Further, when acquiring the current center coordinates of the target of interest in the panoramic imaging apparatus, the method includes:

acquiring a subregion index n and a central coordinate (x, y) corresponding to a preset interested target in panoramic shooting equipment, and storing the position corresponding relation between the subregion index n and the central coordinate (x, y);

and mapping the current center coordinate by taking the position corresponding relation as a reference to obtain the current sub-area index.

Further, before acquiring the current center coordinates of the target of interest in the panoramic imaging apparatus, first setting a correspondence relationship of parameters in the panoramic imaging apparatus, including:

dividing a monitoring area into N sub-areas, and acquiring indexes N of the sub-areas;

when N is smaller than N, acquiring target features in each sub-region, and obtaining the target feature with the highest confidence as an interested target;

if the interested target is the needed target, acquiring a central coordinate (x, y) corresponding to the interested target, and storing the position corresponding relation between the sub-region index n and the central coordinate (x, y);

and sending a search instruction of the required target characteristics to the pan-tilt camera equipment, acquiring a response message fed back by the pan-tilt camera equipment, and obtaining a parameter relation for controlling the pan-tilt camera equipment.

And prompting that the cluster camera device finishes setting the parameters in the sub-region n, setting n to be n +1, and waiting for entering a setting instruction of the next sub-region.

Further, in obtaining the response message fed back by the pan/tilt/zoom apparatus, the method for obtaining the pan/tilt/zoom apparatus includes:

s110: acquiring a search instruction of a required target characteristic sent by panoramic shooting equipment;

s120: setting M preset bits in the 0 th level, and acquiring the index M of the 0 th level preset bit of one subregion;

s130: judging whether M is smaller than M, if so, entering step S140, and if not, entering step S150;

s140: the pan-tilt camera device goes to the index R (m, k, i) of the hierarchical preset position and then enters step S160;

s150: returning an empty message to S110;

s160: the cloud deck camera shooting equipment detects an interested target and obtains a first central target closest to the center of the obtained image picture;

s170: judging whether the first central target exists, if so, entering step S180, and if not, entering step S190;

s180: obtaining a parameter R (m) of a current hierarchical preset bit index corresponding to a first central target_opt,k_opt,i_opt) Obtaining an index corresponding relation among a subregion index n, a holder camera equipment index C and a grading preset position index R;

s190: setting m to m +1, and returning to the step 130;

s210: judging whether the target height of the first central target is greater than a threshold H, if so, entering a step S211; if not, go to step S212;

s211: parameter R (m) indexed according to current hierarchical preset bit_opt,k_opt,i_opt) Obtaining a sequence preset index S, and entering step S213;

s212: and the pan-tilt camera equipment goes to the next hierarchical preset index R of the sub-area so as to acquire the next interested target.

S213: and the pan-tilt camera returns the sequence preset bit index S and the pan-tilt camera index C to the panoramic camera, the panoramic camera obtains the parameter relation for controlling the pan-tilt camera, and the step S110 is entered.

Further, when the pan/tilt/zoom camera device goes to the next hierarchical preset bit index R of the sub-area, the above operations are cycled to acquire the target of interest, including:

s214: setting k as k +1, I in hierarchical preset bit index R (m, k, I)_end＝4i+4，i＝4i；

S215: judging whether K is smaller than K, if so, entering step S216, and if not, entering step S211;

s216: judging whether I is less than I_ENDIf yes, the process proceeds to step S217, and if no, the process proceeds to step S211;

s217: go to hierarchical preset bit index R (m, k, i);

s218: the pan-tilt camera equipment detects an interested target and obtains a second central target which is closest to the center of the image picture to be acquired;

s219: judging whether a second central target exists or not; if yes, go to step S220, otherwise, go to step S221;

s220: obtaining a parameter R (m) of a current hierarchical preset bit index corresponding to a second central target_opt,k_opt,i_opt) Obtaining an index corresponding relation among the subregion index n, the pan-tilt camera equipment index C and the grading preset position index R, and entering step S222;

s221: setting i to i +1, and returning to S216;

s222: judging whether the target height of the second central target is greater than a threshold H; if so, the process proceeds to step S211, and if not, the process proceeds to step S214.

An image acquisition system based on cluster camera equipment comprises an acquisition module, a mapping module and a response module;

the acquisition module is used for acquiring the current central coordinate of an interested target in the panoramic camera equipment and acquiring the current sub-area index corresponding to the interested target according to the minimum deviation value of the current central coordinate relative to the preset central coordinate;

the mapping module is used for obtaining a current grading preset bit index corresponding to the current subregion index according to the corresponding relation between the subregion index n in the preset panoramic shooting equipment and the grading preset bit index R (m, k, i) of the pan-tilt shooting equipment;

the response module is used for obtaining an interested target image, and the interested target image responds to a video image of the interested target shot by the holder shooting equipment in the current grading preset bit index staying set time.

A computer readable storage medium having stored thereon a number of get classification programs for being invoked by a processor and performing the steps of:

The image acquisition method and the image acquisition system based on the cluster camera equipment have the advantages that: according to the image acquisition method and system based on the cluster camera equipment, the interested target is acquired under a direct large scene by arranging the cluster camera equipment, and then the details of the interested target are acquired by controlling one or more cloud deck camera equipment according to the graded preset bit indexes, so that the defect that the image of the target in one direction can only be acquired in the traditional image acquisition is avoided, the unfavorable factors such as barrier shielding, unsatisfactory target orientation and the like can be effectively overcome by the plurality of cloud deck camera equipment, and the acquisition accuracy and comprehensiveness of target characteristics are improved; the image acquisition method comprises two processes, namely a parameter setting process and a working process, wherein the working process directly calls the parameter corresponding relation in the parameter setting process to obtain the motion state of the pan-tilt camera so as to realize the automatic acquisition of the interested target of one or more pan-tilt cameras.

Drawings

Fig. 1 is a schematic flow chart of an image acquisition method based on cluster camera equipment according to the present invention;

fig. 2 is a schematic structural diagram of a cluster camera device;

FIG. 3 is a diagram showing the relationship between pictures corresponding to the preset bits of the kth level and the k +1 level;

fig. 4 is a schematic view of a setting flow of the panoramic imaging apparatus in the setting process;

fig. 5 is a schematic view of a setting flow of the pan-tilt camera device in the setting process;

fig. 6 is a schematic diagram of a working process of the cluster camera device;

fig. 7 is a schematic flow chart of an image acquisition system based on a cluster camera device;

the system comprises an acquisition module 100, a mapping module 200 and a response module 300.

Detailed Description

The present invention is described in detail below with reference to specific embodiments, and in the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as broadly as the present invention is capable of modification in various respects, all without departing from the spirit and scope of the present invention.

Referring to fig. 1, the image acquisition method based on the cluster camera apparatus provided by the present invention includes the following steps S100 to S300:

s100: acquiring a current central coordinate of an interested target in the panoramic camera equipment, and acquiring a current subregion index corresponding to the interested target according to a minimum deviation value of the current central coordinate relative to a preset central coordinate;

S200: obtaining a current grading preset bit index corresponding to the current subregion index according to the corresponding relation between the subregion index n in the preset panoramic shooting equipment and the grading preset bit index R (m, k, i) of the pan-tilt shooting equipment;

s300: and obtaining an interested target image, wherein the interested target image is a video image of the interested target shot by the pan-tilt camera equipment in response to the current grading preset bit index staying for a set time.

After the image acquisition of an interested target is completed, the pan-tilt camera equipment resets, goes to the next hierarchical preset position in the subregion index n of the panoramic camera equipment, waits for a plurality of seconds, acquires an interested target image corresponding to the next hierarchical preset position, resets again, and circularly acquires the images until the interested target in the subregion index n of the panoramic camera equipment finishes the image acquisition, enters the subregion index n +1 of the panoramic camera equipment, and acquires all the interested target images in the subregion index n +1 according to the steps S100 to S300 until the image acquisition of the interested target in all the subregion indexes is finished.

Each sub-region index of the panoramic shooting equipment can contain 0 to a plurality of interested targets, and when 0 interested target exists in one sub-region index, the pan-tilt shooting equipment directly enters the next sub-region index; when a plurality of interested targets exist in one sub-region index, the holder camera equipment stays for several seconds on the grading preset position corresponding to each interested target of the sub-region index so as to acquire a plurality of stable and clear interested images.

When the pan-tilt camera equipment goes to the hierarchical preset position index, the hierarchical preset position index of the pan-tilt camera equipment is correspondingly obtained according to the subarea index of the panoramic camera equipment and the lookup table 3, and because the pan-tilt camera equipment usually adopts the sequence preset position index to carry out position pointing movement, the lookup table 1 is used for obtaining the relation between the hierarchical preset position index and the sequence preset position index of the pan-tilt camera equipment, and the pan-tilt camera equipment directly goes to obtain an image according to the indication of the corresponding sequence preset position index, so that a clear image of a target of interest can be obtained.

The method comprises the following steps that a panoramic camera and a plurality of pan-tilt cameras can be arranged to form a cluster camera, the panoramic camera can be a panoramic camera, and the pan-tilt cameras can be pan-tilt cameras, so that the panoramic camera and the pan-tilt cameras can be arranged to form the cluster camera; the cluster camera equipment has high parameter setting speed and low manual participation. The panoramic camera equipment firstly acquires the whole scene of an interested target, then controls the holder camera equipment to acquire the details of the interested target through the current subarea index and the current grading preset position index, in the image acquisition process of the holder camera equipment, the characteristic image of the target can be acquired in multiple directions by combining a plurality of holder camera equipment, the defect that the image of the target in one direction can only be acquired in the traditional image acquisition is avoided, the unfavorable factors such as barrier shielding and unsatisfactory target orientation can be effectively overcome by the plurality of holder camera equipment, and the accuracy and the comprehensiveness of the acquisition of the target characteristic are improved.

Panoramic camera equipment and cloud platform camera equipment all have intelligent recognition function, can detect the region and the type of the target of interest (such as personnel, vehicle etc.) in the picture, and cloud platform camera equipment all has the presetting bit function generally, sends a presetting bit serial number for the cloud platform, and the camera just can be adjusted to specific angle and specific focus. Because the present invention proposes a new representation of the preset bits, for the sake of distinction, this general function of preset bits is referred to as sequential preset bits, and the preset bits proposed by the present invention are referred to as hierarchical preset bits R (m, k, i). The concept of the grading preset position has the following main points:

(1) all the grading preset bits are divided into K grades according to the range of the corresponding picture, the picture range is larger when the grade number is smaller, and the picture range is smaller when the grade number is higher. It is generally set that K is greater than 1.

(2) The 0 th level has M preset bits in total, each 0 level preset bit is used as a root, the adjacent preset bits in the same picture are decomposed according to a certain proportion according to a pyramid structure, the embodiment decomposes the adjacent preset bits according to a proportion of 1:4, and the relation between the k level preset bits and the k +1 level preset bits which are decomposed according to a proportion of 1:4 and correspond to the pictures is shown in fig. 3. R (M, k, i) represents a hierarchical preset bit, and is represented by three variables M, k, i, wherein M is 0.. M-1, M represents the decomposition from the mth preset bit of the 0 th level, when the decomposition is carried out according to the 1:4 ratio, i of the kth level corresponds to 4 preset bits between 4i and 4i +4 of the k +1 th level, 4i to 4i +4 are closed and opened at the right, and therefore the number of the preset bits of each level is 4 times that of the previous level; k-1, K indicates that it is currently the kth stage; i ═ 0.. 4^k1, i indicates the i-th preset bit of the current stage at present, i.e. R (m, k, i) indicates the i-th preset bit of the k-th stage decomposed from the m-th preset bit of the 0-th stage. The picture of R (m, k, i) is split into exactly 4 pictures at level k + 1.

(3) The hierarchical preset bits are a virtual concept that essentially corresponds to a sequential preset bit. As shown in table 1, the index of the corresponding sequential preset bit can be found according to the three variables m, k, i of the hierarchical preset bit.

(4) And obtaining the corresponding relation between the subregion index n and the hierarchical preset bits R (m, k, i) according to the corresponding relation between the subregion index n and the sequence preset bit index.

The setting of the hierarchical preset positions avoids the defect that time consumption is too long due to the fact that all the hierarchical preset positions need to be traversed when the cloud deck camera shooting equipment searches for an interested target in the setting stage of the cluster camera shooting equipment. After the panoramic shooting equipment searches the interested target in the preset position of the large scene, the tripod head camera amplifies the target step by step according to the pyramid structure, the traversal process is avoided, the number of the searched preset positions can be obviously reduced, and the searching time is shortened.

The image acquisition method mainly comprises two processes, wherein one process is a parameter setting process, and is mainly used for setting the relationship between the preset position of a pan-tilt camera of the whole system and a monitoring subarea in a panoramic camera after the system is installed; the other is a working process, which mainly comprises the step of controlling corresponding pan-tilt cameras (possibly more than one) to go to corresponding preset positions after the interested target is detected in the panoramic camera. As the whole system is matched to work, each process is divided into two working flows of a panoramic camera and a pan-tilt camera. Which will be described separately below.

Tables 1 to 3 below are preset correspondence relationships of the cluster image pickup apparatus, where table 1 is a correspondence relationship table of hierarchical preset bits and sequential preset bits, table 2 is a correspondence relationship table of sub-region indexes of a monitored region and center coordinates of a corresponding region in a panoramic camera picture, and table 3 is a correspondence relationship table of sub-region index n, pan/tilt camera index C, and hierarchical preset bits R of the panoramic image pickup apparatus. Table 1 is not clear, and therefore can be called either for the parameter setting process or the working process; for tables 2 and 3, the previous parameter correspondence is first cleared, the parameter correspondence of tables 2 and 3 is constructed in the parameter setting process, and the working process calls the parameter correspondence set in the parameter setting process.

TABLE 1

TABLE 2

Sub-region indexing	Coordinates of center point
		0	(x₀，y₀)
...	...
		n	(x_n，y_n)
...	...
		N-1	(x_N-1，y_N-1)

TABLE 3

As shown in fig. 4, before acquiring the current center coordinates of the object of interest in the panoramic imaging apparatus, the corresponding relationship of the parameters in the panoramic imaging apparatus is first set, including steps S001 to S009:

s001: dividing a monitoring area into N sub-areas, and acquiring indexes N of the sub-areas;

before the monitored area is divided, the panoramic camera is firstly installed at a proper position, all monitored areas can be observed, the corresponding relation in tables 2 and 3 is cleared, a subarea index N is set to be 0 for circulation, after N is 0, image acquisition when N is 1 is started, and then image acquisition when N is N-1 is started until all target images are acquired.

The N sub-regions are mutually non-overlapping sub-regions, and preferably, the N sub-regions have equal areas and are mutually non-overlapping.

S002: judging whether N is smaller than N, if so, entering step S003, otherwise, entering step S004;

s003: an interested target is used as a target feature and stays at the center of the nth sub-area, after the target feature stays, a manual starting program is waited, and the step S005 is carried out;

s004: and finishing the setting of the parameters of the panoramic camera equipment.

S005: acquiring target features in each sub-region, and acquiring target features with the highest confidence as interested targets;

s006: and judging whether the target of interest is the required target, if so, entering the step S007, and if not, entering the step S008.

S007: then the center coordinates (x, y) corresponding to the object of interest are obtained, the position correspondence between the sub-region index n and the center coordinates (x, y) is stored, and the process proceeds to step S009.

The position corresponding relation between the sub-region index n and the center coordinate (x, y) is recorded in table 2, so that when the cluster camera device works, the corresponding relation can be called by acquiring the center coordinate (x, y), and the corresponding sub-region index n can be directly obtained.

S008: prompting that the parameter setting of the cluster camera device in the sub-region n is completed, setting n to n +1, waiting for a setting instruction for entering the next sub-region, and entering step S002;

s009: and sending a search instruction of the required target characteristics to all the pan-tilt camera devices, acquiring a response message fed back by the pan-tilt camera devices, obtaining a parameter relation for controlling the pan-tilt camera devices, and entering the step S008.

As shown in fig. 5, for step S009: in the response message for acquiring the pan/tilt/zoom lens feedback, the setting of the corresponding relationship of the parameters of the pan/tilt/zoom lens includes steps S110 to S213:

s120: setting M preset bits in the 0 th level, and acquiring the index M of the 0 th level preset bit of one subregion; the initial operation value of m is set to 0.

s150: returning an empty message to S110;

s180: obtaining a parameter R (m) of a current hierarchical preset bit index corresponding to a first central target_opt,k_opt,i_opt) Obtaining an index corresponding relation among the subregion index n, the pan-tilt camera equipment index C and the grading preset position index R, recording the index corresponding relation in a table 3, and entering the step S210;

s190: setting m to m +1, and returning to the step 130;

s210: judging whether the target height of the first central target is greater than a threshold H, if so, entering a step S211; if not, go to step S212; (ii) a

A target height, which is the number of pixels occupied in the vertical direction of the first central target; the threshold H is a value preset according to actual conditions, namely a threshold of the target height, and aims to ensure that the target is large enough in a picture of a current preset position; s211: calling Table 1, index parameter R (m) according to current hierarchical preset bit_opt,k_opt,i_opt) Obtaining a sequence preset index S, and entering step S213;

S213: the pan-tilt camera returns the sequence preset bit index S and the pan-tilt camera index C to the panoramic camera, the panoramic camera obtains the parameter relation for controlling the pan-tilt camera, and the step S110 is entered;

during the operation of the cluster camera, the acquired interested target image is an image shot by the holder camera according to the sequence preset bit index S and the holder camera index C.

As shown in fig. 5, for step S212: when the pan/tilt/zoom camera device goes to the next hierarchical preset bit index R of the sub-area to acquire the next interesting target, the method includes steps S214 to S222:

For the current index value i, if entering the next-level preset bit index, the index is changed to 4i to start circulation, and when the same-level circulation is performed, 1 is added each time until 4i +4 stops, namely, each time the next-level circulation is entered and the stop is performed 4 times, each step of adding one picture is realized, and one picture is divided into 4 pictures.

In this embodiment, first, both initial values of k and i are set to 0.

s217: go to hierarchical preset bit index R (m, k, i);

s221: setting i to i +1, and returning to S216;

As shown in fig. 6, the clustered camera apparatus includes a pan-tilt camera apparatus and a panoramic camera apparatus, and a specific working process of the clustered camera apparatus includes steps S301 to S307:

s301: detecting an interested target set in the panoramic camera equipment, and recording the number of detected targets as N;

step 302: setting a sub-region index n of the traversal target to 0;

step 303: judging whether N is smaller than N, if yes, continuing to execute step 304, and if not, executing step 301: starting a new round of inspection;

step 304: calculating the distance between the obtained center coordinate of the nth target and all center point coordinates in the table 2, and selecting the center coordinate with the minimum distance to obtain a corresponding subregion index n;

step 305, according to the sub-region index n, finding out all cradle head camera equipment indexes C and sequence preset position indexes S which need to be linked in tables 1 and 3, and controlling the corresponding cradle head camera equipment to go to the sequence preset positions;

step 306, waiting for several seconds to shoot a section of video image of the interested target;

in step 307, the sub-region target index n is incremented by 1, and the process proceeds to step 303.

According to the steps S301 to S307, the image of the interested target is effectively acquired, and the image inspection efficiency and quality are improved.

As shown in fig. 7, an image acquisition system based on a cluster camera device includes an acquisition module 100, a mapping module 200, and a response module 300;

the obtaining module 100 is configured to obtain a current center coordinate of an interested target in the panoramic shooting device, and obtain a current sub-region index corresponding to the interested target according to a minimum deviation value of the current center coordinate relative to a preset center coordinate;

the mapping module 200 is configured to obtain a current hierarchical preset bit index corresponding to a current subregion index according to a corresponding relationship between a subregion index n in a preset panoramic shooting device and a hierarchical preset bit index R (m, k, i) of a pan-tilt shooting device;

the response module 300 is configured to obtain an image of an object of interest, where the image of the object of interest is captured in response to the pan-tilt camera device staying at the current hierarchical preset bit index for a set time.

Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. An image acquisition method based on cluster camera equipment is characterized by comprising the following steps:

acquiring a current central coordinate of an interested target in the panoramic camera equipment, and acquiring a current subregion index n corresponding to the interested target according to a minimum deviation value of the current central coordinate relative to a preset central coordinate;

obtaining a current grading preset bit index corresponding to the current subregion index according to the corresponding relation between the subregion index n in the preset panoramic shooting equipment and the grading preset bit index of the pan-tilt shooting equipment;

obtaining an interested target image, wherein the interested target image responds to a video image of an interested target shot by a pan-tilt camera device in the current grading preset bit index for a set time;

in the corresponding relation between the subregion index n in the preset panoramic shooting equipment and the hierarchical preset index of the pan-tilt shooting equipment, the construction of the hierarchical preset index comprises the following steps:

2. The image acquisition method based on the cluster camera equipment as claimed in claim 1, wherein after the target image of interest is obtained, the pan-tilt camera equipment is reset, enters a next grading presetting bit, waits for several seconds, acquires the target image of interest on the next grading presetting bit, resets the pan-tilt camera equipment again, and cyclically acquires the target image of interest until the target of interest in a subregion index n of the panoramic camera equipment finishes image acquisition, enters a subregion index n +1 to acquire all target images of interest in the next subregion index n +1 until the target of interest in all the subregion indexes finishes image acquisition;

after all the interested target images in the sub-region index are obtained, entering the next sub-region index to obtain the interested target image corresponding to the next sub-region index until all the interested target images are obtained.

3. The image acquisition method based on the cluster camera equipment according to claim 1, wherein when acquiring the current center coordinates of the target of interest in the panoramic camera equipment, the method comprises the following steps:

4. The image acquisition method based on the cluster camera equipment according to claim 1, wherein before acquiring the current center coordinates of the target of interest in the panoramic camera equipment, first setting the corresponding relation of parameters in the panoramic camera equipment, comprises:

sending a search instruction of a required target characteristic to the pan-tilt camera equipment, acquiring a response message fed back by the pan-tilt camera equipment, and obtaining a parameter relation for controlling the pan-tilt camera equipment;

5. The image acquisition method based on the cluster camera equipment according to claim 4, wherein the response message for acquiring the pan-tilt camera equipment feedback is used for the pan-tilt camera equipment, and comprises the following steps:

s150: returning an empty message to S110;

s190: setting m to m +1, and returning to the step 130;

6. The image acquisition method based on the cluster camera equipment as claimed in claim 5, wherein the step of cycling the previous operation to acquire the target of interest at the next hierarchical preset bit index R of the pan-tilt camera equipment heading to the sub-area comprises the following steps:

s214: setting k as k +1, I in hierarchical preset bit index R (m, k, I)_eud＝4i+4，i＝4i；

s217: go to hierarchical preset bit index R (m, k, i);

s221: setting i to i +1, and returning to S216;

7. An image acquisition system based on cluster camera equipment is characterized by comprising an acquisition module (100), a mapping module (200) and a response module (300);

the acquisition module (100) is used for acquiring the current center coordinate of an interested target in the panoramic camera equipment and acquiring the current sub-area index corresponding to the interested target according to the minimum deviation value of the current center coordinate relative to the preset center coordinate;

the mapping module (200) is used for obtaining a current grading preset bit index corresponding to the current sub-region index according to the corresponding relation between the preset sub-region index n of the panoramic shooting equipment and the grading preset bit index R (m, k, i) of the pan-tilt shooting equipment;

the response module (300) is used for obtaining an interested target image, and the interested target image responds to a video image of the interested target shot by the holder shooting equipment in the current grading preset bit index staying set time;

the mapping module (200) specifically comprises the following:

8. A computer readable storage medium having stored thereon a number of get classification programs for being invoked by a processor and performing the steps of: