CN111565299A - Method for capturing targets through linkage of multiple vehicle-mounted guns and one dome camera - Google Patents
Method for capturing targets through linkage of multiple vehicle-mounted guns and one dome camera Download PDFInfo
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- CN111565299A CN111565299A CN202010371395.1A CN202010371395A CN111565299A CN 111565299 A CN111565299 A CN 111565299A CN 202010371395 A CN202010371395 A CN 202010371395A CN 111565299 A CN111565299 A CN 111565299A
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- gun
- camera
- ball machine
- image
- dome camera
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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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
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
Abstract
The invention discloses a method for capturing a target by linkage of a plurality of onboard guns and a dome camera, which monitors the condition of the periphery of a vehicle by utilizing a plurality of onboard guns arranged around the roof of the vehicle; then establishing a mapping relation between the image mark of each gun and a dome camera holder at the center of the roof of the vehicle; the image coordinates of the gun camera are obtained by clicking or framing a suspicious region on a certain gun camera picture, and the corresponding coordinates of the dome camera head can be obtained through the established mapping relation between the current image coordinates of the gun camera and the dome camera head, so that the dome camera head is controlled to reach the corresponding position and is amplified, and the target snapshot is realized. The invention can realize the linkage snapshot of a plurality of vehicle-mounted gunlocks and a ball machine, can improve the effectiveness and timeliness of target snapshot and prevent the phenomena of monitoring blind areas and missed snapshot.
Description
[ technical field ] A method for producing a semiconductor device
The invention belongs to the technical field of vehicle monitoring, and particularly relates to a method for capturing targets by linkage of a plurality of vehicle-mounted guns and a ball machine.
[ background of the invention ]
The ball linkage has the advantages of being capable of controlling the whole situation and being capable of detailing the whole situation, and has occupied a relatively important position in the security industry at present. The gun and ball linkage is that a gun camera is used for capturing the picture of the whole large scene, and the coordinate point of the gun camera is used for controlling the movement of a ball camera holder to turn to the point position and magnifying the point position to see the details of the ball camera holder. Compared with the common vehicle-mounted holder, the multi-gun machine and the single-ball machine which are arranged on the top of the vehicle can better master the surrounding conditions of the vehicle; the specific expression is that in order to take account of the peripheral conditions of the vehicle, the common vehicle-mounted cradle head needs to rotate the cradle head for 360-degree rotation observation, and a plurality of guns can directly monitor the peripheral conditions of the vehicle, and can directly click or select suspicious positions (or areas), and the ball machine is controlled to carry out amplification observation through the ball machine. The method for capturing the target by the linkage of the vehicle-mounted gun and ball in the prior art has the following defects: 1) the directly monitored area is narrow; 2) more monitoring blind areas exist at the same time; 3) the maneuverability of detail assurance is poor.
Therefore, a new method for capturing targets by linking a plurality of guns with one dome camera on a vehicle needs to be provided to solve the above problems.
[ summary of the invention ]
The invention mainly aims to provide a method for carrying out linkage snapshot on a plurality of vehicle-mounted guns and one ball machine, which can realize linkage snapshot of the plurality of vehicle-mounted guns and one ball machine, improve the effectiveness and timeliness of target snapshot and prevent monitoring blind areas and missed-grab phenomena.
The invention realizes the purpose through the following technical scheme: a method for capturing targets through linkage of a plurality of vehicle-mounted guns and a dome camera comprises the following steps:
1) arranging a dome camera on the surface of the roof of the vehicle, and arranging a plurality of gun shots around the dome camera;
2) establishing a gun and ball coordinate mapping relation between each gun and the ball machine, numbering each gun, and establishing a gun and ball coordinate mapping table according to the numbers;
3) displaying a real-time video picture acquired by a gunlock in a pre-divided area on a display screen; and the display areas correspond to the gun bolt numbers one by one;
4) according to the clicking position of the area of the gunlock display screen clicked by the monitor, acquiring the image coordinates of the gunlock of the area and the corresponding gunlock number;
5) searching a gun ball coordinate mapping relation corresponding to the gun bolt according to the gun bolt number to obtain a ball machine holder coordinate corresponding to the target;
6) and sending the coordinates of the ball machine holder to control the rotation of the ball machine, and amplifying the position corresponding to the shot picture by the ball machine after the ball machine turns to the position corresponding to the shot picture, so that the details of the clicked position can be observed and monitored through the real-time ball machine picture.
Furthermore, the dome camera is arranged in the center of the roof, and the gun cameras surround the dome camera at equal angles and are two, three or four.
Further, in the step 2), the mapping relationship between the image of the gun camera and the pan/tilt head of the dome camera is established after the image of the gun camera is scaled to the image with the set size, and the method includes the following steps:
21) image scaling of the image of the bolt face to a set size is carried out, and an image scaling function is expressed as:
(x, y) ═ transform (wac _ x, wac _ y) (formula 1)
Wherein, (wac _ x, wac _ y) represents the pixel coordinates of the original image of the bolt, and (x, y) represents the scaled coordinates of the corresponding pixel points;
22) establishing a mapping relation between the zoomed image of the gun camera and a ball machine holder, wherein the mapping relation function is expressed as:
(ptz_x,ptz_y)＝funi(x, y) (formula 2)
Wherein, (ptz _ x, ptz _ y) represents a gun camera original image pixel, i represents a gun camera number (i is 1,2, 3.), and different gun cameras have different mapping relation functions;
23) the whole gun-sphere coordinate transformation process is expressed as (formula 3):
(ptz_x,ptz_y)＝funi(transform (wac _ x, wac _ y)) (formula 3)
Further, in the step 3), the bolt face picture coordinates in each display area are independent, and the bolt face number corresponding to each display area corresponds to a gun-ball coordinate mapping relationship.
Further, in the step 4), the picture on the display area is scaled to the image with the set size, and then the corresponding dome coordinate of the dome camera is calculated.
Compared with the prior art, the method for capturing the target by linkage of the plurality of gun cameras and the ball machine has the advantages that: monitoring the conditions around the vehicle in real time through a plurality of bolt machines; by clicking/framing a suspicious position on a certain gunlock picture, the ball machine can be controlled to turn to a corresponding position to be drawn to observe, and the detail maneuverability is good; when the 'details' are observed through the dome camera, the surrounding conditions of the vehicle can be monitored in real time through a plurality of gun cameras, and efficient, omnibearing and high-timeliness target snapshot is achieved.
[ description of the drawings ]
FIG. 1 is a schematic block diagram of the principles of an embodiment of the present invention;
FIG. 2 is a flow chart of an embodiment of the present invention;
FIG. 3 is a schematic structural view of positions where a dome camera and a gun camera are arranged according to an embodiment of the present invention;
FIG. 4 is another schematic view of the configuration of the positions of the ball machine and the bolt face according to the embodiment of the present invention;
FIG. 5 is a schematic diagram of a transformation flow when a coordinate mapping relationship of a gun-ball machine is established according to an embodiment of the present invention;
fig. 6 is a schematic view of a flow chart for obtaining the coordinates of the cradle head of the gun camera from the coordinates of the display screen image according to the embodiment of the present invention.
[ detailed description ] embodiments
The first embodiment is as follows:
referring to fig. 1-2, a method for capturing a target by linkage of a plurality of vehicle-mounted guns and a dome camera in the embodiment includes the following steps:
1) arranging a dome camera on the surface of the roof of the vehicle, and arranging a rifle camera around the dome camera respectively; in other embodiments, two or three or more guns can be arranged around the ball machine;
2) establishing a gun and ball coordinate mapping relation between each gun and the ball machine, numbering each gun, establishing a gun and ball coordinate mapping table according to the numbers, and ensuring that the corresponding gun and ball coordinate mapping relation can be found through the numbers; a gun-ball coordinate mapping relation, namely a mapping relation of a ball machine holder coordinate corresponding to a pixel value coordinate in a gun image;
3) selectively or fully selecting real-time video pictures acquired by the gunlock to be displayed on pre-divided areas on the display screen; the display areas correspond to the gun camera numbers, and the gun camera numbers can be found through each display area, so that the mapping relation between the gun camera images in the areas and the ball machine holder is found;
4) according to the clicking position of the area of the gunlock display screen clicked by the monitor, acquiring the image coordinates of the gunlock of the area and the corresponding gunlock number;
5) searching a gun ball coordinate mapping relation corresponding to the gun bolt according to the gun bolt number to obtain a ball machine holder coordinate corresponding to the target;
6) and sending the coordinates of the ball machine holder to control the rotation of the ball machine, and amplifying the position corresponding to the shot picture by the ball machine after the ball machine turns to the position corresponding to the shot picture, so that the details of the clicked position can be observed and monitored through the real-time picture of the ball machine.
The dome camera is arranged in the center of the roof of the vehicle.
Referring to fig. 5, in step 2), the mapping relationship between the image of the gun camera and the pan/tilt head of the ball machine is established after the image of the gun camera is scaled to the image with the set size (for example, 640 × 360), which includes the following steps:
21) image scaling of the image of the bolt face to a set size is carried out, and an image scaling function is expressed as:
(x, y) ═ transform (wac _ x, wac _ y) (formula 1)
Wherein, (wac _ x, wac _ y) represents the pixel coordinates of the original image of the bolt, and (x, y) represents the scaled coordinates of the corresponding pixel points;
22) establishing a mapping relation between the zoomed image of the gun camera and a ball machine holder, wherein the mapping relation function is expressed as:
(ptz_x,ptz_y)＝funi(x, y) (formula 2)
Wherein, (ptz _ x, ptz _ y) represents a gun camera original image pixel, i represents a gun camera number (i is 1,2, 3.), and different gun cameras have different mapping relation functions;
23) the whole gun-sphere coordinate transformation process is expressed as (formula 3):
(ptz_x,ptz_y)＝funi(transform (wac _ x, wac _ y)) (formula 3)
24) And (4) acquiring the horizontal step number and the vertical step number of the movement of the ball machine according to the formula (3), further acquiring the coordinates of the ball machine holder, and controlling the rotation of the ball machine by sending the coordinates of the ball machine holder to the ball machine holder.
In the step 3), the gun camera picture coordinates in each display area are independent, the gun camera number corresponding to each display area corresponds to a gun ball coordinate mapping relation, and the ball machine holder coordinates corresponding to the gun camera picture coordinates in the corresponding area are obtained through the corresponding mapping relation.
In step 4), the obtained gun camera image coordinates are corresponding gun camera image coordinates obtained after the screen on the display area is zoomed to a set size, and the set size is consistent with the image zooming size in step 2). Please refer to fig. 6. In practical application, when controlling the movement of the ball machine, the picture on the display area needs to be scaled to a certain size (consistent with the gun-ball coordinate mapping established initially) and then the corresponding coordinates of the ball machine pan-tilt are calculated.
The embodiment utilizes a plurality of guns arranged around the roof to monitor the condition of the periphery of the vehicle; then establishing a mapping relation between the image mark of each gun and a dome camera holder at the center of the roof of the vehicle; the image coordinates of the gun camera are obtained by clicking (or framing) a suspicious region on a certain gun camera picture, and the corresponding coordinates of the ball machine holder can be obtained through the established mapping relation between the current image coordinates of the gun camera and the ball machine holder, so that the ball machine holder is controlled to the corresponding position and amplified. Mapping relations of a plurality of gun ball coordinates are needed in the conversion of the gun ball coordinates, the mapping relations need to be established for each gun camera image coordinate and the ball camera pan-tilt, and each mapping relation only needs to be established once on the premise that the relative position of the gun ball camera is fixed; the association and control of a single ball machine with multiple gun machines are realized through the operation; in addition, the gun-ball coordinate mapping relation can be obtained through coordinate system conversion, surface fitting and the like, and can be a certain model parameter or a mapping chart for recording a ball machine holder.
In general, according to the method, a suspected image coordinate position can be selected by clicking with a mouse or a finger (aiming at a touch screen) on any one of a plurality of gunlock pictures on a display screen, and then the ball machine is controlled to turn to a corresponding position through the position and is zoomed in to observe; the position coordinates of the ball machine holder can be obtained through a gun-ball coordinate mapping table. The gun-ball coordinate mapping table is a set of a plurality of gun-ball coordinate mapping relations, which include the serial numbers of the frames of the bolt and the corresponding gun-ball coordinate mapping relations, as shown in table 1.
TABLE 1 gun-ball coordinate mapping table
In the embodiment, the gunlock and the dome camera are integrally arranged and are positioned at the central position of the roof of the vehicle, as shown in fig. 3; in another embodiment, the gun and the dome camera are separated, the gun is located at the periphery of the roof, and the dome camera is located at the center of the roof, as shown in fig. 4. The integrated deployment of the gun and dome camera is an integrated product of a multi-gun and single dome camera which is directly installed on the roof, and has the advantages of convenience and quickness in installation, high coordinate correlation accuracy of the gun and dome camera in a coordinate conversion mode and the like; the separated deployment of the gun and the dome camera is to dispersedly install the guns around the roof, so that the blind area for monitoring the guns can be effectively reduced.
The embodiment can monitor the conditions around the vehicle in real time through a plurality of bolt machines; by clicking/framing a suspicious position on a certain gunlock picture, the ball machine can be controlled to turn to a corresponding position to be drawn to observe, and the detail maneuverability is good; when the 'details' are observed through the dome camera, the surrounding conditions of the vehicle can be monitored in real time through a plurality of gun cameras, and efficient, omnibearing and high-timeliness target snapshot is achieved.
What has been described above are merely some embodiments of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept thereof, and these changes and modifications can be made without departing from the spirit and scope of the invention.
Claims (5)
1. A method for capturing a target by linkage of a plurality of vehicle-mounted guns and a dome camera is characterized by comprising the following steps: which comprises the following steps:
1) arranging a dome camera on the surface of the roof of the vehicle, and arranging a plurality of gun shots around the dome camera;
2) establishing a gun and ball coordinate mapping relation between each gun and the ball machine, numbering each gun, and establishing a gun and ball coordinate mapping table according to the numbers;
3) displaying a real-time video picture acquired by a gunlock in a pre-divided area on a display screen; and the display areas correspond to the gun bolt numbers one by one;
4) according to the clicking position of the area of the gunlock display screen clicked by the monitor, acquiring the image coordinates of the gunlock of the area and the corresponding gunlock number;
5) searching a gun ball coordinate mapping relation corresponding to the gun bolt according to the gun bolt number to obtain a ball machine holder coordinate corresponding to the target;
6) and sending the coordinates of the ball machine holder to control the rotation of the ball machine, and amplifying the position corresponding to the shot picture by the ball machine after the ball machine turns to the position corresponding to the shot picture, so that the details of the clicked position can be observed and monitored through the real-time ball machine picture.
2. The method for snapping the target by the linkage of a plurality of guns and one dome camera on a vehicle as claimed in claim 1, wherein: the dome camera is arranged in the center of the roof, and the gun shots surround the dome camera at equal angles, namely two, three or four.
3. The method for snapping the target by the linkage of a plurality of guns and one dome camera on a vehicle as claimed in claim 1, wherein: in the step 2), the image of the gun camera is scaled to the image with the set size and then a mapping relation is established with the ball machine pan-tilt, and the method comprises the following steps:
21) image scaling of the image of the bolt face to a set size is carried out, and an image scaling function is expressed as:
(x, y) ═ transform (wac _ x, wac _ y) (formula 1)
Wherein, (wac _ x, wac _ y) represents the pixel coordinates of the original image of the bolt, and (x, y) represents the scaled coordinates of the corresponding pixel points;
22) establishing a mapping relation between the zoomed image of the gun camera and a ball machine holder, wherein the mapping relation function is expressed as:
(ptz_x,ptz_y)＝funi(x, y) (formula 2)
Wherein, (ptz _ x, ptz _ y) represents a gun camera original image pixel, i represents a gun camera number (i is 1,2, 3.), and different gun cameras have different mapping relation functions;
23) the whole gun-sphere coordinate transformation process is expressed as (formula 3):
(ptz_x,ptz_y)＝funi(transform (wac _ x, wac _ y)) (formula 3)
4. The method for snapping the target by the linkage of a plurality of guns and one dome camera on a vehicle as claimed in claim 1, wherein: in the step 3), the image coordinates of the bolt face in each display area are independent, and the bolt face number corresponding to each display area corresponds to a gun-ball coordinate mapping relation.
5. The method for snapping the target by the linkage of a plurality of guns and one dome camera on a vehicle as claimed in claim 1, wherein: in the step 4), the picture on the display area is scaled to the image with the set size, and then the corresponding coordinates of the ball machine holder are calculated.
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| CN202010371395.1A CN111565299A (en) | 2020-05-06 | 2020-05-06 | Method for capturing targets through linkage of multiple vehicle-mounted guns and one dome camera |
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| CN202010371395.1A CN111565299A (en) | 2020-05-06 | 2020-05-06 | Method for capturing targets through linkage of multiple vehicle-mounted guns and one dome camera |
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Cited By (1)
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Application publication date: 20200821 |