CN111654634A - Method for determining inclination of engine core assembly and pan-tilt assembly in camera and camera - Google Patents
Method for determining inclination of engine core assembly and pan-tilt assembly in camera and camera Download PDFInfo
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- CN111654634A CN111654634A CN202010590716.7A CN202010590716A CN111654634A CN 111654634 A CN111654634 A CN 111654634A CN 202010590716 A CN202010590716 A CN 202010590716A CN 111654634 A CN111654634 A CN 111654634A
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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
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
Disclosed is a method for determining the inclination of a camera module and a pan-tilt module in a video camera, the camera including a camera module having an image sensor and an acceleration sensor, and a pan-tilt module for controlling the rotation of the camera module, the pan-tilt module being configured to perform a pitching motion and/or a horizontal rotation motion in response to an externally input PT coordinate, so that the camera module performs a corresponding pitching motion and/or a horizontal rotation motion, so that the image sensor acquires an image corresponding to the externally input PT coordinate, the method including: when the holder assembly is located at a first PT coordinate, acquiring first measurement data from an acceleration sensor; when the holder assembly is located at a second PT coordinate, second measurement data are obtained from the acceleration sensor; and determining that the tilt exists between the movement assembly and the holder assembly based on the first measurement data and the second measurement data. The invention can calibrate the installation inclination angle of the equipment through one-time calibration without manual intervention.
Description
Technical Field
The present invention relates to the field of cameras, and in particular to a method for determining the tilt of a camera assembly and a pan/tilt head assembly in a camera.
Background
With the richness of the intelligent functions of the camera equipment, the installation of the equipment has higher requirements more and more. Taking a ball machine as an example, in the ball machine, the core assembly with the imaging module and the holder assembly controlling the movement of the core are prone to tilt when the core is installed in the PT holder, and the holder is installed in the environment and is not horizontal.
The installation of existing image acquisition monitoring equipment, such as a ball machine, usually has no measures to ensure the installation without deviation.
Disclosure of Invention
The invention provides a method for determining the inclination of a movement assembly and a holder assembly in a camera, which is used for determining the inclination of the movement installed in a PT holder and further determining a coordinate mapping function of the movement assembly and the holder assembly after the inclination.
The invention provides a method for determining the inclination of a camera core assembly and a tripod head assembly in a video camera, wherein the video camera comprises the camera core assembly with an image sensor and an acceleration sensor, and the tripod head assembly for controlling the rotation of the camera core assembly, the camera core assembly is fixedly arranged on the tripod head assembly, the tripod head assembly is configured to respond to the externally input PT coordinates to perform pitching motion and/or horizontal rotation motion, so that the camera core assembly performs corresponding pitching motion and/or horizontal rotation motion, and the image sensor acquires images corresponding to the externally input PT coordinates, and the method comprises the following steps:
when the holder assembly is located at a first PT coordinate, acquiring first measurement data from the acceleration sensor;
when the holder assembly is located at a second PT coordinate, second measurement data are obtained from the acceleration sensor;
determining that a tilt exists between the cartridge assembly and the pan and tilt head assembly based on the first measurement data and the second measurement data.
Preferably, determining that there is a tilt between the deck assembly and the pan/tilt head assembly comprises:
calculating to obtain a first quaternion based on the first measurement data,
based on the first measurement data and the second measurement data, a second quaternion is obtained through calculation by a rotating shaft vector of the cradle head rotating from the first position to the second position by taking the rotating shaft as an axis;
and determining that the movement component and the holder component are inclined based on the first quaternion and the second quaternion.
Preferably, the acceleration sensors are three-axis sensors and are used for respectively generating X, Y, Z-axis measurement data, wherein the X-axis measurement data are used for indicating a pitch angle of the movement assembly, the Y-axis measurement data are used for indicating a yaw angle of the movement assembly, and the Z-axis measurement data are used for indicating a roll angle of the movement assembly;
determining a first quaternion according to the conversion relation between the measurement data and the deflection angle based on the first measurement data, wherein the first quaternion is used for indicating a mapping function of a PT coordinate system and a horizontal coordinate system of the movement assembly;
based on the first measurement data and the second measurement data, calculating a rotating shaft vector of the rotating shaft of the holder from the first PT coordinate to the second PT coordinate, and determining a second quaternion for indicating a mapping function of a PT coordinate system and a horizontal coordinate system of the holder component;
determining the tilt of the deck assembly and the pan and tilt head assembly based on the first quaternion and the second quaternion.
Preferably, wherein determining that there is a tilt between the cartridge assembly and the pan/tilt assembly based on the first quaternion and the second quaternion comprises:
and determining the dot product result between the transposition of the first quaternion and the second quaternion as a mapping function between the PT coordinate system of the movement assembly and the PT coordinate system of the holder assembly, and quantitatively indicating the inclination of the movement assembly and the holder assembly.
Preferably, determining that there is a tilt in the cartridge assembly and the pan/tilt head assembly comprises:
and determining that a pitch angle and a roll angle exist between the core assembly and the holder assembly, or determining that a P axis of a PT coordinate system of the core assembly is overlapped with a P axis of a PT coordinate system of the holder assembly, and a T axis of the PT coordinate system of the core assembly is not overlapped with a T axis of the PT coordinate system of the holder assembly.
Preferably, the first PT coordinate and the second PT coordinate have an azimuth angle different by 180 °.
Preferably, the acceleration sensors are three-axis sensors and are used for respectively generating X, Y, Z-axis measurement data, wherein the X-axis measurement data are used for indicating a pitch angle, the Y-axis measurement data are used for indicating a yaw angle, and the Z-axis measurement data are used for indicating a roll angle;
the determining the tilt of the cartridge assembly and the pan/tilt head assembly includes:
calculating an X component of a rotating shaft vector based on the X-axis data in the first measurement data and the X-axis data in the second measurement data, and determining a pitch angle corresponding to the holder assembly when the holder assembly is located at a second PT coordinate;
respectively calculating a Y component and a Z component of a rotating shaft vector based on Y and Z axis data in the first measurement data and Y and Z axis data in the second measurement data, and determining a roll angle corresponding to the holder assembly when the holder assembly is located at a second PT coordinate;
determining a second quaternion for indicating a mapping function of a PT coordinate system and a horizontal coordinate system of the holder assembly based on a pitch angle and a roll angle corresponding to the holder assembly when the holder assembly is in a second PT coordinate;
determining a first quaternion for indicating a mapping function of a PT coordinate system and a horizontal coordinate system of the movement assembly based on the first measurement data;
determining the tilt of the deck assembly and the pan and tilt head assembly based on the first quaternion and the second quaternion.
Preferably, when the holder assembly is located at any input third PT coordinate, the quaternion conversion is performed on the third PT coordinate to obtain a third quaternion;
and obtaining the PT coordinate of the movement assembly when the holder assembly is positioned at the third PT coordinate based on the second quaternion, the third quaternion and the mapping function between the PT coordinate system of the movement assembly and the PT coordinate system of the holder assembly.
Preferably, when the movement assembly is located in any input fourth PT coordinate, the fourth PT coordinate is obtained by performing quaternion conversion on the third PT coordinate;
and obtaining the PT coordinate of the holder assembly when the movement assembly is in the fourth PT coordinate based on the second quaternion, the fourth quaternion and the mapping function between the PT coordinate system of the movement assembly and the PT coordinate system of the holder assembly.
Preferably, when the pan/tilt head assembly is located at the third PT coordinate, the PT coordinate of the core assembly is a transpose of a second quaternion, a third quaternion, and a quaternion converted based on a mapping function between the PT coordinate system of the core assembly and the PT coordinate system of the pan/tilt head assembly, and a dot product of the three is expressed as:
wherein the content of the first and second substances,
is a second quaternion, and is,
is a third quaternion, and is,
is the transpose of a quaternion transformed based on a mapping function between the movement component PT coordinate system and the head component PT coordinate system.
Preferably, when the movement component is in the fourth PT coordinate, the PT coordinate of the pan/tilt assembly includes a transpose of the first quaternion, a fourth quaternion, and a quaternion transformed based on a mapping function between the movement component PT coordinate system and the pan/tilt assembly PT coordinate system, and a result of a dot product of the first quaternion, the fourth quaternion, and the fourth quaternion, the result is expressed as a mathematical expression:
wherein the content of the first and second substances,
is a transpose of the first quaternion,
is a fourth quaternion, and is,
is a quaternion transformed based on a mapping function between the movement assembly PT coordinate system and the pan/tilt assembly PT coordinate system.
Preferably, the rotating shaft vector is normalized, and based on the normalized rotating shaft vector, an included angle between the vector and an x axis is calculated to obtain a pitch angle corresponding to the holder assembly when the holder assembly is located at a second PT coordinate; calculating an included angle between the vector and the z axis to obtain a roll angle corresponding to the holder assembly when the holder assembly is located at a second PT coordinate; determining that the yaw angle of the holder in the world coordinate system is 0 based on the coincidence of the P axis of the machine core PT coordinate system and the P axis of the holder PT coordinate system, and obtaining the installation yaw angle of the holder relative to the ground;
preferably, the angle between the vector and the x-axis is calculated by the following mathematical formula:
β＝arccos(nx)
wherein β is a pitch angle, nxIs the x component of the normalized rotating shaft vector;
the included angle between the vector and the z axis is calculated, and the mathematical expression is as follows:
γ＝arctan(ny/nz)
wherein gamma is a roll angle, ny、nzThe y-component and z-component of the pivot vector, respectively.
The invention also provides a device for correcting installation deviation of a camera, which is applied to the camera comprising a movement assembly with an image sensor and an acceleration sensor and a tripod head assembly for controlling the rotation of the movement assembly, the device comprises,
the acceleration sensor measuring module is used for acquiring first measuring data from the acceleration sensor when the holder assembly is located at a first PT coordinate; when the holder assembly is located at a second PT coordinate, second measurement data are obtained from the acceleration sensor;
and the correction module is used for determining that the inclination exists between the movement assembly and the holder assembly based on the first measurement data and the second measurement data.
The invention provides a camera, which comprises a movement assembly with an image sensor and an acceleration sensor, a tripod head assembly for controlling the movement assembly to rotate, a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the computer program to realize the steps of the method for determining the inclination of the movement assembly and the tripod head assembly in the camera.
According to the embodiment of the invention, the inclination between the movement component and the tripod head component is determined through the first measurement data measured by the acceleration sensor at the first PT coordinate and the second measurement data measured by the acceleration sensor at the second PT coordinate of the tripod head control movement, and the installation inclination angle of the equipment can be calibrated through one-time calibration without manual intervention, so that the problems that the movement is installed in the tripod head to incline and the tripod head is installed in the environment to be not level are effectively solved. Further, a PT coordinate conversion relation between the holder assembly and the movement assembly is established, and conversion accuracy is improved.
Drawings
Fig. 1 is a schematic diagram of a movement with an imaging module for establishing a PTZ spatial coordinate system.
Fig. 2 is a schematic diagram of a relationship between a three-dimensional space coordinate system and a PT space coordinate system established according to the right-hand coordinate system principle in the main view of the pan-tilt and the movement of the dome camera.
Fig. 3 is a schematic flow chart of a method for correcting installation deviation of a camera according to the present application.
Fig. 4a is a schematic view of the movement in the first position.
Fig. 4b is a schematic diagram of the cradle head driving the movement to rotate to the second position.
Fig. 5 is a schematic diagram of a conversion relationship between a holder PT coordinate system and a movement PT coordinate system.
FIG. 6 is a schematic view of a calibration device according to the present invention.
Detailed Description
For the purpose of making the objects, technical means and advantages of the present application more apparent, the present application will be described in further detail with reference to the accompanying drawings.
For the sake of understanding the present application, the correction of the attitude of the movement in the ball machine will be described below as an example.
Referring to fig. 1, fig. 1 is a schematic diagram of a PTZ space coordinate system established for a movement with an imaging module, in which the movement is rotatable and a coordinate point is a focus point where parallel light rays are converged after being refracted by lenses in a lens group. In a ball machine, a PTZ (elevation angle, azimuth angle, zoom magnification) space coordinate system is generally established for a movement having an imaging module; the optical axis of the lens in the imaging module is a Z axis and represents the zoom magnification of the camera, the distance between a coordinate point and the original point (movement) of a PTZ space coordinate system is correspondingly represented in the figure, the rotating coordinate comprises a coordinate (Pan) used for representing the azimuth angle of the movement in the horizontal direction and a coordinate (Tilt) used for representing the elevation angle in the vertical direction, correspondingly, the two angle coordinates are abbreviated as PT angle coordinates and are respectively corresponding to a P axis and a T axis.
Referring to fig. 2, fig. 2 is a schematic diagram of a relationship between a three-dimensional space coordinate system and a PT space coordinate system, which is established according to the principle of a right-hand coordinate system in a main view of a pan-tilt and a movement of a dome camera. In the figure, the cloud platform is non-horizontal installation, and the cloud platform is rotatory around the pivot of cloud platform, and according to right-hand coordinate system principle, the rectangular space coordinate system of core, cloud platform is as shown in the figure, and the three-dimensional space coordinate system of core is: the optical axis direction is a z-axis, the horizontal direction is an x-axis, and the direction vertical to the x-axis and the z-axis is a y-axis; the three-dimensional space coordinate system of the holder is as follows: the rotating shaft direction of the holder is a z-axis, the horizontal direction is an x-axis, and the x-axis and the z-axis are vertical to each other and are a y-axis. In a ball machine, a PT (elevation angle, azimuth angle) space coordinate system is generally established for a pan-tilt for controlling movement of a movement; the P axis is a coordinate (Pan) describing an azimuth angle of the Pan/tilt head in the horizontal direction, and coincides with a horizontal plane formed by the x axis and the y axis, and is generally referred to as a horizontal coordinate system, which corresponds to a world coordinate system. The T-axis is used to indicate the coordinates of the pitch angle of the pan/tilt head in the vertical direction, and corresponds to the z-axis coordinates.
In the embodiment of the application, the acceleration sensor for determining the initial values of the pitch angle and the roll angle is installed on the movement, and the coordinate system of the acceleration sensor coincides with the coordinate system of the movement, that is, the acceleration sensor has no installation error with the movement. For convenience of calculation, the P axis of the movement coincides with the P axis of the holder. The acceleration sensor is a three-axis sensor and is used for respectively generating X, Y, Z-axis measurement data, wherein the X-axis measurement data are used for indicating a pitch angle, the Y-axis measurement data are used for indicating a yaw angle, and the Z-axis measurement data are used for indicating a roll angle.
Referring to fig. 3, fig. 3 is a schematic flow chart of a method for correcting installation deviation of a camera according to the present application. The method comprises the following steps:
in view of the coincidence of the acceleration sensor coordinate system and the movement coordinate system, the euler angle obtained by conversion is the initial euler angle of the movement in the horizontal coordinate system according to the first measurement data of the acceleration sensor. The state is an initial position, the initial Euler angle is marked as (theta, 0, phi), wherein theta is a pitch angle, phi is a roll angle, the yaw angle phi is 0, and the Euler angle is rotatedConverted to quaternion, and recorded as
Representing the attitude information of the movement in the world coordinate system (horizontal coordinate system).
Wherein, the pitch angle theta and the roll angle phi are calculated as follows:
because the theoretical reading of the acceleration sensor is (0, 0, g) when the acceleration sensor does not have any deflection, wherein g is the gravity acceleration, the reading of the acceleration sensor and the deflection angle have the following conversion relationship,
thus, the method can obtain the product,
φ＝arctan(ay/az)
ψ＝0
303, calculating a rotating shaft vector of the holder according to the first measurement data and the second measurement data of the acceleration sensor, calculating a pitch angle β and a roll angle gamma of the holder under the world coordinate according to the rotating shaft vector, obtaining an Euler angle of the holder under the world coordinate system, marking as (β,0, gamma), representing an installation deflection angle of the holder and the ground, namely a deflection angle of the holder when the holder is installed in an environment in a non-horizontal state, converting the installation deflection angle into a quaternion, and marking as a quaternion
Posture information (second posture information) representing the pan/tilt head in the world coordinate system (horizontal coordinate system);
in this step, considering that the rotation axis vector n is equal to the sum of the readings of the acceleration sensor at the first position (P-0, T-0) and the second position (P-180, T-0), there are:
wherein the acceleration sensor reads (a)x0，ay0，az0)、
And (3) normalizing the data to ensure that the sizes of the two vectors are consistent, wherein nor (n) is used for normalizing the vectors.
According to the normalized rotating shaft vector n, the pitch angle beta and the roll angle gamma of the holder under the world coordinate can be calculated as follows:
β＝arccos(nx)
γ＝arctan(ny/nz)
the P axis of the pan/tilt head is set to coincide with the P axis of the horizontal coordinate system, so that the yaw angle is 0.
Specifically, the method comprises the following steps of,
wherein the content of the first and second substances,
namely: the quaternion of the relative attitude information between the movement and the pan/tilt head is equal to the dot product of the transpose of the first attitude information quaternion and the second attitude information quaternion.
And (4) converting the quaternion of the relative attitude information between the movement and the holder obtained in the step 304 into an Euler angle, so as to obtain the installation declination angle between the movement and the holder.
In the process of correcting the camera installation deflection angle, manual intervention is not needed, and the precision requirement of field installation of the dome camera is lowered.
Further, by the subsequent step 305, or 306, the PT coordinate conversion relationship between the pan/tilt head and the deck can be obtained.
and rotating the holder to a third position under the PT coordinate system of the holder to obtain a corresponding Euler angle, recording as (T, P, 0), converting into a quaternion, and recording as
Representing the attitude information of the pan/tilt head after rotating under the coordinate system of the pan/tilt head PT,
according to the conversion relation of the world coordinate system, the PTM coordinate system of the holder and the PT coordinate system of the movement, the attitude information of the movement in the world coordinate system after rotation
Comprises the following steps:
wherein the content of the first and second substances,
attitude information (second attitude information) of the pan/tilt head in the world coordinate system, which can be obtained in step 301;
the relative attitude information of the holder and the core after the holder rotates,
may be obtained in step 303;
namely: and when the cradle head rotates to the position by taking the rotating shaft of the cradle head as an axis, the quaternion of the current attitude information of the core in the world coordinate system is equal to the quaternion of the second attitude information, the quaternion of the current attitude information when the cradle head rotates to the current position in the coordinate system of the cradle head, and the transposition of the quaternion of the relative attitude information between the core and the cradle head, namely the dot product of the quaternion of the second attitude information, the quaternion of the current attitude information and the quaterni.
Thereby, quaternions are obtained
The quaternion is converted into an Euler angle, so that the attitude information of the movement in a world coordinate system (a horizontal coordinate system) after the holder rotates can be obtained and used as a calibration result of the movement, namely a correction result of the attitude of the camera.
And step 306, when the movement reaches any position relative to the horizontal coordinate system, determining the attitude information of the cradle head required to rotate around the rotating shaft of the cradle head.
If the movement rotates to the fourth position, the corresponding Euler angle is obtained and recorded as (T, P, 0), and the Euler angle is converted into a quaternion and recorded as (T, P, 0)
Representing the attitude information of the movement rotating to the position under the world coordinate system,
referring to fig. 5, fig. 5 is a schematic diagram of a conversion relationship between a pan/tilt/coordinate system and a machine core/tilt. Namely, the tripod head is based on the conversion relation of world coordinate system, tripod head PT coordinate system and machine core PT coordinate systemRotating attitude in PTZ coordinate system
Comprises the following steps:
wherein the content of the first and second substances,
namely: and when the movement reaches the current preset position under the world coordinate, the quaternion of the attitude information of the holder which needs to rotate around the rotating shaft of the holder is equal to the dot product of the transposition of the quaternion of the first attitude information, the quaternion of the current attitude information when the movement reaches the current preset position under the world coordinate, and the quaternion of the relative attitude information between the movement and the holder.
Thereby, quaternions are obtained
The quaternion is converted into an Euler angle, so that the attitude information of the tripod head required to rotate when the movement reaches the position under the world coordinate system can be obtained.
Since the step 305 is to know the rotation attitude information of the pan/tilt head to determine the attitude information of the current movement, and the step 306 is to know the current attitude information of the rotation of the movement to determine the attitude information of the pan/tilt head required to rotate, the steps 305 and 306 have no precedence relationship. Further, it is understood that the coordinate transformation relationship is obtained
And
the method of (3) is not limited thereto and may be implemented using other coordinate transformations.
According to the invention, the mounting attitude deflection angle between the core and the holder and the mounting deflection angle between the holder and the ground are calculated through the measured data of the acceleration sensors at two positions with the 180-degree difference of the azimuth coordinates and the corresponding holder rotating shaft vector; further, based on the installation attitude declination between the movement and the holder and the installation declination between the holder and the ground, the current attitude information of the movement when the holder rotates to the current position and the current attitude information of the holder required to rotate when the movement rotates to the current position are determined through coordinate transformation, so that the correction of the camera attitude is realized. The invention does not need gyroscope data to participate in correction, thus being beneficial to improving the correction precision; the determined conversion relation between the holder and the movement has high precision; the installation inclination and declination angles of the holder and the movement can be determined without manual intervention in the correction process, and the correction precision can be improved.
Referring to fig. 6, fig. 6 is a schematic view of the calibration device of the present invention. The correction device comprises a correction device and a correction unit,
an acceleration sensor measurement module that acquires first measurement data of the acceleration sensor at a first position and second measurement data of the acceleration sensor at a second position,
wherein, the second position is that the rotating shaft of the holder is taken as the axis to drive the movement and the acceleration sensor to synchronously rotate until the difference of the azimuth angle coordinate of the first position is 180 degrees, the P axis of the PT coordinate system of the movement is superposed with the P axis of the PT coordinate system of the holder,
the calibration module determines first attitude information of the movement in a world coordinate system according to the first measurement data, acquires second attitude information of the holder in the world coordinate system through a rotating shaft vector of the holder rotating from a first position to a second position by taking a rotating shaft of the holder as an axis according to the first measurement data and the second measurement data, and determines relative attitude information between the movement and the holder according to the first attitude information and the second attitude information to obtain a calibration result.
The camera provided by the invention comprises a machine core with an imaging module, an acceleration sensor installed on the machine core, a tripod head for controlling the rotation of the machine core, a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the computer program to realize the steps of the method for determining the inclination of the machine core component and the tripod head component in the camera.
The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component.
The camera in the embodiment of the invention does not need to be provided with a gyroscope, so that the miniaturization and the light weight of camera equipment are facilitated, the added correction module is favorable for improving the accuracy of attitude correction, and the accuracy of the determined conversion relation between the holder and the movement is high.
Embodiments of the present invention further provide a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the above method for determining the tilt of a camera component and a pan/tilt head component in a video camera.
For the device/network side device/storage medium embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for the relevant points, refer to the partial description of the method embodiment.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A camera implemented method, the camera comprising a deck assembly having an image sensor and an acceleration sensor, and a pan/tilt assembly controlling the rotation of the deck assembly, wherein the deck assembly is fixedly mounted on the pan/tilt assembly, and the pan/tilt assembly is configured to perform a pitching motion and/or a horizontal rotation motion in response to an externally input PT coordinate, so that the deck assembly performs a corresponding pitching motion and/or a horizontal rotation motion, so that the image sensor acquires an image corresponding to the externally input PT coordinate, the method comprising:
when the holder assembly is located at a first PT coordinate, acquiring first measurement data from the acceleration sensor;
when the holder assembly is located at a second PT coordinate, second measurement data are obtained from the acceleration sensor;
determining that a tilt exists between the cartridge assembly and the pan and tilt head assembly based on the first measurement data and the second measurement data.
2. The method of claim 1, wherein said determining that there is a tilt of said cartridge assembly and said pan and tilt assembly comprises:
calculating to obtain a first quaternion based on the first measurement data,
based on the first measurement data and the second measurement data, a second quaternion is obtained through calculation by a rotating shaft vector of the cradle head rotating from the first position to the second position by taking the rotating shaft as an axis;
and determining that the movement component and the holder component are inclined based on the first quaternion and the second quaternion.
3. The method of claim 2, wherein the acceleration sensors are three-axis sensors for respectively generating X, Y, Z-axis measurement data, wherein the X-axis measurement data is indicative of a pitch angle of the engine assembly, the Y-axis measurement data is indicative of a yaw angle of the engine assembly, and the Z-axis data is indicative of a roll angle of the engine assembly;
determining a first quaternion according to the conversion relation between the measurement data and the deflection angle based on the first measurement data, wherein the first quaternion is used for indicating a mapping function of a PT coordinate system and a horizontal coordinate system of the movement assembly;
based on the first measurement data and the second measurement data, calculating a rotating shaft vector of the rotating shaft of the holder from the first PT coordinate to the second PT coordinate, and determining a second quaternion for indicating a mapping function of a PT coordinate system and a horizontal coordinate system of the holder component;
determining the tilt of the deck assembly and the pan and tilt head assembly based on the first quaternion and the second quaternion.
4. The method of claim 3, wherein said determining that there is a tilt of the cartridge assembly and the pan and tilt assembly based on the first quaternion and the second quaternion comprises:
and determining the dot product result between the transposition of the first quaternion and the second quaternion as a mapping function between the PT coordinate system of the movement assembly and the PT coordinate system of the holder assembly, and quantitatively indicating the inclination of the movement assembly and the holder assembly.
5. The method of claim 1, wherein the P coordinate of the first PT coordinate and the second PT coordinate differ by 180 degrees,
the determining that there is a tilt in the cartridge assembly and the pan/tilt assembly includes:
determining that there is a pitch angle and a roll angle between said core assembly and said pan/tilt assembly, or
And determining that the P axis of the PT coordinate system of the core assembly is coincident with the P axis of the PT coordinate system of the holder assembly, and the T axis of the PT coordinate system of the core assembly is not coincident with the T axis of the PT coordinate system of the holder assembly.
6. The method of claim 1, wherein the acceleration sensors are three-axis sensors for respectively generating X, Y, Z-axis measurement data, wherein the X-axis measurement data is indicative of a pitch angle, the Y-axis measurement data is indicative of a yaw angle, and the Z-axis measurement data is indicative of a roll angle;
the determining the tilt of the cartridge assembly and the pan/tilt head assembly includes:
calculating an X component of a rotating shaft vector based on the X-axis data in the first measurement data and the X-axis data in the second measurement data, and determining a pitch angle corresponding to the holder assembly when the holder assembly is located at a second PT coordinate;
respectively calculating a Y component and a Z component of a rotating shaft vector based on Y and Z axis data in the first measurement data and Y and Z axis data in the second measurement data, and determining a roll angle corresponding to the holder assembly when the holder assembly is located at a second PT coordinate;
determining a second quaternion for indicating a mapping function of a PT coordinate system and a horizontal coordinate system of the holder assembly based on a pitch angle and a roll angle corresponding to the holder assembly when the holder assembly is in a second PT coordinate;
determining a first quaternion for indicating a mapping function of a PT coordinate system and a horizontal coordinate system of the movement assembly based on the first measurement data;
determining the tilt of the deck assembly and the pan and tilt head assembly based on the first quaternion and the second quaternion.
7. The method of claim 6, further comprising,
when the holder assembly is located at any input third PT coordinate, carrying out quaternion conversion on the third PT coordinate to obtain a third quaternion;
and obtaining the PT coordinate of the movement assembly when the holder assembly is positioned at the third PT coordinate based on the second quaternion, the third quaternion and the mapping function between the PT coordinate system of the movement assembly and the PT coordinate system of the holder assembly.
8. The method of claim 6, further comprising,
when the movement assembly is positioned in any input fourth PT coordinate, carrying out quaternion conversion on the third PT coordinate to obtain a fourth quaternion;
and obtaining the PT coordinate of the holder assembly when the movement assembly is in the fourth PT coordinate based on the second quaternion, the fourth quaternion and the mapping function between the PT coordinate system of the movement assembly and the PT coordinate system of the holder assembly.
9. The method of claim 6, wherein said determining a pitch angle to which said pan and tilt head assembly corresponds when said pan and tilt head assembly is at a second PT coordinate comprises,
normalizing the rotating shaft vector, and calculating an included angle between the vector and an x axis based on the normalized rotating shaft vector to obtain a pitch angle corresponding to the holder assembly when the holder assembly is positioned in a second PT coordinate;
the roll angle corresponding to the pan/tilt head assembly when the pan/tilt head assembly is at the second PT coordinate is determined to include,
calculating an included angle between the vector and the z axis to obtain a roll angle corresponding to the holder assembly when the holder assembly is located at a second PT coordinate;
the method further comprises the step of enabling the user to select the target,
and determining that the yaw angle of the tripod head under the world coordinate system is 0 based on the coincidence of the P axis of the PT coordinate system of the machine core and the P axis of the PT coordinate system of the tripod head, and obtaining the installation yaw angle of the tripod head relative to the ground.
10. A camera comprising a movement assembly having an image sensor and an acceleration sensor and a pan-tilt assembly for controlling the rotation of the movement assembly, characterized in that the camera further comprises a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the steps of said computer program for implementing the method as implemented by the camera according to any one of claims 1 to 9.
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