CN111882605A - Monitoring equipment image coordinate conversion method and device and computer equipment - Google Patents
Monitoring equipment image coordinate conversion method and device and computer equipment Download PDFInfo
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Abstract
The invention discloses a method and a device for converting image coordinates of monitoring equipment and computer equipment, wherein a longitude and latitude coordinate of an initial mark point is determined to be converted into a homography matrix of the coordinates of a monitoring image, a first internal reference matrix of an initial pose state of the monitoring equipment is obtained according to a pose value, a second internal reference matrix of the current pose state of the monitoring equipment is obtained according to a plurality of scaling multiples and the first internal reference matrix, and a conversion matrix of the current pose state and the initial pose state is obtained; determining image coordinates in an initial pose state according to the longitude and latitude coordinates of the target and the homography matrix; according to the image coordinates, the first internal reference matrix, the second internal reference matrix and the conversion matrix in the initial pose state, the monitored image coordinates corresponding to the longitude and latitude coordinates of the target are determined, the problem that the monitoring equipment cannot quickly locate the image coordinates of the target is solved, the longitude and latitude coordinates of the target are quickly and directly converted into the image coordinates, effective positions are marked on the monitored image, and the method is visual and effective.
Description
Technical Field
The invention relates to the field of video monitoring, in particular to a method and a device for converting image coordinates of monitoring equipment and computer equipment.
Background
Today, monitoring systems are rapidly developed, the system scale is larger and larger, and with the continuous expansion of the monitoring range, the vehicles and the airplanes on airports, bridges and very long roads need to be positioned. The longitude and latitude coordinates of the vehicle and the airplane can be acquired by deploying the equipment on the vehicle and the airplane, so that the spatial position of the vehicle and the airplane can be acquired. The image monitoring equipment can monitor the surrounding area by rotating the camera device through the holder. The longitude and latitude coordinates are converted into image coordinates of the camera device, so that the targets such as vehicles and airplanes can be assisted to be quickly positioned.
In the related art, after the angle of the monitoring target at the camera device is determined, the pan-tilt needs to be rotated to capture the image coordinates of the target, and the determined image coordinates cannot be given in the process of rotating and positioning the pan-tilt.
Aiming at the problem that the monitoring equipment cannot quickly locate the image coordinates of the target in the related art, an effective solution is not provided at present.
Disclosure of Invention
The embodiment of the invention at least solves the problem that the monitoring equipment cannot quickly locate the image coordinates of the target in the related art.
According to an aspect of the present invention, there is provided a monitoring apparatus image coordinate conversion method, the method including:
determining a homography matrix for converting longitude and latitude coordinates of the initial mark points into coordinates of a monitoring image, and recording a pose value of the monitoring equipment corresponding to the homography matrix;
acquiring a first internal reference matrix of an initial pose state of the monitoring equipment according to the pose value, acquiring a second internal reference matrix of the current pose state of the monitoring equipment according to a plurality of scaling multiples and the first internal reference matrix, and acquiring a conversion matrix of the current pose state and the initial pose state;
determining image coordinates in the initial pose state according to the longitude and latitude coordinates of the target and the homography matrix;
and determining the monitored image coordinates corresponding to the longitude and latitude coordinates of the target according to the image coordinates in the initial pose state, the first internal reference matrix, the second internal reference matrix and the conversion matrix.
In some embodiments, the determining that the longitude and latitude coordinates of the initial mark point are converted into the homography matrix of the coordinates of the monitoring image includes:
the method comprises the steps of obtaining at least 4 initial mark points of a ground plane where monitoring equipment is located, obtaining a monitoring image coordinate of each initial mark point, and determining a homography matrix according to longitude and latitude coordinates of the initial mark points and the monitoring image coordinate.
In some embodiments, obtaining, according to the pose value, a first internal reference matrix of an initial pose state of the monitoring device includes:
acquiring a zoom multiple of an initial pose state, acquiring a first projection formula of the monitoring equipment after rotating by a first preset angle in the horizontal direction and acquiring a second projection formula of the monitoring equipment after rotating by a second preset angle in the vertical direction according to the pose value and the zoom multiple;
and determining an internal reference focal length according to the corresponding relation between the space coordinate of the pose value and the coordinate of the monitoring image, the first projection formula and the second projection formula, and determining the first internal reference matrix according to the internal reference focal length.
In some embodiments, the obtaining, according to the pose value, a second internal reference matrix of the current pose state of the monitoring device according to the plurality of scaling factors and the first internal reference matrix includes:
sequencing according to the sizes of the multiple zoom multiples of the monitoring equipment, collecting multiple images corresponding to the multiple zoom multiples, and determining matching feature point pairs of adjacent images in the multiple images, wherein the matching feature point pairs are corresponding relations of image coordinates of pixel points of the adjacent images;
and calculating the internal reference focal length of each scaling multiple in the plurality of scaling multiples according to the matching feature pairs, and determining the second internal reference matrix according to the internal reference focal lengths.
According to another aspect of the present invention, there is also provided a monitoring apparatus image coordinate conversion apparatus, the apparatus including:
the system comprises an initial module, a processing module and a display module, wherein the initial module is used for determining that longitude and latitude coordinates of an initial mark point are converted into a homography matrix of a monitoring image coordinate, and recording a pose value of monitoring equipment corresponding to the homography matrix;
the internal reference module is used for acquiring a first internal reference matrix of an initial pose state of the monitoring equipment according to the pose value, acquiring a second internal reference matrix of the current pose state of the monitoring equipment according to a plurality of scaling multiples and the first internal reference matrix, and acquiring a conversion matrix of the current pose state and the initial pose state;
and the determining module is used for determining the image coordinate in the initial pose state according to the target longitude and latitude coordinates and the homography matrix, and determining the monitoring image coordinate corresponding to the target longitude and latitude coordinates according to the image coordinate in the initial pose state, the first internal reference matrix, the second internal reference matrix and the conversion matrix.
In some embodiments, the initialization module further comprises:
the conversion unit is used for acquiring at least 4 initial mark points of a ground plane where the monitoring equipment is located, acquiring the monitoring image coordinates of each initial mark point, and determining the homography matrix according to the longitude and latitude coordinates of the initial mark points and the monitoring image coordinates.
In some of these embodiments, the reference module comprises:
the first internal reference matrix unit is used for acquiring a zoom multiple of an initial pose state, acquiring a first projection formula of the monitoring equipment after rotating by a first preset angle in the horizontal direction according to the pose value and the zoom multiple, and acquiring a second projection formula of the monitoring equipment after rotating by a second preset angle in the vertical direction;
and determining an internal reference focal length according to the corresponding relation between the space coordinate of the pose value and the coordinate of the monitoring image, the first projection formula and the second projection formula, and determining the first internal reference matrix according to the internal reference focal length.
In some of these embodiments, the reference module comprises:
the second internal reference matrix unit is used for sequencing according to the sizes of the multiple zoom multiples of the monitoring equipment, acquiring multiple images corresponding to the multiple zoom multiples, and determining matching feature point pairs of adjacent images in the multiple images, wherein the matching feature point pairs are corresponding relations of image coordinates of pixel points of the adjacent images;
and calculating the internal reference focal length of each scaling multiple in the plurality of scaling multiples according to the matching feature pairs, and determining the second internal reference matrix according to the internal reference focal lengths.
According to an aspect of the present invention, there is also provided a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method when executing the computer program.
According to an aspect of the invention, there is also provided a computer-readable storage medium, on which a computer program is stored which, when executed by a processor, implements the method.
According to the invention, the longitude and latitude coordinates of the initial mark points are determined to be converted into the homography matrix of the monitored image coordinates, and the pose value of the monitoring equipment corresponding to the homography matrix is recorded; acquiring a first internal reference matrix of an initial pose state of the monitoring equipment according to the pose value, acquiring a second internal reference matrix of the current pose state of the monitoring equipment according to a plurality of scaling multiples and the first internal reference matrix, and acquiring a conversion matrix of the current pose state and the initial pose state; determining image coordinates in the initial pose state according to the longitude and latitude coordinates of the target and the homography matrix; according to the image coordinate, the first internal reference matrix, the second internal reference matrix and the conversion matrix in the initial pose state, the monitored image coordinate corresponding to the longitude and latitude coordinates of the target is determined, the problem that the monitoring equipment cannot quickly locate the image coordinate of the target is solved, the longitude and latitude coordinates of the target are quickly and directly converted into the image coordinate, an effective position is marked on the monitored image, and the method is visual and effective.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a schematic application environment diagram of an image coordinate transformation method for a monitoring device according to an embodiment of the present invention;
FIG. 2 is a first flowchart of a monitoring device image coordinate transformation method according to an embodiment of the present invention;
FIG. 3 is a second flowchart of a monitoring device image coordinate transformation method according to an embodiment of the present invention;
fig. 4 is a block diagram of a monitoring device image coordinate conversion apparatus according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application.
It is obvious that the drawings in the following description are only examples or embodiments of the present application, and that it is also possible for a person skilled in the art to apply the present application to other similar contexts on the basis of these drawings without inventive effort. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.
Unless defined otherwise, technical or scientific terms referred to herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar words throughout this application are not to be construed as limiting in number, and may refer to the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or elements, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Reference to "connected," "coupled," and the like in this application is not intended to be limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The term "plurality" as referred to herein means two or more. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. Reference herein to the terms "first," "second," "third," and the like, are merely to distinguish similar objects and do not denote a particular ordering for the objects.
The method for converting the image coordinate of the monitoring equipment provided by the application can be applied to an application environment shown in fig. 1, fig. 1 is an application environment schematic diagram of the method for converting the image coordinate of the monitoring equipment according to the embodiment of the invention, as shown in fig. 1, a terminal 102 acquires a monitoring image, a server 104 determines that a longitude and latitude coordinate of an initial mark point is converted into a homography matrix of a coordinate of the monitoring image, and records a pose value of the monitoring equipment corresponding to the homography matrix; acquiring a first internal reference matrix of an initial pose state of the monitoring equipment according to the pose value, acquiring a second internal reference matrix of the current pose state of the monitoring equipment according to a plurality of scaling multiples and the first internal reference matrix, and acquiring a conversion matrix of the current pose state and the initial pose state; determining image coordinates in the initial pose state according to the longitude and latitude coordinates of the target and the homography matrix; and determining the monitored image coordinates corresponding to the longitude and latitude coordinates of the target according to the image coordinates, the first internal reference matrix, the second internal reference matrix and the transformation matrix in the initial pose state, wherein the terminal 102 can be a ball camera or a gun camera, the ball camera or the gun camera can realize the pose change through a self cradle head or an external cradle head, and the server 104 can be realized by an independent server or a server cluster consisting of a plurality of servers.
In an embodiment of the present invention, a monitoring device image coordinate transformation method is provided, and fig. 2 is a first flowchart of a monitoring device image coordinate transformation method according to an embodiment of the present invention, where the method includes the following steps:
step S202, determining that the longitude and latitude coordinates of the initial mark point are converted into a homography matrix of the monitored image coordinates, and recording a pose value of the monitoring device corresponding to the homography matrix, where it is to be noted that the longitude and latitude coordinates represent GPS coordinates of the target object, such as: (longitude, latitude). The longitude and latitude also need to be explained, the pose value of the monitoring device is that the pose is generally (X, Y, Z, yaw, pitch, roll) in three dimensions, the last three elements describe the pose of the monitoring device, where yaw is a heading angle, rotates around the Z axis, pitch is a pitch angle, rotates around the Y axis, roll is a roll angle, rotates around the X axis, and X, Y, and Z respectively represent the position relationship of the X axis, the Y axis, and the Z axis of the monitoring device under the own coordinate system;
step S204, acquiring a first internal reference matrix of an initial pose state of the monitoring equipment according to the pose value, acquiring a second internal reference matrix of the current pose state of the monitoring equipment according to a plurality of scaling multiples and the first internal reference matrix, and acquiring a conversion matrix of the current pose state and the initial pose state;
step S206, determining the image coordinate in the initial pose state according to the target longitude and latitude coordinate and the homography matrix, and determining the monitoring image coordinate corresponding to the target longitude and latitude coordinate according to the image coordinate in the initial pose state, the first internal reference matrix, the second internal reference matrix and the transformation matrix, wherein the monitoring image coordinate corresponding to the target longitude and latitude coordinate in the initial state is calculated to be (U, V). The first internal reference matrix in the initial state is K, the second internal reference matrix in the current pose state is K', the rotation matrix of the current pose state relative to the initial pose state is R, and as shown in formula 1, the coordinates have the following conversion relationship:
therefore, the image coordinates (u ', v') corresponding to the longitude and latitude coordinates of the target in the current pose state can be calculated.
Through the steps S202 to S206, the target is dynamically marked on the monitored image by establishing the conversion relation between the ground longitude and latitude coordinates and the monitoring equipment in the initial pose state, and converting the obtained target longitude and latitude coordinates into the monitored image coordinates in the current pose state, so that the monitoring equipment directly marks the longitude and latitude coordinates of the target on the monitored image in the current pose state without rotating the monitoring equipment to mark the target, the problem that the monitoring equipment cannot quickly position the image coordinates of the target is solved, the longitude and latitude coordinates of the target are quickly directly converted into the image coordinates, and the effective position is marked on the monitored image, so that the method is more visual and effective.
In one embodiment, fig. 3 is a flowchart ii of a monitoring device image coordinate transformation method according to an embodiment of the present invention, the method including the following steps:
step S302, at least 4 initial mark points of a ground plane where the monitoring equipment is located are obtained, the monitoring image coordinates of each initial mark point are obtained, and the homography matrix is determined according to the longitude and latitude coordinates of the initial mark points and the monitoring image coordinates.
In one embodiment, at least 4 initial marking points of a ground plane where the monitoring equipment is located are obtained, the monitoring image coordinates of each initial marking point are obtained, the homography matrix is determined according to the longitude and latitude coordinates of the initial marking points and the monitoring image coordinates, and at least 4 points are needed for calculation because the homography matrix has 8 unknown quantities.
In one embodiment, a zoom factor of an initial pose state is obtained, a first projection formula of the monitoring device after rotating by a first preset angle in the horizontal direction is obtained according to the pose value and the zoom factor, and a second projection formula of the monitoring device after rotating by a second preset angle in the vertical direction is obtained; determining an internal reference focal length according to the corresponding relation between the space coordinate of the pose value and the coordinate of the monitoring image, a first projection formula and a second projection formula, determining a first internal reference matrix according to the internal reference focal length, wherein in an initial pose state, the projection formula of a camera on the monitoring equipment is as follows:
wherein f isxAnd fyIs the focal length of the internal reference u0And v0The image coordinates of the image pixels in the initial pose state, (X, Y, Z) are the initial pose coordinates of the monitoring equipment, and the image coordinates of the image pixels in the current pose states u and v.
The monitoring device horizontally rotates an alpha angle to capture an image, and the obtained camera projection is as shown in formula 3:
the monitoring equipment rotates beta angle in the vertical direction to snap images, and the obtained camera projection formula is as follows:
combining equation 2 with equation 3 yields equation 5:
combining equation 2 with equation 4 yields:
a group of characteristic point pairs can be obtained through a characteristic point matching method, and the internal reference focal length f can be calculated by applying the Gauss-Newton method according to the known PT value of the dome camera and the image point pairsxAnd fy
In one embodiment, the monitoring equipment is sequenced according to the sizes of multiple scaling multiples of the monitoring equipment, multiple images corresponding to the multiple scaling multiples are collected, and matching feature point pairs of adjacent images in the multiple images are determined, wherein the matching feature point pairs are corresponding relations of image coordinates of pixel points of the adjacent images; according to the matching feature pair, calculating an intrinsic focal length of each of the multiple scaling factors, and determining the second intrinsic parameter matrix according to the intrinsic focal length, for example, calculating an intrinsic focal length corresponding to each scaling data value, and collecting n pictures T1, I2, I3 … … In at equal intervals according to the T value from small to large. The matching feature point pairs (x, y) and (x ', y') are extracted for neighboring images as shown in the following equations 7 and 8:
x′＝fx′/fx*x-fx′/fx*u0+u0equation 7
y′＝fy′/fy*y-fy′/fy*v0+v0Equation 8
According to the formula 7 and the formula 8, the corresponding focal length ratio under different scaling factors can be calculated by applying the Gauss-Newton method, and linear or non-linearThe internal reference focal length f corresponding to each zoom magnification T can be calculated through sexual fittingxAnd fy。
The present embodiment further provides a monitoring device image coordinate transformation apparatus, which is used to implement the foregoing embodiments and preferred embodiments, and the description of the apparatus is omitted here. As used below, the term "module" or the like may implement a combination of software and/or hardware of predetermined functions. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 4 is a block diagram of a monitoring device image coordinate transformation apparatus according to an embodiment of the present application, and as shown in fig. 4, the apparatus includes:
the initial module 42 is configured to determine that the longitude and latitude coordinates of the initial mark points are converted into a homography matrix of the monitored image coordinates, and record a pose value of the monitoring device corresponding to the homography matrix;
an internal reference module 44, configured to obtain a first internal reference matrix of an initial pose state of the monitoring device according to the pose value, obtain a second internal reference matrix of the current pose state of the monitoring device according to a plurality of scaling multiples and the first internal reference matrix, and obtain a transformation matrix of the current pose state and the initial pose state;
the determining module 46 determines the image coordinate in the initial pose state according to the target longitude and latitude coordinates and the homography matrix, and determines the monitored image coordinate corresponding to the target longitude and latitude coordinates according to the image coordinate in the initial pose state, the first internal reference matrix, the second internal reference matrix and the transformation matrix.
By the device, the conversion relation between the ground longitude and latitude coordinates and the monitoring equipment in the initial pose state is established through the initial module 42 and the internal reference module 44, the longitude and latitude coordinates of the target are acquired through the determining module 46 and converted into the coordinates of the monitoring image in the current pose state, so that the target is dynamically marked on the monitoring image.
In one embodiment, the initialization module 42 further includes:
the conversion unit is used for acquiring at least 4 initial marking points of a ground plane where the monitoring equipment is located, acquiring the monitoring image coordinates of each initial marking point, and determining the homography matrix according to the longitude and latitude coordinates of the initial marking points and the monitoring image coordinates.
In one embodiment, the reference module 44 includes:
the first internal reference matrix unit is used for acquiring a scaling multiple of an initial pose state, acquiring a first projection formula of the monitoring equipment after rotating by a first preset angle in the horizontal direction according to the pose value and the scaling multiple, and acquiring a second projection formula of the monitoring equipment after rotating by a second preset angle in the vertical direction;
and determining an internal reference focal length according to the corresponding relation between the space coordinate of the pose value and the coordinate of the monitoring image, the first projection formula and the second projection formula, and determining the first internal reference matrix according to the internal reference focal length.
In one embodiment, the reference module 44 includes:
the second internal reference matrix unit is used for sequencing according to the sizes of the multiple zoom multiples of the monitoring equipment, acquiring multiple images corresponding to the multiple zoom multiples, and determining matching feature point pairs of adjacent images in the multiple images, wherein the matching feature point pairs are corresponding relations of image coordinates of pixel points of the adjacent images;
and calculating the internal reference focal length of each scaling multiple in the plurality of scaling multiples according to the matching feature pair, and determining the second internal reference matrix according to the internal reference focal length.
In one embodiment, a computer device is provided, which may be a terminal. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement the monitoring device image coordinate transformation method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and the computer program, when executed by a processor, implements the monitoring device image coordinate conversion method provided by the above embodiments.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A monitoring device image coordinate transformation method is characterized by comprising the following steps:
determining a homography matrix for converting longitude and latitude coordinates of the initial mark points into coordinates of a monitoring image, and recording a pose value of the monitoring equipment corresponding to the homography matrix;
acquiring a first internal reference matrix of an initial pose state of the monitoring equipment according to the pose value, acquiring a second internal reference matrix of the current pose state of the monitoring equipment according to a plurality of scaling multiples and the first internal reference matrix, and acquiring a conversion matrix of the current pose state and the initial pose state;
determining image coordinates in the initial pose state according to the longitude and latitude coordinates of the target and the homography matrix;
and determining the monitored image coordinates corresponding to the longitude and latitude coordinates of the target according to the image coordinates in the initial pose state, the first internal reference matrix, the second internal reference matrix and the conversion matrix.
2. The method of claim 1, wherein determining the transformation of the longitude and latitude coordinates of the initial mark point to the homography matrix of the coordinates of the monitoring image comprises:
the method comprises the steps of obtaining at least 4 initial mark points of a ground plane where monitoring equipment is located, obtaining a monitoring image coordinate of each initial mark point, and determining a homography matrix according to longitude and latitude coordinates of the initial mark points and the monitoring image coordinate.
3. The method according to claim 1, wherein acquiring a first internal reference matrix of an initial pose state of the monitoring device according to the pose value comprises:
acquiring a zoom multiple of an initial pose state, acquiring a first projection formula of the monitoring equipment after rotating by a first preset angle in the horizontal direction and acquiring a second projection formula of the monitoring equipment after rotating by a second preset angle in the vertical direction according to the pose value and the zoom multiple;
and determining an internal reference focal length according to the corresponding relation between the space coordinate of the pose value and the coordinate of the monitoring image, the first projection formula and the second projection formula, and determining the first internal reference matrix according to the internal reference focal length.
4. The method of claim 1, wherein obtaining a second internal reference matrix of the current pose state of the monitoring device from the plurality of scaling factors and the first internal reference matrix according to the pose values comprises:
sequencing according to the sizes of the multiple zoom multiples of the monitoring equipment, collecting multiple images corresponding to the multiple zoom multiples, and determining matching feature point pairs of adjacent images in the multiple images, wherein the matching feature point pairs are corresponding relations of image coordinates of pixel points of the adjacent images;
and calculating the internal reference focal length of each scaling multiple in the plurality of scaling multiples according to the matching feature pairs, and determining the second internal reference matrix according to the internal reference focal lengths.
5. An apparatus for converting image coordinates of a monitoring device, the apparatus comprising:
the system comprises an initial module, a processing module and a display module, wherein the initial module is used for determining that longitude and latitude coordinates of an initial mark point are converted into a homography matrix of a monitoring image coordinate, and recording a pose value of monitoring equipment corresponding to the homography matrix;
the internal reference module is used for acquiring a first internal reference matrix of an initial pose state of the monitoring equipment according to the pose value, acquiring a second internal reference matrix of the current pose state of the monitoring equipment according to a plurality of scaling multiples and the first internal reference matrix, and acquiring a conversion matrix of the current pose state and the initial pose state;
and the determining module is used for determining the image coordinate in the initial pose state according to the target longitude and latitude coordinates and the homography matrix, and determining the monitoring image coordinate corresponding to the target longitude and latitude coordinates according to the image coordinate in the initial pose state, the first internal reference matrix, the second internal reference matrix and the conversion matrix.
6. The apparatus of claim 5, wherein the initialization module further comprises:
the conversion unit is used for acquiring at least 4 initial mark points of a ground plane where the monitoring equipment is located, acquiring the monitoring image coordinates of each initial mark point, and determining the homography matrix according to the longitude and latitude coordinates of the initial mark points and the monitoring image coordinates.
7. The apparatus of claim 5, wherein the reference module comprises:
the first internal reference matrix unit is used for acquiring a zoom multiple of an initial pose state, acquiring a first projection formula of the monitoring equipment after rotating by a first preset angle in the horizontal direction according to the pose value and the zoom multiple, and acquiring a second projection formula of the monitoring equipment after rotating by a second preset angle in the vertical direction;
and determining an internal reference focal length according to the corresponding relation between the space coordinate of the pose value and the coordinate of the monitoring image, the first projection formula and the second projection formula, and determining the first internal reference matrix according to the internal reference focal length.
8. The apparatus of claim 5, wherein the reference module comprises:
the second internal reference matrix unit is used for sequencing according to the sizes of the multiple zoom multiples of the monitoring equipment, acquiring multiple images corresponding to the multiple zoom multiples, and determining matching feature point pairs of adjacent images in the multiple images, wherein the matching feature point pairs are corresponding relations of image coordinates of pixel points of the adjacent images;
and calculating the internal reference focal length of each scaling multiple in the plurality of scaling multiples according to the matching feature pairs, and determining the second internal reference matrix according to the internal reference focal lengths.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 4 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 4.
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