CN113038031B - Gun-ball linkage calibration method and device, electronic equipment and storage medium - Google Patents
Gun-ball linkage calibration method and device, electronic equipment and storage medium Download PDFInfo
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- CN113038031B CN113038031B CN202110232057.4A CN202110232057A CN113038031B CN 113038031 B CN113038031 B CN 113038031B CN 202110232057 A CN202110232057 A CN 202110232057A CN 113038031 B CN113038031 B CN 113038031B
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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
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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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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- Multimedia (AREA)
- Signal Processing (AREA)
- User Interface Of Digital Computer (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
- Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
Abstract
The invention provides a method and a device for calibrating gun-ball linkage, electronic equipment and a storage medium, belongs to the technical field of monitoring equipment, and solves the problem that a coordinate calibration method in the existing scheme depends on manual operation and is inconvenient. The method comprises the following steps: generating a center point coordinate and a positioning coordinate by the fixed point camera; the moving point camera moves to a corresponding position according to the center point coordinates and the positioning coordinates; generating a check coordinate and a moving point coordinate system according to the center point coordinate and the positioning coordinate; and matching the moving point coordinate system with the coordinate system of the positioning camera to confirm whether the matching is successful.
Description
Technical Field
The invention relates to the technical field of monitoring equipment, in particular to a gun-ball linkage calibration method and device, electronic equipment and a storage medium.
Background
With the development of electronic technology in the monitoring field, the design direction of various products is developed towards the direction of intelligence. The requirements of people are also increasing continuously, so that people want to pay attention to panoramic information and detail images of interest to users. The common bolt face and the ball face have advantages and disadvantages respectively. The monitoring field of view of the gun camera is large, but the far image cannot be focused clearly. The dome camera has super-strong zoom capability, and a remote monitoring area can be easily focused clearly, but the field of view of the whole picture becomes very small. The gun-ball linkage requires that the gun camera and the ball camera are mutually matched, the gun camera pays attention to panoramic pictures, and the ball camera pays attention to specific details. Thus, the advantages of the two devices are combined, and the expected effect is achieved. The common coordinate system calibration requires the user to manually input the point of interest, so that the coordinate system is matched, and the method is clumsy when the picture scene is complex.
Disclosure of Invention
The invention aims to provide a gun-ball linkage calibration method, a device, electronic equipment and a storage medium, which solve the technical problems that the coordinate calibration method in the prior art depends on manual operation and is inconvenient.
In a first aspect, the calibration method for gun-ball linkage provided by the invention is applied to monitoring equipment for gun-ball linkage, and comprises the following steps:
generating a center point coordinate and a positioning coordinate by the fixed point camera;
the moving point camera moves to a corresponding position according to the center point coordinates and the positioning coordinates;
generating a check coordinate and a moving point coordinate system according to the center point coordinate and the positioning coordinate;
and matching the moving point coordinate system with the coordinate system of the positioning camera to confirm whether the matching is successful.
Further, the step of generating the center point coordinate and the positioning coordinate by the fixed point camera specifically includes:
the fixed point camera acquires the center point coordinate of the current visual field range;
the fixed point camera acquires a preset number of positioning coordinates in the current visual field range.
Further, the moving point camera controls the ball shift according to the coordinates of the central point and the positioning coordinates, which specifically comprises the following steps:
the moving point camera rotates to a corresponding position according to the coordinates of the central point;
calculating a plurality of shift coordinates according to the center point coordinates and the positioning coordinates;
the moving point camera rotates to the corresponding position in turn according to the plurality of displacement coordinates.
Further, the step of matching the moving point coordinate system with the coordinate system of the positioning camera specifically includes:
and according to the matching of the check coordinates and the moving point coordinate system and the coordinate system of the fixed point camera, whether the matching is successful or not is confirmed.
Further, after the step of rotating the moving point camera to the corresponding position according to the coordinates of the center point, the method further includes:
confirming whether the ball control of the moving point camera is finished;
if yes, executing the step of calculating a plurality of shift coordinates according to the center point coordinates and the positioning coordinates;
if not, the process is ended.
Further, after the step of sequentially rotating the moving point camera to the corresponding position according to the plurality of shift coordinates, the method further includes:
confirming whether the ball control of the moving point camera is finished;
if yes, executing the step of generating a check coordinate and a moving point coordinate system according to the center point coordinate and the positioning coordinate;
if not, the process is ended.
Further, after the step of matching the coordinate system of the fixed point camera with the coordinate system of the check coordinate and the moving point coordinate system, the method further includes:
and sending the matching result to the control center.
In a second aspect, the present invention further provides a calibration device for gun-ball linkage, including:
the coordinate generation module is used for generating center point coordinates and positioning coordinates;
the ball control positioning module is used for moving to a corresponding position according to the center point coordinates and the positioning coordinates;
the coordinate system generation module is used for generating a check coordinate and a moving point coordinate system according to the center point coordinate and the positioning coordinate;
and the coordinate system matching module is used for matching the moving point coordinate system with the coordinate system of the positioning camera to confirm whether the matching is successful.
In a third aspect, the present invention also provides an electronic device, including a memory, and a processor, where the memory stores a computer program executable on the processor, and the processor implements the steps of the method when executing the computer program.
In a fourth aspect, the invention also provides a computer readable storage medium storing machine executable instructions which, when invoked and executed by a processor, cause the processor to perform the method described above.
According to the calibration method for the gun-ball linkage, the center point coordinates and the positioning coordinates are generated through the fixed point camera, the moving point camera moves to the corresponding position according to the coordinates, the coordinate system of the moving point camera is built again, and finally the built coordinate system of the moving point camera is matched with the coordinate system of the fixed point camera, so that automatic calibration of the coordinate system is completed, manual calibration and manual operation are avoided, and the flexibility of gun-ball linkage is improved.
Correspondingly, the calibrating device, the electronic equipment and the computer readable storage medium for gun-ball linkage provided by the embodiment of the invention also have the technical effects.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a calibrating method for gun-ball linkage provided by an embodiment of the invention;
FIG. 2 is a detailed flowchart of a calibration method for gun-ball linkage according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a calibration device for gun-ball linkage according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terms "comprising" and "having" and any variations thereof, as used in the embodiments of the present invention, are intended to cover non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed but may optionally include other steps or elements not listed or inherent to such process, method, article, or apparatus.
As shown in fig. 1, the embodiment of the invention provides a calibration method for gun-ball linkage, which comprises the following steps:
s11: generating a center point coordinate and a positioning coordinate by the fixed point camera;
s12: the moving point camera moves to a corresponding position according to the center point coordinates and the positioning coordinates;
s13: generating a check coordinate and a moving point coordinate system according to the center point coordinate and the positioning coordinate;
s14: and matching the moving point coordinate system with the coordinate system of the positioning camera to confirm whether the matching is successful.
According to the calibration method for the gun-ball linkage, the center point coordinates and the positioning coordinates are generated through the fixed point camera, the moving point camera moves to the corresponding position according to the coordinates, the coordinate system of the moving point camera is built again, and finally the built coordinate system of the moving point camera is matched with the coordinate system of the fixed point camera, so that automatic calibration of the coordinate system is completed, manual calibration and manual operation are avoided, and flexibility of gun-ball linkage is improved.
As shown in fig. 2, in one possible implementation, the step of generating the center point coordinate and the positioning coordinate by the fixed point camera specifically includes:
s211: the fixed point camera acquires the center point coordinate of the current visual field range;
s212: the fixed point camera acquires a preset number of positioning coordinates in the current visual field range.
By acquiring the center point coordinates and the positioning coordinates, an original point location for coordinate establishment can be provided for the moving point camera.
In a possible implementation manner, the moving point camera controls ball positioning according to the coordinates of the central point and the positioning coordinates, specifically including:
s221: the moving point camera rotates to a corresponding position according to the coordinates of the central point;
s222: calculating a plurality of shift coordinates according to the center point coordinates and the positioning coordinates;
s223: the moving point camera rotates to the corresponding position in turn according to the plurality of displacement coordinates.
The moving point camera can establish a corresponding self point position by adjusting the moving point camera to a corresponding position.
In one possible implementation manner, the step of matching the moving point coordinate system with the coordinate system of the positioning camera specifically includes:
s241: and according to the matching of the check coordinates and the moving point coordinate system with the coordinate system of the fixed point camera, confirming whether the matching is successful, if so, executing the step S25, and if not, executing the step S26.
By matching with the original coordinate system, the moving point camera can confirm whether the coordinate system of the moving point camera is successfully established.
In one possible implementation manner, after the step of rotating the moving point camera to a corresponding position according to the coordinates of the center point, the method further includes:
s2211: confirming whether the ball control of the moving point camera is completed, if yes, executing step S222, and if not, executing step S26;
s26: ending the process.
If the ball control is successful, the current process of establishing the coordinate system is smooth, and if the ball control is failed, the process is required to be ended so as to reestablish the coordinate system.
In one possible implementation manner, after the step of sequentially rotating the moving point camera to the corresponding positions according to the plurality of shift coordinates, the method further includes:
s2231: confirming whether the ball control of the moving point camera is completed, if yes, executing step S23, and if not, executing step S26;
s23: generating a check coordinate and a moving point coordinate system according to the center point coordinate and the positioning coordinate;
s26: ending the process.
If the ball control is successful, the current process of establishing the coordinate system is smooth, and if the ball control is failed, the process is required to be ended so as to reestablish the coordinate system.
In a possible implementation manner, after the step of matching the coordinate system of the fixed point camera according to the check coordinate and the moving point coordinate system, the method further includes:
s25: and sending the matching result to the control center.
The staff can confirm whether the matching is successful through the matching result of the control center so as to be used or reestablish the coordinate system calibration.
The embodiment of the invention provides a method for calibrating gun-ball linkage, which comprises the following specific embodiments:
when establishing the calibration of gun-ball linkage, the fixed-point camera is required to output the coordinates of the central point in the current visual field range, and the positioning coordinates of a plurality of interesting points are randomly generated.
And then, the coordinates are sent to the moving point camera, the moving point camera correspondingly moves to a corresponding position according to the coordinates after receiving the coordinates, after each movement is completed, whether ball control is completed needs to be confirmed, if not, the ball control failure is indicated, and the process needs to be ended to be calibrated again.
After all the points are moved, the moving point camera generates a moving point coordinate system and a random check coordinate according to the moved points. And then matching the moving point coordinate system with the checking coordinate system and the coordinate system of the fixed point camera to confirm whether the matching is successful, and if the matching is successful, the calibration is finished. When the device is used later, the moving point camera can move to the corresponding position in the visual field range of the fixed point camera according to the coordinates only by inputting the corresponding coordinates, so that the clear local area is enlarged, and the details in the current range are clearly checked.
As shown in fig. 3, the embodiment of the invention further provides a calibration device for gun-ball linkage, which comprises:
the coordinate generation module 1 is used for generating center point coordinates and positioning coordinates;
the ball control positioning module 2 is used for moving to a corresponding position according to the center point coordinates and the positioning coordinates;
a coordinate system generating module 3, configured to generate a check coordinate and a moving point coordinate system according to the center point coordinate and the positioning coordinate;
and the coordinate system matching module 4 is used for matching the moving point coordinate system with the coordinate system of the positioning camera to confirm whether the matching is successful.
Corresponding to the above method, the embodiment of the invention also provides an electronic device, which comprises a memory and a processor, wherein the memory stores a computer program capable of running on the processor, and the processor executes the steps of the method.
Corresponding to the above method, embodiments of the present invention also provide a computer readable storage medium storing machine executable instructions which, when invoked and executed by a processor, cause the processor to perform the steps of the above method.
The device provided by the embodiment of the invention can be specific hardware on the equipment or software or firmware installed on the equipment. The device provided by the embodiment of the present invention has the same implementation principle and technical effects as those of the foregoing method embodiment, and for the sake of brevity, reference may be made to the corresponding content in the foregoing method embodiment where the device embodiment is not mentioned. It will be clear to those skilled in the art that, for convenience and brevity, the specific operation of the system, apparatus and unit described above may refer to the corresponding process in the above method embodiment, which is not described in detail herein.
In the several embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
As another example, the division of the units is merely a logical function division, and there may be another division manner when actually implemented, and for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments provided in the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit of the corresponding technical solutions. Are intended to be encompassed within the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (10)
1. The calibrating method of the gun-ball linkage is characterized by being applied to monitoring equipment of the gun-ball linkage, and comprises the following steps:
generating a center point coordinate and a positioning coordinate by the fixed point camera;
the moving point camera moves to a corresponding position according to the center point coordinates and the positioning coordinates;
generating a check coordinate and a moving point coordinate system according to the center point coordinate and the positioning coordinate;
and matching the moving point coordinate system with the coordinate system of the positioning camera to confirm whether the matching is successful.
2. The method for calibrating a gun-ball linkage according to claim 1, wherein the step of generating the center point coordinate and the positioning coordinate by the fixed-point camera specifically comprises the following steps:
the fixed point camera acquires the center point coordinate of the current visual field range;
the fixed point camera acquires a preset number of positioning coordinates in the current visual field range.
3. The method for calibrating a gun-ball linkage according to claim 1, wherein the moving point camera controls ball moving according to the center point coordinates and the positioning coordinates, specifically comprising:
the moving point camera rotates to a corresponding position according to the coordinates of the central point;
calculating a plurality of shift coordinates according to the center point coordinates and the positioning coordinates;
the moving point camera rotates to the corresponding position in turn according to the plurality of displacement coordinates.
4. The calibrating method of a gun-ball linkage according to claim 1, wherein the step of matching a moving point coordinate system with a coordinate system of a positioning camera specifically comprises:
and according to the matching of the check coordinates and the moving point coordinate system and the coordinate system of the fixed point camera, whether the matching is successful or not is confirmed.
5. The method for calibrating a gun-ball linkage according to claim 3, further comprising, after the step of rotating the moving point camera to a corresponding position according to the center point coordinates:
confirming whether the ball control of the moving point camera is finished;
if yes, executing the step of calculating a plurality of shift coordinates according to the center point coordinates and the positioning coordinates;
if not, the process is ended.
6. The calibration method of a gun-ball linkage according to claim 3, wherein after the step of sequentially rotating the moving point camera to the corresponding position according to the plurality of shift coordinates, the method further comprises:
confirming whether the ball control of the moving point camera is finished;
if yes, executing the step of generating a check coordinate and a moving point coordinate system according to the center point coordinate and the positioning coordinate;
if not, the process is ended.
7. The method according to claim 4, wherein after the step of matching the check coordinate and the moving point coordinate system with the coordinate system of the fixed point camera, the method further comprises:
and sending the matching result to the control center.
8. The utility model provides a calibrating device of rifle ball linkage which characterized in that includes:
the coordinate generation module is used for generating center point coordinates and positioning coordinates;
the ball control positioning module is used for moving to a corresponding position according to the center point coordinates and the positioning coordinates;
the coordinate system generation module is used for generating a check coordinate and a moving point coordinate system according to the center point coordinate and the positioning coordinate;
and the coordinate system matching module is used for matching the moving point coordinate system with the coordinate system of the positioning camera to confirm whether the matching is successful.
9. An electronic device comprising a memory, a processor, the memory having stored therein a computer program executable on the processor, characterized in that the processor, when executing the computer program, implements the steps of the method of any of the preceding claims 1 to 7.
10. A computer readable storage medium storing machine executable instructions which, when invoked and executed by a processor, cause the processor to perform the method of any one of claims 1 to 7.
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