CN113055610A - Camera layout method and device for ladder scene, electronic equipment and storage medium - Google Patents

Camera layout method and device for ladder scene, electronic equipment and storage medium Download PDF

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Publication number
CN113055610A
CN113055610A CN202110297392.2A CN202110297392A CN113055610A CN 113055610 A CN113055610 A CN 113055610A CN 202110297392 A CN202110297392 A CN 202110297392A CN 113055610 A CN113055610 A CN 113055610A
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camera
initial
cameras
height
field
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CN202110297392.2A
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CN113055610B (en
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张玉全
张迪
石仕伟
陈鹏
吴昌建
曹海潮
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Hangzhou Hikvision Digital Technology Co Ltd
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Hangzhou Hikvision Digital Technology Co Ltd
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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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources

Abstract

The application provides a camera arrangement method and device for a ladder scene, electronic equipment and a storage medium, which can improve the efficiency of arranging cameras in the ladder scene. The method comprises the following steps: acquiring environmental information of a staircase scene and configuration information of a camera to be laid; the environmental information comprises information of an area to be monitored in a ladder scene; determining the layout mode of the initial camera according to the environment information and the configuration information of the initial camera; the initial camera is any one of the cameras to be laid; determining the layout mode of at least one middle camera in the staircase scene according to the layout mode of the initial camera, the environment information and the configuration information of the camera to be laid; the sum of the field of view of the initial camera and the field of view of the at least one intermediate camera covers the region to which the stairs belong; at least one intermediate camera is a camera of the cameras to be laid.

Description

Camera layout method and device for ladder scene, electronic equipment and storage medium
Technical Field
The present application relates to the field of machine vision technologies, and in particular, to a method and an apparatus for laying cameras in a ladder scene, an electronic device, and a storage medium.
Background
With the development of society, the ladder scenes are as follows: analytical techniques for the dangerous behaviour of escalators are receiving increasing attention. The technology is used for standardizing the behaviors of people on the steps by acquiring the image information of the step scene and analyzing the acquired image information, and emergency treatment can be carried out at the first time when dangerous behaviors occur to people on the steps.
Currently, in order to collect image information of a step scene to monitor the step scene, manual debugging is required to lay a camera in the step scene, and the efficiency of laying the camera is low.
Disclosure of Invention
The application provides a camera arrangement method and device for a ladder scene, electronic equipment and a storage medium, which can improve the efficiency of arranging cameras in the ladder scene.
The technical scheme of the application is as follows:
in a first aspect, the present application provides a method for laying cameras in a staircase scene, including: acquiring environmental information of a staircase scene and configuration information of a camera to be laid; the environmental information comprises information of an area to be monitored in a ladder scene; determining the layout mode of the initial camera according to the environment information and the configuration information of the initial camera; the initial camera is any one of the cameras to be laid; determining the layout mode of at least one middle camera in the staircase scene according to the layout mode of the initial camera, the environment information and the configuration information of the camera to be laid; the sum of the field of view of the initial camera and the field of view of the at least one intermediate camera covers the region to which the stairs belong; at least one intermediate camera is a camera of the cameras to be laid.
According to the method for arranging the cameras in the stair scenes, the environment information of the stair scenes and the configuration information of the cameras to be arranged are obtained, firstly, the arrangement mode of the initial cameras is determined, and the arrangement mode of the cameras in the stair scenes is automatically determined according to the arrangement mode, the environment information and the configuration information of the cameras to be arranged of the initial cameras, so that the efficiency of arranging the cameras in the stair scenes is improved.
In one possible implementation manner, the configuration information of the initial camera includes a preset installation angle and a preset field angle of the initial camera, and the environment information includes a first vertical height from a ceiling to an area to which a non-step belongs in a step scene, a preset occlusion height, a step height of the step, and a step width of the step; the arrangement mode of the initial camera comprises the position of the initial camera and the field angle of the initial camera; the determining the layout mode of the initial camera according to the environment information and the configuration information of the initial camera includes: determining the field angle of the initial camera according to the preset installation angle of the initial camera, the preset field angle of the initial camera, the preset shielding height, the step height of the steps and the step width of the steps; determining the position of an initial camera according to a preset installation angle and a first vertical height of the initial camera under the condition that the region to be monitored only comprises a region to which the ladder belongs; and under the condition that the region to be monitored comprises a region to which the stairs belong and a region to which the non-stairs belong, determining the position of the initial camera according to the first horizontal coverage distance, the installation angle of the initial camera and the first vertical height. The first horizontal coverage distance is a horizontal coverage distance of an area to which the non-step belongs.
In another possible implementation manner, the information of the area to be monitored includes: a first distance from the camera position to the inclined plane of the ladder and a preset shielding height can be distributed in the area where the ladder belongs; the environment information further includes information of steps, the information of the steps including: the step height of the step, the step width of the step and the inclination angle of the step; the determining the layout mode of at least one middle camera in the staircase scene according to the layout mode of the initial camera, the environment information and the configuration information of the camera to be laid comprises the following steps: a first operation: acquiring the sum of horizontal coverage distances of the field of view of the position-determined camera; determining whether the sum of the horizontal coverage distances of the field of view of the position-determined camera covers the region to which the stairs belong; the position-determined camera comprises an initial camera; if the sum of the horizontal coverage distances of the vision field of the camera determined by the position is not enough to cover the region to which the ladder belongs, determining a layout mode of the camera to be laid according to the layout mode of the camera determined by the position, configuration information of the camera to be laid, the first distance, a preset shielding height and information of the ladder; and repeatedly executing the first operation; and if the sum of the horizontal coverage distances of the visual fields of the cameras with the determined positions is enough to cover the region to which the stairs belong, taking the cameras except the initial camera in the cameras with the determined positions as at least one middle camera.
In another possible implementation, the above-mentioned acquiring position having determined the sum of horizontal coverage distances of the field of view of the camera includes: and determining the sum of the horizontal coverage distances of the visual field of the camera with the determined position according to the preset human body height, the arrangement mode of the camera with the determined position and the environment information.
In another possible implementation, in a case where the position-determined cameras include only the initial camera and the first intermediate camera, the position parameters of the first intermediate camera include: the arrangement height and the second distance of the first intermediate camera; the second distance is the distance from the projection of the layout position of the first middle camera in the region where the non-stairs belong to the first inflection point of the stairs; the first inflection point is a connection point of the ladder and the region where the non-ladder belongs; the above determining the sum of the horizontal coverage distances of the fields of view of the cameras whose positions have been determined according to the preset human body height, the arrangement mode of the cameras whose positions have been determined, and the environmental information includes: determining a horizontal coverage distance of the field of view of the initial camera according to a preset shielding height, a step height of a step, a step width of the step, an inclination angle of the step, a preset field angle of the initial camera, a preset installation angle of the initial camera, a position of the initial camera and a preset human body height; determining the horizontal coverage distance of the visual field of the first intermediate camera according to the arrangement height, the second distance, the preset shielding height, the step height of the step, the step width of the step, the angle of the step and the preset height of the human body of the first intermediate camera; the sum of the horizontal coverage distances of the field of view of the cameras has been determined from the horizontal coverage distance of the field of view of the initial camera and the horizontal coverage distance acquisition position of the field of view of the first intermediate camera.
In another possible implementation manner, the determining a horizontal coverage distance of the field of view of the initial camera according to the preset occlusion height, the step height of the step, the step width of the step, the inclination angle of the step, the preset field angle of the initial camera, the preset installation angle of the initial camera, the position of the initial camera, and the preset body height includes: determining the maximum field angle of the initial camera according to the preset shielding height, the step height of the step, the step width of the step and the installation angle of the initial camera; determining an actual shielding height according to a preset field angle of the initial camera, an installation angle of the initial camera, a step height of a step and a step width of the step under the condition that the maximum field angle of the initial camera is larger than the preset field angle of the initial camera; determining the horizontal coverage distance of the visual field of the initial camera according to the actual shielding height, the position of the initial camera, the preset human body height, the step height of the step, the step width of the step and the inclination angle of the step; and under the condition that the maximum field angle of the initial camera is smaller than or equal to the preset field angle of the initial camera, determining the horizontal coverage distance of the field of view of the initial camera according to the preset shielding height, the position of the initial camera, the preset human body height, the step height of the steps, the step width of the steps and the inclination angle of the steps.
In another possible implementation manner, if the sum of the horizontal coverage distances of the fields of view of the cameras with the determined positions is enough to cover the region to which the stairs belong, regarding the cameras except the initial camera in the cameras with the determined positions as at least one intermediate camera includes: determining a difference value between the sum of the horizontal coverage distances of the fields of view of the position-determined cameras and the horizontal coverage distance of the area to which the stairs belong in the case that the sum of the horizontal coverage distances of the fields of view of the position-determined cameras is sufficient to cover the area to which the stairs belong; adjusting the position of the target camera according to the difference value so that the first overlapping distance is larger than the second overlapping distance; the first overlapping distance is a horizontal overlapping distance between the visual field of the target camera before position adjustment and the visual field of the second camera; the second overlapping distance is the horizontal overlapping distance between the vision field of the target camera after the position adjustment and the vision field of the second camera; the target camera is at least one camera except the initial camera in the cameras with determined positions; the second camera is a camera adjacent to the target camera; taking the adjusted target camera and other cameras as at least one intermediate camera; the other cameras are cameras of the position-determined cameras other than the initial camera and the target camera.
In another possible implementation manner, the arrangement manner of the cameras to be arranged includes an installation angle of the cameras to be arranged, a position of the cameras to be arranged, and a field angle of the cameras to be arranged; in a case where the camera whose position has been determined only includes the initial camera, and if the sum of the horizontal coverage distances of the field of view of the camera whose position has been determined is not sufficient to cover the region to which the stairs belong, determining a layout manner of the camera to be laid according to the layout manner of the camera whose position has been determined, the configuration information of the camera to be laid, the first distance, the preset occlusion height, and the information of the stairs, the method includes: determining the installation angle of a first middle camera according to the preset shielding height, the step height of the step, the step width of the step, the field angle of the initial camera and the installation angle of the initial camera; the first middle camera is any one of the cameras to be laid except the initial camera; and determining the position of the first intermediate camera and the field angle of the first intermediate camera according to the first distance, the inclination angle of the ladder, the step width of the ladder, the horizontal coverage distance of the visual field of the initial camera and the installation angle of the first intermediate camera.
In a second aspect, a camera layout apparatus for a staircase scene is provided, including: the acquisition module is used for acquiring the environmental information of the staircase scene and the configuration information of the cameras to be laid; the environmental information comprises information of an area to be monitored in a ladder scene; the first determining module is used for determining the layout mode of the initial camera according to the environment information and the configuration information of the initial camera; the initial camera is any one of the cameras to be laid; the second determining module is used for determining the layout mode of at least one middle camera in the staircase scene according to the layout mode of the initial camera, the environment information and the configuration information of the camera to be laid; the sum of the field of view of the initial camera and the field of view of the at least one intermediate camera covers the region to which the stairs belong; at least one intermediate camera is a camera of the cameras to be laid.
Optionally, the configuration information of the initial camera includes a preset installation angle and a preset field angle of the initial camera, and the environment information includes a first vertical height from a ceiling to an area to which a non-step belongs in the step scene, a preset shielding height, a step height of the step, and a step width of the step; the arrangement mode of the initial camera comprises the position of the initial camera and the field angle of the initial camera; the first determining module is specifically configured to: determining the field angle of the initial camera according to the preset installation angle of the initial camera, the preset field angle of the initial camera, the preset shielding height, the step height of the steps and the step width of the steps; determining the position of an initial camera according to a preset installation angle and a first vertical height of the initial camera under the condition that the region to be monitored only comprises a region to which the ladder belongs; and under the condition that the region to be monitored comprises a region to which the stairs belong and a region to which the non-stairs belong, determining the position of the initial camera according to the first horizontal coverage distance, the installation angle of the initial camera and the first vertical height. The first horizontal coverage distance is a horizontal coverage distance of an area to which the non-step belongs.
Optionally, the information of the area to be monitored includes: a first distance from the camera position to the inclined plane of the ladder and a preset shielding height can be distributed in the area where the ladder belongs; the environment information further includes information of steps, the information of the steps including: the step height of the step, the step width of the step and the inclination angle of the step; the second determining module is specifically configured to perform the first operation: acquiring the sum of horizontal coverage distances of the field of view of the position-determined camera; determining whether the sum of the horizontal coverage distances of the field of view of the position-determined camera covers the region to which the stairs belong; the position-determined camera comprises an initial camera; if the sum of the horizontal coverage distances of the vision field of the camera determined by the position is not enough to cover the region to which the ladder belongs, determining a layout mode of the camera to be laid according to the layout mode of the camera determined by the position, configuration information of the camera to be laid, the first distance, a preset shielding height and information of the ladder; and repeatedly executing the first operation; and if the sum of the horizontal coverage distances of the visual fields of the cameras with the determined positions is enough to cover the region to which the stairs belong, taking the cameras except the initial camera in the cameras with the determined positions as at least one middle camera.
Optionally, the second determining module is specifically configured to: and determining the sum of the horizontal coverage distances of the visual field of the camera with the determined position according to the preset human body height, the arrangement mode of the camera with the determined position and the environment information.
Optionally, in a case where the position-determined cameras include only the initial camera and the first intermediate camera, the position parameters of the first intermediate camera include: the arrangement height and the second distance of the first intermediate camera; the second distance is the distance from the projection of the layout position of the first middle camera in the region where the non-stairs belong to the first inflection point of the stairs; the first inflection point is a connection point of the ladder and the region where the non-ladder belongs; the second determining module is specifically configured to: determining a horizontal coverage distance of the field of view of the initial camera according to a preset shielding height, a step height of a step, a step width of the step, an inclination angle of the step, a preset field angle of the initial camera, a preset installation angle of the initial camera, a position of the initial camera and a preset human body height; determining the horizontal coverage distance of the visual field of the first intermediate camera according to the arrangement height, the second distance, the preset shielding height, the step height of the step, the step width of the step, the angle of the step and the preset height of the human body of the first intermediate camera; the sum of the horizontal coverage distances of the field of view of the cameras has been determined from the horizontal coverage distance of the initial camera's field of view, the position of the first intermediate camera, and the horizontal coverage distance acquisition position of the first intermediate camera's field of view.
Optionally, the second determining module is specifically configured to: determining the maximum field angle of the initial camera according to the preset shielding height, the step height of the step, the step width of the step and the installation angle of the initial camera; determining an actual shielding height according to a preset field angle of the initial camera, an installation angle of the initial camera, a step height of a step and a step width of the step under the condition that the maximum field angle of the initial camera is larger than the preset field angle of the initial camera; determining the horizontal coverage distance of the visual field of the initial camera according to the actual shielding height, the position of the initial camera, the preset human body height, the step height of the step, the step width of the step and the inclination angle of the step; and under the condition that the maximum field angle of the initial camera is smaller than or equal to the preset field angle of the initial camera, determining the horizontal coverage distance of the field of view of the initial camera according to the preset shielding height, the position of the initial camera, the preset human body height, the step height of the steps, the step width of the steps and the inclination angle of the steps.
Optionally, the second determining module is specifically configured to: determining a difference value between the sum of the horizontal coverage distances of the fields of view of the position-determined cameras and the horizontal coverage distance of the area to which the stairs belong in the case that the sum of the horizontal coverage distances of the fields of view of the position-determined cameras is sufficient to cover the area to which the stairs belong; adjusting the position of the target camera according to the difference value so that the first overlapping distance is larger than the second overlapping distance; the first overlapping distance is a horizontal overlapping distance between the visual field of the target camera before position adjustment and the visual field of the second camera; the second overlapping distance is the horizontal overlapping distance between the vision field of the target camera after the position adjustment and the vision field of the second camera; the target camera is at least one camera except the initial camera in the cameras with determined positions; the second camera is a camera adjacent to the target camera; taking the adjusted target camera and other cameras as at least one intermediate camera; the other cameras are cameras of the position-determined cameras other than the initial camera and the target camera.
Optionally, the arrangement mode of the cameras to be arranged includes an installation angle of the cameras to be arranged, a position of the cameras to be arranged, and a field angle of the cameras to be arranged; in the case where the position-determined camera comprises only the initial camera, the second determination module is specifically configured to: determining the installation angle of a first middle camera according to the preset shielding height, the step height of the step, the step width of the step, the field angle of the initial camera and the installation angle of the initial camera; the first middle camera is any one of the cameras to be laid except the initial camera; and determining the position of the first intermediate camera and the field angle of the first intermediate camera according to the first distance, the inclination angle of the ladder, the step width of the ladder, the horizontal coverage distance of the visual field of the initial camera and the installation angle of the first intermediate camera.
In a third aspect, an electronic device is provided, including: a processor; a memory for storing processor-executable instructions. Wherein the processor is configured to execute the instructions to implement the camera layout method for a staircase scene as shown in the first aspect and any one of the possible implementations of the first aspect.
In a fourth aspect, there is provided a computer-readable storage medium having instructions which, when executed by a processor of a computer device, enable the computer device to perform the method of camera layout for a staircase scene as illustrated in the first aspect and any one of the possible implementations of the first aspect.
In a fifth aspect, a computer program product is provided, which is directly loadable into an internal memory of a computer device and contains software codes, and which, when loaded and executed by the computer device, is capable of implementing the camera layout method for the staircase scene as shown in the first aspect and any possible implementation manner of the first aspect.
In a sixth aspect, a chip system is provided, which is applied to a computer device; the system-on-chip includes one or more interface circuits, and one or more processors. The interface circuit and the processor are interconnected through a line; the interface circuit is to receive signals from a memory of the camera layout apparatus for the staircase scene and to send signals to the processor, the signals comprising computer instructions stored in the memory. When the processor executes the computer instructions, the computer device performs the camera layout method for a staircase scene as provided by the first aspect and any of its possible designs.
The camera layout apparatus, the electronic device, the computer-readable storage medium, the computer program product, or the chip system in any of the ladder scenes provided above are configured to execute the corresponding method provided above, so that the beneficial effects achieved by the camera layout apparatus, the electronic device, the computer-readable storage medium, the computer program product, or the chip system can refer to the beneficial effects of the corresponding schemes in the corresponding methods provided above, and are not described herein again.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application and are not to be construed as limiting the application.
Fig. 1 is a schematic structural diagram of an electronic device to which the technical solution provided by the embodiment of the present application is applied;
FIG. 2 is a schematic diagram of a ladder scene provided by an embodiment of the present application;
fig. 3 is a schematic flowchart of a method for laying out cameras in a staircase scene according to an embodiment of the present disclosure;
FIG. 4 is a schematic layout diagram of an initial camera provided in an embodiment of the present application;
fig. 5 is a flowchart illustrating a method for determining a position of at least one intermediate camera by an electronic device according to an embodiment of the present application;
FIG. 6 is a schematic diagram of a horizontal coverage distance s1 of the field of view of the initial camera and a horizontal coverage distance s2 of the field of view of the first intermediate camera in an embodiment of the present application;
fig. 7 is a schematic structural diagram of a camera layout apparatus for a staircase scene provided in an embodiment of the present application.
Detailed Description
In the embodiments of the present application, words such as "exemplary" or "for example" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "e.g.," is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.
It is noted that the terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
In the embodiments of the present application, "at least one" means one or more. "plurality" means two or more.
In the embodiment of the present application, "and/or" is only one kind of association relationship describing an association object, and indicates that three relationships may exist, for example, a and/or B may indicate: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
At present, in order to acquire image information of a step scene in the technical field of machine vision so as to monitor the step scene, manual debugging is needed to arrange cameras in the step scene, and the efficiency of arranging the cameras through manual debugging is low.
As shown in fig. 1, a schematic structural diagram of an electronic device to which the technical solution provided by the embodiment of the present application is applied is shown. The electronic device 10 in FIG. 1 includes, but is not limited to: a processor 101, a memory 102, an input unit 104, an interface unit 105, a power supply 106, and the like. Optionally, the electronic device 10 further comprises a display 104.
The processor 101 is a control center of the electronic device, connects various parts of the whole electronic device by using various interfaces and lines, and executes various functions and processes data of the electronic device by running or executing software programs and/or modules stored in the memory 102 and calling data stored in the memory 102, thereby performing overall monitoring of the electronic device. Processor 101 may include one or more processing units; optionally, the processor 101 may integrate an application processor and a modem processor, wherein the application processor mainly handles operating systems, user interfaces, application programs, and the like, and the modem processor mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 101.
The memory 102 may be used to store software programs as well as various data. The memory 102 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one functional unit, and the like. Further, the memory 102 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Alternatively, the memory 102 may be a non-transitory computer readable storage medium, for example, a read-only memory, a ROM, a random access memory, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
The display 103 is used to display information input by the user or information provided to the user. The display 103 may include a display panel, which may be configured in the form of a Liquid Crystal Display (LCD), an organic light-emitting diode (OLED), or the like.
The input unit 104 may include a graphics processing unit, GPU, which processes image data of still images or videos obtained by an image capturing device such as a camera in a video capturing mode or an image capturing mode. The processed image frames may be displayed on the display 103. The image frames processed by the graphics processor may be stored in the memory 102 or other storage medium.
The interface unit 105 is an interface for connecting an external device to the electronic apparatus 10. For example, the external device may include a wired or wireless headset port, an external power supply or battery charger port, a wired or wireless data port, a memory card port, a port for connecting a device having an identification module, an audio input/output I/O port, a video I/O port, an earphone port, and the like. The interface unit 105 may be used to receive input from an external device, e.g., data information or the like, and transmit the received input to one or more elements within the electronic apparatus 10 or may be used to transmit data between the electronic apparatus 10 and the external device.
A power supply 106, such as a battery, may be used to supply power to the various components, and optionally, the power supply 106 may be logically connected to the processor 101 through a power management system, so as to manage charging, discharging, and power consumption management functions through the power management system.
Optionally, the computer instructions in the embodiments of the present application may also be referred to as application program code or system, which is not specifically limited in the embodiments of the present application.
Note that the electronic device shown in fig. 1 is merely an example, and does not limit the electronic device to which the embodiments of the present application are applicable. In actual implementation, the electronic device may include more or fewer devices or devices than those shown in fig. 1.
The embodiment of the application is applied to a ladder scene: the manager needs to monitor the personnel on the steps to standardize the behavior of the personnel on the steps, or emergency treatment is performed at the first time when the dangerous behavior of the personnel on the steps is monitored. Generally, in order to monitor the person on the steps, cameras are required to be respectively arranged in the region to which the steps belong and the region to which the steps do not belong. Fig. 2 is a schematic diagram of a staircase scenario. The area to be monitored of the ladder scene comprises a first area, a second area and an area to which the ladder belongs. The first area and the second area are both areas to which the non-steps belong. The embodiment of the application provides a camera layout method for a ladder scene, which comprises the steps of firstly, obtaining environment information of the ladder scene and configuration information of a camera to be laid by computer equipment, wherein the environment information comprises information of a region to be monitored in the ladder scene (such as a layer height y1 of a first region, a layer height y2 of a second region in a figure 2, a first distance T between a position where the camera can be laid and an inclined plane of the ladder in the region where the ladder belongs, and the like) and information of the ladder (such as a step height h of the ladder, a step width w of the ladder, an inclined angle alpha of the ladder, and the like in the figure 2); then, the computer equipment determines the layout mode of the initial cameras according to the environmental information of the staircase scene and the configuration information of the initial cameras by utilizing the geometric characteristics of the staircase scene, wherein the initial cameras are any one of the cameras to be laid, and then the computer equipment sequentially determines the ideal layout mode of the cameras for monitoring the staircase scene according to the layout mode of the initial cameras, the environmental information and the configuration information of the cameras to be laid; thereby determining the overall scheme of the camera layout of the step scene.
It should be noted that the camera in the present application is used to indicate any device for capturing an image.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
As shown in fig. 3, fig. 3 is a schematic flowchart of a camera layout method for a staircase scene provided in the embodiment of the present application. The method shown in fig. 3 can be applied to the electronic device in fig. 1, and the method includes:
s100: the electronic equipment acquires environmental information of a staircase scene and configuration information of a camera to be laid. The environment information comprises information of an area to be monitored in a ladder scene.
In one possible implementation, the electronic device obtains input environmental information and input configuration information of the cameras to be laid.
In another possible implementation manner, the electronic device obtains the ladder scene graph, analyzes the ladder scene graph to obtain the environment information of the ladder scene, and obtains the input configuration information of the camera to be laid or reads the pre-stored configuration information of the camera to be laid.
In one example, the electronic device obtains a step scene graph as shown in fig. 2, and parses the step scene graph to obtain environment information of the step scene. The environmental information of the staircase scene includes information of the staircase and information of the area to be monitored. The information of the steps includes the inclination angle α of the steps, the step width w of the steps, the step height h of the steps, the horizontal coverage distance of the steps, and the like. The environment information of the staircase scene comprises a height y1 of the first area from the ceiling, a height y2 of the second area from the ceiling, a first distance T of a position where a camera can be arranged in the area where the staircase belongs to from the inclined plane of the staircase, and the like. The embodiment of the present application does not limit the format of the ladder scene graph, for example: the step scene graph is in auto cad format. The configuration information of the cameras to be laid comprises preset field angles of the cameras to be laid, preset installation angles of the cameras to be laid and the like.
S101: the electronic equipment determines the layout mode of the initial camera according to the environment information and the configuration information of the initial camera; the initial camera is any one of the cameras to be laid.
The configuration information of the initial camera comprises a preset installation angle and a preset field angle of the initial camera, and the environment information comprises a first vertical height from a ceiling to an area where a non-step belongs in a step scene, a preset shielding height, a step height of the step and a step width of the step; the arrangement mode of the initial camera comprises the position of the initial camera and the field angle of the initial camera.
Specifically, the electronic device determines the layout mode of the initial camera by the following steps:
the method comprises the following steps: the electronic equipment determines the field angle of the initial camera according to the preset installation angle of the initial camera, the preset field angle of the initial camera, the preset shielding height, the step height of the steps and the step width of the steps.
For example, assuming that the preset installation angle of the initial camera is β, the preset field angle of the initial camera is γ, the preset occlusion height is p, the step height of the step is h, and the step width of the step is w, then the maximum field angle γ of the initial camera ismaxThe following formula is satisfied:
γmax＝arctan(w/(p-h))-β
at gammamaxIf the angle of view is larger than the preset angle of view gamma, the electronic equipment determines that the angle of view of the initial camera is gamma, and the angle of view is gammamaxIn the case of γ or less, the electronic device determines that the angle of view of the initial camera is γmax。
Step two: and under the condition that the region to be monitored only comprises the region to which the ladder belongs, the electronic equipment determines the position of the initial camera according to the preset installation angle and the first vertical height of the initial camera. Based on the example of fig. 2, the distance x1 from the first inflection point a of the step to the projection of the initial camera's layout position in the first area satisfies the following formula:
x1＝y1tan(β)
where y1 is a first vertical height of the first area from the ceiling, and β is a preset installation angle of the initial camera.
And under the condition that the area to be monitored comprises the area to which the ladder belongs and the area to which the non-ladder belongs, the electronic equipment determines the position of the initial camera according to the first horizontal coverage distance, the installation angle of the initial camera and the first vertical height. Based on the example of fig. 4, the distance x1 from the first inflection point a of the step to the projection of the initial camera's layout position in the first area satisfies the following formula:
x1＝y1tan(β)+L
where y1 is a first vertical height of the first area from the ceiling, β is a preset installation angle of the initial camera, and L is a first horizontal coverage distance. The first horizontal coverage distance is the horizontal coverage distance of the area to which the non-stairs in the area to be monitored belong.
It should be noted that, in the embodiment of the present application, the field of view of the initial camera covers the first area when the area to be monitored includes the first area shown in fig. 2, and the field of view of the initial camera does not cover the first area when the area to be monitored does not include the first area shown in fig. 2. The following description will be given by taking the example that the area to be monitored includes the first area shown in fig. 2.
S102: the electronic equipment determines the layout mode of at least one middle camera in the staircase scene according to the layout mode of the initial camera, the environment information and the configuration information of the camera to be laid. The sum of the field of view of the initial camera and the field of view of the at least one intermediate camera covers the area to which the stairs belong, the at least one intermediate camera being the camera of the cameras to be deployed.
The information of the area to be monitored includes: a first distance from the camera position to the inclined plane of the ladder and a preset shielding height can be distributed in the area where the ladder belongs; the environment information further includes information of steps, the information of the steps including: the step height of the steps, the step width of the steps and the inclination angle of the steps.
Specifically, as shown in fig. 5, fig. 5 is a flowchart illustrating a method for determining a layout manner of at least one intermediate camera by an electronic device, where the method shown in fig. 5 includes the following steps:
s102-1: the electronic device acquires the sum of the horizontal coverage distances of the field of view of the position determined camera.
Specifically, the electronic device determines the sum of the horizontal coverage distances of the fields of view of the cameras with determined positions according to the preset human body height, the arrangement mode of the cameras with determined positions and the environment information.
The position parameters of the first intermediate camera include: the step-based image processing method comprises the following steps of (1) the layout height of a first middle camera and a second distance, wherein the second distance is the distance from the projection of the layout position of the first middle camera in the region where the non-step belongs to a first inflection point of a step; the first inflection point is a connection point of the region to which the steps and the non-steps belong.
In the case where the position-determined camera includes only the initial camera and the first intermediate camera:
firstly, the electronic device determines the horizontal coverage distance of the field of view of the initial camera according to a preset shielding height, the step height of the step, the step width of the step, the inclination angle of the step, the preset field angle of the initial camera, the preset installation angle of the initial camera, the position of the initial camera and the preset human body height.
Specifically, the electronic device determines the actual occlusion height according to the field angle of the initial camera, the installation angle of the initial camera, the step height of the step, and the step width of the step. The actual occlusion height p "satisfies the following formula:
p”＝w/tan(γ+β1)+h
where w is the step width of the step, h is the step height of the step, β 1 is the installation angle of the initial camera, and γ is the angle of view of the initial camera.
The electronic equipment determines the horizontal coverage distance of the visual field of the initial camera according to the actual shielding height, the position of the initial camera, the preset height of the human body, the step height of the step, the step width of the step and the inclination angle of the step.
Based on the example of fig. 4, the electronic device determines that the horizontal coverage distance S1 for the field of view of the initial camera satisfies the following formula:
Figure BDA0002984858550000121
wherein w is the step width of the step, h is the step height of the step, y1 is the installation height of the initial camera (i.e. the vertical distance between the layout position of the initial camera and the first region), x1 is the distance between the projection of the layout position of the initial camera in the first region and the first inflection point a, g is the preset human body height, α is the inclination angle of the step, and p "is the actual shielding height.
Then, the electronic equipment determines the horizontal coverage distance of the visual field of the first middle camera according to the layout height of the first middle camera, the second distance, the preset shielding height, the step height of the step, the step width of the step, the angle of the step and the preset height of the human body. The electronic device determines a horizontal coverage distance s2 for the field of view of the first intermediate camera that satisfies the following equation:
Figure BDA0002984858550000122
wherein x2 is a second distance from a projection of the layout position of the first intermediate camera on a plane of the region where the non-step belongs to a first inflection point of the step, h is a step height of the step, p' is an actual shielding height, g is a preset human body height, y3 is a vertical distance from the first intermediate camera to the region where the non-step belongs, α is an inclination angle of the step, and w is a step width of the step.
Then, the electronic device acquires the position according to the horizontal coverage distance of the field of view of the initial camera and the horizontal coverage distance of the field of view of the first middle camera to determine the sum of the horizontal coverage distances of the field of view of the cameras. Based on the above example of the horizontal coverage distance of the field of view of the initial camera S1 and the horizontal coverage distance of the field of view of the first intermediate camera S2, the position acquired by the electronic device has determined that the sum of the horizontal coverage distances of the field of view of the cameras is S1+ S2.
S102-2: the electronic device determines whether the sum of the horizontal coverage distances of the field of view of the position-determined camera covers the area to which the stairs belong; the position-determined camera includes an initial camera. If not, the electronic device executes S102-3, and if so, the electronic device executes S102-4.
In one example, as shown in FIG. 6, assume that the cameras whose positions have been determined include an initial camera and a first intermediate camera, the horizontal coverage distance of the field of view of the initial camera is s1, and the horizontal coverage distance of the field of view of the first intermediate camera is s 2. The horizontal coverage distance of the area to which the steps belong is N, and in the case that the sum of s1 and s2 is less than N, the electronic device determines that the horizontal coverage distance of the field of view of the camera whose position has been determined is insufficient to cover the area to which the steps belong. In the event that the sum of s1 and s2 is greater than or equal to N, the electronic device determines that the position has determined that the horizontal coverage distance of the camera's field of view is insufficient to cover the area to which the stairs belong.
S102-3: the electronic equipment determines the arrangement mode of the cameras to be arranged according to the arrangement mode of the cameras with determined positions, configuration information of the cameras to be arranged, the first distance, the preset shielding height and ladder information; and repeatedly executes S102-1 to S102-2. The arrangement mode of the cameras to be arranged comprises the installation angle of the cameras to be arranged, the positions of the cameras to be arranged and the field angles of the cameras to be arranged.
In one example, in the case where the position-determined camera includes only the initial camera, if the sum of the horizontal coverage distances of the field of view of the position-determined camera is insufficient to cover the region to which the stairs belong:
firstly, the electronic device determines the installation angle of the first middle camera according to a preset shielding height, the step height of the step, the step width of the step, the field angle of the initial camera and the installation angle of the initial camera. The first intermediate camera is one of the cameras to be laid except the initial camera, and the installation angle beta 2 of the first intermediate camera satisfies the following formula:
β2＝max(arctan((w)/(p”-h))-γ，β1)
where w is the step width of the step, p "is the actual occlusion height, h is the step height of the step, γ is the angle of view of the initial camera, and β 1 is the angle of installation of the initial camera.
Then, the electronic device determines a position of the first intermediate camera and a field angle of the first intermediate camera according to the first distance, the inclination angle of the step, the step width of the step, the horizontal coverage distance of the field of view of the initial camera, and the installation angle of the first intermediate camera. The projection of the layout position of the first intermediate camera on the plane of the region where the non-step belongs to is a second distance x2 from the first inflection point of the step, which satisfies the following formula:
x2＝S1-(Ttan(β2)/(cos(α)(1+tan(α)tan(β2)))+w)
where T is a first distance, α is an inclination angle of the step, w is a step width of the step, s1 is a horizontal coverage distance of the field of view of the initial camera, and β 2 is an installation angle of the intermediate camera.
The layout height y3 of the first intermediate camera satisfies the following formula:
y3＝x2/tan(β2)+(S1-w)tan(α)
where x2 is the second distance, β 2 is the installation angle of the intermediate camera, s1 is the horizontal coverage distance of the field of view of the initial camera, w is the step width of the step, and α is the inclination angle of the step.
The field angle γ 1 of the first intermediate camera satisfies the following formula:
p”＝w/tan(γ1+β2)+h
where p "is the actual shielding height, w is the step width of the step, β 2 is the mounting angle of the first intermediate camera, and h is the step height of the step.
S102-4: the electronic device treats cameras other than the initial camera among the position-determined cameras as the at least one intermediate camera.
For example, assuming that the electronic device determines the initial camera and the first intermediate camera after determining the initial camera and the first intermediate camera, and that the sum of the horizontal coverage distance of the field of view of the initial camera and the horizontal coverage distance of the field of view of the first intermediate camera is greater than or equal to the horizontal coverage distance of the region to which the stairs belong, then the electronic device determines the first intermediate camera as the at least one intermediate camera.
Optionally, first, the electronic device determines a difference between a sum of horizontal coverage distances of the fields of view of the cameras whose positions are determined and a horizontal coverage distance of an area to which the stairs belong; adjusting the position of the target camera according to the difference value so that the first overlapping distance is larger than the second overlapping distance; the first overlapping distance is a horizontal overlapping distance between the visual field of the target camera before position adjustment and the visual field of the second camera; the second overlapping distance is the horizontal overlapping distance between the vision field of the target camera after the position adjustment and the vision field of the second camera; the target camera is at least one camera except the initial camera in the cameras with determined positions; the second camera is a camera adjacent to the target camera.
Then, the electronic device takes the adjusted target camera and other cameras as at least one intermediate camera; the other cameras are cameras of the position-determined cameras other than the initial camera and the target camera.
Therefore, the second overlapping area is larger than the first overlapping area, the target camera and the second camera can acquire images of the second overlapping area, the second overlapping area can be better monitored, and optimization of arrangement of the cameras in the ladder scene is further achieved.
In one example, assuming that the electronic device determines an initial camera, a first intermediate camera, and a second intermediate camera, then the electronic device treats the first intermediate camera and the second intermediate camera as the intermediate cameras.
It is understood that after the position of the camera in the staircase scene is determined, optionally, for any camera with the determined layout mode, the projection distance of the actual layout position of the camera on the slope surface of the staircase is less than the threshold value. Thus, the influence caused by the perspective of the picture can be effectively reduced.
It can be understood that, after determining the layout position of any one of the cameras in the above-mentioned stair scene, if the position is not available in the stair scene, the electronic device may obtain an input position parameter of the camera, where the position parameter includes at least one of a distance from a projection of the layout position of the camera on a plane where the non-stair belongs to a first inflection point or a vertical distance from the layout position of the camera to the plane where the non-stair belongs to the area, and then, the electronic device may determine the obtained position parameter as the layout manner of the camera.
Based on the example of fig. 2, in a case that the area to be monitored further includes the second area, the electronic device may determine the arrangement manner of the cameras arranged in the second area by referring to the arrangement manner of the initial cameras, which is not described again.
In the embodiment of the application, the electronic equipment firstly determines the layout mode of the initial camera by acquiring the environmental information of the ladder scene and the configuration information of the camera to be laid, and automatically determines the layout mode of the camera in the ladder scene according to the layout mode and the environmental information of the initial camera and the configuration information of the camera to be laid, so that the efficiency of laying the camera in the ladder scene is improved.
The scheme provided by the embodiment of the application is mainly introduced from the perspective of a method. To implement the above functions, it includes hardware structures and/or software modules for performing the respective functions. Those of skill in the art will readily appreciate that the present application is capable of hardware or a combination of hardware and computer software implementing the exemplary method steps described in connection with the embodiments disclosed herein. Whether a function is performed as hardware or computer software drives hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiment of the present application, the functional modules of the camera layout device in the staircase scene may be divided according to the above method, for example, each functional module may be divided corresponding to each function, or two or more functions may be integrated into one processing module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. It should be noted that, in the embodiment of the present application, the division of the module is schematic, and is only one logic function division, and there may be another division manner in actual implementation.
Fig. 7 is a schematic structural diagram of a camera layout apparatus for a staircase scene provided in an embodiment of the present application. Referring to fig. 6, the camera layout apparatus 70 for the staircase scene includes an acquisition module 701, a first determination module 702, and a second determination module 703. Wherein: an obtaining module 701, configured to obtain environment information of a ladder scene and configuration information of cameras to be laid; the environmental information comprises information of an area to be monitored in a ladder scene; a first determining module 702, configured to determine a layout manner of the initial camera according to the environment information and the configuration information of the initial camera; the initial camera is any one of the cameras to be laid; a second determining module 703, configured to determine a layout mode of at least one middle camera in the ladder scene according to the layout mode of the initial camera, the environment information, and the configuration information of the camera to be laid; the sum of the field of view of the initial camera and the field of view of the at least one intermediate camera covers the region to which the stairs belong; at least one intermediate camera is a camera of the cameras to be laid. For example, in conjunction with fig. 3, the obtaining module 701 may be configured to perform S100; the first determining module 702 may be configured to perform S101, and the second determining module 703 may be configured to perform S102.
Optionally, the configuration information of the initial camera includes a preset installation angle and a preset field angle of the initial camera, and the environment information includes a first vertical height from a ceiling to an area to which a non-step belongs in the step scene, a preset shielding height, a step height of the step, and a step width of the step; the arrangement mode of the initial camera comprises the position of the initial camera and the field angle of the initial camera; the first determining module 702 is specifically configured to: determining the field angle of the initial camera according to the preset installation angle of the initial camera, the preset field angle of the initial camera, the preset shielding height, the step height of the steps and the step width of the steps; determining the position of an initial camera according to a preset installation angle and a first vertical height of the initial camera under the condition that the region to be monitored only comprises a region to which the ladder belongs; and under the condition that the region to be monitored comprises a region to which the stairs belong and a region to which the non-stairs belong, determining the position of the initial camera according to the first horizontal coverage distance, the installation angle of the initial camera and the first vertical height. The first horizontal coverage distance is a horizontal coverage distance of a region to which the non-step belongs.
Optionally, the information of the area to be monitored includes: a first distance from the camera position to the inclined plane of the ladder and a preset shielding height can be distributed in the area where the ladder belongs; the environment information further includes information of steps, the information of the steps including: the step height of the step, the step width of the step and the inclination angle of the step; the second determining module 703 is specifically configured to execute the first operation: acquiring the sum of horizontal coverage distances of the field of view of the position-determined camera; determining whether the sum of the horizontal coverage distances of the field of view of the position-determined camera covers the region to which the stairs belong; the position-determined camera comprises an initial camera; if the sum of the horizontal coverage distances of the vision field of the camera determined by the position is not enough to cover the region to which the ladder belongs, determining a layout mode of the camera to be laid according to the layout mode of the camera determined by the position, configuration information of the camera to be laid, the first distance, a preset shielding height and information of the ladder; and repeatedly executing the first operation; and if the sum of the horizontal coverage distances of the visual fields of the cameras with the determined positions is enough to cover the region to which the stairs belong, taking the cameras except the initial camera in the cameras with the determined positions as at least one middle camera.
Optionally, the second determining module 703 is specifically configured to: and determining the sum of the horizontal coverage distances of the visual field of the camera with the determined position according to the preset human body height, the arrangement mode of the camera with the determined position and the environment information.
Optionally, in a case where the position-determined cameras include only the initial camera and the first intermediate camera, the position parameters of the first intermediate camera include: the arrangement height and the second distance of the first intermediate camera; the second distance is the distance from the projection of the layout position of the first middle camera in the region where the non-stairs belong to the first inflection point of the stairs; the first inflection point is a connection point of the ladder and the region where the non-ladder belongs; the second determining module 703 is specifically configured to: determining a horizontal coverage distance of the field of view of the initial camera according to a preset shielding height, a step height of a step, a step width of the step, an inclination angle of the step, a preset field angle of the initial camera, a preset installation angle of the initial camera, a position of the initial camera and a preset human body height; determining the horizontal coverage distance of the visual field of the first intermediate camera according to the arrangement height, the second distance, the preset shielding height, the step height of the step, the step width of the step, the angle of the step and the preset height of the human body of the first intermediate camera; the sum of the horizontal coverage distances of the field of view of the cameras has been determined from the horizontal coverage distance of the initial camera's field of view, the position of the first intermediate camera, and the horizontal coverage distance acquisition position of the first intermediate camera's field of view.
Optionally, the second determining module 703 is specifically configured to: determining the maximum field angle of the initial camera according to the preset shielding height, the step height of the step, the step width of the step and the installation angle of the initial camera; determining an actual shielding height according to a preset field angle of the initial camera, an installation angle of the initial camera, a step height of a step and a step width of the step under the condition that the maximum field angle of the initial camera is larger than the preset field angle of the initial camera; determining the horizontal coverage distance of the visual field of the initial camera according to the actual shielding height, the position of the initial camera, the preset human body height, the step height of the step, the step width of the step and the inclination angle of the step; and under the condition that the maximum field angle of the initial camera is smaller than or equal to the preset field angle of the initial camera, determining the horizontal coverage distance of the field of view of the initial camera according to the preset shielding height, the position of the initial camera, the preset human body height, the step height of the steps, the step width of the steps and the inclination angle of the steps.
Optionally, the second determining module 703 is specifically configured to: determining a difference value between the sum of the horizontal coverage distances of the fields of view of the position-determined cameras and the horizontal coverage distance of the area to which the stairs belong in the case that the sum of the horizontal coverage distances of the fields of view of the position-determined cameras is sufficient to cover the area to which the stairs belong; adjusting the position of the target camera according to the difference value so that the first overlapping distance is larger than the second overlapping distance; the first overlapping distance is a horizontal overlapping distance between the visual field of the target camera before position adjustment and the visual field of the second camera; the second overlapping distance is the horizontal overlapping distance between the vision field of the target camera after the position adjustment and the vision field of the second camera; the target camera is at least one camera except the initial camera in the cameras with determined positions; the second camera is a camera adjacent to the target camera; taking the adjusted target camera and other cameras as at least one intermediate camera; the other cameras are cameras of the position-determined cameras other than the initial camera and the target camera.
Optionally, the arrangement mode of the cameras to be arranged includes an installation angle of the cameras to be arranged, a position of the cameras to be arranged, and a field angle of the cameras to be arranged; in case the position-determined cameras comprise only the initial camera, the second determining module 703 is specifically configured to: determining the installation angle of a first middle camera according to the preset shielding height, the step height of the step, the step width of the step, the field angle of the initial camera and the installation angle of the initial camera; the first middle camera is any one of the cameras to be laid except the initial camera; and determining the position of the first intermediate camera and the field angle of the first intermediate camera according to the first distance, the inclination angle of the ladder, the step width of the ladder, the horizontal coverage distance of the visual field of the initial camera and the installation angle of the first intermediate camera.
In one example, referring to fig. 1, the receiving function of the obtaining module 701 may be implemented by the interface unit 105 in fig. 1. The processing function of the obtaining module 701, the first determining module 702 and the second determining module 703 can be implemented by the processor 101 in fig. 1 calling a computer program stored in the memory 102.
For the detailed description of the above alternative modes, reference is made to the foregoing method embodiments, which are not described herein again. In addition, for the explanation and the description of the beneficial effects of the camera layout apparatus 70 for any one of the stair scenes, reference may be made to the corresponding method embodiments, and details are not repeated.
It should be noted that the actions correspondingly performed by the modules are merely specific examples, and the actions actually performed by the units refer to the actions or steps mentioned in the description of the embodiment based on fig. 3 and 5.
An embodiment of the present application further provides an electronic device, including: a memory and a processor; the memory is for storing a computer program, and the processor is for invoking the computer program to perform the actions or steps mentioned in any of the embodiments provided above.
Embodiments of the present application also provide a computer-readable storage medium, which stores a computer program, and when the computer program runs on a computer, the computer program causes the computer to execute the actions or steps mentioned in any of the embodiments provided above.
The embodiment of the application also provides a chip system, and the chip system is applied to computer equipment. The system-on-chip includes one or more interface circuits, and one or more processors. The interface circuit and the processor are interconnected by a line. The interface circuit is used to receive signals from the memory of the computer device and to send signals to the processor, the signals including computer instructions stored in the memory. When the processor executes the computer instructions, the computer apparatus performs the steps performed by the computer apparatus in the method flow illustrated in the above-described method embodiments.
Optionally, the functions supported by the system on chip may include processing actions in the embodiments described based on fig. 3 and fig. 5, which are not described herein again. Those skilled in the art will appreciate that all or part of the steps for implementing the above embodiments may be implemented by a program instructing the associated hardware to perform the steps. The program may be stored in a computer-readable storage medium. The above-mentioned storage medium may be a read-only memory, a random access memory, or the like. The processing unit or processor may be a central processing unit, a general purpose processor, an Application Specific Integrated Circuit (ASIC), a microprocessor Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA) or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof.
The embodiments of the present application also provide a computer program product containing instructions, which when executed on a computer, cause the computer to execute any one of the methods in the above embodiments. The computer program product includes one or more computer instructions. The procedures or functions described in accordance with the embodiments of the present application are all or partially generated upon loading and execution of computer program instructions on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wire such as a coaxial cable, fiber optic cable, digital subscriber line, DSL, or wireless such as infrared, wireless, microwave, etc. Computer-readable storage media can be any available media that can be accessed by a computer or can comprise one or more data storage devices, such as servers, data centers, and the like, that can be integrated with the media. The usable medium may be a magnetic medium such as a floppy disk, a hard disk, a magnetic tape, an optical medium such as a DVD, or a semiconductor medium such as a solid state disk, SSD, etc.
It should be noted that the above devices for storing computer instructions or computer programs provided in the embodiments of the present application, such as, but not limited to, the above memories, computer readable storage media, communication chips, and the like, all have non-volatile non-transitivity.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims (11)

1. A method for camera layout of a staircase scene, the method comprising:
acquiring the environmental information of the ladder scene and the configuration information of the cameras to be laid; the environment information comprises information of an area to be monitored in the ladder scene;
determining the layout mode of the initial camera according to the environment information and the configuration information of the initial camera; the initial camera is any one of the cameras to be laid;
determining the layout mode of at least one middle camera in the staircase scene according to the layout mode of the initial camera, the environment information and the configuration information of the camera to be laid; the sum of the field of view of the initial camera and the field of view of the at least one intermediate camera covers the area to which the stairs belong; the at least one middle camera is a camera in the cameras to be laid.
2. The camera layout method according to claim 1, wherein the configuration information of the initial camera includes a preset installation angle and a preset field angle of the initial camera, and the environment information includes a first vertical height from a ceiling of an area to which a non-step belongs in the step scene, a preset occlusion height, a step height of the step, and a step width of the step; the arrangement mode of the initial camera comprises the position of the initial camera and the field angle of the initial camera;
the determining the layout mode of the initial camera according to the environment information and the configuration information of the initial camera comprises the following steps:
determining the field angle of the initial camera according to the preset installation angle of the initial camera, the preset field angle of the initial camera, the preset shielding height, the step height of the step and the step width of the step;
determining the position of the initial camera according to a preset installation angle of the initial camera and the first vertical height under the condition that the area to be monitored only comprises the area to which the ladder belongs;
determining the position of the initial camera according to a first horizontal coverage distance, the installation angle of the initial camera and the first vertical height under the condition that the area to be monitored comprises an area to which the ladder belongs and an area to which the non-ladder belongs; the first horizontal coverage distance is a horizontal coverage distance of an area to which the non-step belongs.
3. The camera layout method according to claim 1 or 2, wherein the information of the area to be monitored includes: a first distance from the camera position to the inclined plane of the ladder and a preset shielding height can be distributed in the area where the ladder belongs; the environment information further includes information of the steps, the information of the steps including: the step height of the step, the step width of the step and the inclination angle of the step; the determining the layout mode of at least one middle camera in the staircase scene according to the layout mode of the initial camera, the environment information and the configuration information of the camera to be laid comprises the following steps:
a first operation: acquiring the sum of horizontal coverage distances of the field of view of the position-determined camera; determining whether a sum of horizontal coverage distances of a field of view of the position-determined camera covers an area to which the step belongs; the position-determined camera comprises the initial camera;
if the sum of the horizontal coverage distances of the vision field of the camera determined by the position is not enough to cover the region to which the ladder belongs, determining the layout mode of the camera to be laid according to the layout mode of the camera determined by the position, the configuration information of the camera to be laid, the first distance, the preset shielding height and the information of the ladder; and repeatedly executing the first operation;
if the sum of the horizontal coverage distances of the fields of view of the position-determined cameras is sufficient to cover the area to which the stairs belong, then the cameras of the position-determined cameras other than the initial camera are taken as the at least one intermediate camera.
4. The camera layout method of claim 3 wherein the acquiring the position determined by summing the horizontal coverage distances of the field of view of the camera comprises:
and determining the sum of the horizontal coverage distances of the visual fields of the cameras with the determined positions according to the preset human body height, the arrangement mode of the cameras with the determined positions and the environment information.
5. The camera layout method according to claim 4, wherein in a case where the position-determined cameras include only the initial camera and the first intermediate camera, the position parameters of the first intermediate camera include: the layout height and the second distance of the first intermediate camera; the second distance is the distance from the projection of the layout position of the first intermediate camera on the plane of the region where the non-stairs belong to the first inflection point of the stairs; the first inflection point is a connection point of the step and the region to which the non-step belongs; the determining the sum of the horizontal coverage distances of the fields of vision of the cameras with determined positions according to the preset human body height, the arrangement mode of the cameras with determined positions and the environment information comprises the following steps:
determining a horizontal coverage distance of the field of view of the initial camera according to the preset shielding height, the step height of the step, the step width of the step, the inclination angle of the step, the preset field angle of the initial camera, the preset installation angle of the initial camera, the position of the initial camera and the preset height of the human body;
determining the horizontal coverage distance of the visual field of the first intermediate camera according to the arrangement height of the first intermediate camera, the second distance, the preset shielding height, the step height of the step, the step width of the step, the angle of the step and the preset height of the human body;
the sum of the horizontal coverage distances of the field of view of the cameras has been determined from the horizontal coverage distance of the field of view of the initial camera and the horizontal coverage distance acquisition position of the field of view of the first intermediate camera.
6. The camera layout method according to claim 5, wherein the determining a horizontal coverage distance of the field of view of the initial camera according to the preset occlusion height, the step height of the step, the step width of the step, and the inclination angle of the step, the preset field angle of the initial camera, the preset installation angle of the initial camera, the position of the initial camera, and the preset body height comprises:
determining the maximum field angle of the initial camera according to the preset shielding height, the step height of the step, the step width of the step and the installation angle of the initial camera;
determining an actual shielding height according to a preset field angle of the initial camera, an installation angle of the initial camera, a step height of the step and a step width of the step under the condition that the maximum field angle of the initial camera is larger than the preset field angle of the initial camera; determining the horizontal coverage distance of the visual field of the initial camera according to the actual shielding height, the position of the initial camera, the preset human body height, the step height of the step, the step width of the step and the inclination angle of the step;
and under the condition that the maximum field angle of the initial camera is smaller than or equal to a preset field angle of the initial camera, determining the horizontal coverage distance of the field of view of the initial camera according to the preset shielding height, the position of the initial camera, the preset human body height, the step height of the step, the step width of the step and the inclination angle of the step.
7. The camera layout method according to any one of claims 4 to 6, wherein the step of regarding the cameras other than the initial camera as the at least one intermediate camera if the sum of horizontal coverage distances of the fields of view of the position-determined cameras is sufficient to cover the region to which the step belongs comprises:
determining a difference between the sum of the horizontal coverage distances of the fields of view of the position-determined cameras and the horizontal coverage distance of the area to which the step belongs, in the case that the sum of the horizontal coverage distances of the fields of view of the position-determined cameras is sufficient to cover the area to which the step belongs;
adjusting the position of the target camera according to the difference value so that the first overlapping distance is larger than the second overlapping distance; the first overlapping distance is a horizontal overlapping distance between the field of view of the target camera before position adjustment and the field of view of the second camera; the second overlapping distance is a horizontal overlapping distance between the field of view of the target camera after the position adjustment and the field of view of the second camera; the target camera is at least one of the cameras whose positions have been determined other than the initial camera; the second camera is a camera adjacent to the target camera;
taking the adjusted target camera and other cameras as the at least one intermediate camera; the other cameras are cameras of the determined-position cameras other than the initial camera and the target camera.
8. The camera layout method according to any one of claims 4 to 6, wherein the layout manner of the cameras to be laid includes an installation angle of the cameras to be laid, a position of the cameras to be laid, and a field angle of the cameras to be laid; under the condition that the camera with the determined position only comprises the initial camera, if the sum of the horizontal coverage distances of the visual field of the camera with the determined position is not enough to cover the region to which the ladder belongs, determining the layout mode of the camera to be laid according to the layout mode of the camera with the determined position, the configuration information of the camera to be laid, the first distance, the preset shielding height and the information of the ladder, wherein the layout mode of the camera to be laid comprises the following steps:
determining the installation angle of a first middle camera according to the preset shielding height, the step height of the step, the step width of the step, the field angle of the initial camera and the installation angle of the initial camera; the first intermediate camera is any one of the cameras to be laid except the initial camera;
determining a position of the first intermediate camera and a field angle of the first intermediate camera according to the first distance, an inclination angle of the step, a step width of the step, a horizontal coverage distance of the field of view of the initial camera, and a mounting angle of the first intermediate camera.
9. A device is laid to camera of ladder scene, characterized by includes:
the acquisition module is used for acquiring the environmental information of the staircase scene and the configuration information of the cameras to be laid; the environment information comprises information of an area to be monitored in the ladder scene;
the first determining module is used for determining the layout mode of the initial camera according to the environment information and the configuration information of the initial camera; the initial camera is any one of the cameras to be laid;
the second determining module is used for determining the layout mode of at least one middle camera in the staircase scene according to the layout mode of the initial camera, the environment information and the configuration information of the camera to be laid; the sum of the field of view of the initial camera and the field of view of the at least one intermediate camera covers the area to which the stairs belong; the at least one middle camera is a camera in the cameras to be laid.
10. An electronic device, comprising:
a processor and a memory for storing processor-executable instructions; wherein the processor is configured to execute the executable instructions to implement the camera deployment method of any one of claims 1-8.
11. A computer-readable storage medium, wherein instructions in the computer-readable storage medium, when executed by a processor of a computer device, enable the computer device to perform the camera laying method of any one of claims 1-8.
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