CN113115000B - Map generation method and device, electronic equipment and storage medium - Google Patents

Map generation method and device, electronic equipment and storage medium Download PDF

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Publication number
CN113115000B
CN113115000B CN202110390593.7A CN202110390593A CN113115000B CN 113115000 B CN113115000 B CN 113115000B CN 202110390593 A CN202110390593 A CN 202110390593A CN 113115000 B CN113115000 B CN 113115000B
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Prior art keywords
shooting
area
acquisition
target scene
information
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CN113115000A (en
Inventor
许文航
吴佳飞
张广程
闫俊杰
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Zhejiang Shangtang Technology Development Co Ltd
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Zhejiang Shangtang Technology Development Co Ltd
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Priority to CN202110390593.7A priority Critical patent/CN113115000B/en
Publication of CN113115000A publication Critical patent/CN113115000A/en
Priority to PCT/CN2021/125027 priority patent/WO2022217877A1/en
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
    • G09B29/003—Maps
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
    • 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
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
    • 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
    • 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

Abstract

The present disclosure relates to a map generation method and apparatus, an electronic device, and a storage medium, the method including: acquiring pose information and shooting visual field information which respectively correspond to a plurality of acquisition devices in a target scene; determining a shooting area of each acquisition device according to the pose information and the shooting visual field information of each acquisition device; and drawing the shooting area of each acquisition device on the electronic map of the target scene to generate a layout map of the target scene. The embodiment of the disclosure can provide the situation of the target scene for the user by laying the map.

Description

Map generation method and device, electronic equipment and storage medium
Technical Field
The present disclosure relates to the field of security technologies, and in particular, to a map generation method and apparatus, an electronic device, and a storage medium.
Background
In the security protection field, can set up a plurality of collection system in current scene to can carry out image acquisition in a plurality of position to current scene. For example, a plurality of cameras may be arranged in a garden or a street, and images may be taken by the plurality of cameras, thereby achieving the safety protection of the garden or the street.
Disclosure of Invention
The present disclosure provides a map generation technical solution.
According to an aspect of the present disclosure, there is provided a map generation method including:
acquiring pose information and shooting visual field information which respectively correspond to a plurality of acquisition devices in a target scene; determining a shooting area of each acquisition device according to the pose information and the shooting visual field information of each acquisition device; and drawing the shooting area of each acquisition device on the electronic map of the target scene to generate a distribution map of the target scene.
In one or more possible implementations, the method further includes: sending an acquisition request in a broadcasting mode so that the plurality of acquisition devices return the pose information and the shooting view information based on the acquisition request; or sending acquisition requests to the plurality of acquisition devices so that the plurality of acquisition devices return the pose information and the shooting view information based on the acquisition requests.
In one or more possible implementations, the pose information includes a geographic position and an orientation, and the capture field of view information includes a field of view angle; the determining the shooting area of each acquisition device according to the pose information and the shooting visual field information of each acquisition device comprises: determining a shooting angle range of the acquisition equipment according to the orientation of the acquisition equipment and the view angle; and determining the shooting area of each acquisition device according to the geographic position of the acquisition device and the shooting angle range.
In one or more possible implementations, the determining the shooting area of the acquisition device according to the geographic location of the acquisition device and the shooting angle range further includes: determining a fan-shaped area formed by taking the geographical position of the acquisition equipment as a vertex according to the geographical position of the acquisition equipment, the shooting angle range and the optimal shooting distance; and determining the fan-shaped area as a shooting area of the acquisition equipment.
In one or more possible implementations, the method further includes: determining a shooting blind area and/or a non-optimal shooting area of the target scene according to the shooting area of each acquisition device, wherein the non-optimal shooting area is an area exceeding the optimal shooting distances of the plurality of acquisition devices in the target scene; and prompting the shooting blind area and/or the non-optimal shooting area in the distribution map.
In one or more possible implementations, the method further includes: generating a rotation instruction based on the position information of the dead zone in the case that the dead zone is determined to exist; sending the rotation instruction to at least one of the plurality of acquisition devices to rotate the at least one acquisition device towards the dead zone.
In one or more possible implementations, the method further includes: generating a parameter adjusting instruction under the condition that the non-optimal shooting area is determined to exist; and sending the parameter adjusting instruction to at least one acquisition device in the plurality of acquisition devices so as to enlarge the shooting area of the at least one acquisition device.
According to an aspect of the present disclosure, there is provided a map generation method applied to an acquisition device, including:
acquiring current pose information and shooting visual field information;
and sending the pose information and the shooting view information to a server device, wherein the server device is used for determining a shooting area of each acquisition device according to the pose information and the shooting view information of each acquisition device, drawing the shooting area of each acquisition device on an electronic map of the target scene, and generating a layout map of the target area.
In one or more possible implementations, the method further includes: receiving a rotation instruction sent by server equipment; acquiring position information of a shooting blind area in the target scene according to the rotation instruction; and rotating towards the shooting blind area according to the position information of the shooting blind area.
In one or more possible implementations, the method further includes: receiving a parameter adjusting instruction sent by server equipment; and adjusting camera parameters according to the parameter adjusting instruction so as to enlarge the shooting area.
According to an aspect of the present disclosure, there is provided a map generating apparatus including:
the acquisition module is used for acquiring pose information and shooting visual field information which respectively correspond to the acquisition equipment in a target scene;
the determining module is used for determining a shooting area of each acquisition device according to the pose information and the shooting visual field information of each acquisition device;
and the generating module is used for drawing the shooting area of each acquisition device on an electronic map of a target scene to generate a distribution map of the target scene.
In one or more possible implementation manners, the apparatus further includes a first sending module, configured to send an acquisition request in a broadcast manner, so that the multiple acquisition devices return the pose information and the shooting view information based on the acquisition request; or sending acquisition requests to the plurality of acquisition devices so that the plurality of acquisition devices return the pose information and the shooting view information based on the acquisition requests.
In one or more possible implementations, the pose information includes a geographic position and an orientation, and the capture field of view information includes a field of view angle; the determining module is used for determining the shooting angle range of the acquisition equipment according to the orientation of the acquisition equipment and the view angle; and determining the shooting area of each acquisition device according to the geographic position of the acquisition device and the shooting angle range.
In one or more possible implementations, the shooting view information further includes an optimal shooting distance, and the determining module is configured to determine, according to the geographic position of the acquisition device, the shooting angle range, and the optimal shooting distance, a sector area formed by taking the geographic position of the acquisition device as a vertex; and determining the sector area as a shooting area of the acquisition equipment.
In one or more possible implementation manners, the determining module is further configured to determine a dead zone and/or a non-optimal shooting area of the target scene according to a shooting area of each acquisition device, where the non-optimal shooting area is an area in the target scene that exceeds optimal shooting distances of the plurality of acquisition devices; and prompting the shooting blind area and/or the non-optimal shooting area in the distribution map.
In one or more possible implementations, the apparatus further includes: the second sending module is used for generating a rotation instruction based on the position information of the shooting blind area under the condition that the shooting blind area is determined to exist; sending the rotation instruction to at least one of the plurality of acquisition devices to rotate the at least one acquisition device towards the dead zone.
In one or more possible implementations, the apparatus further includes: the third sending module is used for generating a parameter adjusting instruction under the condition that the non-optimal shooting area is determined to exist; and sending the parameter adjusting instruction to at least one acquisition device in the plurality of acquisition devices so as to enlarge the shooting area of the at least one acquisition device.
According to an aspect of the present disclosure, there is provided a map generating apparatus including:
the acquisition module is used for acquiring current pose information and shooting visual field information;
the sending module is used for sending the pose information and the shooting view information to a server device, wherein the server device is used for determining a shooting area of each acquisition device according to the pose information and the shooting view information of each acquisition device, drawing the shooting area of each acquisition device on an electronic map of a target scene, and generating a layout map of the target area.
In one or more possible implementations, the apparatus further includes: the rotating module is used for receiving a rotating instruction sent by the server-side equipment; acquiring the position information of a shooting blind area in the target scene according to the rotation instruction; and rotating towards the shooting blind area according to the position information of the shooting blind area.
In one or more possible implementations, the apparatus further includes: the adjusting module is used for receiving a parameter adjusting instruction sent by the server-side equipment; and adjusting camera parameters according to the parameter adjusting instruction so as to enlarge the shooting area.
According to an aspect of the present disclosure, there is provided an electronic device including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to invoke the memory-stored instructions to perform the above-described method.
According to an aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the above-described method.
In the embodiment of the disclosure, the pose information and the shooting view information corresponding to the multiple acquisition devices in the target scene can be acquired, and then the shooting area of each acquisition device is determined according to the pose information and the shooting view information of each acquisition device, so that the shooting area of each acquisition device can be drawn on the electronic map of the target scene, and the arrangement map of the target area is generated. Through the mode, the information of a plurality of acquisition devices in the target scene can be integrated, the information of a plurality of acquisition devices is effectively associated, the condition of the target scene can be visually provided for a user in real time through the map arrangement, the human resources of security personnel are saved, and effective support is provided for the safety protection of the target scene.
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 disclosure. Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure.
Fig. 1 shows a flow diagram of a map generation method according to an embodiment of the present disclosure.
Fig. 2 shows a scene diagram of a server device interacting with multiple acquisition devices according to an embodiment of the present disclosure.
Fig. 3 shows a flow diagram of a map generation method according to an embodiment of the present disclosure.
Fig. 4 shows a flowchart of an example of a map generation method according to an embodiment of the present disclosure.
Fig. 5 shows a schematic diagram of an example of laying out a map according to an embodiment of the present disclosure.
Fig. 6 illustrates a block diagram of a map generation apparatus according to an embodiment of the present disclosure.
Fig. 7 illustrates a block diagram of a map generation apparatus according to an embodiment of the present disclosure.
FIG. 8 shows a block diagram of an electronic device in accordance with an embodiment of the disclosure.
Fig. 9 shows a block diagram of an electronic device in accordance with an embodiment of the disclosure.
Detailed Description
Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C.
Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present disclosure.
The map generation scheme provided by the embodiment of the disclosure can be applied to scenes such as a security system, a multi-camera networking, edge nodes and the like. For example, in a wider scene such as a square, a garden, a classroom, etc., a plurality of cameras may be set, and by acquiring pose information and shooting view information of the plurality of cameras, a layout map in which shooting areas of the cameras in the scene are drawn may be generated in real time. In a security scene, a map layout pair scene can be utilized.
The map generation method provided by the embodiment of the present disclosure may be executed by a terminal device, a server, or other types of electronic devices, where the terminal device may be a User Equipment (UE), a mobile device, a User terminal, a cellular phone, a cordless phone, a Personal Digital Assistant (PDA), a handheld device, a computing device, an in-vehicle device, a wearable device, or the like. In some possible implementations, the map generation method may be implemented by a processor invoking computer readable instructions stored in a memory. Alternatively, the method may be performed by a server.
Fig. 1 is a flowchart illustrating a map generation method according to an embodiment of the present disclosure, and as shown in fig. 1, the map generation method is applicable to a server device, and includes:
and step S11, acquiring pose information and shooting view information respectively corresponding to the plurality of acquisition devices in the target scene.
In the embodiments of the present disclosure, a plurality of capturing devices may be disposed in the target scene. The capturing device may be a device having an image capturing function, for example, the capturing device may be a terminal device, a server, or the like having a shooting function, and each capturing device may shoot a target scene. A plurality of acquisition devices can communicate with each other, a camera networking can be formed, and information of different acquisition devices can be shared. The server-side device can acquire pose information and shooting view information respectively corresponding to the plurality of acquisition devices in the target scene, namely the pose information and the shooting view information of each acquisition device in the target scene. In some implementations, the server device may acquire pose information and shooting view information of each acquisition device from each acquisition device through a network. In some implementations, the server device may store at least part of the pose information and the shooting view information of each acquisition device in advance, for example, the server device may store the geographic position of each acquisition device in advance, and then acquire the pose information and the shooting view information from each acquisition device, where the information is other than the geographic position.
Here, the pose information may include a geographical position and an orientation, wherein the geographical position may indicate a position of the capturing device in an electronic map of the target scene, and the geographical position may be a latitude and longitude coordinate or a position coordinate in a coordinate system of the electronic map. The orientation can indicate the orientation of the acquisition equipment, each acquisition equipment can rotate within a preset angle range, the orientations are different, pictures shot by the acquisition equipment are also different, and the orientations can be expressed as geographical directions or directions under a coordinate system of an electronic map. The capture field of view information may indicate a capture field of view of the acquisition device, and the capture field of view information may include a field of view angle, which may be relative to an orientation of the acquisition device, e.g., based on the orientation of the acquisition device, the field of view angle may represent a range of angles from the orientation, e.g., 0 for the orientation of the acquisition device and (-30 °, 30 °), may indicate a capture field of view of the acquisition device within an angular range of ± 30 ° from the orientation of the acquisition device.
Here, the server device may be a control device for managing multiple collection devices, for example, a server, a control terminal, and the like, and the server device may summarize information of the multiple collection devices and issue some control instructions to the multiple collection devices. In some implementation manners, the server device may be any one of the plurality of collecting devices, so that information of the plurality of collecting devices can be collected by one of the plurality of collecting devices, and control over other collecting devices is realized. Thus, the method can be applied to various application scenes.
Fig. 2 shows a scene diagram of interaction of a server device and multiple acquisition devices according to an embodiment of the present disclosure. In some examples, for example, in a usage scenario of the edge device, the cloud device/central device (server device) may implement connection of each edge device (acquisition device), and the cloud device/central device may summarize information of a plurality of edge devices and issue a control instruction, such as a rotation instruction or a parameter adjustment instruction, to the plurality of edge devices (acquisition device 1 to acquisition device 5), so that an influence due to insufficient sensing capability of the edge device itself may be reduced, and effective association of information of each edge device may be implemented.
And step S12, determining the shooting area of each acquisition device according to the pose information and the shooting visual field information of each acquisition device.
In the embodiment of the disclosure, the server device may determine, according to the pose information and the shooting view information of each acquisition device, a region corresponding to a view that each acquisition device can shoot, where the region may be a shooting region of the acquisition device. In some implementations, the capturing area may be a rough area, for example, the geographical location of the capturing device may be used as a central point, a plurality of straight lines passing through the central point may be set, the straight lines may equally divide the target scene into a plurality of areas, and at least one area that may be located within the capturing view of the capturing device may be roughly determined according to the orientation and the view angle of the capturing device, and the areas may be used as the capturing area of the capturing device.
In some implementation manners, the shooting area corresponding to the shooting view of each acquisition device can also be accurately determined according to the pose information and the shooting view information of each acquisition device. The server device may determine the shooting angle range of the acquisition device according to the orientation and the view angle of the acquisition device, for example, the view angle may be transformed by using the orientation of the acquisition device, and if the angle corresponding to the orientation of the acquisition device is increased or decreased on the basis of the view angle, the shooting angle range of the acquisition device may be obtained, and if the orientation of the acquisition device is 90 ° (0 ° in due north), and the view angle is (-30 °, 30 °), the shooting angle range is (60 °, 120 °). The shooting angle range can be a range of the shooting visual field of the acquisition device corresponding to a geographic azimuth or a range corresponding to an azimuth in a target scene coordinate system. Further, the shooting area of each acquisition device may be determined according to the geographic position and the shooting angle range of the acquisition device, for example, two rays may be extracted by taking the geographic position of the acquisition device as a center and taking an azimuth angle formed by the shooting angle range as a side, and an area formed by the two rays may be determined as the shooting area of the acquisition device. By the method, the shooting area corresponding to each acquisition device can be determined more accurately.
Step S13, drawing the shooting area of each capturing device on the electronic map of the target scene, and generating a layout map of the target scene.
In the embodiment of the present disclosure, the shooting areas of the respective acquisition devices may be drawn on an electronic map of the target scene, for example, the shooting areas of the respective acquisition devices may be drawn on the electronic map through different colors or indication marks to generate a layout map of the target scene, and the shooting areas of the different acquisition devices may be distinguished through colors or indication marks. In some implementations, if there is overlap between different shooting areas, the overlapping areas where there is overlap may also be marked on the electronic map, for example, the overlapping areas may be marked by a different texture, color, or identification than the shooting areas.
The generated distribution map can be further displayed, so that the distribution condition of the target scene can be displayed in real time by the distribution map, a user can visually and quickly know the security state of the target area, and a basis is provided for the security protection of the target scene. In some implementation manners, the generated layout map can be sent to a webpage or a client, so that a user can check the layout map of the target scene by logging in the corresponding webpage or client, the user can conveniently and quickly know the layout state of the target scene, and layout dead angles and holes are reduced.
In some implementation manners, the server-side device can continuously and repeatedly acquire the pose information and the shooting view information of the multiple acquisition devices in the target scene periodically or aperiodically, so that the distribution map can be updated in real time according to the pose information and the shooting view information of the multiple acquisition devices in the target scene, and the security state of the target scene can be displayed in real time.
Here, the electronic map of the target scene may be a map established in a world coordinate system, a coordinate point in the electronic map may be represented as a latitude and longitude coordinate, and a geographic location of the acquisition device may also be a latitude and longitude coordinate, so that a shooting area of the acquisition device may be directly drawn on the electronic map. In some implementations, the electronic map may also be a map established in a relative coordinate system, and the coordinate points in the electronic map may be represented as relative coordinates in the relative coordinate system, in which case, if the geographic position of the acquisition device is a longitude and latitude coordinate, the geographic position of the acquisition device may be transformed into the relative coordinate system of the electronic map according to a coordinate transformation relationship between the relative coordinate system and a world coordinate system, and the shooting area of the acquisition device is further drawn in the electronic map.
According to the embodiment of the invention, the shooting areas of the plurality of acquisition devices can be drawn on the electronic map of the target scene through the pose information and the shooting view information of the plurality of acquisition devices, so that the distribution map of the target scene is obtained, and the safety protection of the target scene is realized. The acquisition device can be used as an edge node to be applied to an edge device scene, so that the information of each edge device can be effectively correlated, and compared with some schemes which are difficult to effectively utilize the information of the edge device due to insufficient perception capability of the edge device in the related art, the effective utilization of the information of the edge device can be enhanced.
In some implementations, in a case where the server device acquires pose information and shooting view information from multiple capture devices, the server device may send an acquisition request in a broadcast manner, so that the multiple capture devices return the pose information and the shooting view information based on the acquisition request. Or the server-side device may send an acquisition request to the multiple acquisition devices, so that the multiple acquisition devices return pose information and shooting view information based on the acquisition request.
Here, the acquisition device may monitor the server device when the server device sends the acquisition request in a broadcast manner, and return pose information and shooting view information of the acquisition device to the server device according to the acquisition request when the acquisition request sent by the server device is monitored. In this case, the server device may not need to store the device list of the acquisition device in advance. In some implementation manners, the server device may obtain an equipment list of the multiple acquisition devices in advance, then send an acquisition request according to the acquisition devices indicated in the equipment list, and the acquisition devices may return pose information and shooting view information of themselves to the server device when receiving the acquisition request. In this case, the acquisition device may not need to monitor the server device in real time.
In some implementations, a Global Navigation Satellite System (GNSS) and an electronic compass sensor may be configured in the acquisition device, so that the acquisition device may have the capability of sensing its own geographic location and orientation. The collecting device can obtain high-precision longitude and latitude coordinates through a global positioning system difference or static positioning algorithm. In some implementation manners, after the acquisition equipment in the camera networking is installed, the position of the acquisition equipment can not be changed any more, so that after the acquisition equipment is installed, the physical position of the acquisition equipment can be stored in the acquisition equipment or the server-side equipment. Correspondingly, the coordinates of the electronic map can also be longitude and latitude coordinates, so that the acquired position information and the position information of the electronic map can be unified, and the electronic map is convenient to use by other equipment.
In some implementations, the acquisition device determines the field angle and the optimal shooting distance for shooting according to the size, resolution, focal length, and other camera parameters of the photosensitive device. Under the condition that the shooting angles of the shooting and collecting cameras are opposite to the shooting distance within the optimal shooting distance, the imaging quality of the shooting and collecting cameras is high. The acquisition equipment can record the view angle and the optimal shooting distance of the acquisition equipment.
In the step S12, the server device may determine the shooting area of each capturing device according to the pose information and the shooting view information of each capturing device, in some implementations, the shooting view information may further include an optimal shooting distance, and when determining the shooting area of each capturing device, a sector area formed by taking the geographic position of the capturing device as a vertex may be determined according to the geographic position of the capturing device, the shooting angle range, and the optimal shooting distance, and the sector area may be determined as the shooting area of the capturing device.
Here, the optimal photographing distance may represent a maximum distance between a photographing object in a target scene and the capturing apparatus in a case where the capturing apparatus is clearly imaged. The acquisition equipment can clearly shoot the shot object within the optimal shooting distance, and the shot object can be a person or an object in a target scene. If the optimal shooting distance is exceeded, the shooting picture of the acquisition equipment may be blurred. Therefore, in order to improve the definition of the shot picture of the acquisition equipment, the optimal shooting distance of the acquisition equipment can be considered under the condition of determining the shooting area of each acquisition equipment. For example, a sector area may be formed by taking the geographic position of the capturing device as a center, the optimal shooting distance as a radius, and the shooting angle range as a vertex angle, and the sector area may be a shooting area of the capturing device. The shooting area determined by the mode considers the optimal shooting distance of each acquisition equipment, people or objects shot in the shooting area can clearly image, and therefore the definition of pictures shot by the acquisition equipment is improved.
In some implementations, in order to better provide the placement condition of the target scene for the user, a dead zone and/or a non-optimal shooting area of the target scene may be determined according to shooting areas of a plurality of acquisition devices, and the determined dead zone and/or the non-optimal shooting area are further prompted in the generated placement map. Here, the dead zone may be an area in the target scene that cannot be captured by any of the plurality of capturing apparatuses. The server-side equipment can determine the shooting blind areas which cannot be shot by the multiple acquisition equipment in the target scene according to the shooting angle range corresponding to the shooting area of each acquisition equipment and the shielding condition of buildings and infrastructure in the target scene on the shooting visual field of the acquisition equipment. Accordingly, the non-optimal photographing region may be a region in the target scene that exceeds the optimal photographing distance of the plurality of acquisition devices. The server-side equipment can determine the area which is located in the shooting fields of the plurality of acquisition equipment and exceeds the optimal shooting distance of the plurality of acquisition equipment according to the optimal shooting distance corresponding to the shooting area of each acquisition equipment and the shielding condition of buildings and infrastructure in the target scene on the shooting fields of the acquisition equipment. In the case that the shooting blind area and/or the non-optimal shooting area exist in the target scene, the shooting blind area and/or the non-optimal shooting area may be prompted in the placement map, for example, the shooting blind area and/or the non-optimal shooting area may be prompted through a graphic such as an arrow or a circle, or the shooting blind area and/or the non-optimal shooting area may be drawn in the placement map, so that the placement of the target area may be better provided to the user through the placement map.
In some examples, in a case where a dead zone is determined to exist in the target scene, the server device may generate a rotation instruction based on the location information of the dead zone and send the rotation instruction to at least one of the plurality of capturing devices to rotate the at least one capturing device toward the dead zone, thereby changing an orientation of the at least one capturing device. Here, the server-side device may store in advance a maximum shooting field of view of each capturing device, which is a maximum area that can be covered by a shooting area of the capturing device in a rotatable state of the capturing device, that is, a maximum area that can be reached by the shooting area of the capturing device with a change in orientation of the capturing device. In some implementations, the maximum shooting view of each acquisition device may also be stored in the respective acquisition device, and the server device may obtain the maximum shooting view of each acquisition device at each acquisition device. The server-side device may determine one or more acquisition devices with the maximum shooting view including the shooting blind area according to the position of the maximum shooting view of each acquisition device and the position of the shooting blind area, and then may send a rotation instruction to the determined one or more acquisition devices so as to rotate the determined one or more acquisition devices toward the shooting blind area. Therefore, the direction of the acquisition equipment can be adjusted under the condition that the shooting blind area exists in the target scene, and the shooting blind area is reduced.
Correspondingly, the acquisition equipment can receive the rotation instruction sent by the server-side equipment, then can acquire the position information of the shooting blind area in the target scene according to the rotation instruction, further can determine the rotation direction and the rotation angle according to the position information of the shooting blind area, and then rotates towards the shooting blind area according to the determined rotation direction and the determined rotation angle, so that the shooting blind area enters the shooting view field, and the existence of the shooting blind area is reduced.
In some examples, in a case where camera parameters of the capturing device are adjustable, an optimal photographing distance of the capturing device may be changed as the camera parameters are adjusted, and accordingly, a maximum photographing field of view of the capturing device may be changed according to the change of the optimal photographing distance. In some examples, the maximum capture field of view of the capture device may also be marked, for example, the maximum capture field of view of the capture device may be marked using a dashed line.
In some examples, in a case that it is determined that a non-optimal shooting area exists in a target scene, the server device may generate a parameter adjustment instruction, and send the parameter adjustment instruction to at least one of the multiple capturing devices, so as to expand a shooting area of the at least one capturing device, thereby reducing the existence of the non-optimal shooting area in the target scene, and improving a distribution effect.
Here, the parameter adjustment instruction may instruct the acquisition device to adjust camera parameters, and the camera parameters may include parameters such as a focal length, an aperture, an exposure value, and the like. After receiving the parameter adjusting instruction sent by the server-side equipment, the acquisition equipment can adjust the camera parameters according to the parameter adjusting instruction, so that the current shooting area is enlarged, the picture of the target scene shot by the acquisition equipment is clear as much as possible, and the existence of a non-optimal shooting area is reduced.
In some implementation manners, the server device may further determine, according to the images captured by the multiple capturing devices, a position of a capture object in the captured image in the target scene. In some implementations, a tracking instruction may also be sent to one or more acquisition devices according to a position of the photographic object in the target scene, so that the one or more acquisition devices in the target scene perform tracking shooting on the photographic object, and determine a motion estimation of the photographic object. The moving track of the shot object can be further marked in the layout map, so that more information can be provided through the layout map, and a user can conveniently view or evaluate and analyze the current security scheme.
According to the embodiment of the disclosure, shooting areas of a plurality of acquisition devices can be drawn on an electronic map of a target scene through pose information and shooting view information of the plurality of acquisition devices, so that a real-time visual layout map of the target scene is generated. The map layout can enable a user to visually and quickly know the layout condition of the current target scene, can facilitate the user to quickly identify shooting bugs in the target scene, such as shooting blind areas and/or non-optimal shooting areas, and is convenient for more targeted patrol according to the map layout, thereby improving the safety protection of the target scene.
Fig. 3 shows a flowchart of a map generation method according to an embodiment of the present disclosure, which is applied to an acquisition device. As shown in fig. 3, the map generation method includes:
and step S21, acquiring current pose information and shooting visual field information.
And step S22, sending the pose information and the shooting view information to a server device.
In the embodiment of the disclosure, the acquisition device may acquire an acquisition request sent by the server device in a broadcast manner, or the acquisition device may receive an acquisition request sent by the server device, where the acquisition request is used to request acquisition of current pose information and shooting view information. The acquisition device responds to the acquisition request, acquires current pose information and shooting visual field information, and then sends the current pose information and the shooting visual field information to the server-side device.
The server-side equipment can synthesize pose information and shooting visual field information of the multiple acquisition equipment, determine shooting areas of the acquisition equipment, draw the shooting areas of the acquisition equipment on an electronic map of a target scene, and generate a distribution map of the target area.
In some implementation manners, the acquisition device may further receive a rotation instruction sent by the server device, acquire position information of the shooting blind area in the target scene according to the received rotation instruction, and further rotate toward the shooting blind area according to the position information of the shooting blind area.
In some implementation manners, the acquisition device may further receive a parameter adjustment instruction sent by the server device, and further adjust the camera parameter according to the parameter adjustment instruction to enlarge the shooting area.
It should be noted that, the steps executed by the acquisition device may refer to the above description, and are not described herein again.
The map generation scheme provided by the present disclosure is explained below by way of an example. Fig. 4 shows a flowchart of an example of a map generation method according to an embodiment of the present disclosure, including the following steps:
step S301, the server device sends an acquisition request.
Sending the acquisition request can be realized by the following 2 ways: 1. sending an acquisition request in a broadcasting mode; 2. the server-side equipment sends an acquisition request to acquisition equipment in the equipment list by using a pre-acquired equipment list.
And S302, the acquisition equipment receives the acquisition request and returns pose information and shooting view information to the server-side equipment.
And step S303, the server side equipment receives the pose information and the shooting view information sent by each acquisition equipment.
And S304, the server side equipment determines the shooting area of each acquisition equipment according to the pose information and the shooting visual field information of each acquisition equipment.
Step S305, the server side equipment generates a layout map of the target scene in the shooting area of each acquisition equipment in the electronic map.
And step S306, the server device displays the generated layout map in the interface.
In some implementations, the server device may repeatedly send the acquisition request periodically or aperiodically, so as to acquire the pose information and the shooting view information sent by each acquisition device in real time, that is, the above steps S301 to S306 may be repeatedly performed to update the placement map in real time. In some implementation manners, the server device may send an acquisition request once, the acquisition request may carry an instruction for acquiring pose information and shooting view information in real time, each acquisition device may repeatedly return pose information and shooting view information to the server device periodically or aperiodically according to the instruction for acquiring the pose information and the shooting view information in real time in the acquisition request, and the server device may update the placement map in real time according to the pose information and the shooting view information of each acquisition device.
Fig. 5 shows a schematic diagram of an example of laying out a map according to an embodiment of the present disclosure. In this example, the shooting area takes into account the optimal shooting distance, and the target scene may be a campus. As shown in fig. 5, the shooting areas marked with the respective capturing devices in the map are laid out, different capturing devices can be distinguished by device numbers, 6 capturing devices are provided in the map, the capturing devices can be marked by numbers of 1-6, and 2 buildings (building 1 and building 2) are provided in the map. Each acquisition device has a corresponding shooting area (sector area). The placement map also marks shooting dead angles (shooting blind areas), wherein no shooting dead angle exists at the entrance of the park. It is also possible to indicate a non-optimal photographing region beyond the optimal photographing distance. For the case of variable focal length and variable orientation, the maximum shooting view of the acquisition device may also be marked by a dotted line in the placement map, for example, the dotted line area corresponding to the acquisition device 4 is the maximum shooting view of the acquisition device. The arrangement condition in target scenes such as parks, streets and the like can be dynamically displayed in real time through the arrangement map, and the safety of the target scenes is guaranteed.
It is understood that the above-mentioned method embodiments of the present disclosure can be combined with each other to form a combined embodiment without departing from the logic of the principle, which is limited by the space, and the detailed description of the present disclosure is omitted. Those skilled in the art will appreciate that in the above methods of the specific embodiments, the specific order of execution of the steps should be determined by their function and possibly their inherent logic.
In addition, the present disclosure also provides a map generation apparatus, an electronic device, a computer-readable storage medium, and a program, which can be used to implement any map generation method provided by the present disclosure, and the descriptions and corresponding descriptions of the corresponding technical solutions and the corresponding descriptions in the methods section are omitted for brevity.
Fig. 6 shows a block diagram of a map generation apparatus according to an embodiment of the present disclosure, which is applicable to a server device, as shown in fig. 6, the apparatus includes:
an obtaining module 41, configured to obtain pose information and shooting view information that correspond to multiple acquisition devices in a target scene respectively;
the determining module 42 is configured to determine a shooting area of each of the capturing devices according to the pose information and the shooting view information of each of the capturing devices;
and the generating module 43 is configured to draw the shooting area of each acquisition device on the electronic map of the target scene, and generate a layout map of the target scene.
In one or more possible implementations, the apparatus further includes: the first sending module is used for sending an acquisition request in a broadcasting mode so as to enable the plurality of acquisition devices to return the pose information and the shooting view information based on the acquisition request; or sending acquisition requests to the plurality of acquisition devices to enable the plurality of acquisition devices to return the pose information and the shooting visual field information based on the acquisition requests.
In one or more possible implementations, the pose information includes a geographic position and an orientation, and the capture field of view information includes a field of view angle; the determining module 42 is configured to determine a shooting angle range of the acquisition device according to the orientation of the acquisition device and the view angle; and determining the shooting area of each acquisition device according to the geographic position of the acquisition device and the shooting angle range.
In one or more possible implementations, the shooting view information further includes an optimal shooting distance, and the determining module 42 is configured to determine a sector area formed by taking the geographic position of the acquisition device as a vertex according to the geographic position of the acquisition device, the shooting angle range, and the optimal shooting distance; and determining the fan-shaped area as a shooting area of the acquisition equipment.
In one or more possible implementations, the determining module 42 is further configured to determine a dead zone and/or a non-optimal shooting area of the target scene according to a shooting area of each of the capturing devices, where the non-optimal shooting area is an area in the target scene that exceeds optimal shooting distances of the capturing devices; and prompting the shooting blind area and/or the non-optimal shooting area in the distribution map.
In one or more possible implementations, the apparatus further includes: the second sending module is used for generating a rotation instruction based on the position information of the shooting blind area under the condition that the shooting blind area is determined to exist; sending the rotation instruction to at least one of the plurality of collection devices to rotate the at least one collection device toward the dead zone.
In one or more possible implementations, the apparatus further includes: the third sending module is used for generating a parameter adjusting instruction under the condition that the non-optimal shooting area is determined to exist; and sending the parameter adjusting instruction to at least one acquisition device in the plurality of acquisition devices so as to enlarge the shooting area of the at least one acquisition device.
Fig. 7 shows a block diagram of a map generation apparatus according to an embodiment of the present disclosure, which is applicable to an acquisition device, as shown in fig. 7, the apparatus including:
an acquiring module 51, configured to acquire current pose information and shooting view information;
a sending module 52, configured to send the pose information and the shooting view information to a server device, where the server device is configured to determine a shooting area of each acquisition device according to the pose information and the shooting view information of each acquisition device, draw the shooting area of each acquisition device on an electronic map of a target scene, and generate a placement map of the target area.
In one or more possible implementations, the apparatus further includes: the rotating module is used for receiving a rotating instruction sent by the server-side equipment; acquiring the position information of a shooting blind area in the target scene according to the rotation instruction; and rotating towards the shooting blind area according to the position information of the shooting blind area.
In one or more possible implementations, the apparatus further includes: the adjusting module is used for receiving a parameter adjusting instruction sent by the server-side equipment; and adjusting the camera parameters according to the parameter adjusting instruction so as to enlarge the shooting area.
In some embodiments, functions of or modules included in the apparatus provided in the embodiments of the present disclosure may be used to execute the method described in the above method embodiments, and specific implementation thereof may refer to the description of the above method embodiments, and for brevity, will not be described again here.
Embodiments of the present disclosure also provide a computer-readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the above-mentioned method. The computer readable storage medium may be a non-volatile computer readable storage medium.
An embodiment of the present disclosure further provides an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to invoke the memory-stored instructions to perform the above-described method.
The disclosed embodiments also provide a computer program product comprising computer readable code, which when run on a device, a processor in the device executes instructions for implementing a map generation method as provided in any of the above embodiments.
The disclosed embodiments also provide another computer program product for storing computer readable instructions, which when executed cause a computer to perform the operations of the map generation method provided by any of the above embodiments.
The electronic device may be provided as a terminal, server, or other form of device.
FIG. 8 shows a block diagram of an electronic device in accordance with an embodiment of the disclosure. For example, the electronic device 800 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, or the like terminal.
Referring to fig. 8, electronic device 800 may include one or more of the following components: processing component 802, memory 804, power component 806, multimedia component 808, audio component 810, input/output (I/O) interface 812, sensor component 814, and communication component 816.
The processing component 802 generally controls overall operation of the electronic device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing components 802 may include one or more processors 820 to execute instructions to perform all or a portion of the steps of the methods described above. Further, the processing component 802 can include one or more modules that facilitate interaction between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate interaction between the multimedia component 808 and the processing component 802.
The memory 804 is configured to store various types of data to support operations at the electronic device 800. Examples of such data include instructions for any application or method operating on the electronic device 800, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 804 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
The power supply component 806 provides power to the various components of the electronic device 800. The power components 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the electronic device 800.
The multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and a user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the electronic device 800 is in an operation mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.
The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a Microphone (MIC) configured to receive external audio signals when the electronic device 800 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 804 or transmitted via the communication component 816. In some embodiments, audio component 810 also includes a speaker for outputting audio signals.
The I/O interface 812 provides an interface between the processing component 802 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.
The sensor assembly 814 includes one or more sensors for providing various aspects of state assessment for the electronic device 800. For example, the sensor assembly 814 may detect an open/closed state of the electronic device 800, the relative positioning of components, such as a display and keypad of the electronic device 800, the sensor assembly 814 may also detect a change in the position of the electronic device 800 or a component of the electronic device 800, the presence or absence of user contact with the electronic device 800, orientation or acceleration/deceleration of the electronic device 800, and a change in the temperature of the electronic device 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 814 may also include a light sensor, such as a Complementary Metal Oxide Semiconductor (CMOS) or Charge Coupled Device (CCD) image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
The communication component 816 is configured to facilitate wired or wireless communication between the electronic device 800 and other devices. The electronic device 800 may access a wireless network based on a communication standard, such as a wireless network (WiFi), a second generation mobile communication technology (2G) or a third generation mobile communication technology (3G), or a combination thereof. In an exemplary embodiment, the communication component 816 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the electronic device 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described methods.
In an exemplary embodiment, a non-transitory computer-readable storage medium, such as the memory 804, is also provided that includes computer program instructions executable by the processor 820 of the electronic device 800 to perform the above-described methods.
Fig. 9 shows a block diagram of an electronic device in accordance with an embodiment of the disclosure. For example, the electronic device 1900 may be provided as a server. Referring to fig. 9, electronic device 1900 includes a processing component 1922 further including one or more processors and memory resources, represented by memory 1932, for storing instructions, e.g., applications, executable by processing component 1922. The application programs stored in memory 1932 may include one or more modules that each correspond to a set of instructions. Further, the processing component 1922 is configured to execute instructions to perform the above-described method.
The electronic device 1900 may also include a power component 1926 configured to perform power management of the electronic device 1900, a wired or wireless network interface 1950 configured to connect the electronic device 1900 to a network, and an input/output (I/O) interface 1958. The electronic device 1900 may operate based on an operating system, such as the Microsoft Server operating system (Windows Server), stored in the memory 1932TM) Apple Inc. of the present application based on the graphic user interface operating System (Mac OS X)TM) Multi-user, multi-process computer operating system (Unix)TM) Free and open native code Unix-like operating System (Linux)TM) Open native code Unix-like operating System (FreeBSD)TM) Or the like.
In an exemplary embodiment, a non-transitory computer readable storage medium, such as the memory 1932, is also provided that includes computer program instructions executable by the processing component 1922 of the electronic device 1900 to perform the above-described methods.
The present disclosure may be systems, methods, and/or computer program products. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for causing a processor to implement various aspects of the present disclosure.
The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but is not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.
The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device over a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.
Computer program instructions for carrying out operations of the present disclosure may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, the electronic circuitry that can execute the computer-readable program instructions implements aspects of the present disclosure by utilizing the state information of the computer-readable program instructions to personalize the electronic circuitry, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA).
Various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). 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.
The computer program product may be embodied in hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied in a computer storage medium, and in another alternative embodiment, the computer program product is embodied in a Software product, such as a Software Development Kit (SDK) or the like.
Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (13)

1. A map generation method, comprising:
acquiring pose information and shooting visual field information which respectively correspond to a plurality of acquisition devices in a target scene;
determining a shooting area of each acquisition device according to the pose information and the shooting visual field information of each acquisition device;
drawing a shooting area of each acquisition device on an electronic map of the target scene to generate a distribution map of the target scene;
determining a shooting blind area and/or a non-optimal shooting area of the target scene according to the shooting area of each acquisition device, wherein the shooting blind area is an area which cannot be shot by the acquisition devices in the target scene, and the non-optimal shooting area is an area which exceeds the optimal shooting distance of the acquisition devices in the target scene;
and prompting the shooting blind area and/or the non-optimal shooting area in the distribution map.
2. The method of claim 1, further comprising:
sending an acquisition request in a broadcasting mode so that the plurality of acquisition devices return the pose information and the shooting view information based on the acquisition request; alternatively, the first and second electrodes may be,
sending acquisition requests to the plurality of acquisition devices to enable the plurality of acquisition devices to return the pose information and the shooting visual field information based on the acquisition requests.
3. The method according to claim 1 or 2, characterized in that the pose information includes a geographical position and orientation, the photographing view information includes a view angle; the determining the shooting area of each acquisition device according to the pose information and the shooting visual field information of each acquisition device comprises:
determining the shooting angle range of the acquisition equipment according to the orientation of the acquisition equipment and the view angle;
and determining the shooting area of each acquisition device according to the geographic position of the acquisition device and the shooting angle range.
4. The method of claim 3, wherein the shooting view information further comprises an optimal shooting distance, and wherein determining the shooting area of the acquisition device according to the geographic location of the acquisition device and the shooting angle range comprises:
determining a fan-shaped area formed by taking the geographical position of the acquisition equipment as a vertex according to the geographical position of the acquisition equipment, the shooting angle range and the optimal shooting distance;
and determining the fan-shaped area as a shooting area of the acquisition equipment.
5. The method of claim 1, further comprising:
generating a rotation instruction based on the position information of the dead zone in the case that the dead zone is determined to exist;
sending the rotation instruction to at least one of the plurality of acquisition devices to rotate the at least one acquisition device towards the dead zone.
6. The method of claim 1, further comprising:
generating a parameter adjusting instruction under the condition that the non-optimal shooting area is determined to exist;
and sending the parameter adjusting instruction to at least one acquisition device in the plurality of acquisition devices so as to enlarge the shooting area of the at least one acquisition device.
7. A map generation method is applied to acquisition equipment and comprises the following steps:
acquiring current pose information and shooting visual field information;
the pose information and the shooting view information are sent to a server device, wherein the server device is used for determining a shooting area of each acquisition device according to the pose information and the shooting view information of each acquisition device, drawing the shooting area of each acquisition device on an electronic map of a target scene to generate a distribution map of the target area, determining a shooting blind area and/or a non-optimal shooting area of the target scene according to the shooting area of each acquisition device, wherein the shooting blind area is an area which cannot be shot by a plurality of acquisition devices in the target scene, the non-optimal shooting area is an area which exceeds the optimal shooting distances of the plurality of acquisition devices in the target scene, and the shooting blind area and/or the non-optimal shooting area are prompted in the distribution map.
8. The method of claim 7, further comprising:
receiving a rotation instruction sent by server equipment;
acquiring position information of a shooting blind area in the target scene according to the rotation instruction;
and rotating towards the shooting blind area according to the position information of the shooting blind area.
9. The method of claim 7, further comprising:
receiving a parameter adjusting instruction sent by server-side equipment;
and adjusting camera parameters according to the parameter adjusting instruction so as to enlarge the shooting area.
10. An image processing apparatus characterized by comprising:
the acquisition module is used for acquiring pose information and shooting visual field information which respectively correspond to the acquisition equipment in a target scene;
the determining module is used for determining a shooting area of each acquisition device according to the pose information and the shooting visual field information of each acquisition device;
the generating module is used for drawing the shooting area of each acquisition device on the electronic map of the target scene to generate a distribution map of the target scene;
the determining module is further configured to determine a shooting blind area and/or a non-optimal shooting area of the target scene according to a shooting area of each acquisition device, where the shooting blind area is an area that cannot be shot by the plurality of acquisition devices in the target scene, and the non-optimal shooting area is an area that exceeds an optimal shooting distance of the plurality of acquisition devices in the target scene; and prompting the shooting blind area and/or the non-optimal shooting area in the distribution map.
11. An image processing apparatus characterized by comprising:
the acquisition module is used for acquiring current pose information and shooting visual field information;
a sending module, configured to send the pose information and the shooting view information to a server device, the server-side equipment is used for determining the shooting area of each acquisition equipment according to the pose information and the shooting visual field information of each acquisition equipment, drawing the shooting area of each acquisition device on an electronic map of a target scene to generate a layout map of the target area, determining a shooting blind area and/or a non-optimal shooting area of the target scene according to the shooting area of each acquisition device, the shooting blind area is an area which cannot be shot by a plurality of acquisition equipment in the target scene, the non-optimal shooting area is an area which exceeds the optimal shooting distances of the plurality of acquisition devices in the target scene, and the shooting blind area and/or the non-optimal shooting area are/is prompted in the distribution map.
12. An electronic device, comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to invoke the memory-stored instructions to perform the method of any of claims 1 to 6 or to perform the method of any of claims 7 to 9.
13. A computer readable storage medium having computer program instructions stored thereon, which when executed by a processor implement the method of any one of claims 1 to 6 or the method of any one of claims 7 to 9.
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