CN113194263A - Gun and ball linkage control method and device, computer equipment and storage medium - Google Patents
Gun and ball linkage control method and device, computer equipment and storage medium Download PDFInfo
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- CN113194263A CN113194263A CN202110740709.5A CN202110740709A CN113194263A CN 113194263 A CN113194263 A CN 113194263A CN 202110740709 A CN202110740709 A CN 202110740709A CN 113194263 A CN113194263 A CN 113194263A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
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Abstract
The application relates to a gun and ball linkage control method and device, computer equipment and a storage medium. The gun and ball linkage mapping relation can be directly calculated, and linkage response speed is improved. The method comprises the following steps: acquiring a gunlock monitoring picture, and calculating a dome camera target state parameter corresponding to each pixel in the gunlock monitoring picture based on the gunlock state parameter corresponding to the gunlock monitoring picture; receiving a pixel selection instruction, and determining a target pixel on a gunlock monitoring picture according to the pixel selection instruction; and controlling the action of the ball manufacturing machine according to the ball manufacturing machine target state corresponding to the target pixel.
Description
Technical Field
The application relates to the technical field of video monitoring, in particular to a gun and ball linkage control method and device, computer equipment and a storage medium.
Background
With the development of video monitoring technology, intelligent tracking technology is used in more and more occasions, and current scenes need to be monitored in maritime transportation, transportation and various production and manufacturing occasions. At present, a gunlock and dome camera linkage system is generally adopted, a gunlock detects and tracks a target, and a dome camera shoots, wherein the accuracy and the linkage timeliness of the gunlock and the dome camera linkage directly influence the real-time tracking and shooting effects of the target.
In the aspect of ensuring the accuracy of gun-ball linkage, the currently adopted method is to perform multi-point calibration on a gun camera picture and a ball machine picture and realize the mapping relation between the gun camera picture and the ball machine picture by adopting a least square or curve fitting mode.
The method needs to set a proper reference point, and too many or too few reference points can cause the reduction of the linkage accuracy and timeliness.
Disclosure of Invention
In view of the above, it is necessary to provide a gun and ball linkage control method, device, computer device and storage medium for solving the above technical problems.
A gun and ball linkage control method, the method comprising:
acquiring a gunlock monitoring picture;
calculating a dome camera target state parameter corresponding to each pixel in the rifle bolt monitoring picture based on the rifle bolt state parameter corresponding to the rifle bolt monitoring picture;
receiving a pixel selection instruction, and determining a target pixel on the bolt machine monitoring picture according to the pixel selection instruction;
and controlling the action of the ball manufacturing machine according to the target state of the ball manufacturing machine corresponding to the target pixel.
In one embodiment, the bolt face state parameter includes a pixel size of the bolt face monitoring picture; the target state parameters of the dome camera comprise a target horizontal angle of the dome camera; the calculating of the target state parameters of the dome camera corresponding to the pixels in the bolt machine monitoring picture based on the bolt machine state parameters corresponding to the bolt machine monitoring picture comprises the following steps:
determining a central pixel of the bolt face monitoring picture based on the pixel size of the bolt face monitoring picture;
calculating the horizontal position difference between each pixel and the central pixel in the gunlock monitoring picture;
taking the horizontal angle of the gunlock corresponding to the central pixel as the current horizontal angle of the dome camera;
and calculating the target horizontal angle of the dome camera corresponding to each pixel according to the horizontal position difference and the horizontal field angle of the gun camera based on the current horizontal angle of the dome camera.
In one embodiment, the calculating, based on the current horizontal angle of the dome camera, a target horizontal angle of the dome camera corresponding to each pixel according to the horizontal position difference and the horizontal field angle of the rifle bolt includes:
calculating a target horizontal angle of the dome camera according to a target horizontal angle calculation model of the dome camera; the target horizontal angle calculation model of the dome camera is as follows:
PAN=centerP+(pixX-widthhalf)*(hView/2)/(widthhalf)；
the PAN is the target horizontal angle of the dome camera, the centerP is the current horizontal angle of the dome camera, pixX is the horizontal position of a pixel in the gun camera monitoring picture, widthhalf is the horizontal position of a central pixel of the gun camera, and hView is the horizontal field angle of the gun camera.
In one embodiment, the bolt face state parameter includes a pixel size of the bolt face monitoring picture; the target state parameters of the dome camera comprise a target pitch angle of the dome camera; the calculating of the target state parameters of the dome camera corresponding to the pixels in the bolt machine monitoring picture based on the bolt machine state parameters corresponding to the bolt machine monitoring picture comprises the following steps:
determining a central pixel of the bolt face monitoring picture based on the pixel size of the bolt face monitoring picture;
calculating the vertical position difference between each pixel and the central pixel in the gunlock monitoring picture;
taking the pitch angle of the gunlock corresponding to the central pixel as the current pitch angle of the dome camera;
and calculating the target pitch angle of the dome camera corresponding to each pixel according to the vertical position difference and the vertical field angle of the gun camera based on the current pitch angle of the dome camera.
In one embodiment, the calculating, based on the current pitch angle of the dome camera, a target pitch angle of the dome camera corresponding to each pixel according to the vertical position difference and the vertical field angle of the rifle bolt includes:
calculating the target pitch angle of the dome camera corresponding to each pixel according to the target pitch angle calculation model of the dome camera; the target pitch angle calculation model of the dome camera is as follows:
Tilt=centerT+(pixY-heighthalf)*( vView/2)/(heighthalf)；
wherein Tilt is the target pitch angle of the dome camera, centerT is the current pitch angle of the dome camera, pixY is the vertical position of a pixel in the bolt machine monitoring picture, heighthalf is the vertical position of a central pixel of the bolt machine, and vView is the vertical field angle of the bolt machine.
In one embodiment, the parameters of the goal state of the ball machine include a goal field angle of the ball machine, and the parameters of the goal state of the ball machine corresponding to the goal pixels are used for controlling actions of the ball machine, including:
calculating the target field angle of the dome camera according to the distance between the target pixel and the reference datum point in the gun camera monitoring picture;
and controlling the action of the dome camera according to the target horizontal angle, the target pitch angle and the target field angle of the dome camera corresponding to the target pixel.
In one embodiment, after the acquiring the bolt face monitoring picture, the method further includes:
acquiring a monitoring picture of the ball machine;
and adjusting the shooting direction of the dome camera to enable the monitoring picture of the dome camera and the monitoring picture of the gun camera to be consistent.
A rifle ball linkage control device, the device comprising:
the monitoring picture acquisition module is used for acquiring a rifle bolt monitoring picture;
the target state parameter calculation module is used for calculating target state parameters of the dome camera corresponding to each pixel in the bolt machine monitoring picture based on the bolt machine state parameters corresponding to the bolt machine monitoring picture;
the target pixel determining module is used for receiving a pixel selection instruction and determining a target pixel on the gunlock monitoring picture according to the pixel selection instruction;
and the ball machine control module is used for participating in numerical control ball machine control action according to the ball machine target state corresponding to the target pixel.
A computer device comprising a memory storing a computer program and a processor implementing the steps in the embodiment of the gun and ball linkage control method as described above when the processor executes the computer program.
A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor, implements the steps in the embodiment of the gun and ball linkage control method as described above.
According to the gun and ball linkage control method and device, the computer equipment and the storage medium, the target state parameters of the ball machine corresponding to each pixel in the gun machine monitoring picture are calculated on the basis of the gun machine state parameters corresponding to the gun machine monitoring picture by acquiring the gun machine monitoring picture; receiving a pixel selection instruction, and determining a target pixel on a gunlock monitoring picture according to the pixel selection instruction; and controlling the action of the ball manufacturing machine according to the ball manufacturing machine target state corresponding to the target pixel. The method can calculate the gun-ball linkage mapping relation without calibrating the horizontal angle and the pitch angle of the gun camera pixels and the dome camera, and improve the linkage response speed.
Drawings
FIG. 1 is a diagram of an exemplary implementation of a gun and ball linkage control method;
FIG. 2 is a schematic flow chart illustrating a gun and ball linkage control method according to an embodiment;
FIG. 3 is a schematic diagram of horizontal, pitch, and field angles in one embodiment;
FIG. 4 is a block diagram of a gun and ball linkage control device according to one embodiment;
FIG. 5 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The gun and ball linkage control method can be applied to the application environment shown in fig. 1. Wherein the terminal 101 communicates with the control center 102 via a network. Wherein, the terminal is a gun or a ball machine; the rifle bolt is a gun type camera which is one of monitoring cameras, the appearance is cuboid, the monitoring position is fixed, and only a certain monitoring position can be opposite to, so that the monitoring direction is limited, and an infrared lamp panel is generally arranged in the rifle bolt, so that the requirement of night vision is met; the ball machine, intelligence ball camera generally disposes cloud platform system, can pass through the horizontal vertical rotation of cloud platform system control ball machine in a long distance, also can control the zoom of camera lens, and the monitoring range of ball machine is far more than for the rifle bolt, generally can do 360 degrees rotations. The gunlock is a wide-angle lens and has distortion, so that the gunlock is generally required to be linked with a gun ball to enable the gunlock to look around, and the gun ball follows with details; the control center 102 may be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, and may be implemented by an independent server or a server cluster composed of a plurality of servers.
In one embodiment, as shown in fig. 2, a gun and ball linkage control method is provided, which is described by taking the method as an example applied to the control center 102 in fig. 1, and comprises the following steps:
step S201, acquiring a gunlock monitoring picture;
specifically, a real-time video stream is acquired according to a bolt flow address (a flow address, namely a URL address capable of acquiring a video stream), and a bolt monitoring picture can be acquired;
step S202, calculating a dome camera target state parameter corresponding to each pixel in the rifle bolt monitoring picture based on the rifle bolt state parameter corresponding to the rifle bolt monitoring picture;
the bolt state parameters refer to bolt states such as horizontal angle, pitch angle and field angle.
Specifically, a ball machine control interface is connected to obtain a ball machine monitoring picture; firstly, adjusting a horizontal angle, a pitch angle and a field angle of a dome camera by controlling a dome camera holder system to enable a monitoring picture of the dome camera to be consistent with a monitoring picture of a gun camera; acquiring the bolt state parameters corresponding to the bolt monitoring picture at the moment, wherein the bolt state parameters comprise the horizontal angle, the pitch angle and the field angle; and calculating a dome camera target state parameter corresponding to each pixel according to the urgency state parameters of a gun camera monitoring picture, wherein the dome camera target state parameters refer to that when the details of a certain position need to be checked, the pixel of the position is clicked, the dome camera needs to rotate to a proper direction to adjust the picture, so that the center of the detail compass picture of the position is enabled to be central, and the dome camera state parameters at the moment are called dome camera target state parameters and comprise a dome camera horizontal angle, a pitch angle and a view angle.
Step S203, receiving a pixel selection instruction, and determining a target pixel on the bolt machine monitoring picture according to the pixel selection instruction.
Specifically, when the operator needs to track a certain detail on the image, the operator clicks the target pixel on the bolt face monitoring image that has been adjusted to be consistent, and the control center 102 receives the pixel selection instruction and determines the target pixel on the bolt face monitoring image according to the instruction.
And step S204, controlling the action of the ball making machine according to the target state of the ball making machine corresponding to the target pixel.
Specifically, the target state parameters of the dome camera corresponding to the calculated target pixels are searched, and the dome camera is controlled to rotate through the target state parameters of the dome camera, so that the target pixels are called as the center of the monitoring picture.
In the embodiment, the target state parameters of the dome camera corresponding to each pixel in the gun camera monitoring picture are calculated based on the gun camera state parameters corresponding to the gun camera monitoring picture by acquiring the gun camera monitoring picture; receiving a pixel selection instruction, and determining a target pixel on a gunlock monitoring picture according to the pixel selection instruction; and controlling the action of the ball manufacturing machine according to the ball manufacturing machine target state corresponding to the target pixel. The method does not need to calibrate the gunlock pixels, the horizontal angle and the pitch angle of the dome camera, can directly calculate the gun-ball linkage mapping relation, and improves the linkage response speed.
In one embodiment, the bolt state parameter includes a pixel size of a bolt monitoring picture; the target state parameters of the dome camera comprise a target horizontal angle of the dome camera; the step S202 includes: determining a central pixel of the gunlock monitoring picture based on the pixel size of the gunlock monitoring picture; calculating the horizontal position difference between each pixel and a central pixel in the gunlock monitoring picture; taking the horizontal angle of the gun camera corresponding to the central pixel as the current horizontal angle of the dome camera; and calculating the target horizontal angle of the dome camera corresponding to each pixel according to the horizontal position difference and the horizontal field angle of the gun camera based on the current horizontal angle of the dome camera.
Wherein, the pixel size refers to the pixel width and height of the image; the horizontal angle is an included angle between the opposite direction of the camera and the true north direction; the field angle is an angle formed by two edges of the maximum range through which an object image of the detected object can pass through the lens, as shown in fig. 3, the angle of the field angle projected on the horizontal plane is a horizontal field angle, and the angle of the field angle projected on the vertical plane is a vertical field angle.
Specifically, according to the pixel size of a gun camera monitoring picture, the position coordinates of a central pixel of the gun camera monitoring picture are determined, and the horizontal position difference between each pixel and the central pixel in the gun camera monitoring picture is calculated; taking the horizontal angle of the gun camera corresponding to the current central pixel as the current horizontal angle centrP of the dome camera; and calculating the target horizontal angle of the dome camera corresponding to each pixel according to the horizontal position difference of each pixel and the horizontal field angle of the gun camera based on the current horizontal angle of the dome camera.
In the embodiment, the target horizontal angle of the ball machine corresponding to each pixel is calculated according to the size of the picture pixel, so that data bedding is provided for the subsequent control of the rotation of the ball machine.
In an embodiment, the calculating the target horizontal angle of the dome camera corresponding to each pixel according to the horizontal position difference and the horizontal field angle of the gun camera based on the current horizontal angle of the dome camera includes:
calculating a target horizontal angle of the dome camera according to the target horizontal angle calculation model of the dome camera; the target horizontal angle calculation model of the dome camera is as follows:
PAN=centerP+(pixX-widthhalf)*(hView/2)/(widthhalf) （1）
the PAN is a target horizontal angle of the dome camera, the centerP is a current horizontal angle of the dome camera, pixX is a horizontal position of a pixel obtained in a monitoring picture of the gun camera, widthhalf is a horizontal position of a central pixel of the gun camera, and hView is a horizontal field angle of the gun camera.
Specifically, the pixel horizontal angle at the center of the gun camera monitoring picture is used as the current horizontal angle of the dome camera, and the deviation angle of each pixel from the center position can be calculated through the horizontal position difference of each pixel of the gun camera monitoring picture reaching the pixel at the center of the image and the horizontal field angle corresponding to the pixel in the gun camera monitoring picture, so that the target horizontal angle of the dome camera corresponding to each pixel in the gun camera monitoring picture is calculated; the target horizontal angle of the dome camera is calculated as shown in the above formula (1).
According to the embodiment, the target horizontal angle of the dome camera corresponding to each pixel is calculated through the preset calculation model, the characteristic points do not need to be calibrated in advance, the calculation process is simplified, and the response speed of gun-ball linkage control is further improved.
In one embodiment, the bolt state parameters include a pixel size of a bolt monitoring picture; the target state parameters of the dome camera comprise a target pitch angle of the dome camera; the step S202 includes:
determining a central pixel of the gunlock monitoring picture based on the pixel size of the gunlock monitoring picture; calculating the vertical position difference between each pixel and a central pixel in the gunlock monitoring picture; taking the pitch angle of the gun camera corresponding to the central pixel as the current pitch angle of the dome camera; and based on the current pitch angle of the dome camera, calculating the target pitch angle of the dome camera corresponding to each pixel according to the vertical position difference and the vertical field angle of the gun camera.
Wherein, the pixel size refers to the pixel width and height of the image; the pitch angle is the angle between the direction the camera lens faces and the horizontal plane, as shown in fig. 3. The vertical field angle refers to the angle of the field angle projected on a vertical plane.
Specifically, according to the pixel size of a gun camera monitoring picture, the position coordinates of a central pixel of the gun camera monitoring picture are determined, and the vertical position difference between each pixel and the central pixel in the gun camera monitoring picture is calculated; taking the pitch angle of the gun camera corresponding to the current central pixel as the current pitch angle centrT of the dome camera; and based on the current pitch angle of the dome camera, calculating the target pitch angle of the dome camera corresponding to each pixel according to the vertical position difference of each pixel and the vertical field angle of the gun camera.
In the embodiment, the target pitch angle of the dome camera corresponding to each pixel is calculated according to the size of the picture pixel, so that data bedding is provided for the follow-up control of the rotation of the dome camera.
In an embodiment, the calculating a target pitch angle of the dome camera corresponding to each pixel according to the vertical position difference and the vertical field angle of the gun camera based on the current pitch angle of the dome camera includes:
calculating the target pitch angle of the dome camera corresponding to each pixel according to the target pitch angle calculation model of the dome camera; the calculation model of the target pitch angle of the dome camera is as follows:
Tilt=centerT+(pixY-heighthalf)*( vView/2)/(heighthalf) （2）
wherein Tilt is a target pitch angle of the dome camera, centerT is a current pitch angle of the dome camera, pixY is a vertical position of a pixel required in a monitoring picture of the gunlock, heighthalf is a vertical position of a central pixel of the gunlock, and vView is a vertical field angle of the gunlock.
Specifically, the pixel pitch angle of the center of the gun camera monitoring picture is taken as the current pitch angle of the dome camera, the deviation angle of each pixel from the center position can be solved through the vertical position difference of each pixel of the gun camera monitoring picture reaching the pixel of the center of the image and the vertical field angle corresponding to the pixel solved in the gun camera monitoring picture, and then the target pitch angle of the dome camera corresponding to each pixel in the gun camera monitoring picture is solved; the target pitch angle of the dome camera is calculated as shown in the above equation (2).
According to the embodiment, the target pitch angle of the dome camera corresponding to each pixel is calculated through the preset calculation model, the characteristic points do not need to be calibrated in advance, the calculation process is simplified, and the response speed of gun-ball linkage control is further improved.
Furthermore, in the prior art, calibration of gun-ball linkage needs to be performed at least at 20-30 points, images must have obvious characteristics, the calibration process is complex, the result precision after calibration fitting is low, the deviation is large, when the deployment scene reaches a certain number, the method consumes more calibration time and has no portability, the target state parameters can be quickly calculated through the preset calculation model of the horizontal angle and the pitch angle, excessive characteristic point calibration processes are not needed, the process is simplified, and the linkage control response speed is improved.
In an embodiment, the dome camera target state parameter includes a dome camera target viewing angle, and the step S204 includes: calculating a target field angle of the dome camera according to the distance between the target pixel and the reference datum point in the gun camera monitoring picture; and controlling the action of the dome camera according to the target horizontal angle, the target pitch angle and the target field angle of the dome camera corresponding to the target pixel.
Specifically, the target view angle of the dome camera is calculated according to the distance between the image pixel point and a reference datum point (for example, the central point below the image is set as the reference datum point, and the datum point can be flexibly selected according to actual needs), the distance is approximate, the larger the view angle is, the target horizontal angle of the dome camera and the target pitch angle of the dome camera are combined, and the movement of the dome camera is controlled so that the target pixel moves to the center of the picture.
The above-described embodiments provide advantages for controlling the operation of the ball game by setting an appropriate field angle.
In an embodiment, after the step S201, the method further includes: acquiring a monitoring picture of the ball machine; and adjusting the shooting direction of the dome camera to enable the monitoring picture of the dome camera and the monitoring picture of the gun camera to be consistent.
Specifically, the horizontal angle, the pitch angle and the field angle of the dome camera are adjusted by controlling the dome camera to enable the picture of the dome camera and the picture of the gun camera to tend to be consistent, the process is a coarse adjustment process, the picture positions of fixed feature points on the picture of the gun camera and the picture of the dome camera can be obtained for comparison, and the number of the same feature points is not more than 10.
According to the embodiment, the monitoring picture of the dome camera and the monitoring picture of the gun camera tend to be consistent through coarse adjustment, and a favorable premise is provided for subsequent calculation of a horizontal angle, a pitch angle and a visual field angle.
It should be understood that, although the steps in the flowchart of fig. 2 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 2 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.
In one embodiment, as shown in FIG. 4, there is provided a rifle ball linkage control 400 comprising: a monitoring picture obtaining module 401, a target state parameter calculating module 402, a target pixel determining module 403 and a dome camera control module 404, wherein:
a monitoring picture acquisition module 401, configured to acquire a bolt machine monitoring picture;
a target state parameter calculating module 402, configured to calculate, based on the bolt state parameter corresponding to the bolt monitoring picture, a dome target state parameter corresponding to each pixel in the bolt monitoring picture;
a target pixel determination module 403, configured to receive a pixel selection instruction, and determine a target pixel on the bolt surveillance screen according to the pixel selection instruction;
and the ball machine control module 404 is configured to participate in the numerical control ball machine control action according to the target state of the ball machine corresponding to the target pixel.
In one embodiment, the bolt state parameter includes a pixel size of the bolt monitoring picture; the target state parameters of the dome camera comprise a target horizontal angle of the dome camera; the target state parameter calculating module 402 is further configured to: determining a central pixel of the bolt face monitoring picture based on the pixel size of the bolt face monitoring picture; calculating the horizontal position difference between each pixel and the central pixel in the gunlock monitoring picture; taking the horizontal angle of the gunlock corresponding to the central pixel as the current horizontal angle of the dome camera; and calculating the target horizontal angle of the dome camera corresponding to each pixel according to the horizontal position difference and the horizontal field angle of the gun camera based on the current horizontal angle of the dome camera.
In an embodiment, the target state parameter calculating module 402 is further configured to:
calculating a target horizontal angle of the dome camera according to a target horizontal angle calculation model of the dome camera; the target horizontal angle calculation model of the dome camera is as follows:
PAN=centerP+(pixX-widthhalf)*(hView/2)/(widthhalf) （1）
the PAN is the target horizontal angle of the dome camera, the centerP is the current horizontal angle of the dome camera, pixX is the horizontal position of a pixel in the gun camera monitoring picture, widthhalf is the horizontal position of a central pixel of the gun camera, and hView is the horizontal field angle of the gun camera.
In one embodiment, the bolt state parameter includes a pixel size of the bolt monitoring picture; the target state parameters of the dome camera comprise a target pitch angle of the dome camera; the target state parameter calculating module 402 is further configured to:
determining a central pixel of the bolt face monitoring picture based on the pixel size of the bolt face monitoring picture; calculating the vertical position difference between each pixel and the central pixel in the gunlock monitoring picture; taking the pitch angle of the gunlock corresponding to the central pixel as the current pitch angle of the dome camera; and calculating the target pitch angle of the dome camera corresponding to each pixel according to the vertical position difference and the vertical field angle of the gun camera based on the current pitch angle of the dome camera.
In an embodiment, the target state parameter calculating module 402 is further configured to: calculating the target pitch angle of the dome camera corresponding to each pixel according to the target pitch angle calculation model of the dome camera; the target pitch angle calculation model of the dome camera is as follows:
Tilt=centerT+(pixY-heighthalf)*( vView/2)/(heighthalf) （2）
wherein Tilt is the target pitch angle of the dome camera, centerT is the current pitch angle of the dome camera, pixY is the vertical position of a pixel in the bolt machine monitoring picture, heighthalf is the vertical position of a central pixel of the bolt machine, and vView is the vertical field angle of the bolt machine.
In an embodiment, the ball control module 404 is further configured to: calculating the target field angle of the dome camera according to the distance between the target pixel and the reference datum point in the gun camera monitoring picture; and controlling the action of the dome camera according to the target horizontal angle, the target pitch angle and the target field angle of the dome camera corresponding to the target pixel.
In one embodiment, the system further comprises a shooting orientation adjusting unit, which is used for acquiring a monitoring picture of the dome camera; and adjusting the shooting direction of the dome camera to enable the monitoring picture of the dome camera and the monitoring picture of the gun camera to be consistent.
For specific definition of the gun and ball linkage control device, reference may be made to the above definition of the gun and ball linkage control method, which is not described herein again. The modules in the gun and ball linkage control device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 5. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a gun and ball linkage control method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, which includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the gun and ball linkage control method embodiments as described above.
In one embodiment, a computer readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps in the gun and ball linkage control method embodiments described above.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A gun and ball linkage control method is characterized by comprising the following steps:
acquiring a gunlock monitoring picture;
calculating a dome camera target state parameter corresponding to each pixel in the rifle bolt monitoring picture based on the rifle bolt state parameter corresponding to the rifle bolt monitoring picture;
receiving a pixel selection instruction, and determining a target pixel on the bolt machine monitoring picture according to the pixel selection instruction;
and controlling the action of the ball manufacturing machine according to the target state of the ball manufacturing machine corresponding to the target pixel.
2. The method of claim 1, wherein the bolt face state parameters include a pixel size of the bolt face monitor picture; the target state parameters of the dome camera comprise a target horizontal angle of the dome camera; the calculating of the target state parameters of the dome camera corresponding to the pixels in the bolt machine monitoring picture based on the bolt machine state parameters corresponding to the bolt machine monitoring picture comprises the following steps:
determining a central pixel of the bolt face monitoring picture based on the pixel size of the bolt face monitoring picture;
calculating the horizontal position difference between each pixel and the central pixel in the gunlock monitoring picture;
taking the horizontal angle of the gunlock corresponding to the central pixel as the current horizontal angle of the dome camera;
and calculating the target horizontal angle of the dome camera corresponding to each pixel according to the horizontal position difference and the horizontal field angle of the gun camera based on the current horizontal angle of the dome camera.
3. The method of claim 2, wherein the calculating the target horizontal angle of the dome camera corresponding to each pixel according to the horizontal position difference and the horizontal field angle of the rifle bolt based on the current horizontal angle of the dome camera comprises:
calculating a target horizontal angle of the dome camera according to a target horizontal angle calculation model of the dome camera; the target horizontal angle calculation model of the dome camera is as follows:
PAN=centerP+(pixX-widthhalf)*(hView/2)/(widthhalf)；
the PAN is the target horizontal angle of the dome camera, the centerP is the current horizontal angle of the dome camera, pixX is the horizontal position of a pixel in the gun camera monitoring picture, widthhalf is the horizontal position of a central pixel of the gun camera, and hView is the horizontal field angle of the gun camera.
4. The method of claim 1, wherein the bolt face state parameters include a pixel size of the bolt face monitor picture; the target state parameters of the dome camera comprise a target pitch angle of the dome camera; the calculating of the target state parameters of the dome camera corresponding to the pixels in the bolt machine monitoring picture based on the bolt machine state parameters corresponding to the bolt machine monitoring picture comprises the following steps:
determining a central pixel of the bolt face monitoring picture based on the pixel size of the bolt face monitoring picture;
calculating the vertical position difference between each pixel and the central pixel in the gunlock monitoring picture;
taking the pitch angle of the gunlock corresponding to the central pixel as the current pitch angle of the dome camera;
and calculating the target pitch angle of the dome camera corresponding to each pixel according to the vertical position difference and the vertical field angle of the gun camera based on the current pitch angle of the dome camera.
5. The method of claim 4, wherein calculating the target pitch angle of the dome camera corresponding to each pixel according to the vertical position difference and the vertical field angle of the gunlock based on the current pitch angle of the dome camera comprises:
calculating the target pitch angle of the dome camera corresponding to each pixel according to the target pitch angle calculation model of the dome camera; the target pitch angle calculation model of the dome camera is as follows:
Tilt=centerT+(pixY-heighthalf)*( vView/2)/(heighthalf)；
wherein Tilt is the target pitch angle of the dome camera, centerT is the current pitch angle of the dome camera, pixY is the vertical position of a pixel in the bolt machine monitoring picture, heighthalf is the vertical position of a central pixel of the bolt machine, and vView is the vertical field angle of the bolt machine.
6. The method of claim 1, wherein the dome target state parameters include a dome target field angle, and wherein the participating in the numerical dome control actions according to the dome target state corresponding to the target pixel comprises:
calculating the target field angle of the dome camera according to the distance between the target pixel and the reference datum point in the gun camera monitoring picture;
and controlling the action of the dome camera according to the target horizontal angle, the target pitch angle and the target field angle of the dome camera corresponding to the target pixel.
7. The method of any one of claims 1 to 6, wherein after the obtaining of the bolt face monitoring picture, the method further comprises:
acquiring a monitoring picture of the ball machine;
and adjusting the shooting direction of the dome camera to enable the monitoring picture of the dome camera and the monitoring picture of the gun camera to be consistent.
8. A rifle ball linkage control device, the device comprising:
the monitoring picture acquisition module is used for acquiring a rifle bolt monitoring picture;
the target state parameter calculation module is used for calculating target state parameters of the dome camera corresponding to each pixel in the bolt machine monitoring picture based on the bolt machine state parameters corresponding to the bolt machine monitoring picture;
the target pixel determining module is used for receiving a pixel selection instruction and determining a target pixel on the gunlock monitoring picture according to the pixel selection instruction;
and the ball machine control module is used for participating in numerical control ball machine control action according to the ball machine target state corresponding to the target pixel.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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