CN113691720B - Focusing method and device of laser holder camera, storage medium and equipment - Google Patents
Focusing method and device of laser holder camera, storage medium and equipment Download PDFInfo
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Abstract
The embodiment of the application discloses a focusing method, a focusing device, a storage medium and equipment of a laser pan-tilt camera. The method comprises the following steps: if a zoom focusing trigger event is detected, acquiring adjusted current field angle data; determining laser angle data according to the field angle data and/or the monitoring distance; determining picture exposure weight according to the laser angle data; and, adjusting the aperture size; and determining the focusing weight of the current picture, and triggering focusing operation on the current picture according to the focusing weight. By executing the technical scheme, the purpose of improving the night focusing effect of the laser cradle head camera can be achieved.
Description
Technical Field
The embodiment of the application relates to the technical field of image processing, in particular to a focusing method, a focusing device, a storage medium and a device of a laser pan-tilt camera.
Background
With rapid development of technology, video cameras, which are main stream equipment for live-action shooting and monitoring, have been increasingly used in life of people. Taking a pan-tilt camera as an example, the pan-tilt camera not only can realize seamless switching of multi-scene monitoring, but also can realize ultra-long-distance monitoring, especially monitoring of open scenes and high-altitude monitoring. The cradle head camera is provided with self-contained light supplementing equipment, so that the monitoring of a certain range can be realized in a black-painted scene, but the light is scattered and the intensity is insufficient under the condition that the light supplementing equipment shoots in a long distance, so that the problem that the picture shot by the cradle head camera is lost in detail under a long-focus state is solved. Therefore, in a specific situation, how to ensure the light supplementing effect, so that the focusing effect of the pan-tilt camera is better, becomes a technical problem to be solved by those skilled in the art.
Disclosure of Invention
The embodiment of the application provides a focusing method, a focusing device, a storage medium and a device of a laser pan-tilt camera, which can achieve the purpose of improving the night focusing effect of the laser pan-tilt camera.
In a first aspect, an embodiment of the present application provides a focusing method of a laser pan-tilt camera, where the method includes:
if a zoom focusing trigger event is detected, acquiring adjusted current field angle data;
determining laser angle data according to the field angle data and/or the monitoring distance;
determining picture exposure weight according to the laser angle data; and, adjusting the aperture size;
and determining the focusing weight of the current picture, and triggering focusing operation on the current picture according to the focusing weight.
Further, the determining the focus weight of the current picture includes:
determining the focusing weight of the current picture according to a predetermined focusing weight template; or,
and determining the focusing weight of the current picture according to the laser angle data and the distance between the pixel point and the central pixel point in the current picture.
Further, after adjusting the aperture size, the method further comprises:
and calculating a fog evaluation value of the current picture, and if the fog evaluation value exceeds the optimal evaluation value, increasing fog penetration intensity or contrast so that the fog evaluation value is smaller than or equal to the optimal evaluation value.
Further, determining laser angle data according to the field angle data and the monitoring distance includes:
the following formula is adopted for calculation:
wherein delta is laser angle data; lambda is a coefficient; θ i Is the angle of view data; h is the installation height of the laser pan-tilt camera; alpha is the elevation angle of the equipment of the laser cradle head camera, wherein alpha is more than or equal to 0 degree and less than or equal to 90 degrees; b is a constant; sigma is a constant.
Further, determining the frame exposure weight according to the laser angle data includes:
obtaining a distance value between a current pixel point and a picture center point;
and determining the picture exposure weight according to the laser angle data and the distance value.
Further, determining the frame exposure weight according to the laser angle data includes:
the following formula is adopted for calculation:
wherein g 1 (i, j) is exposure weight after adjusting the laser angle data; g is exposure weight before adjusting laser angle data; l (i, j) is the distance value between the current pixel point and the center point of the picture; delta is laser angle data; m is a constant; sigma is a constant;
further, triggering a focusing operation on the current picture includes:
determining an adopted filter according to the relation between the laser angle data and a preset laser angle data threshold value;
the sharpness evaluation value is determined based on the statistical value of the employed filter.
Further, determining the filter according to the relation between the laser angle data and the preset laser angle data threshold value comprises:
wherein FV1 is a low-pass filter sharpness evaluation value; FV2 is the high pass filter sharpness evaluation value; delta is laser angle data; θ i Is the angle of view data; δ1, δ2 are laser angle data thresholds.
In a second aspect, an embodiment of the present application provides a focusing device of a laser pan-tilt camera, where the device includes:
the view angle data acquisition module is used for acquiring the adjusted current view angle data if the zoom focusing trigger event is detected;
the laser angle data acquisition module is used for determining laser angle data according to the field angle data and/or the monitoring distance;
the picture control module is used for determining picture exposure weight according to the laser angle data; and, adjusting the aperture size;
and the focusing operation triggering module is used for determining the focusing weight of the current picture and triggering the focusing operation to the current picture according to the focusing weight.
In a third aspect, embodiments of the present application provide a computer readable storage medium having a computer program stored thereon, which when executed by a processor, implements a focusing method of a laser cradle head camera according to embodiments of the present application.
In a fourth aspect, an embodiment of the present application provides an apparatus, including a memory, a processor, and a computer program stored on the memory and executable by the processor, where the processor executes the computer program to implement a focusing method of a laser pan-tilt camera according to an embodiment of the present application.
According to the technical scheme provided by the embodiment of the application, if the zoom focusing trigger event is detected, the adjusted current field angle data is obtained; determining laser angle data according to the field angle data and/or the monitoring distance; determining picture exposure weight according to the laser angle data; and, adjusting the aperture size; and determining the focusing weight of the current picture, and triggering focusing operation on the current picture according to the focusing weight. By adopting the technical scheme provided by the application, the purpose of improving the night focusing effect of the laser holder camera can be achieved.
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Fig. 1 is a flowchart of a focusing method of a laser pan-tilt camera provided in an embodiment of the present application;
fig. 2 is a schematic diagram of a focusing flow of a laser pan-tilt camera according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a focusing device of a laser pan-tilt camera according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an apparatus according to an embodiment of the present application.
Detailed Description
The present application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present application are shown in the drawings.
Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts steps as a sequential process, many of the steps may be implemented in parallel, concurrently, or with other steps. Furthermore, the order of the steps may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Fig. 1 is a flowchart of a focusing method of a laser pan-tilt camera provided in an embodiment of the present application, where the embodiment is applicable to a situation where the laser pan-tilt camera shoots at night, and the method may be performed by a focusing device of the laser pan-tilt camera provided in the embodiment of the present application, where the device may be implemented by software and/or hardware, and may be integrated into a device for a laser pan-tilt camera or the like.
As shown in fig. 1, the focusing method of the laser pan-tilt camera includes:
s110, if the zoom focusing trigger event is detected, acquiring the adjusted current field angle data.
The trigger event of zoom focusing may be an event when it is detected that the definition of the current picture does not meet a preset standard. That is, whether to directly trigger the variable magnification focusing or not can be determined according to the definition of the picture.
In this embodiment, the current angle of view data may be the size of the angle of view of the camera, which may be related to the magnification of the current lens, the larger the magnification, the smaller the angle of view, and vice versa. Therefore, the angle of view data at each magnification of the lens may be written into the camera configuration in advance, so that it is possible to determine that the camera acquires the current angle of view in real time by acquiring the magnification of the current lens.
In this embodiment, the sharpness of the current picture may include factors such as the picture texture and details. For example, the current picture is sufficiently clear, then the pictureThe details of (2) are sufficiently numerous and the texture is sufficiently clear, in which case the focusing effect is generally good. Therefore, the sharpness threshold value can be preset and denoted as F thr And taking the definition threshold value as a basis for judging whether the focusing operation is directly triggered. I.e. if the threshold is exceeded, the focusing operation may be triggered directly, if not clear enough, further adjustments are needed. Wherein the threshold may be determined from actual environmental measurements. There are many sharpness evaluation functions, where a relatively simple energy gradient function can be used for evaluation:
where f (x, y) represents the gray value of the pixel point (x, y), and m and n represent the horizontal and vertical total pixels, respectively.
Since the sharpness evaluation value may be affected by noise and the interference to focusing is also large when the noise ratio is large, a noise threshold may be employed to exclude the influence of noise on sharpness. Also, because the larger the gain is, the more obvious the noise is, we set a gain threshold G again thr As a noise constraint. When the picture is stable, calculating the definition evaluation value of the current picture, and recording as F cur . When F cur ≥F thr When, and the current gain is less than the gain threshold G thr The current picture is considered to be able to guarantee the focusing effect, and the focusing is directly triggered. Otherwise, some preprocessing operations are preferentially performed on the picture.
The subsequent steps of the scheme provided by the embodiment can be executed in the preprocessing operation process, and the focusing capability of the camera under the condition of low illumination can be improved by executing the corresponding steps, so that the purpose of improving the shooting effect of the camera is achieved.
S120, determining laser angle data according to the view angle data and/or the monitoring distance.
Among them, the angle-of-view data has been mentioned above, and the monitoring distance may be the distance from the center position in the monitored screen to the camera.
Here, the laser pan-tilt camera adopts laser to carry out the light filling lamp, and when laser angle data increased, laser diverged, the light filling scope increased, but the light filling intensity weakens to some extent. Conversely, if the laser angle data is reduced, the laser is converged, the light supplementing range is reduced, but the light supplementing intensity is enhanced. In addition, since the intensity of the laser light is reduced due to distance factors, dust shielding factors, and the like when the shooting distance is long, the shooting distance may also be a factor in determining the laser angle data in this embodiment.
Because the focusing effect is greatly influenced by the picture details and the contrast, if the picture contrast is low or the details are unclear, the noise is large, and the like, the focusing effect is directly influenced, so that the number of times of unfocused is increased. The details are unclear and the noise is much, so that the light quantity of the equipment is reduced due to insufficient light supplement under long distance, and the signal to noise ratio is greatly reduced.
In this embodiment, optionally, determining the laser angle data according to the field angle data and the monitoring distance includes:
the following formula is adopted for calculation:
wherein delta is laser angle data; lambda is a coefficient; θ i Is the angle of view data; h is the installation height of the laser pan-tilt camera; alpha is the elevation angle of the equipment of the laser cradle head camera, wherein alpha is more than or equal to 0 degree and less than or equal to 90 degrees; b is a constant; sigma is a constant.
In this scheme, there is certain relation in laser instrument angle and camera's angle of view and monitoring distance, along with the increase of monitoring distance, laser instrument energy is weakening, in order to guarantee focusing effect, needs to reduce the angle of laser instrument as far as possible when long distance control to guarantee that energy is more concentrated, the effect is better. Also, the lens tends to have a phenomenon of decreasing the amount of light entering at a large magnification, so that it is necessary to obtain more amount of light entering by narrowing the laser angle, which is smaller than the angle of view of the apparatus.
In the above formula, θ i The larger the size of the container,
the larger the delta is, the closer the delta is to lambda theta i The method comprises the steps of carrying out a first treatment on the surface of the The larger the h is, the more,
the closer to 1, the closer delta is to (λ -b) θi. That is, the larger the angle of view, the larger the laser angle, and the maximum achievable angle of view is 0.9 times; the farther the distance, the smaller the laser angle, which is at least 0.8 times the field angle. It will be appreciated that the multiple values provided above are examples and may be adapted to the actual use.
Besides the control mode of the formula, the laser angle can be related to the field angle only or the monitoring distance only, and the laser adjustment angle can also be related to the field angle and the monitoring distance in a fixed relationship. The specific association may be determined through experimentation.
S130, determining picture exposure weight according to the laser angle data; and adjusting the aperture size.
The picture exposure weight may be an exposure weight coefficient for each pixel point, each region, or the whole picture of the picture. For example, in the current picture, the exposure weight of the middle position can be adjusted to be high, and the exposure weight of the surrounding positions can be adjusted to be relatively low, so that the image information of the middle position of the picture can be focused more in the exposure process.
The aperture size is a parameter of the camera during shooting, and can be used for adjusting the light incoming quantity. In this scheme, since adjusting the aperture can have the effect of reducing the stray light interference, thereby improving the focusing accuracy, the mode of adjusting the aperture size can be to determine the aperture size according to the average brightness of the picture after the weight adjustment and the average brightness of the picture before the adjustment.
In another possible embodiment, the optimal aperture under different multiplying power can be obtained by actual measurement, and then aperture adjustment is performed according to the current multiplying power.
Specifically, when exposure is adjusted, the aperture is preferentially narrowed to an optimal value, and the optimal value can be obtained in a specification of the lens, and corresponds to an optimal aperture value under different multiplying powers, and can also be obtained through actual measurement. Because the excessive aperture leads to the flare to be obvious on one hand, on the other hand, the image is also virtual, the definition is lost, and the definition is further influenced. When the aperture is reduced to a proper value (can be obtained by actual measurement), other exposure factors are adjusted according to the exposure line until the brightness of the picture is in an optimal range, and the gain is adjusted preferentially.
In this embodiment, optionally, determining the frame exposure weight according to the laser angle data includes: obtaining a distance value between a current pixel point and a picture center point; and determining the picture exposure weight according to the laser angle data and the distance value. It can be understood that the distance between the center point of the frame and the pixel point can be used as one of the limiting factors of the exposure weight of the pixel point frame.
In a possible embodiment, the picture exposure weight of the current pixel point may also be determined only based on the distance value between the pixel point and the picture center point. The advantage of this arrangement is that the exposure weight template can be directly applied for use without calculation. The exposure weight value of each pixel point can be determined according to the actual shooting requirement under the general condition.
According to the scheme, the distance between each pixel point in the current picture and the picture center point is considered, and the view angle data and the laser angle data are considered, so that a picture exposure weight which can meet the current shooting scene and under shooting parameters can be determined.
In this embodiment, optionally, determining the frame exposure weight according to the laser angle data includes:
the following formula is adopted for calculation:
wherein g 1 (i, j) is exposure weight after adjusting the laser angle data; g is exposure weight before adjusting laser angle data; l (i, j) is the distance value between the current pixel point and the center point of the picture; delta is laser angle data; m is a constant; sigma is a constant.
Wherein the distance of pixel (i, j) from the center point
In this scheme, along with the shrinkage of laser angle, its energy also becomes more concentrated, and center picture luminance is showing and is increasing. The exposure weight changes along with the change of the angle of the laser, and the area weight closer to the center is higher, the edge weight is reduced, so that the exposure effect of the center area can be preferentially ensured.
In another possible embodiment, the screen exposure may also be processed using simple area metering. And setting the weight outside the light supplementing area to 0, and setting the weight of the laser light supplementing area to 1, namely, only measuring the light of the laser area to ensure that the brightness of the central light supplementing area is in a preset range, namely, consistent with the set target brightness or within a tolerance range.
When the influence of the gain on the screen is not considered, the diaphragm may be adjusted by the following method only from the diaphragm. Calculating the average brightness of the picture when the original weight table and the laser angle are not adjusted
At the same time, the average brightness after adjusting the weight table is estimated>
Where B (i, j) is the current brightness of pixel (i, j). The exposure weight g of the pixel (i, j) after adjusting the laser angle 1 (i,j)
According to the relation between the average brightness and the aperture obtained by actual measurement
Where c and b are constants, the adjustment amplitude Δf of the diaphragm can be obtained.
S140, determining the focusing weight of the current picture, and triggering focusing operation on the current picture according to the focusing weight.
After determining the focus weight, a focus operation may be triggered on the current picture according to the resulting focus weight.
Specifically, triggering a focusing operation on a current screen includes:
determining an adopted filter according to the relation between the laser angle data and a preset laser angle data threshold value;
the sharpness evaluation value is determined based on the statistical value of the employed filter.
The image blocks can be divided according to the size, and further, according to the combination of the image blocks, the statistical result of the filter is obtained.
In another possible embodiment, the focus weight may be a self-defined empirical value, which may be obtained from actual measurement, or may be adjusted with reference to an adjustment method of the exposure weight.
Specifically, focusing may be performed by taking the sharpness evaluation value as a judgment basis, where the sharpness evaluation value FV of the entire picture is expressed as follows:
FV n ＝β*H n +(1-β)*V n ；
wherein B represents the total block number of dividing the picture, n represents each small block, H n ，V n Representing filter statistics in the horizontal and vertical directions.
In this embodiment, optionally, determining the filter according to the relationship between the laser angle data and the preset laser angle data threshold includes:
wherein FV1 is a low-pass filter sharpness evaluation value; FV2 is the high pass filter sharpness evaluation value; delta is laser angle data; θ i Is the angle of view data; δ1, δ2 are laser angle data thresholds.
In the focusing algorithm, FV1 and FV2 are distinguished according to frequency, wherein FV1 is a definition evaluation value of a low-pass filter; FV2 is the high pass filter sharpness evaluation value. FV1 is generally suitable for low-pass focusing because the low-pass noise is generally relatively large and is almost in low-frequency detail, FV1 will eliminate some noise interference, and thus a better focusing effect is obtained. But FV1 itself is a low frequency acquisition signal, and the low-frequency signal is rarely low-frequency signal, which is very unfavorable for focusing. If high frequency FV2 is used for focusing, the jitter of the noise will put a great stress on the algorithm, resulting in erroneous decisions on the algorithm and failure of focusing. The area of the laser light filling can improve the picture details to a certain extent, and the smaller the angle is, the better the details are relatively. Therefore, different filters can be selected to be switched according to the angle of the laser to focus, and the focusing probability is improved.
Specifically, when the angle of the laser is smaller, the picture becomes obvious in detail due to several kinds of laser energy, FV2 is selected for focusing, and the angle threshold is obtained according to actual measurement; when the angle of the laser is larger, the energy is dispersed, the picture quality is poor, obviously FV2 cannot acquire obvious wave peaks because of insufficient details, and the focusing probability is higher when FV1 is switched to focus; when the laser angle is in the middle, i.e. either FV2 or FV1 is not satisfied, FV1 and FV2 are weighted according to the ratio of the current laser angle to the current field angle. When the laser angle is smaller, FV2 is larger, whereas FV1 is larger. δ1 and δ2 are respectively the angle threshold value, θ of the laser i Is the current field angle.
In another possible embodiment, the comparison of the ratio of changes in FV1 and FV2 in the vicinity of the respective maxima, i.e. the comparison of the ratio of changes in FV1/FV2 maxima and sub-maxima, can also be chosen as an evaluation function with a larger ratio of changes.
According to the technical scheme provided by the embodiment of the application, if the zoom focusing trigger event is detected, the adjusted current field angle data is obtained; determining laser angle data according to the field angle data and/or the monitoring distance; determining picture exposure weight according to the laser angle data; and, adjusting the aperture size; and determining the focusing weight of the current picture, and triggering focusing operation on the current picture according to the focusing weight. By adopting the technical scheme provided by the application, the purpose of improving the night focusing effect of the laser holder camera can be achieved.
On the basis of the above technical solutions, optionally, after adjusting the aperture size, the method further includes: and calculating a fog evaluation value of the current picture, and if the fog evaluation value exceeds the optimal evaluation value, increasing fog penetration intensity or contrast so that the fog evaluation value is smaller than or equal to the optimal evaluation value.
The focusing effect of the camera depends on the definition of the monitored picture, mainly picture texture and detail, and if the image is sufficiently clear and the detail is sufficiently high, the focusing effect is generally good. Therefore, a sharpness tolerance value is set preferentially, denoted as F thr Can be used as the basis for judging whether to directly trigger the focusing operation.
The sharpness evaluation function may be expressed as follows:
where f (x, y) represents the gray value of the pixel point (x, y), and m and n represent the horizontal and vertical total pixels, respectively.
Since the sharpness evaluation may be affected by noise and the interference with focusing is also large when the noise ratio is large, a noise threshold is added here to exclude the influence of noise on sharpness. Also, the larger the gain, the more pronounced the noise is, so a gain threshold G can be reset thr As a noise constraint. Calculating the definition evaluation value of the current picture when the picture is stable, and recording as F cur When F cur ≥F thr And the gain is smaller than the threshold G thr The current picture is considered to be able to guarantee the focusing effect, and the focusing is directly triggered.
According to the technical scheme, the step of directly starting the focusing operation is provided on the basis of the technical scheme, and through the setting, whether the triggering operation of focusing is needed to be performed after parameter adjustment or not can be determined according to the related parameters of the current camera, so that the success rate of focusing can be improved.
Fig. 2 is a schematic diagram of a focusing flow of a laser pan-tilt camera according to an embodiment of the present application. As shown in fig. 2, the main steps of the scheme are as follows:
the view angle data thetai (i represents the multiplying power) of the camera under each multiplying power is acquired in real time, and thetai can be acquired through actual measurement.
Before the camera triggers focusing, the angle of the laser is reduced to a certain value according to the current multiplying power and the like, and the focusing weight in the laser irradiation range is increased.
The exposure weight outside the laser range is set to be 0 or smaller, and the aperture is preferentially narrowed in the process of adjusting exposure, so that fog caused by stray light is reduced, and the accuracy and the better quality of picture exposure are ensured.
And after the exposure adjustment is finished, acquiring a fog evaluation value of the current picture, and adjusting parameters such as contrast, fog penetration and the like according to the fog degree so as to acquire better contrast.
After parameter adjustment is completed, focusing is triggered, and the default parameters and the actual effective laser angle of the current multiplying power are restored after focusing is completed, so that the laser angle value or the preset value of the current picture can be covered.
The invention aims to improve focusing accuracy and time by adjusting the laser angle, focusing weight and exposure strategy in the focusing process, so that a camera can quickly acquire clear images at night and important information is ensured not to be missed.
Fig. 3 is a schematic structural diagram of a focusing device of a laser pan-tilt camera according to an embodiment of the present application. As shown in fig. 3, the focusing device of the laser pan-tilt camera includes:
the view angle data obtaining module 310 is configured to obtain adjusted current view angle data if a zoom focus trigger event is detected;
a laser angle data acquisition module 320, configured to determine laser angle data according to the view angle data and/or the monitoring distance;
a frame control module 330, configured to determine a frame exposure weight according to the laser angle data; and, adjusting the aperture size;
the focusing operation triggering module 340 is configured to determine a focusing weight of the current frame, and trigger a focusing operation on the current frame according to the focusing weight.
The technical scheme provided by the embodiment of the application can achieve the purpose of improving the night focusing effect of the laser holder camera.
The product can execute the method provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method.
The embodiments also provide a storage medium containing computer executable instructions, which when executed by a computer processor, are used to perform a method of focusing a laser pan-tilt camera, the method comprising:
if a zoom focusing trigger event is detected, acquiring adjusted current field angle data;
determining laser angle data according to the field angle data and/or the monitoring distance;
determining picture exposure weight according to the laser angle data; and, adjusting the aperture size;
and determining the focusing weight of the current picture, and triggering focusing operation on the current picture according to the focusing weight.
Storage media-any of various types of memory devices or storage devices. The term "storage medium" is intended to include: mounting media such as CD-ROM, floppy disk or tape devices; computer system memory or random access memory such as DRAM, DDR RAM, SRAM, EDO RAM, lanbas (Rambus) RAM, etc.; nonvolatile memory such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. The storage medium may also include other types of memory or combinations thereof. In addition, the storage medium may be located in a computer system in which the program is executed, or may be located in a different second computer system connected to the computer system through a network (such as the internet). The second computer system may provide program instructions to the computer for execution. The term "storage medium" may include two or more storage media that may reside in different locations (e.g., in different computer systems connected by a network). The storage medium may store program instructions (e.g., embodied as a computer program) executable by one or more processors.
Of course, the storage medium containing the computer executable instructions provided in the embodiments of the present application is not limited to the focusing operation of the laser pan-tilt camera described above, and may also perform the relevant operations in the focusing method of the laser pan-tilt camera provided in any embodiment of the present application.
The embodiment of the application provides equipment, and the focusing device of the laser tripod head camera provided by the embodiment of the application can be integrated in the equipment. Fig. 4 is a schematic structural diagram of an apparatus according to an embodiment of the present application. As shown in fig. 4, the present embodiment provides an apparatus 400, which includes: one or more processors 420; the storage device 410 is configured to store one or more programs, where the one or more programs are executed by the one or more processors 420, so that the one or more processors 420 implement a focusing method of a laser cradle head camera provided by an embodiment of the present application, and the method includes:
if a zoom focusing trigger event is detected, acquiring adjusted current field angle data;
determining laser angle data according to the field angle data and/or the monitoring distance;
determining picture exposure weight according to the laser angle data; and, adjusting the aperture size;
and determining the focusing weight of the current picture, and triggering focusing operation on the current picture according to the focusing weight.
Of course, it will be understood by those skilled in the art that the processor 420 further implements the technical solution of the focusing method of the laser pan-tilt camera provided in any embodiment of the present application.
The apparatus 400 shown in fig. 4 is merely an example, and should not be construed as limiting the functionality and scope of use of the embodiments herein.
As shown in fig. 4, the apparatus 400 includes a processor 420, a storage device 410, an input device 430, and an output device 440; the number of processors 420 in the device may be one or more, one processor 420 being taken as an example in fig. 4; the processor 420, the storage device 410, the input device 430, and the output device 440 in the apparatus may be connected by a bus or other means, as exemplified in fig. 4 by a bus 450.
The storage device 410 is used as a computer readable storage medium, and can be used to store a software program, a computer executable program, and a module unit, such as program instructions corresponding to the focusing method of the laser pan-tilt camera in the embodiment of the present application.
The storage device 410 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for functions; the storage data area may store data created according to the use of the terminal, etc. In addition, the storage 410 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some examples, storage device 410 may further include memory located remotely from processor 420, which may be connected via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input means 430 may be used to receive input numeric, character information or voice information and to generate key signal inputs related to user settings of the device and function control. The output device 440 may include a display screen, speakers, etc.
The equipment provided by the embodiment of the application can achieve the purpose of improving the night focusing effect of the laser cradle head camera.
The focusing device, the storage medium and the equipment of the laser pan-tilt camera provided in the embodiment can execute the focusing method of the laser pan-tilt camera provided in any embodiment of the application, and have the corresponding functional modules and beneficial effects of executing the method. Technical details not described in detail in the above embodiments may be referred to a focusing method of a laser pan-tilt camera provided in any embodiment of the present application.
Note that the above is only a preferred embodiment of the present application and the technical principle applied. Those skilled in the art will appreciate that the present application is not limited to the particular embodiments described herein, but is capable of numerous obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the present application. Therefore, while the present application has been described in connection with the above embodiments, the present application is not limited to the above embodiments, but may include many other equivalent embodiments without departing from the spirit of the present application, the scope of which is defined by the scope of the appended claims.
Claims (11)
1. A focusing method of a laser pan-tilt camera, the method comprising:
if a zoom focusing trigger event is detected, acquiring adjusted current field angle data;
determining laser angle data according to the field angle data and/or the monitoring distance;
determining picture exposure weight according to the laser angle data; and, adjusting the aperture size; wherein the picture exposure weight is reduced along with the angle of the laser, the picture exposure weight of the area closer to the center is higher, and the picture exposure weight of the area closer to the edge is lower;
and determining the focusing weight of the current picture, and triggering focusing operation on the current picture according to the focusing weight.
2. The method of claim 1, wherein determining the focus weight for the current picture comprises:
determining the focusing weight of the current picture according to a predetermined focusing weight template; or,
and determining the focusing weight of the current picture according to the laser angle data and the distance between the pixel point and the central pixel point in the current picture.
3. The method of claim 1, wherein after adjusting the aperture size, the method further comprises:
and calculating a fog evaluation value of the current picture, and if the fog evaluation value exceeds the optimal evaluation value, increasing fog penetration intensity or contrast so that the fog evaluation value is smaller than or equal to the optimal evaluation value.
4. The method of claim 1, wherein determining laser angle data from the field angle data comprises:
the following formula is adopted for calculation:
wherein delta is laser angle data; lambda is a coefficient; θ i Is the angle of view data; h is the installation height of the laser pan-tilt camera; alpha is the elevation angle of the equipment of the laser cradle head camera, wherein alpha is more than or equal to 0 degree and less than or equal to 90 degrees; b is a constant; sigma is a constant.
5. The method of claim 1, wherein determining picture exposure weights from the laser angle data comprises:
obtaining a distance value between a current pixel point and a picture center point;
and determining the picture exposure weight according to the laser angle data and the distance value.
6. The method of claim 5, wherein determining picture exposure weights from the laser angle data comprises:
the following formula is adopted for calculation:
wherein g 1 (i, j) is exposure weight after adjusting the laser angle data; g is exposure weight before adjusting laser angle data; l (i, j) is the distance value between the current pixel point and the center point of the picture; delta is laser angle data; m is a constant; sigma is a constant.
7. The method of claim 1, wherein triggering a focus operation on a current picture comprises:
determining an adopted filter according to the relation between the laser angle data and a preset laser angle data threshold value;
the sharpness evaluation value is determined based on the statistical value of the employed filter.
8. The method of claim 7, wherein determining the filter to be used based on the relationship between the laser angle data and a predetermined laser angle data threshold value, and determining the sharpness evaluation value based on the statistical value of the filter to be used, comprises:
wherein FV1 is a low-pass filter sharpness evaluation value; FV2 is the high pass filter sharpness evaluation value; delta is laser angle data; θ i Is the angle of view data; δ1, δ2 are laser angle data thresholds.
9. A focusing device for a laser pan-tilt camera, the device comprising:
the view angle data acquisition module is used for acquiring the adjusted current view angle data if the zoom focusing trigger event is detected;
the laser angle data acquisition module is used for determining laser angle data according to the field angle data and/or the monitoring distance;
the picture control module is used for determining picture exposure weight according to the laser angle data; and, adjusting the aperture size; wherein the picture exposure weight is reduced along with the angle of the laser, the picture exposure weight of the area closer to the center is higher, and the picture exposure weight of the area closer to the edge is lower;
and the focusing operation triggering module is used for determining the focusing weight of the current picture and triggering the focusing operation to the current picture according to the focusing weight.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements a focusing method of a laser cradle head camera according to any one of claims 1-8.
11. A focusing device for a laser cradle head camera, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the focusing method for a laser cradle head camera according to any one of claims 1-8 when executing the computer program.
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| CN202010423381.XA CN113691720B (en) | 2020-05-19 | 2020-05-19 | Focusing method and device of laser holder camera, storage medium and equipment |
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| CN202010423381.XA CN113691720B (en) | 2020-05-19 | 2020-05-19 | Focusing method and device of laser holder camera, storage medium and equipment |
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