CN114071015B - Method, device, medium and equipment for determining linkage snapshot path - Google Patents
Method, device, medium and equipment for determining linkage snapshot path Download PDFInfo
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Abstract
The embodiment of the application discloses a method, a device, a medium and equipment for determining a linkage snapshot path. Wherein the method comprises the following steps: identifying a target to be snap shot from the acquired panoramic image; detecting a target position of a target to be captured, and constructing target data based on the target to be captured and the target position of the target to be captured; buffering target data for the detail cameras to capture one by one; determining a current target which is captured by a detail camera and remaining targets which are not captured in the cached target data; determining a path optimization snapshot mode of the residual target according to the target position of the current target and the target position of the residual target; and calculating a path by adopting a path calculation rule corresponding to the path optimization snapshot mode, and sending the obtained calculation result to the detail camera for the detail camera to snapshot one by one according to the calculation result. According to the technical scheme, the scene adaptability of the panoramic camera can be enhanced, the linkage snapshot effect is improved, and the scientific maintenance of the panoramic camera is realized.
Description
Technical Field
The embodiment of the application relates to the technical field of monitoring, in particular to a method, a device, a medium and equipment for determining a linkage snapshot path.
Background
In a monitoring scene, linkage snapshot is one of important functions of a panoramic camera configured with a detail camera. By running the target detection algorithm on the panoramic camera, the location of the target can be located. And then the panoramic camera is linked with the detail camera, so that the detail camera can zoom in on the target picture through the movement of the position and/or the angle.
In the prior art, panoramic cameras are generally ranked according to the time for identifying the target to be grabbed, and a snapshot motion path of a detail camera is generated according to the ranking and the target position of the target to be grabbed. The panoramic camera can be linked with the detail camera, so that the detail camera needs to quickly move to each target position according to the target positions provided by the panoramic camera and take a candid photograph.
However, in the practical application scene, the high-frequency rotation of the detail camera easily causes abrasion of moving equipment in the detail camera, and the service life of the detail camera is greatly shortened. Meanwhile, the large-scale rotation also easily causes the defects of low working efficiency of the detail camera, low applicability to the monitoring scene with large target quantity and the like.
Disclosure of Invention
The embodiment of the application provides a method, a device, a medium and equipment for determining a linkage snapshot path, which can divide the path optimization snapshot mode of the residual target through the target position of the current target and the target position of the residual target, so that the scene adaptability of a panoramic camera is enhanced while the working efficiency of the panoramic camera is improved, and the scientific maintenance of the panoramic camera is realized.
In a first aspect, an embodiment of the present application provides a method for determining a linkage snapshot path, where the method is performed by a panoramic camera, and the panoramic camera is configured with a detail camera, and the method includes:
identifying a target to be snap shot from the acquired panoramic image;
detecting the target position of the target to be captured, constructing target data based on the target to be captured and the target position of the target to be captured, and caching the target data;
determining a current target which is captured by the detail camera and the rest targets which are not captured in the cached target data;
determining a path optimization snapshot mode of the residual target according to the target position of the current target and the target position of the residual target;
And calculating a path by adopting a path calculation rule corresponding to the path optimization snapshot mode, and sending an obtained calculation result to the detail camera so that the detail camera can snapshot the residual targets one by one according to the calculation result.
In a second aspect, an embodiment of the present application provides a determining device for a linkage snapshot path, where the device is configured on a panoramic camera, and the panoramic camera is configured with a detail camera, and the device includes:
the target to be snap shot identification module is used for identifying the target to be snap shot from the acquired panoramic image;
the target data construction module is used for detecting the target position of the target to be shot, constructing target data based on the target to be shot and the target position of the target to be shot, and caching the target data;
the target determining module is used for determining the current target which is captured by the detail camera and the residual target which is not captured in the cached target data;
the path optimization snapshot mode dividing module is used for determining a path optimization snapshot mode of the residual target according to the target position of the current target and the target position of the residual target;
And the path calculation module is used for calculating a path by adopting a path calculation rule corresponding to the path optimization snapshot mode, and sending the obtained calculation result to the detail camera so that the detail camera can snapshot the residual targets one by one according to the calculation result.
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 method for determining a linked snapshot path according to embodiments of the present application.
In a fourth aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and capable of being executed by the processor, where the processor executes the computer program to implement a method for determining a linkage snapshot path according to an embodiment of the present application.
According to the technical scheme provided by the embodiment of the application, the target position of the target to be captured is detected by identifying the target to be captured from the acquired panoramic image. Then, target data is constructed based on the target to be snap shot and the target position of the target to be snap shot. And buffering the target data to be shot one by the detail camera, and determining the current target shot by the detail camera and the rest targets which are not shot in the buffered target data. And further determining a path optimization snapshot mode of the residual target according to the target position of the current target and the target position of the residual target. And finally, calculating a path by adopting a path calculation rule corresponding to the path optimization snapshot mode, and sending the obtained calculation result to the detail camera for the detail camera to snapshot one by one according to the calculation result. According to the technical scheme, the scene adaptability of the panoramic camera can be enhanced, the rapid and accurate snapshot of the target is realized, and the scientific maintenance of the panoramic camera is realized while the linkage snapshot effect is improved.
Drawings
Fig. 1A is a flowchart of a method for determining a linkage snapshot path according to an embodiment of the present application;
fig. 1B is a schematic view of a target position of a snap target according to an embodiment of the present application;
FIG. 1C is a schematic diagram of a movement path of a capture object in a horizontal movement priority mode according to an embodiment of the present application;
FIG. 1D is a schematic diagram of a motion path of a capturing object in a vertical movement priority mode according to an embodiment of the present application;
fig. 1E is a schematic diagram of a motion route of a snap-shot target in an equalizing manner according to an embodiment of the present application;
fig. 2 is a flowchart of a method for determining a linkage snapshot path in the second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a determining device for a linkage snapshot path according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to a fifth 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.
Example 1
Fig. 1A is a flowchart of a method for determining a linkage snapshot path according to an embodiment of the present application, where the embodiment is applicable to any linkage snapshot scenario, and the method may be performed by a device for determining a linkage snapshot path according to the embodiment of the present application, where the device may be implemented by software and/or hardware, and may be integrated in an electronic device.
As shown in fig. 1A, the method for determining the linkage snapshot path includes:
s110, identifying an object to be snap shot from the acquired panoramic image.
The solution may be performed by a panoramic camera configured with a detail camera. The panoramic camera has a large visual range, and can be a fixed camera with a wide-angle fixed-focus lens. The detail camera can be a movable camera capable of viewing the detail in a variable magnification manner, for example, a cradle head type camera capable of zooming in a large magnification manner.
Since the panoramic camera has an advantage in that a visible range is large, photographing of a panoramic image can be completed. After obtaining the panoramic image, the panoramic camera may identify the object to be snap shot in the panoramic image using an object detection algorithm. According to different application scenes, the target to be snapped can also be different, for example, in a monitoring scene of an office building, the target to be snapped can be a human face; in a road traffic monitoring scene, the object to be captured can be a vehicle, a pedestrian and the like; in a monitoring scene of the warehouse, the object to be snap shot can be a moving person or object. The target detection algorithm can be a traditional imaging algorithm, such as HOG+SVM method, or a deep learning algorithm, such as Fast R-CNN, R-FCN, and YOLO. The task of the object detection algorithm for identifying can be to identify whether a potential object in the panoramic image is an object to be captured or not, and can further identify the movement trend of the object to be captured.
S120, detecting the target position of the target to be shot, constructing target data based on the target to be shot and the target position of the target to be shot, and caching the target data.
After identifying the object to be snap-shot, the panoramic camera may further detect a target position of the object to be snap-shot. The target position can be comprehensively determined by the panoramic camera according to the position of the target to be captured in the panoramic image, the shooting range of the panoramic camera, the attribute of the panoramic camera and other information. After the target position of the target to be captured is obtained, the panoramic camera can construct target data based on the target to be captured and the target position of the target to be captured. The objects to be snap shot can be one kind or multiple kinds. When the object to be snap shot is of multiple types, the object data can comprise object types. The target position of the target to be snap shot can be two-dimensional plane coordinates for positioning, or the plane coordinates of the target to be snap shot in the panoramic image can be converted into PTZ coordinates by analyzing the panoramic image and adopting a coordinate conversion algorithm, so that the movement of the cradle head of the detail camera is facilitated. The target data may include a type of target to be snap-shot, a target position of the target to be snap-shot, a target detection time of the target to be snap-shot, and the like.
It can be appreciated that the panoramic camera may cache the object data corresponding to the detected object to be snap-shot. In order to realize timely snapshot, the caching sequence can be according to the detection time sequence of the target to be snapshot. According to the cached target data, the detail camera can capture the targets to be captured one by one.
S130, determining the current target which is captured by the detail camera and the rest targets which are not captured in the cached target data.
It should be noted that, after the panoramic camera detects the target to be captured, the panoramic camera may be linked with the detail camera to perform the capturing operation. When the detail camera performs snapshot for the first time, the target to be snapshot with the earliest time can be detected from the buffer target data queue to perform snapshot. When the cached target data is gradually enriched, the panoramic camera can scientifically adjust the snapshot sequence of the follow-up detail camera by determining the current target which is snapshot by the detail camera and the residual target which is not snapshot in the cached target data, so that the length of a motion path of the detail camera is reduced, and the snapshot efficiency is improved.
And S140, determining a path optimization snapshot mode of the residual target according to the target position of the current target and the target position of the residual target.
The panoramic camera can analyze the position distribution condition of the residual target, the distance distribution condition of the current target and the residual target, the relative position distribution condition of the current target and the residual target and the like according to the target position of the current target and the target position of the residual target, and divide a path optimization snapshot mode so that the detail camera can take an optimal path to move when the residual target is snapshot.
The path optimization snapshot mode can be divided according to the position distribution condition of the residual targets, can be divided according to the relative position distribution condition of the current targets and the residual targets, and can be distributed according to the distance distribution condition of the current targets and the residual targets.
Assuming that the object to be snap shot is a human face at the people gathering place, the object positions of most of the residual objects in the panoramic image are gathered on the right side of the object position of the current object, and the object positions of the small part of the residual objects are distributed on the left side of the object position of the current object. The path optimization snapshot mode can be that after the current target is snapshot, the snapshot task of the left residual target of the target position of the current target is completed, and then the snapshot task of the left residual target of the target position of the current target is completed. The panoramic camera can also determine the regional center of the target positions of the left and right residual targets of the target position of the current target first, then compare the distance between the target position of the current target and the centers of the left and right regions, if the center of the left region is closer to the target position of the current target, the path optimization snapshot mode can be to complete the snapshot task of the left residual target of the target position of the current target first and then complete the snapshot task of the right residual target of the target position of the current target. Similarly, if the center of the right area is closer to the current target, the path optimization snapshot mode may be to complete the snapshot task of the left residual target of the target position of the current target first and then complete the snapshot task of the left residual target of the target position of the current target.
And S150, calculating a path by adopting a path calculation rule corresponding to the path optimization snapshot mode, and sending the obtained calculation result to the detail camera for the detail camera to snapshot the residual targets one by one according to the calculation result.
Correspondingly, the path calculation rule corresponds to the path optimization snapshot mode. The panoramic camera can determine a corresponding path calculation rule according to a path optimization snapshot mode, and calculate a snapshot motion path of the detail camera cradle head by adopting the path calculation rule. Through the linkage detail camera, the panoramic camera can send the calculation result to the detail camera. The detail camera can capture the remaining targets one by one according to the calculation result.
In one possible solution, optionally, the path optimization snapshot mode includes a horizontal movement priority mode, a vertical movement priority mode and an equalization mode;
correspondingly, calculating the path by adopting a path calculation rule corresponding to the path optimization snapshot mode comprises the following steps:
if the horizontal movement priority mode is adopted, determining that the horizontal path from the horizontal position of the target position of the current target to the horizontal position of the target position of the residual target is shortest, and taking the shortest horizontal path as a calculation result;
If the vertical movement priority mode is adopted, determining that the vertical distance from the vertical position of the target position of the current target to the vertical position of the target position of the residual target is shortest, and taking the shortest vertical distance as a calculation result;
and if the balance mode is adopted, determining that the distance from the target position of the current target to the target position of the residual target is shortest, and taking the shortest distance as a calculation result.
Specifically, the path optimization snapshot mode may be divided according to the position distribution condition of the remaining targets. For example, the path-optimized snapshot mode may include a horizontal movement priority mode, a vertical movement priority mode, and an equalization mode. The horizontal movement priority mode may be that positions of the remaining objects are distributed relatively intensively in a vertical direction and distributed relatively discretely in an upper horizontal direction. The vertical movement priority may be such that the positions of the remaining objects are distributed relatively intensively in the horizontal direction and relatively discretely in the upper vertical direction. The equalization may be such that the positions of the remaining objects are distributed relatively discretely both in the vertical direction and in the upper horizontal direction.
If the path optimization snapshot mode is a horizontal movement priority mode, the panoramic camera can calculate horizontal routes of target positions of all the remaining targets in the target position path of the current target, routes of the target positions of all the remaining targets in the target position path of the current target can comprise a plurality of routes according to the number of the remaining targets, the horizontal routes of all the feasible routes are ordered, and the shortest route of the horizontal routes can be obtained. The panoramic camera may send the route as a result to the detail camera for the detail camera to determine a subsequent snap target.
Correspondingly, if the path optimization snapshot mode is a vertical movement priority mode, the panoramic camera can calculate vertical routes of target positions of all the remaining targets in the target position path of the current target, routes of the target positions of all the remaining targets in the target position path of the current target can comprise a plurality of routes according to the number of the remaining targets, and the vertical routes of all the feasible routes are ordered, so that the shortest route of the vertical routes can be obtained. The panoramic camera may send the route as a result to the detail camera for the detail camera to determine a subsequent snap target.
If the path optimization snapshot mode is an equilibrium mode, the panoramic camera can calculate the distances from the target positions of the current targets to the target positions of all the remaining targets, the routes from the target positions of the current targets to the target positions of all the remaining targets can comprise a plurality of routes according to the number of the remaining targets, the distances from all the feasible routes are sequenced, and the shortest route of the distances can be obtained. The panoramic camera may send the route as a result to the detail camera for the detail camera to determine a subsequent snap target.
The scheme divides the path optimization snapshot mode into a horizontal movement priority mode, a vertical movement priority mode and an equalization mode 3, and selects the shortest feasible route according to the path optimization snapshot mode. The scheme is favorable for the detail camera to realize high-efficiency snapshot, saves the movement path of the detail camera, and reduces the abrasion of the movement equipment of the detail camera.
In another possible solution, optionally, the path optimization snapshot mode includes a horizontal movement priority mode, a vertical movement priority mode, and an equalization mode;
correspondingly, calculating the path by adopting a path calculation rule corresponding to the path optimization snapshot mode comprises the following steps:
if the horizontal movement priority mode is adopted, determining the sequence with the shortest horizontal distance between the current target and the target position of each residual target one by one as a calculation result;
if the vertical movement priority mode is adopted, determining the sequence with the shortest vertical distance between the current target and the target position of each residual target one by one as a calculation result;
if the balance mode is adopted, the sequence with the shortest target position distance between the current target and each remaining target is determined one by one and used as a calculation result.
According to the 3 different path optimization snapshot modes of the horizontal movement priority mode, the vertical movement priority mode and the balance mode, the panoramic camera can sequentially carry out the remaining targets according to the distance length and send the remaining targets to the detail camera as a calculation result so as to enable the detail camera to determine the next snapshot target.
If the path optimization snapshot mode is a horizontal movement priority mode, the panoramic camera can calculate the horizontal distance from the horizontal position of the target position of the current target to the horizontal position of the target position of each residual target, and the horizontal distances corresponding to the residual targets are ranked according to the distance. The panoramic camera can directly send the sequencing result to the detail camera, and can also send the target position of the residual target corresponding to the shortest horizontal distance in the sequencing result to the detail camera as a calculation result. The detail camera may select the remaining object with the shortest horizontal distance as the object to be snap-shot next after the current object.
Similarly, if the path optimization snapshot mode is a vertical movement priority mode, the panoramic camera may calculate a vertical distance from a vertical position of a target position of a current target to a vertical position of a target position of each remaining target, and rank the vertical distances corresponding to the remaining targets according to the distance. The panoramic camera can directly send the sequencing result to the detail camera, and can also send the target position of the residual target corresponding to the shortest vertical distance in the sequencing result to the detail camera as a calculation result. The detail camera may select the remaining object with the shortest vertical distance as the object to be snap-shot next after the current object.
If the path optimization snapshot mode is an equilibrium mode, the panoramic camera can calculate the distance from the target position of the current target to the target position of each residual target, and the distances corresponding to the residual targets are ordered according to the distance. The panoramic camera can directly send the sequencing result to the detail camera, and can also send the target position of the residual target corresponding to the shortest distance in the sequencing result to the detail camera as a calculation result. The detail camera may select the remaining object with the shortest distance as the object to be snapped next after the current object.
The method divides the path optimization snapshot mode into a horizontal movement priority mode, a vertical movement priority mode and an equalization mode 3, and determines a distance sorting result according to the path optimization snapshot mode. The scheme is favorable for the detail camera to realize high-efficiency snapshot, saves the movement path of the detail camera, and reduces the abrasion of the movement equipment of the detail camera.
Fig. 1B is a schematic view of a target position of a snap target according to an embodiment of the present application. In a specific example, assume that the coordinates of the target positions of the snap targets are shown as points a-G in fig. 1B, the target position of the current target is point a, and B-G are the target positions of the remaining targets. The present embodiment proposes two preferred methods: full permutation traversal and shortest distance search.
The method comprises the following steps: the full-permutation traversal is carried out, and the connecting line distance, the horizontal distance and the vertical distance between any two points are calculated firstly; with A (X) i ，Y i )，B(X m ，Y m ) Two-point example, the Pythagorean theorem is adopted to calculate the connecting line distance AB between the two points A-B:
AB horizontal level ＝|X m -X i |；
AB Vertical direction ＝|Y m -Y i |；
Then taking the point A as the starting point, and B-G as the permutation and combination, wherein the targets comprising the starting point are 7 in total, and then 6-! And (5) a path. Correspondingly, if the targets to be snapped including the starting point are N in number, the targets to be snapped including the starting point are N-1 in total!
And (5) a path.
And if the path optimization snapshot mode is a horizontal movement priority mode, selecting a path corresponding to the minimum sum total of horizontal distances of each point by the optimal path, namely, the path with the shortest horizontal path. Fig. 1C is a schematic diagram of a movement path of a capturing object in a horizontal movement priority mode according to an embodiment of the present application.
And if the path optimization snapshot mode is a vertical movement priority mode, selecting a path corresponding to the minimum sum total of the vertical distances of each point by the optimal path, namely, the path with the shortest vertical distance. Fig. 1D is a schematic diagram of a movement path of a capturing object in a vertical movement priority mode according to an embodiment of the present application.
And if the path optimization snapshot mode is an equalization mode, selecting a path corresponding to the minimum sum total of the link distances among all points by the optimal path, namely the path with the shortest path. As shown in the following figures; fig. 1E is a schematic diagram of a motion path of a target captured in an equalizing manner according to an embodiment of the present application.
The second method is as follows: compared with a full-permutation traversal method, the shortest distance search reduces operation times.
If the path optimization snapshot mode is a horizontal movement priority mode, searching for the next snapshot target from the starting point A, wherein each time the target position of the residual target with the shortest horizontal distance with the target position of the previous snapshot target is selected, and searching for the target positions of all the residual targets is completed.
If the path optimization snapshot mode is a vertical movement priority mode, searching for the next snapshot target from the starting point A, wherein each time the target position of the residual target with the shortest vertical distance with the target position of the previous snapshot target is selected, and searching for the target positions of all the residual targets is completed.
If the path optimization snapshot mode is an equilibrium mode, searching for the next snapshot target from the starting point A, wherein each time the target position of the residual target with the shortest distance with the target position of the previous snapshot target is selected, and searching for the target positions of all the residual targets is completed.
According to the technical scheme provided by the embodiment of the application, the target position of the target to be captured is detected by identifying the target to be captured from the acquired panoramic image. Then, target data is constructed based on the target to be snap shot and the target position of the target to be snap shot. And buffering the target data to be shot one by the detail camera, and determining the current target shot by the detail camera and the rest targets which are not shot in the buffered target data. And further determining a path optimization snapshot mode of the residual target according to the target position of the current target and the target position of the residual target. And finally, calculating a path by adopting a path calculation rule corresponding to the path optimization snapshot mode, and sending the obtained calculation result to the detail camera for the detail camera to snapshot one by one according to the calculation result. According to the technical scheme, the scene adaptability of the panoramic camera can be enhanced, the rapid and accurate snapshot of the target is realized, and the scientific maintenance of the panoramic camera is realized while the linkage snapshot effect is improved.
Example two
Fig. 2 is a flowchart of a method for determining a linkage snapshot path in a second embodiment of the present invention, which is optimized based on the foregoing embodiment.
As shown in fig. 2, the method of this embodiment specifically includes the following steps:
s210, identifying an object to be snap shot from the acquired panoramic image.
S220, detecting the target position of the target to be captured, and converting the target position based on the horizontal view angle and the vertical view angle to obtain the conversion coordinates of the target to be captured.
After identifying the object to be snap-shot, the panoramic camera may detect a target position of the object to be snap-shot and convert the target position based on the horizontal angle of view and the vertical angle of view. The target position of the target to be snap-shot can be represented by coordinates, and in particular, can be represented by ten-thousandth coordinates. The ten-thousandth coordinates cannot directly reflect the movement conditions of the moving equipment of the detail camera in the horizontal and vertical directions. Therefore, the horizontal view angle and the vertical view angle of the panoramic camera can be introduced into the coordinates of the target position, so that the horizontal coordinates and the vertical coordinates can directly reflect the distance of the motion equipment of the detail camera when the data are distributed in a statistics and dispersion way.
S230, constructing target data based on the target to be snap shot and the conversion coordinates, and caching the target data.
S240, determining the current target which is captured by the detail camera and the rest targets which are not captured in the cached target data.
S250, determining the conversion coordinates of the current target and determining the conversion coordinates of the residual target.
According to the method of S220, the transformed coordinates of the current target may be determined, and the transformed coordinates of the remaining targets may be determined.
S260, calculating a horizontal coordinate evaluation value and a vertical coordinate evaluation value of the conversion coordinates of the current target and the conversion coordinates of the residual target.
The panoramic camera can calculate a horizontal coordinate evaluation value and a vertical coordinate evaluation value of the conversion coordinates of the current target and the conversion coordinates of the residual target so as to divide a path optimization snapshot mode of the residual target.
In this aspect, optionally, calculating the horizontal coordinate evaluation value and the vertical coordinate evaluation value of the conversion coordinates of the current target and the conversion coordinates of the remaining targets includes:
extracting horizontal components of the conversion coordinates of the current target and the conversion coordinates of the residual target to obtain a horizontal sequence;
Performing extremum elimination processing on the horizontal sequence to obtain a horizontal sequence to be calculated;
calculating standard deviation of the horizontal to-be-calculated number series to serve as a horizontal coordinate evaluation value;
the method comprises the steps of,
extracting the vertical components of the conversion coordinates of the current target and the conversion coordinates of the residual target to obtain a vertical sequence;
performing extremum elimination processing on the vertical sequence to obtain a vertical sequence to be calculated;
and calculating the standard deviation of the vertical to-be-calculated number series to serve as a vertical coordinate evaluation value.
In particular, it is assumed that the target position can be described as (P n ，T n ) The horizontal angle of view is A h The vertical angle of view is A v . Firstly, all cached target data are fetched, and all T is taken out n Multiplying the coefficients
The panoramic camera may combine the P of the current object and the remaining objects n Combining T of the current target and the remaining targets into an array n Combined into another array. The two groups are respectively sorted, and the maximum data and the minimum data are removed, so that the influence of extremum on statistics is reduced as much as possible, for example, the maximum 10% data in all data is taken as the maximum data, and the minimum 10% data in all data is taken as the minimum data. The panoramic camera may calculate a standard deviation of data using the remaining 80% of the data, with a smaller standard deviation having a lower degree of dispersion. The standard deviation formula may be as follows:
Wherein μ represents an average value. After the standard deviation calculation is completed, the panoramic camera can obtain a horizontal coordinate evaluation value sigma P n And the vertical coordinate evaluation value sigma T n 。
The scheme can eliminate the influence of the extreme value on the horizontal coordinate evaluation value and the vertical coordinate evaluation value, quantitatively evaluates the discrete condition of the target position, and is favorable for realizing the accurate division of the path optimization snapshot mode.
And S270, determining a path optimization snapshot mode of the residual target according to the horizontal coordinate evaluation value and the vertical coordinate evaluation value.
The panoramic camera can divide the path optimization snapshot mode of the residual targets according to the horizontal coordinate evaluation value and the vertical coordinate evaluation value. Specifically, the panoramic camera can determine a path optimization snapshot mode of the remaining targets by comparing the horizontal coordinate evaluation value and the vertical coordinate evaluation value of the converted coordinates.
In a preferred embodiment, optionally, determining a path optimization snapshot manner for the remaining target according to the horizontal coordinate evaluation value and the vertical coordinate evaluation value includes:
if the horizontal coordinate evaluation value is larger than the vertical coordinate evaluation value by a preset multiple, determining that the path optimization snapshot mode is a horizontal movement priority mode;
If the vertical coordinate evaluation value is larger than the horizontal coordinate evaluation value by a preset multiple, determining that the path optimization snapshot mode is a vertical movement priority mode;
and if the difference between the horizontal coordinate evaluation value and the horizontal coordinate evaluation value is within a preset multiple, determining that the path optimization snapshot mode is an equilibrium mode.
Specifically, the preset multiple may be an empirical coefficient k, and the coefficient k may be greater than 1.
When sigma P n >k*σT n When the coordinates of the remaining objects are illustrated to be far more discrete in the horizontal direction than in the vertical direction. In this case, the moving distance of the moving device of the detail camera in the horizontal direction will be much longer than the moving distance in the vertical direction, so in order to reduce the moving distance in the horizontal direction as much as possible, the path optimization snapshot mode of the remaining targets is set to be the horizontal movement priority mode.
When sigma T n >k*σP n And when the method is used, the discrete degree of the coordinates of the residual targets in the vertical direction is far higher than that in the horizontal direction, and the path optimization snapshot mode of the residual targets is set to be a vertical movement priority mode in a similar way.
If the difference between the horizontal coordinate evaluation value and the horizontal coordinate evaluation value is within a preset multiple, namely, the two conditions are not the above, the path optimization snapshot mode can be determined to be an equilibrium mode.
According to the scheme, the path optimization snapshot mode of the residual targets can be divided in a quantitative mode, the accuracy of judging the path optimization snapshot mode is improved, the detail camera is facilitated to take an optimal path to snapshot the residual targets, and then efficient linkage snapshot is achieved.
It should be noted that, the panoramic camera is constantly updated to be shot targets in the operation process, and the period can be set according to time, scene, movement speed of the to-be-shot targets, shooting difficulty and the like, so that the panoramic camera and the detail camera thereof can realize an optimal path determination strategy in the linkage shooting process.
According to the technical scheme provided by the embodiment of the application, the target position of the target to be captured is detected by identifying the target to be captured from the acquired panoramic image. Then, target data is constructed based on the target to be snap shot and the target position of the target to be snap shot. And buffering the target data to be shot one by the detail camera, and determining the current target shot by the detail camera and the rest targets which are not shot in the buffered target data. And further determining a path optimization snapshot mode of the residual target according to the target position of the current target and the target position of the residual target. And finally, calculating a path by adopting a path calculation rule corresponding to the path optimization snapshot mode, and sending the obtained calculation result to the detail camera for the detail camera to snapshot one by one according to the calculation result. According to the technical scheme, the scene adaptability of the panoramic camera can be enhanced, the rapid and accurate snapshot of the target is realized, and the scientific maintenance of the panoramic camera is realized while the linkage snapshot effect is improved.
Example III
Fig. 3 is a schematic structural diagram of a device for determining a linkage snapshot path according to a third embodiment of the present invention, where the device may execute the method for determining a linkage snapshot path according to any embodiment of the present invention, and the device has functional modules and beneficial effects corresponding to the execution method. The apparatus is configured on a panoramic camera configured with a detail camera, as shown in fig. 3, and may include:
the object to be snap-shot identification module 310 is configured to identify an object to be snap-shot from the acquired panoramic image;
the target data construction module 320 is configured to detect a target position of the target to be snapped, construct target data based on the target to be snapped and the target position of the target to be snapped, and cache the target data;
a target determining module 330, configured to determine a current target that is captured by the detail camera, and a remaining target that is not captured in the cached target data;
a path optimization snapshot mode dividing module 340, configured to determine a path optimization snapshot mode for the remaining target according to the target position of the current target and the target position of the remaining target;
and the path calculation module 350 is configured to calculate a path by using a path calculation rule corresponding to the path optimization snapshot mode, and send an obtained calculation result to the detail camera, so that the detail camera can snapshot the remaining targets one by one according to the calculation result.
In this scenario, optionally, the target data construction module 320 is specifically configured to:
detecting a target position of the target to be captured, and converting the target position based on a horizontal view angle and a vertical view angle to obtain conversion coordinates of the target to be captured;
and constructing target data based on the target to be snap shot and the transformation coordinates.
In this embodiment, optionally, the path optimization snapshot mode dividing module 340 is specifically configured to:
determining the conversion coordinates of the current target and determining the conversion coordinates of the residual target;
calculating a horizontal coordinate evaluation value and a vertical coordinate evaluation value of the conversion coordinates of the current target and the conversion coordinates of the residual target;
and determining a path optimization snapshot mode of the residual target according to the horizontal coordinate evaluation value and the vertical coordinate evaluation value.
Based on the above scheme, optionally, the path optimization snapshot mode dividing module 340 is specifically configured to:
extracting horizontal components of the conversion coordinates of the current target and the conversion coordinates of the residual target to obtain a horizontal sequence;
performing extremum elimination processing on the horizontal sequence to obtain a horizontal sequence to be calculated;
Calculating standard deviation of the horizontal to-be-calculated number series to serve as a horizontal coordinate evaluation value;
the method comprises the steps of,
extracting the vertical components of the conversion coordinates of the current target and the conversion coordinates of the residual target to obtain a vertical sequence;
performing extremum elimination processing on the vertical sequence to obtain a vertical sequence to be calculated;
and calculating the standard deviation of the vertical to-be-calculated number series to serve as a vertical coordinate evaluation value.
Based on the foregoing embodiment, optionally, the path optimization snapshot mode dividing module 340 is specifically configured to:
if the horizontal coordinate evaluation value is larger than the vertical coordinate evaluation value by a preset multiple, determining that the path optimization snapshot mode is a horizontal movement priority mode;
if the vertical coordinate evaluation value is larger than the horizontal coordinate evaluation value by a preset multiple, determining that the path optimization snapshot mode is a vertical movement priority mode;
and if the difference between the horizontal coordinate evaluation value and the horizontal coordinate evaluation value is within a preset multiple, determining that the path optimization snapshot mode is an equilibrium mode.
In a possible embodiment, optionally, the path optimization snapshot mode includes a horizontal movement priority mode, a vertical movement priority mode, and an equalization mode;
Accordingly, the path calculation module 350 is specifically configured to:
if the horizontal movement priority mode is adopted, determining that the horizontal path from the horizontal position of the target position of the current target to the horizontal position of the target position of the residual target is shortest, and taking the shortest horizontal path as a calculation result;
if the vertical movement priority mode is adopted, determining that the vertical distance from the vertical position of the target position of the current target to the vertical position of the target position of the residual target is shortest, and taking the shortest vertical distance as a calculation result;
and if the balance mode is adopted, determining that the distance from the target position of the current target to the target position of the residual target is shortest, and taking the shortest distance as a calculation result.
In another possible solution, optionally, the path optimization snapshot mode includes a horizontal movement priority mode, a vertical movement priority mode, and an equalization mode;
accordingly, the path calculation module 350 is specifically configured to:
if the horizontal movement priority mode is adopted, determining the sequence with the shortest horizontal distance between the current target and the target position of each residual target one by one as a calculation result;
if the vertical movement priority mode is adopted, determining the sequence with the shortest vertical distance between the current target and the target position of each residual target one by one as a calculation result;
If the balance mode is adopted, the sequence with the shortest target position distance between the current target and each remaining target is determined one by one and used as a calculation result.
The method for determining the linkage snapshot path provided by the embodiment of the application can be executed by the product, and has the corresponding functional modules and beneficial effects of the execution method.
Example IV
A fourth embodiment of the present invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method for determining a linkage snapshot path as provided in all embodiments of the present invention:
identifying a target to be snap shot from the acquired panoramic image;
detecting the target position of the target to be captured, constructing target data based on the target to be captured and the target position of the target to be captured, and caching the target data;
determining a current target which is captured by the detail camera and the rest targets which are not captured in the cached target data;
determining a path optimization snapshot mode of the residual target according to the target position of the current target and the target position of the residual target;
and calculating a path by adopting a path calculation rule corresponding to the path optimization snapshot mode, and sending an obtained calculation result to the detail camera so that the detail camera can snapshot the residual targets one by one according to the calculation result.
Any combination of one or more computer readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, 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), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code 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 kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
Example five
The fifth embodiment of the application provides an electronic device. Fig. 4 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present application. As shown in fig. 4, the present embodiment provides an electronic device 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 method for determining a linkage snapshot path provided in an embodiment of the present application, and the method includes:
identifying a target to be snap shot from the acquired panoramic image;
detecting the target position of the target to be captured, constructing target data based on the target to be captured and the target position of the target to be captured, and caching the target data;
determining a current target which is captured by the detail camera and the rest targets which are not captured in the cached target data;
determining a path optimization snapshot mode of the residual target according to the target position of the current target and the target position of the residual target;
and calculating a path by adopting a path calculation rule corresponding to the path optimization snapshot mode, and sending an obtained calculation result to the detail camera so that the detail camera can snapshot the residual targets one by one according to the calculation result.
Of course, those skilled in the art will understand that the processor 420 further implements the technical solution of the method for determining the linkage snapshot path provided in any embodiment of the present application.
The electronic device 400 shown in fig. 4 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present application.
As shown in fig. 4, the electronic device 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 electronic 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 electronic device may be connected by a bus or other means, as exemplified by connection via a bus 450 in fig. 4.
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 method for determining a linkage snapshot path 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 device 430 may be used to receive input numeric, character information, or voice information, and to generate key signal inputs related to user settings and function control of the electronic device. The output device 440 may include an electronic device such as a display screen, a speaker, etc.
According to the electronic equipment provided by the embodiment of the application, the path optimization snapshot mode of the residual target can be divided through the target position of the current target and the target position of the residual target, so that the scene adaptability of the panoramic camera is enhanced while the working efficiency of the panoramic camera is improved, and the scientific maintenance of the panoramic camera is realized.
The device, the medium and the electronic equipment for determining the linkage snapshot path provided in the embodiment can execute the method for determining the linkage snapshot path 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 can be found in the method for determining the linkage snapshot path provided in any embodiment of the present application.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (9)
1. A method of determining a linked snapshot path, the method performed by a panoramic camera configured with a detail camera, the method comprising:
identifying a target to be snap shot from the acquired panoramic image;
detecting a target position of the target to be captured, and converting the target position based on a horizontal view angle and a vertical view angle to obtain conversion coordinates of the target to be captured;
constructing target data based on the target to be snap shot and the conversion coordinates, and caching the target data;
determining a current target which is captured by the detail camera and the rest targets which are not captured in the cached target data;
determining a path optimization snapshot mode of the residual target according to the target position of the current target and the target position of the residual target; the path optimization snapshot mode comprises a horizontal movement priority mode, a vertical movement priority mode and an equalization mode;
and calculating a path by adopting a path calculation rule corresponding to the path optimization snapshot mode, and sending an obtained calculation result to the detail camera so that the detail camera can snapshot the residual targets one by one according to the calculation result.
2. The method of claim 1, wherein determining a path-optimized snapshot of the remaining targets based on target positions of the current target and target positions of the remaining targets comprises:
determining the conversion coordinates of the current target and determining the conversion coordinates of the residual target;
calculating a horizontal coordinate evaluation value and a vertical coordinate evaluation value of the conversion coordinates of the current target and the conversion coordinates of the residual target;
and determining a path optimization snapshot mode of the residual target according to the horizontal coordinate evaluation value and the vertical coordinate evaluation value.
3. The method according to claim 2, wherein calculating a horizontal coordinate evaluation value and a vertical coordinate evaluation value of the converted coordinates of the current target and the converted coordinates of the remaining targets includes:
extracting horizontal components of the conversion coordinates of the current target and the conversion coordinates of the residual target to obtain a horizontal sequence;
performing extremum elimination processing on the horizontal sequence to obtain a horizontal sequence to be calculated;
calculating standard deviation of the horizontal to-be-calculated number series to serve as a horizontal coordinate evaluation value;
the method comprises the steps of,
Extracting the vertical components of the conversion coordinates of the current target and the conversion coordinates of the residual target to obtain a vertical sequence;
performing extremum elimination processing on the vertical sequence to obtain a vertical sequence to be calculated;
and calculating the standard deviation of the vertical to-be-calculated number series to serve as a vertical coordinate evaluation value.
4. A method according to claim 2 or 3, wherein determining a path-optimized snapshot of the remaining objects from the horizontal coordinate evaluation values and the vertical coordinate evaluation values comprises:
if the horizontal coordinate evaluation value is larger than the vertical coordinate evaluation value by a preset multiple, determining that the path optimization snapshot mode is a horizontal movement priority mode;
if the vertical coordinate evaluation value is larger than the horizontal coordinate evaluation value by a preset multiple, determining that the path optimization snapshot mode is a vertical movement priority mode;
and if the difference between the horizontal coordinate evaluation value and the horizontal coordinate evaluation value is within a preset multiple, determining that the path optimization snapshot mode is an equilibrium mode.
5. The method of claim 1, wherein calculating a path using a path calculation rule corresponding to the path optimization snapshot mode comprises:
If the horizontal movement priority mode is adopted, determining that the horizontal path from the horizontal position of the target position of the current target to the horizontal position of the target position of the residual target is shortest, and taking the shortest horizontal path as a calculation result;
if the vertical movement priority mode is adopted, determining that the vertical distance from the vertical position of the target position of the current target to the vertical position of the target position of the residual target is shortest, and taking the shortest vertical distance as a calculation result;
and if the balance mode is adopted, determining that the distance from the target position of the current target to the target position of the residual target is shortest, and taking the shortest distance as a calculation result.
6. The method of claim 1, wherein calculating a path using a path calculation rule corresponding to the path optimization snapshot mode comprises:
if the horizontal movement priority mode is adopted, determining the sequence with the shortest horizontal distance between the current target and the target position of each residual target one by one as a calculation result;
if the vertical movement priority mode is adopted, determining the sequence with the shortest vertical distance between the current target and the target position of each residual target one by one as a calculation result;
if the balance mode is adopted, the sequence with the shortest target position distance between the current target and each remaining target is determined one by one and used as a calculation result.
7. A linkage snapshot path determination device, wherein the device is configured on a panoramic camera, the panoramic camera is configured with a detail camera, the device comprising:
the target to be snap shot identification module is used for identifying the target to be snap shot from the acquired panoramic image;
the target data construction module is used for detecting the target position of the target to be captured, converting the target position based on a horizontal view angle and a vertical view angle, and obtaining the conversion coordinate of the target to be captured; constructing target data based on the target to be snap shot and the conversion coordinates, and caching the target data;
the target determining module is used for determining the current target which is captured by the detail camera and the residual target which is not captured in the cached target data;
the path optimization snapshot mode dividing module is used for determining a path optimization snapshot mode of the residual target according to the target position of the current target and the target position of the residual target; the path optimization snapshot mode comprises a horizontal movement priority mode, a vertical movement priority mode and an equalization mode;
and the path calculation module is used for calculating a path by adopting a path calculation rule corresponding to the path optimization snapshot mode, and sending the obtained calculation result to the detail camera so that the detail camera can snapshot the residual targets one by one according to the calculation result.
8. A computer readable storage medium having stored thereon a computer program, wherein the program when executed by a processor implements a method of determining a linked snapshot path as claimed in any one of claims 1 to 6.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements a method of determining a linked snapshot path as claimed in any one of claims 1 to 6 when the computer program is executed.
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