CN114500858B

CN114500858B - Parameter determination method, device, equipment and medium for preset bits

Info

Publication number: CN114500858B
Application number: CN202210308646.0A
Authority: CN
Inventors: 冉昭; 张东; 王松; 詹建华
Original assignee: Zhejiang Dahua Technology Co Ltd
Current assignee: Zhejiang Dahua Technology Co Ltd
Priority date: 2022-03-28
Filing date: 2022-03-28
Publication date: 2022-07-08
Anticipated expiration: 2042-03-28
Also published as: CN114500858A

Abstract

The embodiment of the invention provides a method, a device, equipment and a medium for determining parameters of preset bits, which are used for re-determining the parameters corresponding to the preset bits. In the embodiment of the invention, for each preset position, the pan-tilt image acquisition device determines a first candidate angle according to an angle corresponding to the preset position stored in advance, correspondingly acquires a first image according to the first candidate angle and the magnification of the preset position stored in advance, determines a first similarity and a first angle offset between the first image and a standard image of the preset position stored in advance, if the first similarity is greater than a preset first threshold and the first angle offset is less than a preset angle threshold, the first image is close to the standard image, and determines the standard angle of the preset position according to the first angle offset and the first candidate angle, so as to determine the parameter corrected by the preset position.

Description

Parameter determination method, device, equipment and medium for preset bits

Technical Field

The present invention relates to the field of image processing technologies, and in particular, to a method, an apparatus, a device, and a medium for determining a parameter of a preset bit.

Background

With the rapid development of video monitoring systems, the use of the pan-tilt image acquisition equipment with the presetting bit function is more and more extensive. The preset position function means that the pan-tilt image acquisition equipment can store a plurality of preset monitoring directions, image acquisition equipment states and other related parameters into a storage, such as horizontal direction angles, vertical direction angles, multiplying power and the like, and if necessary, the parameters corresponding to the preset position can be called rapidly and the pan-tilt image acquisition equipment can be adjusted to the parameters, so that the observation content of the preset position corresponding to the parameters can be positioned rapidly, and rapid observation of the observation content is realized. For example, a tree, a desk, a bank, etc. may be quickly located at the door of the bank.

However, due to the influence of various factors, such as reduction of structural component precision, aging of devices, external environment interference and the like, the errors of the holder image acquisition equipment can be accumulated continuously. If the magnification in the parameter of a certain preset position is small, the influence is acceptable, but if the magnification is large, the interference of the error on the precise positioning is large, and even the observed content is shifted to the outside of the image range, that is, the image acquired according to the parameter of the preset position is not accurate. For certain industries, such as banks, substations, etc., the offset is unacceptable, and thus the parameters corresponding to the observation preset bits need to be re-determined. In addition, when the image acquisition equipment of the holder is abnormal, the image acquisition equipment of the holder is usually required to be disassembled, maintained and re-installed, but the installation is considered to be different from the previous installation, for example, the tightness of a certain screw is different, so that the original preset position is usually completely failed, and the corresponding parameters are required to be reset. In either case, manual calibration is time-consuming and labor-consuming, and requires a lot of manpower when the number of devices to be maintained is large.

Disclosure of Invention

The embodiment of the invention provides a method, a device, equipment and a medium for determining parameters of preset bits, which are used for re-determining the parameters corresponding to the preset bits.

In a first aspect, an embodiment of the present invention provides a method for determining a parameter of a preset bit, where the method includes:

if the parameters of the preset positions are determined to be adjusted, determining a first candidate angle corresponding to each preset position according to a pre-stored angle corresponding to the preset position for each preset position, and controlling the pan-tilt image acquisition equipment to acquire a first image according to the first candidate angle and a pre-stored multiplying power corresponding to the preset position; determining a first similarity and a first angle offset of the first image and a standard image of a preset position which is stored in advance; if the first similarity is larger than a preset first threshold value and the first angle offset is smaller than a preset angle threshold value, determining a standard angle corresponding to the preset position according to the first candidate angle and the first angle offset, and determining a parameter of the preset position after correction according to the standard angle and the multiplying power.

Further, the determining, according to the angle corresponding to the pre-stored pre-set bit, a first candidate angle corresponding to the pre-set bit includes:

judging whether an environment image acquired by a holder image acquisition device is received or not;

if so, determining a second similarity between the environment image and a pre-stored standard environment image, and acquiring a second angle offset corresponding to the environment image acquired by the cloud deck image acquisition equipment and the standard environment image; if the second similarity is not smaller than a preset second threshold, determining a first candidate angle corresponding to the preset position at least according to a pre-stored angle corresponding to the preset position, the second angle offset and a sum of any angle in a preset angle set;

otherwise, determining a first candidate angle corresponding to the preset position according to the angle corresponding to the preset position and any angle in a preset angle set.

Further, the determining, according to at least the angle corresponding to the pre-set bit stored in advance, the second angle offset, and the sum of any angle in the preset angle set, the first candidate angle corresponding to the pre-set bit includes:

acquiring a third angle offset between the angle of the cloud deck image acquisition equipment for acquiring the environment image and the angle of the cloud deck image acquisition equipment for acquiring the standard environment image which is stored in advance;

and determining a first candidate angle corresponding to the preset position according to the second angle offset, the third angle offset, a pre-stored angle corresponding to the preset position and the sum of any angle in a preset angle set.

Further, the determining, according to the angle corresponding to the pre-stored pre-set bit and any angle in the pre-set angle set, a first candidate angle corresponding to the pre-set bit includes:

randomly determining a first angle in a pre-stored angle set, wherein the angles in the angle set are a preset number of angles which are sequentially determined from a preset angle according to a preset angle step length;

and determining a first candidate angle corresponding to the preset position according to the first angle and a sum value of angles corresponding to the preset position, which is stored in advance.

Further, the determining, according to the first candidate angle and the first angle offset, the standard angle corresponding to the preset bit includes:

and determining the standard angle corresponding to the preset position according to the sum of the first angle offset and the first candidate angle.

Further, if the first similarity is not greater than a preset first threshold, or the first angle offset is not less than a preset angle threshold, the method further includes:

searching a second angle which is not used in a pre-saved angle set; and determining the second angle as a used angle;

determining a second candidate angle corresponding to the preset position according to the second angle and the angle corresponding to the preset position which is stored in advance; controlling the holder image acquisition equipment to acquire a second image according to the second candidate angle and the multiplying power; determining a third similarity and a fourth angle offset of the second image and the standard image; if the third similarity is greater than the first threshold and the fourth angle offset is smaller than the angle threshold, determining a standard angle corresponding to the preset position according to the second candidate angle and the fourth angle offset, and determining a parameter after correction of the preset position according to the standard angle and the multiplying power.

Further, after determining the standard angle corresponding to the preset bit according to the first candidate angle and the first angle offset, and before determining the parameter of the preset bit after correction according to the standard angle and the magnification, the method further includes:

adjusting the holder image acquisition equipment according to the standard angle and the multiplying power, and controlling the holder image acquisition equipment to acquire a third image;

determining a fourth similarity between the third image and the standard image, and if the fourth similarity is greater than a preset third threshold, performing a subsequent step of determining parameters after the preset position is corrected according to the standard angle and the multiplying power; wherein the third threshold is greater than the first threshold.

Further, if the fourth similarity is smaller than a preset third threshold, the method further includes:

searching a third angle which is not used in a pre-saved angle set; and determining the third angle as a used angle;

determining a third candidate angle corresponding to the preset position according to the third angle and the angle corresponding to the preset position stored in advance; controlling the holder image acquisition equipment to acquire a fourth image according to the third candidate angle and the multiplying power; determining a fifth similarity and a fifth angle offset of the fourth image and the standard image; if the fifth similarity is larger than the first threshold and the fifth angle offset is smaller than the angle threshold, determining a standard angle corresponding to the preset position according to the fifth angle offset and the third candidate angle, and determining a parameter corresponding to the preset position according to the standard angle and the multiplying power.

Further, if there is no uncapped angle in the angle set, the method further includes:

and sending the first notification information.

Further, if the second similarity is not greater than a preset second threshold, the method further includes:

and sending the second notification information.

In a second aspect, an embodiment of the present invention further provides an apparatus for determining a parameter of a preset bit, where the apparatus includes:

the determining control module is used for determining a first candidate angle corresponding to the preset position according to a pre-stored angle corresponding to the preset position and aiming at each preset position if the parameter of the preset position is determined to be adjusted, and controlling the holder image acquisition equipment to acquire a first image according to the first candidate angle and a pre-stored multiplying power corresponding to the preset position;

the processing module is used for determining a first similarity and a first angle offset of a first image of the corresponding acquired preset position and a standard image of the preset position stored in advance aiming at each preset position; if the first similarity is larger than a preset first threshold value and the first angle offset is smaller than a preset angle threshold value, determining a standard angle corresponding to the preset position according to the first candidate angle and the first angle offset, and determining a parameter of the preset position after correction according to the standard angle and the multiplying power.

Further, the control determining module is specifically configured to determine whether an environmental image acquired by the pan-tilt image acquisition device is received; if so, determining a second similarity between the environment image and a pre-stored standard environment image, and acquiring a second angle offset corresponding to the environment image acquired by the cloud deck image acquisition equipment and the standard environment image; if the second similarity is not smaller than a preset second threshold, determining a first candidate angle corresponding to the preset position at least according to a pre-stored angle corresponding to the preset position, the second angle offset and a sum of any angle in a preset angle set; otherwise, determining a first candidate angle corresponding to the preset position according to the angle corresponding to the preset position and any angle in a preset angle set.

Further, the control determining module is specifically configured to obtain a third angular offset between an angle at which the pan-tilt image capturing device captures the environment image and an angle at which the standard environment image is captured, which is stored in advance; and determining a first candidate angle corresponding to the preset position according to the second angle offset, the third angle offset, a pre-stored angle corresponding to the preset position and the sum of any angle in a preset angle set.

Further, the control determining module is specifically configured to randomly determine a first angle in a pre-stored angle set, where the angles in the angle set are a preset number of angles sequentially determined from a preset angle according to a preset angle step length; and determining a first candidate angle corresponding to the preset position according to the first angle and a sum value of angles corresponding to the preset position, which is stored in advance.

Further, the processing module is specifically configured to determine a standard angle corresponding to the preset bit according to a sum of the first angle offset and the first candidate angle.

Further, the processing module is further configured to search for an unused second angle in a pre-stored angle set if the first similarity is not greater than a preset first threshold, or the first angle offset is not less than a preset angle threshold; and determining the second angle as a used angle; determining a second candidate angle corresponding to the preset position according to the second angle and the angle corresponding to the preset position stored in advance; controlling the holder image acquisition equipment to acquire a second image according to the second candidate angle and the multiplying power; determining a third similarity and a fourth angle offset of the second image and the standard image; if the third similarity is greater than the first threshold and the fourth angle offset is smaller than the angle threshold, determining a standard angle corresponding to the preset position according to the second candidate angle and the fourth angle offset, and determining a parameter after correction of the preset position according to the standard angle and the multiplying power.

Further, the processing module is further configured to adjust the pan-tilt image acquisition device according to the standard angle and the magnification, and control the pan-tilt image acquisition device to acquire a third image; determining a fourth similarity between the third image and the standard image, and if the fourth similarity is greater than a preset third threshold, performing a subsequent step of determining parameters after the preset position is corrected according to the standard angle and the multiplying power; wherein the third threshold is greater than the first threshold.

Further, the processing module is further configured to search for an unused third angle in a pre-stored angle set if the fourth similarity is smaller than a preset third threshold; and determining the third angle as a used angle; determining a third candidate angle corresponding to the preset position according to the third angle and the angle corresponding to the preset position which is stored in advance; controlling the holder image acquisition equipment to acquire a fourth image according to the third candidate angle and the multiplying power; determining a fifth similarity and a fifth angle offset of the fourth image and the standard image; if the fifth similarity is larger than the first threshold and the fifth angle offset is smaller than the angle threshold, determining a standard angle corresponding to the preset position according to the fifth angle offset and the third candidate angle, and determining a parameter corresponding to the preset position according to the standard angle and the multiplying power.

Further, the processing module is further configured to send first notification information if an angle that is not searched does not exist in the angle set.

Further, the processing module is further configured to send second notification information if the second similarity is not greater than a preset second threshold.

In a third aspect, an embodiment of the present invention further provides an electronic device, where the electronic device at least includes a processor and a memory, and the processor is configured to implement the steps of the method for determining the parameter of the preset bit as described in any one of the above when executing the computer program stored in the memory.

In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, which stores a computer program, where the computer program, when executed by a processor, implements the steps of the method for determining the parameters of the preset bits as described in any one of the above.

In the embodiment of the invention, if the parameter of the preset position is determined to be adjusted, the pan-tilt image acquisition device determines, for each preset position, a first candidate angle corresponding to the preset position according to the angle corresponding to the preset position stored in advance, controls the pan-tilt image acquisition device to acquire the first image according to the first candidate angle and the magnification corresponding to the preset position stored in advance, determines a first similarity and a first angle offset between the first image and a standard image of the preset position stored in advance, determines, if the first similarity is greater than a preset first threshold and the first angle offset is smaller than a preset angle threshold, a standard angle corresponding to the preset position according to the first candidate angle and the first angle offset, and determines the parameter after the preset position is corrected according to the standard angle and the magnification. In the embodiment of the invention, for each preset position, the pan-tilt image acquisition device determines a first candidate angle according to the angle corresponding to the preset position which is saved in advance, correspondingly acquires a first image according to the first candidate angle and the magnification of the preset position which is saved in advance, determines a first similarity and a first angle offset of the first image and a standard image of the preset position which is saved in advance, if the first similarity is greater than a preset first threshold and the first angle offset is smaller than a preset angle threshold, the first image approaches the standard image, and determines the standard angle of the preset position according to the first angle offset and the first candidate angle, so as to determine the parameter after the preset position is corrected.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic diagram of a parameter determination process of a preset bit according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a standard image according to an embodiment of the present invention;

fig. 3 is a schematic diagram of an image acquired according to parameters of an original preset location according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of an image acquired by using parameters of a corrected preset bit according to an embodiment of the present invention;

fig. 5 is a detailed schematic diagram of a parameter determination process of a preset bit according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a parameter determining apparatus for presetting bits according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of an electronic device according to the present invention.

Detailed Description

The present invention will be described in further detail with reference to the attached drawings, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In order to redetermine the parameter corresponding to each preset position when the holder image acquisition device is detached or has a large error, the embodiment of the invention provides a method, a device, equipment and a medium for determining the parameter of the preset position.

Example 1:

fig. 1 is a schematic diagram of a parameter determination process of preset bits according to an embodiment of the present invention, where the process includes the following steps:

s101: if the parameters of the preset positions are determined to be adjusted, for each preset position, determining a first candidate angle corresponding to the preset position according to the angle corresponding to the preset position stored in advance, and controlling the holder image acquisition equipment to acquire a first image according to the first candidate angle and the multiplying power corresponding to the preset position stored in advance.

The parameter determination method of the preset position provided by the embodiment of the invention is applied to the holder image acquisition equipment.

In order to redetermine the parameters of each preset position when the pan-tilt image acquisition equipment is reinstalled or has a large error, in the embodiment of the invention, if the parameters of the preset positions are determined to be adjusted, the pan-tilt image acquisition equipment acquires the first image close to the standard image of each preset position.

And if a preset key of the cloud deck image acquisition equipment receives a preset trigger operation, the cloud deck image acquisition equipment determines to adjust the parameters of the preset position.

Aiming at each preset position, under the scene that the parameter standard of the preset position is pre-stored in the cloud platform image acquisition equipment, the parameter of the preset position and the standard image corresponding to the preset position are obtained, and the parameter corresponding to the preset position refers to the angle and the multiplying power corresponding to the preset position. The angle corresponding to the preset position refers to the angle in the horizontal direction and the angle in the vertical direction of the cloud deck image acquisition equipment when the standard image is acquired, and the multiplying power corresponding to the preset position refers to the multiplying power of the cloud deck image acquisition equipment when the standard image is acquired. When the parameter standard of the preset position is adopted, the cloud deck image acquisition equipment can acquire the standard image corresponding to the preset position after being adjusted to the angle and the multiplying power. The angle can comprise an angle in the horizontal direction and an angle in the vertical direction, and the ratio of the objective focal length to the eyepiece focal length of the holder image acquisition device is referred to as the multiplying power.

For each preset position, when the parameters of the preset position under the current scene are re-determined by the cloud platform image acquisition equipment, the cloud platform image acquisition equipment can determine a first candidate angle corresponding to the preset position according to the angle corresponding to the preset position, wherein the angle corresponding to the preset position can be determined, or the sum of the angle corresponding to the preset position and the preset angle is the first candidate angle. The holder image acquisition equipment adjusts the angle of the holder image acquisition equipment to be the first candidate angle, adjusts the multiplying power of the holder image acquisition equipment to be the multiplying power corresponding to the preset position, and acquires the first image.

S102: aiming at each preset position, determining a first similarity and a first angle offset of a first image of the corresponding acquired preset position and a standard image of the preset position, which are stored in advance; if the first similarity is larger than a preset first threshold value and the first angle offset is smaller than a preset angle threshold value, determining a standard angle corresponding to the preset position according to the first candidate angle and the first angle offset, and determining a parameter of the preset position after correction according to the standard angle and the multiplying power.

In order to determine the parameters of the preset positions in the current scene (i.e. the corrected parameters), in the embodiment of the invention, the pan-tilt image acquisition device determines the corrected parameters of each preset position according to the acquired first image close to the standard image of each preset position and the standard image of each preset position stored in advance.

The first threshold value and the angle threshold value are pre-stored in the holder image acquisition equipment, and the standard image corresponding to the pre-set position is also stored in the holder image acquisition equipment aiming at each threshold position. The cloud platform image acquisition equipment determines a first similarity between a first image and the standard image, and determines a first angle offset between the cloud platform image acquisition equipment and the standard image, wherein after the cloud platform image acquisition equipment acquires the first image, the cloud platform image acquisition equipment deflects the first angle offset to acquire the image close to the standard image.

The cloud deck image acquisition equipment judges whether the first similarity is larger than a first threshold value or not, and whether the first angle offset is smaller than an angle threshold value or not, if the first similarity is larger than the first threshold value and the first angle offset is smaller than the angle threshold value, the first image is close to a standard image, and a standard angle corresponding to the preset position can be determined according to the first angle offset and the first candidate angle. And determining and observing the parameters of the preset position after correction according to the standard angle and the multiplying power. The pan-tilt image acquisition device can determine a sum of the first angle offset and the first candidate angle, and determine a standard angle corresponding to the preset position according to the sum. In a possible embodiment, the pan-tilt-head image capturing device may determine the sum as a standard angle corresponding to the preset position.

For each preset position, the pan-tilt-zoom-. Preferably, the density-based registration algorithm is a density-based registration algorithm, since the density-based registration algorithm can accurately process images with severe noise or image texture information.

For each preset position, the holder image acquisition equipment can determine the first similarity between the first image corresponding to the preset position and the standard image according to the image mutual information, the normalized cross-correlation coefficient and the like.

In the embodiment of the invention, for each preset position, the pan-tilt image acquisition device determines a first candidate angle according to the angle corresponding to the preset position which is saved in advance, correspondingly acquires a first image according to the first candidate angle and the magnification of the preset position which is saved in advance, determines a first similarity and a first angle offset of the first image and a standard image of the preset position which is saved in advance, if the first similarity is greater than a preset first threshold and the first angle offset is smaller than a preset angle threshold, the first image approaches the standard image, and determines the standard angle of the preset position according to the first angle offset and the first candidate angle, so as to determine the parameter after the preset position is corrected.

Example 2:

in order to determine the first candidate angle corresponding to each preset bit, on the basis of the foregoing embodiment, in an embodiment of the present invention, the determining, according to the angle corresponding to the preset bit stored in advance, the first candidate angle corresponding to the preset bit includes:

if so, determining a second similarity between the environment image and a pre-stored standard environment image, and acquiring a second angle offset corresponding to the environment image acquired by the cloud deck image acquisition equipment and the standard environment image; if the second similarity is not smaller than a preset second threshold, determining a first candidate angle corresponding to the preset position at least according to a prestored angle corresponding to the preset position, the second angle offset and a sum of any angle in a preset angle set;

In order to re-determine the parameters corresponding to each preset point when the pan-tilt image acquisition device is installed again or has a large error, in the embodiment of the present invention, the pan-tilt image acquisition device may determine the first candidate angle corresponding to each preset point according to the acquired environment image.

The user can control the cloud deck image acquisition equipment to acquire the environmental image under the scene that the cloud deck image acquisition equipment is installed again, and the angle of the cloud deck image acquisition equipment can be adjusted by the user until the cloud deck image acquisition equipment can acquire the image close to the pre-stored standard environmental image. When the error of the cloud platform image acquisition equipment is large, a user can not control the cloud platform image acquisition equipment to acquire the environment image, and only can click the preset button, so that the cloud platform image acquisition equipment determines to adjust the parameter of the preset position. Therefore, the holder image acquisition device can firstly judge whether the acquired environment image is received or not, so that whether the holder image acquisition device is reinstalled or the error of the holder image acquisition device is larger in the current scene is determined.

If the cradle head image acquisition device does not acquire the environmental image, considering that if the first candidate angle corresponding to the preset position is determined only according to the angle corresponding to the preset position stored in advance, and the cradle head image acquisition device is controlled to acquire the corresponding first image according to the first candidate angle, the situation that the standard image deviation of the first image corresponding to the preset position stored in advance is large easily occurs. Therefore, in the embodiment of the present invention, an angle set is saved in advance, and a first candidate angle is determined according to the angles in the angle set. Specifically, for each preset position, the holder image acquisition device randomly determines any angle in a pre-stored angle set, and determines a first candidate angle corresponding to the preset position according to the angle corresponding to the preset position and the randomly determined angle in the angle set. In a possible implementation, the maximum value of the randomly determined angles corresponding to the preset bits may be determined as the first candidate angle corresponding to the preset bits.

If the cradle head image acquisition equipment acquires the environment image, determining that the current scene is the scene of the re-installation of the cradle head image acquisition equipment, and pre-storing a standard environment image in the cradle head image acquisition equipment for determining a first candidate angle corresponding to the preset position aiming at each preset position, wherein the standard environment image is the standard environment image acquired by the cradle head image acquisition equipment before the cradle head image acquisition equipment is dismantled. Generally speaking, the standard environment image may be an image at any position acquired by the pan/tilt image acquisition device with the minimum magnification, and preferably, the standard environment image is generally an image with rich texture information, and through the standard environment image, the absolute relationship between the pan/tilt image acquisition device and surrounding scenes before being detached can be determined.

Specifically, after the pan-tilt image acquisition device receives the environment image, if the difference between the environment image and the standard environment image is large, when determining the parameter corrected by the preset position for each preset position, it is unknown how to adjust the pan-tilt image acquisition device to acquire the first image close to the standard image of the preset position stored in advance. The first angular offset may be an angular offset in the horizontal direction and an angular offset in the vertical direction.

In order to determine the parameter of each preset position, in the embodiment of the invention, the pan-tilt image acquisition device acquires the first image close to the standard image of each preset position, so that whether the corresponding parameter is accurate or not is judged through the acquired first image. When the cloud deck image acquisition equipment acquires the first image close to the standard image of each preset position, how to adjust is determined according to the second angle offset of the environment image and the standard environment image, so that the cloud deck image acquisition equipment can acquire the first image close to the standard image of each preset position.

For each preset position, the parameters of the preset position in the current scene are determined by the cloud deck image acquisition equipment according to the parameters corresponding to the preset position in the scene in which the cloud deck image acquisition equipment acquires the standard environment image. If the second similarity between the environmental image and the standard environmental image is smaller, the parameter of the preset position in the current scene cannot be determined according to the parameter corresponding to the preset position in the scene of the standard environmental image. Therefore, the pan-tilt image acquisition device can pre-store a preset second threshold, after determining the second similarity between the environmental image and the standard environmental image, judge whether the second similarity is greater than the second threshold, if the second similarity is greater than the second threshold, indicate that the environmental image is close to the standard environmental image, and correspondingly determine the parameter corresponding to the preset position of the current scene pan-tilt image acquisition device for each preset position. Wherein the first threshold is greater than the second threshold.

For each preset position, when the cradle head image acquisition equipment determines the parameter corresponding to the preset position in the current scene, the cradle head image acquisition equipment can determine a first candidate angle corresponding to the preset position according to the second angle offset and the angle corresponding to the preset position stored in advance, and considering that if the first candidate angle corresponding to the preset position is determined only according to the second angle offset and the angle corresponding to the preset position stored in advance, and the cradle head image acquisition equipment is controlled to acquire the corresponding first image according to the first candidate angle, the situation that the deviation of the first image and the standard image corresponding to the preset position stored in advance is large easily occurs. Therefore, in the embodiment of the present invention, an angle set is stored in advance, and a first candidate angle is determined according to angles in the angle set.

Specifically, for each preset position, the holder image acquisition device randomly determines any angle in a pre-stored angle set, and determines a first candidate angle corresponding to the preset position according to the first angle offset, the angle corresponding to the preset position and the randomly determined angle in the angle set. In one possible embodiment, the first angle offset, the angle corresponding to the preset bit, and the sum of the randomly determined angles in the angle set may be determined as the first candidate angle corresponding to the preset bit.

Example 3:

in order to accurately determine the first candidate angle corresponding to each preset position, on the basis of the foregoing embodiments, in an embodiment of the present invention, determining the first candidate angle corresponding to the preset position at least according to a prestored sum value of an angle corresponding to the preset position, the second angle offset, and any angle in a preset angle set includes:

Because the pan-tilt image acquisition device may be reinstalled, the angle of the pan-tilt image acquisition device after reinstallation is different from the angle before reinstallation, and therefore the first candidate angle corresponding to the pan-tilt image acquisition device after reinstallation cannot be determined only according to the second angle offset, the angle corresponding to the preset position, and any angle in the angle set.

In the embodiment of the present invention, the angle for acquiring the standard environment image is pre-stored in the pan-tilt image acquisition device, and the pan-tilt image acquisition device can determine the angle when acquiring the environment image, where how to determine the angle of the pan-tilt image acquisition device at this time when acquiring a certain image is the prior art, and is not described herein again. And the tripod head image acquisition equipment can determine the third angle offset according to the difference value of the angle and the angle of the pre-stored acquisition standard environment image. And the holder image acquisition equipment determines a first candidate angle corresponding to the preset position according to the second angle offset, the third angle offset, the sum of angles corresponding to the preset position which is stored in advance and any angle in the angle set which is stored in advance. The sum of the second angle offset and the third angle offset may be determined first, and the sum is referred to as a first sum, and then the sum of the first sum and the angle corresponding to the preset bit and the sum of any angle in the angle set stored in advance are determined, and the sum is referred to as a second sum, and the second sum is determined as the first candidate angle corresponding to the preset bit.

Taking an example that the angles mentioned in the embodiment of the present invention include an angle in the horizontal direction and an angle in the vertical direction, and the angle offset includes an angle offset in the horizontal direction and an angle offset in the vertical direction, the first candidate angle is:

init_x=env_x+cor_x；p1=p0+xstep+init_x

init_y=env_y+cor_y；t1=t0+ystep+init_y

wherein init _ x is a first sum value in the horizontal direction, env _ x is an angle offset in the horizontal direction of a third angle offset, cor _ x is an angle offset in the horizontal direction of a second angle offset, p1 is a candidate angle in the horizontal direction of a first candidate angle, p0 is an angle in the horizontal direction corresponding to the preset position, xstep is an angle in the horizontal direction of a randomly determined angle group in the angle set, init _ y is a first sum value in the vertical direction, env _ y is an angle offset in the vertical direction of a third angle offset, cor _ y is an angle offset in the vertical direction of a second angle offset, t1 is a candidate angle in the vertical direction of a first candidate angle, t0 is an angle in the vertical direction corresponding to the preset position, and ystep is an angle in the vertical direction of a randomly determined angle group in the angle set.

In order to determine the first candidate angle corresponding to each preset position, on the basis of the foregoing embodiments, in an embodiment of the present invention, the determining, according to a pre-stored angle corresponding to the preset position and any angle in a preset angle set, the first candidate angle corresponding to the preset position includes:

In the embodiment of the present invention, the pan/tilt image capturing device stores an angle set in advance, for each preset position, the pan/tilt image capturing device may randomly determine a first angle in the angle set stored in advance, determine a first angle offset, an angle corresponding to the preset position, and a sum of the first angle, determine a first candidate angle corresponding to the preset position according to the sum, and may determine that the sum is the first candidate angle corresponding to the preset position.

The angles in the angle set are preset number of angles which are sequentially determined from preset angles according to preset angle step lengths. And the first angle offset includes a horizontal angle offset and a vertical angle offset, and the angle corresponding to the preset bit includes a horizontal angle and a vertical angle, so the angle set may include a horizontal angle set and a vertical angle set, the horizontal angle set may be (-3, -2.5, …, 2.5, 3), and the vertical angle set may be (-3, -2.5, …, 2.5, 3).

Specifically, the angle sets in the horizontal direction and the angle sets in the vertical direction are both preset angles which are sequentially determined from the same preset angle or different preset angles according to a preset angle step length, wherein angle groups in the angle sets in the horizontal direction and angles in the angle sets in the vertical direction can form angle groups in the angle sets which are saved in advance, each angle group comprises an angle in the angle set in the horizontal direction and an angle in the angle set in the vertical direction, and the same angle group does not exist in the angle sets.

In order to accurately determine the standard angle corresponding to each preset bit, on the basis of the foregoing embodiments, in an embodiment of the present invention, the determining the standard angle corresponding to the preset bit according to the first candidate angle and the first angle offset includes:

In the embodiment of the present invention, in order to determine the standard angle corresponding to each preset position, for each preset position, the pan-tilt image capturing device may obtain a first angle offset and a first candidate angle that are determined corresponding to the preset position, determine a sum of the first angle offset and the first candidate angle, and determine the standard angle corresponding to the preset position according to the sum. In a possible embodiment, the pan-tilt-head image capturing device may determine the sum as a standard angle corresponding to the preset position.

Example 4:

in order to accurately determine the corrected parameter of each preset bit, on the basis of the foregoing embodiments, in an embodiment of the present invention, if the first similarity is not greater than a preset first threshold, or the first angle offset is not less than a preset angle threshold, the method further includes:

determining a second candidate angle corresponding to the preset position according to the second angle and the angle corresponding to the preset position stored in advance; controlling the holder image acquisition equipment to acquire a second image according to the second candidate angle and the multiplying power; determining a third similarity and a fourth angle offset of the second image and the standard image; if the third similarity is greater than the first threshold and the fourth angle offset is smaller than the angle threshold, determining a standard angle corresponding to the preset position according to the second candidate angle and the fourth angle offset, and determining a parameter after correction of the preset position according to the standard angle and the multiplying power.

In the embodiment of the present invention, for each preset position, if the first similarity is not greater than the preset first threshold and/or the first angle offset is not less than the preset angle threshold, it indicates that the difference between the first image and the standard image is large, and it indicates that the first candidate angle has a deviation, a second angle is searched in the angle set, and a second candidate angle is determined according to the second angle, so as to determine the parameter after the preset position is corrected.

Specifically, because there is a certain deviation between the image acquired by using the candidate angle determined by the used angle in the angle set and the standard image, the pan-tilt image acquisition device searches for an unused second angle in the angle set, determines the second angle as the used angle, determines the angle corresponding to the preset position and the sum of the second angle after determining the second angle, and determines the sum as the second candidate angle corresponding to the preset position.

In addition, if the pan/tilt head image capturing device captures the environment image, that is, the current scene is the scene corresponding to the pan/tilt head image capturing device being removed, for each preset position, when determining the second candidate angle corresponding to the preset position, the second candidate angle of the preset position is determined according to the angle corresponding to the preset position, the second angle, and the second angle offset corresponding to the preset position described in the above embodiment. In a possible implementation manner, a sum of the angle corresponding to the preset bit, the second angle and the second angle offset may be determined as a second candidate angle corresponding to the preset bit.

After the second candidate angle is determined, the pan-tilt image acquisition equipment is adjusted according to the second candidate angle and the multiplying power corresponding to the preset position, the pan-tilt image acquisition equipment is controlled to acquire a second image, the third similarity of the second image and a standard image corresponding to the preset position which is stored in advance is determined, the fourth angle offset when the pan-tilt image acquisition equipment acquires the third image and acquires the standard image is determined, if the third similarity is larger than a first threshold value and the third offset is smaller than an angle threshold value, the second image is close to the standard image, and the standard angle corresponding to the preset position is determined according to the fourth angle offset and the second candidate angle, wherein the sum of the fourth angle offset and the second candidate angle can be determined and is the standard angle corresponding to the preset position. And determining the parameters corresponding to the preset positions according to the standard angle and the multiplying power.

Example 5:

after determining the standard angle corresponding to the preset position according to the first candidate angle and the first angle offset, and before determining the parameter of the preset position after correction according to the standard angle and the magnification, the method further includes:

In the embodiment of the present invention, after the pan-tilt image capturing device determines the standard angle, it determines whether the third image captured correspondingly when the angle of the pan-tilt image capturing device is the standard angle is similar to the standard image. Thereby determining whether the standard angle is accurate.

Specifically, the pan-tilt image acquisition device adjusts the pan-tilt image acquisition device according to the standard angle determined by the preset position and the magnification corresponding to the preset position, controls the pan-tilt image acquisition device to acquire a third image, determines the fourth similarity between the third image and the standard image corresponding to the preset position stored in advance, judges whether the fourth similarity is greater than a preset third threshold, if the third similarity is greater than the preset third threshold, indicates that the third image is closer to the standard image corresponding to the preset position, indicates that the standard angle is an accurate angle, and executes the subsequent step of determining the parameter corresponding to the preset position according to the standard angle and the magnification. Wherein the third threshold is greater than the first threshold.

In a possible implementation manner, if the fourth similarity is greater than the third threshold, when the standard angle is determined, an angle offset between the third image and the standard image may be determined, a sum of the angle offset and the standard angle is determined, the determined standard angle is updated by using the sum, and then, a step of determining a parameter corresponding to the preset bit according to the standard angle and the magnification is performed.

Taking the example that the angles mentioned in the embodiment of the present invention include an angle in the horizontal direction and an angle in the vertical direction, and the angle offset includes an angle offset in the horizontal direction and an angle offset in the vertical direction, the sum is:

P2=mid_x+p1

t2=mid_y+t1

where P2 is the sum of the sum horizontally, mid _ x is the angle offset horizontally, P1 is the angle horizontally at the standard angle, t2 is the sum vertically at the sum, mid _ y is the angle offset vertically at the standard angle, and t1 is the angle vertically at the standard angle.

In order to accurately determine the parameter of each preset bit, on the basis of the foregoing embodiments, in an embodiment of the present invention, if the fourth similarity is smaller than a preset third threshold, the method further includes:

In the embodiment of the present invention, if the fourth similarity is smaller than the preset third threshold, it indicates that there is a certain deviation in the standard angle, where the deviation in the standard angle may be caused by a deviation in an angle selected from the angle set, and therefore, the pan-tilt image capturing apparatus re-determines the corresponding standard angle.

Specifically, after the candidate angle is determined according to the used angle correspondence in the angle set, the pan-tilt image capturing device searches for an unused third angle in the angle set according to a certain deviation between the image captured by the pan-tilt image capturing device according to the candidate angle and the standard image, and determines that the third angle is the used angle, after the third angle is determined, the pan-tilt image capturing device determines the sum value of the angle corresponding to the preset position and the third angle, and determines the third candidate angle corresponding to the preset position according to the sum value, where the sum value may be determined as the third candidate angle corresponding to the preset position.

In addition, if the pan/tilt head image capturing device captures the environment image, that is, the current scene is the scene corresponding to the pan/tilt head image capturing device being removed, for each preset position, when determining the third candidate angle corresponding to the preset position, the second candidate angle of the preset position is determined according to the angle corresponding to the preset position, the third angle, and the second angle offset corresponding to the preset position described in the above embodiment. In a possible implementation manner, the sum of the angle corresponding to the preset bit, the third angle and the second angle offset may be determined as a third candidate angle corresponding to the preset bit.

After the third candidate angle is determined, the cradle head image acquisition equipment is adjusted according to the third candidate angle and the multiplying power corresponding to the preset position, the cradle head image acquisition equipment is controlled to acquire a fourth image, the fifth similarity of the fourth image and a standard image corresponding to the preset position which is stored in advance is determined, the fifth angle offset when the cradle head image acquisition equipment acquires the fourth image and acquires the standard image is determined, if the fifth similarity is larger than a second threshold value and the fourth offset is smaller than an angle threshold value, the fourth image is indicated to approach the standard image, and the standard angle corresponding to the preset position is determined according to the fifth angle offset and the third candidate angle. According to the standard angle and the multiplying power, the corresponding parameter of the presetting bit can be determined.

Fig. 2 is a schematic diagram of a standard image according to an embodiment of the present invention.

As can be seen from fig. 2, when the parameter standard of the preset position is used, the collected standard image is a handrail.

Fig. 3 is a schematic diagram of an image acquired according to parameters of an original preset location according to an embodiment of the present invention.

As can be seen from fig. 3, when the parameter of the preset location corresponding to fig. 2 is not redetermined, the image acquired by using the parameter corresponding to fig. 2 is a tree branch, and as can be seen from fig. 2 and 3, the original scene cannot be accurately located by using the parameter acquired from fig. 2, and the parameter of the preset location needs to be adjusted.

Fig. 4 is a schematic view of an image acquired by using parameters of the corrected preset bits according to an embodiment of the present invention.

As can be seen from fig. 4, the image is a rail, and as can be seen from fig. 2 and 4, after the parameters of the preset bits are re-corrected, the original scene can be accurately located.

Example 6:

in order to accurately determine the parameter of each preset bit, on the basis of the foregoing embodiments, in an embodiment of the present invention, if there is no unsearched angle in the angle set, the method further includes:

and sending the first notification information.

In the embodiment of the invention, if the searched angle does not exist in the angle set, the deviation between the image determined by the candidate angle corresponding to each angle in the angle set and the standard image is shown, the scene corresponding to the preset position cannot be accurately acquired by adjusting the pan-tilt image acquisition equipment according to the determined parameters is shown, and the first notification information is sent, so that a user can understand that the current parameter determination fails, and thus, the manual adjustment is realized.

In order to accurately determine the parameter of each preset bit, on the basis of the foregoing embodiments, in an embodiment of the present invention, the second similarity is not greater than a preset second threshold, and the method further includes:

and sending the second notification information.

In the embodiment of the present invention, if the second similarity is smaller than the preset second threshold, it indicates that the deviation between the environmental image and the standard environmental image is large, and the parameter corresponding to each preset location cannot be determined according to the second angle offset amount corresponding to the environmental image and the standard environmental image, then the second notification information with large environmental image deviation is sent, and after receiving the second notification information, the user readjusts the angle of the pan-tilt image acquisition device, and after adjusting, determines the parameter corresponding to each preset location according to the adjusted environmental image.

Fig. 5 is a detailed schematic diagram of a parameter determination process of preset bits according to an embodiment of the present invention, where the process includes the following steps:

fig. 5 is a schematic diagram illustrating a parameter process determination of preset positions in a scene where the pan-tilt image capturing device is reinstalled.

S501: and receiving an environment image acquired by the pan-tilt image acquisition equipment.

S502: and determining a second similarity and a corresponding second angle offset of the environment image and a pre-stored standard environment image.

S503: and judging whether the second similarity is larger than a second threshold value, if so, executing S504, and otherwise, executing S505.

S504: an unused angle is determined among the angle sets saved in advance, and S506 is performed.

S505: and sending the second notification information.

S506: and for each preset position, determining a candidate angle corresponding to the preset position according to the angle determined in the angle set, the first angle offset and the angle corresponding to the preset position.

S507: and adjusting the holder image acquisition equipment according to the candidate angle and the multiplying power corresponding to the preset position stored in advance, controlling the holder image acquisition equipment to acquire an image, and determining the similarity and the angle offset of the image and a standard image.

S508: and judging whether the similarity is greater than a first threshold value or not, and the angle offset is smaller than an angle threshold value, if so, executing S510, otherwise, executing S509.

S509: and judging whether the angle set has an angle which is not searched, if so, executing S504, and otherwise, executing S511.

S510: and determining a standard angle corresponding to the preset position according to the angle offset and the candidate angle. And performs S512.

S511: and sending the first notification information.

S512: and adjusting the holder image acquisition equipment according to the standard angle and the multiplying power, controlling the holder image acquisition equipment to acquire a third image, and determining the fourth similarity between the third image and the standard image.

S513: and judging whether the fourth similarity is greater than a third threshold, if so, executing S514, and otherwise, executing S509.

S514: and determining parameters of the preset position according to the standard angle and the multiplying power.

Example 7:

fig. 6 is a schematic structural diagram of a parameter determining apparatus for preset bits according to an embodiment of the present invention, where the apparatus includes:

the determining control module 601 is configured to determine, for each preset position, a first candidate angle corresponding to the preset position according to an angle corresponding to the preset position stored in advance if it is determined that the parameter of the preset position is adjusted, and control the pan-tilt image acquisition device to acquire a first image according to the first candidate angle and a magnification corresponding to the preset position stored in advance;

the processing module 602 is configured to determine, for each preset position, a first similarity and a first angle offset between a first image corresponding to the collected preset position and a standard image of the preset position that is stored in advance; if the first similarity is larger than a preset first threshold value and the first angle offset is smaller than a preset angle threshold value, determining a standard angle corresponding to the preset position according to the first candidate angle and the first angle offset, and determining a parameter of the preset position after correction according to the standard angle and the multiplying power.

In a possible implementation manner, the control determining module 601 is specifically configured to determine whether an environmental image acquired by a pan-tilt image acquisition device is received; if so, determining a second similarity between the environment image and a pre-stored standard environment image, and acquiring a second angle offset corresponding to the environment image acquired by the cloud deck image acquisition equipment and the standard environment image; if the second similarity is not smaller than a preset second threshold, determining a first candidate angle corresponding to the preset position at least according to a prestored angle corresponding to the preset position, the second angle offset and a sum of any angle in a preset angle set; otherwise, determining a first candidate angle corresponding to the preset position according to the angle corresponding to the preset position and any angle in a preset angle set.

In a possible implementation manner, the control determining module 601 is specifically configured to obtain a third angle offset between an angle at which the pan-tilt image capturing device captures the environment image and an angle at which the standard environment image is captured, which is stored in advance; and determining a first candidate angle corresponding to the preset position according to the second angle offset, the third angle offset, a pre-stored angle corresponding to the preset position and a sum value of any angle in a preset angle set.

In a possible implementation manner, the control determining module 601 is specifically configured to randomly determine a first angle in a pre-stored angle set, where the angles in the angle set are a preset number of angles sequentially determined from a preset angle according to a preset angle step; and determining a first candidate angle corresponding to the preset position according to the first angle and a sum value of angles corresponding to the preset position, which is stored in advance.

In a possible implementation manner, the processing module 602 is specifically configured to determine, according to a sum of the first angle offset and the first candidate angle, a standard angle corresponding to the preset bit.

In a possible implementation manner, the processing module 602 is further configured to search, if the first similarity is not greater than a preset first threshold, or the first angle offset is not less than a preset angle threshold, a second angle that is not used in a pre-saved angle set; and determining the second angle as a used angle; determining a second candidate angle corresponding to the preset position according to the second angle and the angle corresponding to the preset position stored in advance; controlling the holder image acquisition equipment to acquire a second image according to the second candidate angle and the multiplying power; determining a third similarity and a fourth angle offset of the second image and the standard image; if the third similarity is greater than the first threshold and the fourth angle offset is smaller than the angle threshold, determining a standard angle corresponding to the preset position according to the second candidate angle and the fourth angle offset, and determining a parameter after correction of the preset position according to the standard angle and the multiplying power.

In a possible implementation manner, the processing module 602 is further configured to adjust the pan-tilt image capturing device according to the standard angle and the magnification, and control the pan-tilt image capturing device to capture a third image; determining a fourth similarity between the third image and the standard image, and if the fourth similarity is greater than a preset third threshold, performing a subsequent step of determining parameters after the preset position is corrected according to the standard angle and the multiplying power; wherein the third threshold is greater than the first threshold.

In a possible implementation manner, the processing module 602 is further configured to search, if the fourth similarity is smaller than a preset third threshold, a third angle that is not used in a pre-saved angle set; and determining the third angle as a used angle; determining a third candidate angle corresponding to the preset position according to the third angle and the angle corresponding to the preset position stored in advance; controlling the holder image acquisition equipment to acquire a fourth image according to the third candidate angle and the multiplying power; determining a fifth similarity and a fifth angle offset of the fourth image and the standard image; if the fifth similarity is larger than the first threshold and the fifth angle offset is smaller than the angle threshold, determining a standard angle corresponding to the preset position according to the fifth angle offset and the third candidate angle, and determining a parameter corresponding to the preset position according to the standard angle and the multiplying power.

In a possible implementation manner, the processing module 602 is further configured to send a first notification message if there is no unsearched angle in the angle set.

In a possible implementation manner, the processing module 602 is further configured to send a second notification message if the second similarity is not greater than a preset second threshold.

Example 8:

fig. 7 is a schematic structural diagram of an electronic device provided by the present invention, and on the basis of the foregoing embodiments, an embodiment of the present invention further provides an electronic device, as shown in fig. 7, including: the system comprises a processor 701, a communication interface 702, a memory 703 and a communication bus 704, wherein the processor 701, the communication interface 702 and the memory 703 complete mutual communication through the communication bus 704;

the memory 703 has stored therein a computer program which, when executed by the processor 701, causes the processor 701 to perform the steps of:

if the parameters of the preset positions are determined to be adjusted, determining a first candidate angle corresponding to each preset position according to a pre-stored angle corresponding to the preset position for each preset position, and controlling the pan-tilt image acquisition equipment to acquire a first image according to the first candidate angle and a pre-stored multiplying power corresponding to the preset position; determining a first similarity and a first angle offset of the first image and a standard image of a preset position which is stored in advance; if the first similarity is larger than a preset first threshold value and the first angle offset is smaller than a preset angle threshold value, determining a standard angle corresponding to the preset position according to the first candidate angle and the first angle offset, and determining a parameter after the preset position is corrected according to the standard angle and the multiplying power.

In a possible implementation manner, the determining, according to the angle corresponding to the pre-stored pre-set bit, the first candidate angle corresponding to the pre-set bit includes:

In a possible implementation manner, the determining, according to at least a pre-stored sum of an angle corresponding to the preset bit, the second angle offset, and any angle in a preset angle set, a first candidate angle corresponding to the preset bit includes:

In a possible implementation manner, the determining, according to the angle corresponding to the pre-stored pre-set bit and any one of the angles in the pre-set of angles, a first candidate angle corresponding to the pre-set bit includes:

In a possible implementation manner, the determining, according to the first candidate angle and the first angle offset, the standard angle corresponding to the preset bit includes:

In a possible implementation manner, if the first similarity is not greater than a preset first threshold, or the first angle offset is not less than a preset angle threshold, the method further includes:

In a possible implementation manner, after determining a standard angle corresponding to the preset bit according to the first candidate angle and the first angle offset, and before determining a parameter corrected by the preset bit according to the standard angle and the magnification, the method further includes:

In a possible implementation manner, if the fourth similarity is smaller than a preset third threshold, the method further includes:

determining a third candidate angle corresponding to the preset position according to the third angle and the angle corresponding to the preset position which is stored in advance; controlling the holder image acquisition equipment to acquire a fourth image according to the third candidate angle and the multiplying power; determining a fifth similarity and a fifth angle offset of the fourth image and the standard image; if the fifth similarity is larger than the first threshold and the fifth angle offset is smaller than the angle threshold, determining a standard angle corresponding to the preset position according to the fifth angle offset and the third candidate angle, and determining a parameter corresponding to the preset position according to the standard angle and the multiplying power.

In a possible implementation manner, if there are no unsearched angles in the angle set, the method further includes:

and sending the first notification information.

In a possible implementation manner, if the second similarity is not greater than a preset second threshold, the method further includes:

and sending the second notification information.

The communication bus mentioned in the above server may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.

The communication interface is used for communication between the electronic equipment and other equipment.

The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Alternatively, the memory may be at least one memory device located remotely from the processor.

The Processor may be a general-purpose Processor, including a central processing unit, a Network Processor (NP), and the like; but may also be a Digital instruction processor (DSP), an application specific integrated circuit, a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or the like.

Example 9:

on the basis of the foregoing embodiments, an embodiment of the present invention further provides a computer-readable storage medium, in which a computer program executable by an electronic device is stored, and when the program is run on the electronic device, the electronic device is caused to execute the following steps:

the memory having stored therein a computer program that, when executed by the processor, causes the processor to perform the steps of:

In a possible implementation manner, the determining, according to at least a pre-saved angle corresponding to the preset bit, the second angle offset, and a sum of any angle in a preset angle set, a first candidate angle corresponding to the preset bit includes:

acquiring a third angle offset between the angle of the cloud deck image acquisition equipment for acquiring the environment image and the angle of the cloud deck image acquisition equipment for acquiring the standard environment image, wherein the third angle offset is pre-stored;

In a possible implementation manner, if there is no unsearched angle in the angle set, the method further includes:

and sending the first notification information.

and sending the second notification information.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims

1. A method for determining parameters of preset bits, the method comprising:

if the parameters of the preset positions are determined to be adjusted, determining a first candidate angle corresponding to each preset position according to a pre-stored angle corresponding to the preset position for each preset position, and controlling the pan-tilt image acquisition equipment to acquire a first image according to the first candidate angle and a pre-stored multiplying power corresponding to the preset position; determining a first similarity and a first angle offset of the first image and a standard image of a preset position which is stored in advance; if the first similarity is larger than a preset first threshold and the first angle offset is smaller than a preset angle threshold, determining a standard angle corresponding to the preset position according to the first candidate angle and the first angle offset, and determining a parameter of the preset position after correction according to the standard angle and the multiplying power;

wherein, the determining the first candidate angle corresponding to the preset position according to the angle corresponding to the preset position stored in advance includes:

otherwise, determining a first candidate angle corresponding to the preset position according to the angle corresponding to the preset position which is stored in advance and any angle in a preset angle set.

2. The method according to claim 1, wherein the determining the first candidate angle corresponding to the predetermined bit at least according to the pre-saved angle corresponding to the predetermined bit, the second angle offset and a sum of any angle in a predetermined angle set comprises:

3. The method according to claim 1, wherein the determining the first candidate angle corresponding to the preset position according to the angle corresponding to the preset position saved in advance and any one angle in a preset angle set comprises:

4. The method of claim 1, wherein determining the standard angle corresponding to the predetermined bit according to the first candidate angle and the first angle offset comprises:

5. The method of claim 1, wherein if the first similarity is not greater than a predetermined first threshold or the first angular offset is not less than a predetermined angular threshold, the method further comprises:

6. The method according to claim 1, wherein after determining the standard angle corresponding to the preset bit according to the first candidate angle and the first angle offset, and before determining the corrected parameter of the preset bit according to the standard angle and the magnification, the method further comprises:

7. The method of claim 6, wherein if the fourth similarity is smaller than a preset third threshold, the method further comprises:

8. An apparatus for parameter determination of preset bits, the apparatus comprising:

the determining control module is used for determining a first candidate angle corresponding to the preset position according to a pre-stored angle corresponding to the preset position and aiming at each preset position if the parameter of the preset position is determined to be adjusted, and controlling the pan-tilt image acquisition equipment to acquire a first image according to the first candidate angle and a pre-stored multiplying power corresponding to the preset position;

the processing module is used for determining a first similarity and a first angle offset of a first image of the corresponding acquired preset position and a standard image of the preset position stored in advance aiming at each preset position; if the first similarity is larger than a preset first threshold and the first angle offset is smaller than a preset angle threshold, determining a standard angle corresponding to the preset position according to the first candidate angle and the first angle offset, and determining a parameter of the preset position after correction according to the standard angle and the multiplying power;

the determining control module is specifically used for judging whether an environment image acquired by the pan-tilt image acquisition equipment is received or not; if so, determining a second similarity between the environment image and a pre-stored standard environment image, and acquiring a second angle offset corresponding to the environment image acquired by the cloud deck image acquisition equipment and the standard environment image; if the second similarity is not smaller than a preset second threshold, determining a first candidate angle corresponding to the preset position at least according to a prestored angle corresponding to the preset position, the second angle offset and a sum of any angle in a preset angle set; otherwise, determining a first candidate angle corresponding to the preset position according to the angle corresponding to the preset position and any angle in a preset angle set.

9. An electronic device, characterized in that the electronic device comprises at least a processor and a memory, the processor being configured to implement the steps of the method for parameter determination of preset bits according to any of the claims 1-7 when executing a computer program stored in the memory.

10. A computer-readable storage medium, characterized in that it stores a computer program which, when being executed by a processor, carries out the steps of the method for parameter determination of preset bits according to any one of the claims 1 to 7.