CN115190237B - Method and device for determining rotation angle information of bearing device - Google Patents

Method and device for determining rotation angle information of bearing device Download PDF

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CN115190237B
CN115190237B CN202210696871.6A CN202210696871A CN115190237B CN 115190237 B CN115190237 B CN 115190237B CN 202210696871 A CN202210696871 A CN 202210696871A CN 115190237 B CN115190237 B CN 115190237B
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image
angle information
ptz
determining
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CN115190237A (en
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陈嘉伟
黄海波
袁科
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Hiscene Information Technology Co Ltd
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Hiscene Information Technology Co Ltd
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Abstract

The application aims to provide a method and equipment for determining rotation angle information of bearing equipment, which specifically comprise the following steps: acquiring image capturing parameter information of a PTZ image capturing device; acquiring current image information currently shot by the PTZ camera device and first angle information of the bearing equipment when the current image information is shot; acquiring an area image position of a frame selection area in the current image information, wherein the frame selection area is used for indicating the direction to be adjusted of the bearing equipment; and determining the rotation angle information of the bearing equipment according to the image pickup parameter information, the first angle information and the regional image position. The application can realize the rapid and visual angle adjustment of the bearing equipment, does not need to continuously compare the change process in the scene video image sequence, saves the calculation resources and improves the efficiency of data processing and scene command execution.

Description

Method and device for determining rotation angle information of bearing device
Technical Field
The present application relates to the field of communications, and in particular, to a technique for determining rotation angle information of a carrier device.
Background
PTZ camera device refers to a monitoring camera with PTZ control bearing equipment (for example, a cradle head and the like), PTZ is Pan/Tilt/Zoom shorthand, and the monitoring camera refers to three dimensions of cradle head control: left and right rotation, up and down pitching, zooming. With the continuous development of cities, the types and the number of the monitoring cameras are increased, so that the control and the maintenance are more difficult. When the images of the target objects to be acquired are required to be acquired, the cloud platform is controlled to acquire the images of the target objects to be acquired in the scene by manually clicking the button or continuously comparing the scene video image sequences, but the manual operation has higher experience requirements on operators by manually clicking the button, the manual operation has lower corresponding operation efficiency due to insufficient accuracy of the rotation angle of the target objects to be acquired, and the consumption of calculation resources is larger and the efficiency is lower by continuously comparing the scene video image sequences.
Disclosure of Invention
An object of the present application is to provide a method and apparatus for determining rotation angle information of a load bearing apparatus.
According to an aspect of the present application, there is provided a method of determining rotation angle information of a carrying apparatus for carrying a PTZ image pickup device, the method comprising:
Acquiring image capturing parameter information of the PTZ image capturing device;
acquiring current image information currently shot by the PTZ camera device and first angle information of the bearing equipment when the current image information is shot;
acquiring an area image position of a frame selection area in the current image information, wherein the frame selection area is used for indicating the direction to be adjusted of the bearing equipment;
and determining rotation angle information of the bearing equipment according to the image capturing parameter information, the first angle information and the regional image position, wherein the rotation angle information is used for indicating angle information for adjusting the PTZ image capturing device from the current image capturing posture to a spatial position corresponding to the regional image position.
According to another aspect of the present application, there is provided an apparatus for determining rotation angle information of a carrying apparatus for carrying a PTZ image pickup device, the apparatus comprising:
the one-to-one module is used for acquiring the shooting parameter information of the PTZ shooting device;
the first module and the second module are used for acquiring current image information currently shot by the PTZ camera device and first angle information of the bearing equipment when the current image information is shot;
The three modules are used for acquiring the area image positions of the frame selection areas in the current image information, wherein the frame selection areas are used for indicating the direction to be adjusted of the bearing equipment;
and the four modules are used for determining the rotation angle information of the bearing equipment according to the shooting parameter information, the first angle information and the regional image position, wherein the rotation angle information is used for indicating angle information for adjusting the PTZ shooting device from the current shooting gesture to a spatial position corresponding to the regional image position.
According to one aspect of the present application, there is provided a computer apparatus, wherein the apparatus comprises:
a processor; and
a memory arranged to store computer executable instructions which, when executed, cause the processor to perform the steps of any of the methods described above.
According to one aspect of the present application there is provided a computer readable storage medium having stored thereon a computer program/instruction which, when executed, causes a system to perform the steps of a method as described in any of the above.
According to one aspect of the present application there is provided a computer program product comprising computer programs/instructions which when executed by a processor implement the steps of a method as described in any of the preceding.
Compared with the prior art, the application can realize rapid and visual angle adjustment of the bearing equipment through the shooting parameter information, the first angle information of the bearing equipment and the area image position of the frame selection area, does not need clicking corresponding buttons, does not need continuous comparison of scene video image sequences, saves computing resources, and improves the efficiency of data processing and scene command execution.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the accompanying drawings in which:
fig. 1 shows a flow chart of a method of determining rotation angle information of a carrier device according to an embodiment of the application;
FIG. 2 illustrates functional blocks of a computer device according to another embodiment of the present application;
FIG. 3 illustrates an exemplary system that may be used to implement various embodiments described in the present application.
The same or similar reference numbers in the drawings refer to the same or similar parts.
Detailed Description
The application is described in further detail below with reference to the accompanying drawings.
In one exemplary configuration of the application, the terminal, the device of the service network, and the trusted party each include one or more processors (e.g., central processing units (Central Processing Unit, CPU)), input/output interfaces, network interfaces, and memory.
The Memory may include non-volatile Memory in a computer readable medium, random access Memory (Random Access Memory, RAM) and/or non-volatile Memory, etc., such as Read Only Memory (ROM) or Flash Memory (Flash Memory). Memory is an example of computer-readable media.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase-Change Memory (PCM), programmable Random Access Memory (Programmable Random Access Memory, PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (Dynamic Random Access Memory, DRAM), other types of Random Access Memory (RAM), read-Only Memory (ROM), electrically erasable programmable read-Only Memory (EEPROM), flash Memory or other Memory technology, read-Only Memory (Compact Disc Read-Only Memory, CD-ROM), digital versatile disks (Digital Versatile Disc, DVD) or other optical storage, magnetic cassettes, magnetic tape storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by the computing device.
The device includes, but is not limited to, a user device, a network device, or a device formed by integrating a user device and a network device through a network. The user equipment includes, but is not limited to, any mobile electronic product which can perform man-machine interaction with a user (for example, perform man-machine interaction through a touch pad), such as a smart phone, a tablet computer and the like, and the mobile electronic product can adopt any operating system, such as an Android operating system, an iOS operating system and the like. The network device includes an electronic device capable of automatically performing numerical calculation and information processing according to a preset or stored instruction, and the hardware includes, but is not limited to, a microprocessor, an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a programmable logic device (Programmable Logic Device, PLD), a field programmable gate array (Field Programmable Gate Array, FPGA), a digital signal processor (Digital Signal Processor, DSP), an embedded device, and the like. The network device includes, but is not limited to, a computer, a network host, a single network server, a plurality of network server sets, or a cloud of servers; here, the Cloud is composed of a large number of computers or network servers based on Cloud Computing (Cloud Computing), which is a kind of distributed Computing, a virtual supercomputer composed of a group of loosely coupled computer sets. Including but not limited to the internet, wide area networks, metropolitan area networks, local area networks, VPN networks, wireless Ad Hoc networks (Ad Hoc networks), and the like. Preferably, the device may be a program running on the user device, the network device, or a device formed by integrating the user device and the network device, the touch terminal, or the network device and the touch terminal through a network.
Of course, those skilled in the art will appreciate that the above-described devices are merely examples, and that other devices now known or hereafter may be present as applicable to the present application, and are intended to be within the scope of the present application and are incorporated herein by reference.
In the description of the present application, the meaning of "a plurality" is two or more unless explicitly defined otherwise.
Fig. 1 illustrates a method for determining rotation angle information of a carrying device for carrying a PTZ camera device according to an aspect of the present application, specifically including steps S101, S102, S103, and S104. In step S101, capturing parameter information of the PTZ capturing apparatus is acquired; in step S102, current image information currently captured by the PTZ camera and first angle information of the carrier device when the current image information is captured are obtained; in step S103, acquiring an area image position of a frame selection area in the current image information, where the frame selection area is used to indicate a direction to be adjusted of the bearing device; in step S104, rotation angle information of the carrying device is determined according to the image capturing parameter information, the first angle information and the area image position, where the rotation angle information is used to indicate angle information for adjusting the PTZ image capturing device from the current image capturing posture to a spatial position corresponding to the area image position. Wherein the computer device includes, but is not limited to, a user device, a network device, or a device formed by integrating a user device and a network device through a network. The user equipment includes, but is not limited to, any mobile electronic product capable of performing man-machine interaction with a user (such as through a touch pad); the network device includes, but is not limited to, a computer, a network host, a single network server, a set of multiple network servers, or a cloud of multiple servers.
Specifically, in step S101, image capturing parameter information of the PTZ image capturing apparatus is acquired. For example, the PTZ image capturing device (such as a PTZ camera) includes a Zoom Pan-Tilt camera installed in a city, where a PTZ (Pan/Tilt/Zoom) parameter of the camera is adjustable, and the PTZ parameter may be adjusted based on a control instruction sent by a computer device to which the present solution belongs, or may be adjusted based on a control instruction of another device (such as another control device or a server). Specifically, calibrating the camera device comprises establishing a relation between a camera image pixel position and a target object, and solving parameters of a camera model according to the camera imaging model by a corresponding relation between coordinates of feature points in the image and world coordinates. The model parameters that the camera needs to calibrate include internal parameters and external parameters. Wherein, for the same camera, the internal reference matrix of the camera depends on the internal parameters of the camera, and no matter how the position relation between the calibration plate and the camera is, the internal reference matrix of the camera is unchanged. However, the external parameter matrix reflects the positional relationship between the calibration plate and the camera, and the positional relationship between the calibration plate and the camera is changed for different pictures, so that the external parameter matrix corresponding to each picture is different. The internal parameters of the PTZ image pickup device may be calculated in advance, for example, image pickup parameter information (for example, internal parameters of a camera) corresponding to different zoom ratios (zoom ratios) of the PTZ image pickup device may be predetermined by a calibration algorithm, or image pickup parameter information (for example, internal parameters of a camera) corresponding to the current zoom ratio may be calculated and determined in real time according to the current zoom ratio, so as to obtain internal parameters of the PTZ image pickup device corresponding to different zoom ratios. In some embodiments, the image capturing parameter information includes a perspective projection matrix (such as a camera internal reference) for indicating an image capturing coordinate system of the image capturing device to a corresponding pixel coordinate system, where the image capturing coordinate system corresponding to the image capturing device is generally regarded as a special "object" coordinate system, and the "object" coordinate system is defined in a visual area of a screen of the camera, such as the camera coordinate system, with a camera optical center as an origin, an x-axis to the right, a z-axis to the front (toward the screen or the camera direction), and a y-axis to the bottom (not below the world but below the camera itself). The corresponding pixel coordinate system may be a plane rectangular coordinate system established by taking the upper left corner of the image shot by the PTZ image pickup device as the origin and taking the vector distance as a unit or a rectangular coordinate system u-v established by taking the pixel as a unit, for example, the abscissa u and the ordinate v of the pixel are the number of columns and the number of rows in the image array thereof, respectively. In other embodiments, the image capturing parameter information includes basic parameters of the PTZ image capturing apparatus, such as a long focal length, a short focal length, a long axis optical center offset, a short axis optical center offset, and an image resolution of the video image sequence, where the image resolution includes a width pixel number W and a height pixel number H included in a corresponding image width, and the computer device may obtain a corresponding perspective projection matrix (such as a camera internal reference) based on the corresponding image capturing parameter information, for example, determine the corresponding perspective projection matrix according to the following formula:
Wherein the M proj For the homogeneous perspective projection matrix from the camera coordinate system to the pixel coordinate system/image coordinate system, each specific parameter is identified by resolution: long focal length f corresponding to each zoom ratio x Short focal length f y Long axis optical center offset c x Short axis optical center offset c y Far plane F, near plane N, video image sequence width W, high H. The internal parameters of the PTZ camera device corresponding to different zoom ratios can be calibrated in advance through the formula (1).
In some cases, the image capturing parameter information further includes a corresponding current zoom ratio z 0 The computer device can obtain a corresponding perspective projection matrix (such as camera internal parameters) based on the corresponding image capturing parameter information, for example, obtain a corresponding long focal length f when the image capturing device does not zoom x Short focal length f y Long axis optical center offset c x Short and shortAxial optical center offset c y The corresponding perspective projection matrix is determined by calculation according to the following formula:
the internal parameters corresponding to the current zoom ratio can be calculated and determined in real time according to the current zoom ratio through the formula (2), so that the internal parameters corresponding to the PTZ image pickup device in different zoom ratios can be obtained.
Based on the formula (1) or (2), we can determine the perspective projection matrix from the corresponding image capturing coordinate system to the pixel coordinate system based on the basic parameter calculation contained in the image capturing parameter information.
Of course, besides the above method, we can also use other camera calibration methods to calculate and determine the perspective projection matrix from the image capturing coordinate system to the pixel coordinate system, such as the traditional camera calibration method, the active vision camera calibration method and the camera self-calibration method. The traditional camera calibration method needs to use a calibration reference object to form constraint conditions by using the corresponding relation between points on the calibration reference object and corresponding pixel points in different images, so as to determine camera model parameters. Such as the Tsai two-step method and the zhangshi calibration method. The Zhang's calibration method uses a calibration plate formed by two-dimensional square grids to calibrate, collects pictures under different positions of the calibration plate, extracts pixel coordinates of square grid corners in the pictures, calculates initial values of internal and external parameters of a camera through a homography matrix, estimates distortion coefficients by using a nonlinear least square method, and finally optimizes the parameters by using a maximum likelihood estimation method. The active vision camera calibration method is to control the rotation and movement of a camera through an active system, collect a plurality of groups of pictures in the process of controlling the movement of the camera, and solve the internal parameters of the camera according to the picture information and the corresponding pose. If in calibration, the camera is made to do a group of two-dimensional translational motions, the image of the round hole target is collected, the image point coordinates of the circle center are calculated, meanwhile, the moving distance of the camera is recorded, the characteristic points required by calibration are obtained, and the characteristic points are used for calculating the calibration parameters of the camera. The camera self-calibration method does not need a calibration object, namely, the camera self-calibration method directly performs calibration only by means of the corresponding point relation among a plurality of images acquired by the camera. Such as a self-calibration method based on Kruppa equation and a layered stepwise calibration method. The Kruppa-based self-calibration method is to build constraint equations about camera internal reference matrices through quadratic curves, and calibrate the camera using at least 3 pairs of images. The length of the image sequence can influence the stability of the calibration algorithm, and an infinite plane in the projective space cannot be ensured. The layered gradual calibration method is to firstly carry out projective reconstruction on the sequence of the image, carry out radiation calibration and European calibration on the basis of reconstruction, and obtain the parameters in the camera through a nonlinear optimization algorithm.
In some embodiments, the computer device may establish or update a mapping relationship based on the current zoom scale and the solved internal parameters, the mapping relationship including one or more zoom scales of the PTZ camera, wherein each zoom scale has a one-to-one internal parameter.
In step S102, current image information currently captured by the PTZ imaging device and first angle information of the carrier device when the current image information is captured are acquired. For example, the PTZ camera device is disposed on a corresponding carrying device, and the carrying device includes, but is not limited to, a cradle head of the PTZ camera device, which is a carrying device for mounting and fixing a camera, and is divided into a fixed cradle head and an electric cradle head. The fixed cradle head is suitable for the condition of small monitoring range, the horizontal and pitching angles of the camera can be adjusted after the camera is mounted on the fixed cradle head, and the adjustment mechanism is locked after the best working posture is achieved. The electric cradle head is suitable for scanning and monitoring a large range, and can expand the monitoring range of a camera. According to the rotation characteristics of the cradle head, the change of the rotation pose can cause the change of first angle information, and the first angle information comprises yaw angle information in the horizontal direction, pitch angle information in the vertical direction and the like. Coordinate transformation information (such as external parameters) of an imaging coordinate system of the PTZ imaging device relative to a world coordinate system changes according to the first angle information of the cradle head. When the real-time first angle information of the cradle head, such as the pitch angle information and the yaw angle information of the cradle head, the coordinate transformation information of the PTZ camera shooting coordinate system and the world coordinate system, such as the relative world coordinate system, can be obtained In the observation matrix (for example, an external reference, etc.) of the imaging coordinate system, first transformation information of the world coordinate system to the pixel coordinate system of the imaging device, etc. may be further determined based on the observation matrix and the perspective projection matrix. The world coordinate system comprises a space rectangular coordinate system O which is constructed by taking a pitching angle of a camera as 0, a yaw angle of the camera as 0, a right direction of the camera as an x axis, an upper direction as a y axis, a front direction as a z axis, and a position of the camera as an origin xyz Etc. The Pan-Tilt of the PTZ camera can adjust parameters of three dimensions of Pan Tilt Zoom. Where Pan represents yaw angle information and Tilt represents pitch angle information. When the PTZ camera shooting device collects images, a corresponding deflection angle and the like in each direction exist in the corresponding bearing holder, the computer equipment determines the angle information of the bearing holder corresponding to the current image information collected by the PTZ camera shooting device as first angle information, and the first angle information is used for indicating the deflection angle of the bearing holder in different directions when the current image information is shot, such as a yaw angle in the horizontal direction and/or a pitch angle in the vertical direction and the like.
In step S103, a region image position of a frame selection region in the current image information is acquired, wherein the frame selection region is used for indicating a direction to be adjusted of the bearing device. For example, the computer device determines a corresponding frame selection region through operations such as clicking, frame selection, dragging, touching, sliding and the like in the current image information acquired by the PTZ camera device by a user, and determines region image position information corresponding to the frame selection region, or determines image position information of a region where the identification object is located as region image position and the like of the frame selection region based on an identification object in the current image information identified by relevant template features in a database; in particular, the recognition object may be a geographic location, a signage street, a building, an automobile, an animal or person, or the like. The selection area is used to indicate a specific mark area corresponding to a certain position determined based on a corresponding operation or object recognition, etc., for example, a mark area which may be triangular, rectangular, circular, or any other shape, etc. The location of the region image may also be a set of pixel/image coordinates determined based on other user operations/image recognition at other devices, and sent to the computer device based on communication connection between the other devices and the computer device, where the computer device receives the set of pixel/image coordinates, determines the set of pixel/image coordinates as a region image location of the frame-selected region, and so on. The region image position is used for indicating a pixel/image position set corresponding to a frame selection region, and the corresponding frame selection region is used for indicating a direction to be adjusted of a corresponding image pickup device. In some cases, the corresponding other device (such as a command device) may adjust the acquisition region of the corresponding image capturing apparatus based on the user operation of the other device, thereby selecting a corresponding intended acquisition region from the current image, transmitting the region image position of the frame-selected region with respect to the current image information to the computer device, and the like; in other cases, other devices (e.g., command devices, etc.) may upload object template features corresponding to the intended object or object identification information for indicating the object template features, etc., and the computer device may identify, from the current image, an image location where the intended object is located as an area image location, etc., based on the object template features.
In step S104, rotation angle information of the carrying device is determined according to the image capturing parameter information, the first angle information and the area image position, where the rotation angle information is used to indicate angle information for adjusting the PTZ image capturing device from the current image capturing posture to a spatial position corresponding to the area image position. For example, after the computer device obtains the corresponding image capturing parameter information, the first angle information, and the corresponding region image position, coordinate transformation information from the corresponding image capturing coordinate system to the pixel coordinate system and coordinate transformation information from the world coordinate system to the image capturing coordinate system may be determined based on the image capturing parameter information and the first angle information, respectively, so that first transformation information from the world coordinate system to the corresponding pixel coordinate system may be calculated. Accordingly, the computer device may convert the corresponding region image position into the world coordinate system based on the first transformation information, so as to calculate rotation angle information of the current PTZ image pickup device, where the rotation angle information is angle information for adjusting the PTZ image pickup device from the current image pickup posture to a spatial position corresponding to the facing region image position, and so on. The rotation angle information may be a relative angle change from current imaging pose information to target pose information, or may be absolute angle information of target pose information, where the target pose information is used to indicate imaging pose information when the imaging device is opposite to a spatial position corresponding to a region image position of the frame selection region, and when the imaging device is in the target pose, a center of a picture acquired by the imaging device coincides with a center of the frame selection region.
In some embodiments, the first angle information includes yaw angle information in a horizontal direction and pitch angle information in a vertical direction, and the rotation angle information includes yaw rotation angle information in a horizontal direction and pitch rotation angle information in a vertical direction. For example, the corresponding first angle information includes yaw angle information of the bearing holder in a horizontal direction and pitch angle information of the bearing holder in a vertical direction, and then the corresponding rotation angle information includes yaw rotation angle information of the bearing holder in the horizontal direction and pitch rotation angle information of the bearing holder in the vertical direction, wherein the yaw rotation angle information of the bearing holder in the horizontal direction includes yaw angle change information/target yaw angle information of the bearing holder in the horizontal direction, and the pitch rotation angle information of the bearing holder in the vertical direction includes pitch angle change information/target pitch angle information of the bearing holder in the vertical direction, and the like. For example, the computer device may first calculate and determine corresponding yaw angle variation information and pitch angle variation information, and determine corresponding target yaw angle information and target pitch angle information in combination with the first angle information, and so on. Alternatively, the computer device may first calculate and determine the target yaw angle information and the target pitch angle information, and determine corresponding yaw angle change information, pitch angle change information, and the like in combination with the first angle information.
In some embodiments, the method further includes step S105 (not shown), and in step S105, a corresponding rotation adjustment instruction is sent to a corresponding carrier device to adjust a spatial position where the PTZ imaging device is facing the frame selection area and perform image acquisition, where the rotation adjustment instruction includes the rotation angle information. For example, after determining the corresponding rotation angle information, the computer device may send a rotation adjustment instruction regarding the rotation angle information to the corresponding carrier device, the rotation adjustment instruction including the rotation angle information. The bearing device receives the rotation adjustment instruction, adjusts the corresponding yaw angle and pitch angle based on the rotation adjustment instruction, adjusts the bearing device to correspond to target attitude information and the like, and for example, when the rotation angle information comprises yaw angle change information in the horizontal direction and pitch angle change information in the vertical direction, the bearing device determines target yaw angle information and target pitch angle information according to the first angle information and the rotation angle information, and adjusts the current yaw angle and pitch angle to the target yaw angle information and the target pitch angle information; for another example, when the rotation angle information includes target yaw angle information and target pitch angle information in the horizontal direction, the bearing device directly adjusts the current yaw angle and pitch angle to the target yaw angle information and the target pitch angle information. In some cases, the carrying device adjusts the order in the horizontal and vertical directions, i.e., first adjusts the yaw angle in the horizontal direction and then adjusts the pitch angle in the vertical direction, etc.
In some embodiments, the step S104 includes a sub-step S1041 (not shown), a sub-step S1042 (not shown), and a sub-step S1043 (not shown). In sub-step S1041, determining first transformation information of a world coordinate system to a pixel coordinate system of the PTZ imaging device according to the imaging parameter information and the first angle information; in sub-step S1042, determining a region center image position corresponding to a region center of the frame selection region according to the region image position; in sub-step S1043, rotation angle information of the carrying device is determined according to the region center image position and the first transformation information, where the rotation angle information is used to indicate angle information for adjusting the PTZ imaging device from the current imaging pose to a spatial position corresponding to the region image position. For example, after the computer device obtains the corresponding image capturing parameter information and the first angle information, a perspective projection matrix and an observation matrix (such as internal and external parameters) corresponding to the PTZ image capturing device can be determined based on the image capturing parameter information and the first angle information, so that the position of the region center image is converted from the pixel coordinate system to the corresponding world coordinate system, an included angle between the position of the region center image (for example, a ray direction corresponding to the calculated position of the region center image) and an image center of the current image information (for example, a ray direction corresponding to an optical axis) is calculated, and corresponding rotation angle information is determined according to the included angle. Generally, for calculation of one region, we can calculate the corresponding region center (for example, centroid or barycenter of the region, etc.) by selecting a plurality of points to represent the region center image position corresponding to the region center for the frame selection region, calculate the corresponding rotation angle information based on the region center image position, etc., for example, when the frame selection region is a rectangle, determine the region center image position corresponding to the rectangular center from the region image position of the rectangle, such as determining the region center image position corresponding to the rectangular center from two pixels/image coordinates (for example, upper left corner and lower right corner/upper left corner and lower right corner, etc.) of the diagonal of the rectangle, etc., and, when the frame selection region is a circle, determine the region center image position corresponding to the circle center from the region image position of the circle, such as determining the region center image position corresponding to the circle center from two point pixels/image coordinates and radius on the circle, etc.
In some embodiments, in step S1041, determining a perspective projection matrix of an imaging coordinate system of the PTZ imaging device to a corresponding pixel coordinate system according to the imaging parameter information; determining an observation matrix from a corresponding world coordinate system to the shooting coordinate system according to the first angle information; and determining first transformation information from the world coordinate system to the pixel coordinate system according to the perspective projection matrix and the observation matrix. The origin of the world coordinate system is the same as the origin of the imaging coordinate system, so that the conversion relationship from the world coordinate system to the corresponding imaging coordinate system only involves a rotation matrix, and does not involve a translation relationship or the like. The perspective projection matrix from the image capturing coordinate system to the pixel coordinate system of the image capturing device can be determined based on the formula (1) or the formula (2), and the observation matrix from the world coordinate system to the image capturing coordinate system can be determined based on the corresponding first angle information, so that the first transformation information from the world coordinate system to the pixel coordinate system can be determined by combining the perspective projection matrix and the observation matrix. Wherein, according to the first angle information (horizontal directionUpward yaw angle information phi 0 Pitch angle information θ in the vertical direction 0 ) Determining rotation parameters of the PTZ camera device:
based on the above-mentioned rotation parameter R x R y We can computationally determine the corresponding observation matrix:
M view ＝R x R y (4)
in combination with the perspective projection matrix determined by the above formula (1) or (2), we can determine the corresponding first transformation information as follows:
M projview ＝M proj M view (5)
wherein M is projview First transformation information for indicating a world coordinate system to a pixel coordinate system.
In some embodiments, in the substep S1042, a center position of the minimum bounding rectangle frame is determined as a region center image position corresponding to a region center of the frame-selected region according to the minimum bounding rectangle frame of the region image position. For example, the corresponding frame selection region may not be limited in shape, when the shape of the frame selection region is a regular shape, the region center image position corresponding to the region center of the frame selection region may be determined according to the region image position of the frame selection region, when the shape of the frame selection region is an irregular shape, we may pay attention to the minimum bounding rectangle of the frame selection region, and determine the corresponding region center image position based on the minimum bounding rectangle. After the computer device obtains the minimum bounding rectangle frame of the frame selected region, a center position of the minimum bounding rectangle may be determined based on the corner coordinates of the minimum bounding rectangle, the center position may be determined as a region center image position corresponding to the region center of the frame selected region, for example, an average value in the pixel u, v directions may be calculated based on two pixel/image coordinates (for example, pixel/image coordinates of upper left corner and lower right corner/upper left corner and lower right corner, etc.) of the diagonal corner of the minimum bounding rectangle in the pixel coordinate system, so as to determine the average value in the u, v directions as the pixel coordinates of the region center image position, etc. Of course, we can also calculate in combination with the points on the corner points/frame lines of the minimum bounding rectangle, etc., without limitation. Of course, when the shape of the frame selection area is a regular shape, the area center image position corresponding to the area center of the frame selection area may be determined according to the minimum bounding rectangle of the frame selection area, which is not limited herein.
In some embodiments, in step S1043, first vector information of the facing direction of the current image information is constructed according to the first transformation information; determining second vector information of the region center corresponding to the space direction according to the first transformation information and the region center image position; and determining rotation angle information of the bearing equipment according to the first vector information and the second vector information, wherein the rotation angle information is used for indicating angle information for adjusting the PTZ imaging device from the current imaging posture to a spatial position corresponding to the position opposite to the regional image. For example, after the computer device obtains the first transformation information from the world coordinate system to the pixel coordinate system, we can determine, based on the first transformation information, first vector information in the positive direction of the current image, where the first vector information includes unit vector information in a direction pointed by a ray of the camera optical center along the optical axis direction, and a specific calculation formula is as follows:
wherein,the length of the unit vector is 1, which is the unit vector corresponding to the current corresponding front direction of the camera. Here, norm is a normalization function. />Is->The x, y, z components of (c). Accordingly, the computer device may determine the location of the corresponding region center image, e.g.,
Wherein,coordinate information for representing the position of the center image of the region in the pixel coordinate system,(s) x ,s y ) For representing the upper left corner coordinates of the smallest bounding rectangle, the corresponding lower right corner coordinates are (s' x ,s′ y ). The computer device may determine, based on the coordinate information of the region center image position in the pixel coordinate system and the first transformation information, a unit vector corresponding to the center point in the space rectangular coordinate system in a calculation manner:
wherein the method comprisesThe unit vector in the ray direction corresponding to the optical center to the center point of the camera is the second vector information, and the vector length is 1. After the computer device obtains the first vector information and the second vector information, corresponding included angle information can be solved based on the first vector information and the second vector information, corresponding rotation angle information can be determined based on the corresponding included angle information, and the like. For example, a corresponding angle is calculated based on the two vector information, and the angle is decomposed into a horizontal direction and a vertical direction, thereby determining yaw rotation angle information in the horizontal direction, pitch rotation angle information in the vertical direction, and the like.
In some embodiments, the determining the rotation angle information of the bearing device according to the first vector information and the second vector information includes : converting the first vector information and the second vector information into a spherical polar coordinate system, and determining corresponding first spherical polar vector information and second spherical polar vector information; and calculating a corresponding angle difference value according to the first sphere pole vector information and the second sphere pole vector information, so as to obtain rotation angle information of the bearing equipment according to the angle difference value, wherein the rotation angle information is used for indicating angle information for adjusting the PTZ camera from the current camera shooting posture to a spatial position corresponding to the position of the region image. For example, since calculating the angle between two vectors in a rectangular space coordinate system is easy to cause angular deviation, we can convert the two vector information into a spherical polar coordinate system, and determine the corresponding first spherical polar vector information and second spherical polar vector information, where the spherical polar coordinate system is used to determine the position of the point, line, plane and body in three-dimensional space, and it is composed of azimuth angle, elevation angle and distance with the origin of coordinates as the reference point. In order to make the cradle head motion follow the spherical polar coordinate ruleAnd->Converted into spherical polar coordinate vector +.>
Order the
Wherein v is x 、v y 、v z Respectively isAt O x 、O y 、O z Components of three axes, an
The corresponding first spherical polar coordinate information is:
The corresponding second spherical polar coordinate information is respectively:
based on the first spherical polar coordinate information and the second spherical polar coordinate information, calculating a corresponding difference value, and determining angle change information:
wherein Δφ is used to represent yaw angle variation information in the horizontal direction, i.e., angle variation of yaw angle, and Δθ is used to represent pitch angle variation information in the vertical direction, i.e., angle variation of pitch angle.
Wherein if itThen->
Based on the yaw angle variation information and the pitch angle variation information, a first angle information (phi) 0 、θ 0 ) We can calculate corresponding target yaw angle information (phi ') and target pitch angle information (theta '), e.g., phi ' =Δphi+phi 0 ，θ′＝Δθ+θ 0 。
In some embodiments, the method further includes step S106 (not shown), and in step S106, corresponding zoom ratio change information is determined according to the frame selection area and resolution information of the current image information, where the zoom ratio change information is used to focus an acquisition area of the PTZ imaging device to the frame selection area. For example, in order to enable the PTZ image capturing device to clearly and completely capture a spatial region corresponding to the frame selection region, we can determine that the frame selection region corresponds to a region to be captured of the PTZ image capturing device, and adjust the focal length of the corresponding PTZ image capturing device through rotation angle information and zoom ratio, so that the content of the frame selection region after zooming is displayed in the captured image as much as possible. In some embodiments, the change information of the zoom ratio is determined based on a ratio of the current image information to the resolution of the frame selection area, wherein the change information of the zoom ratio may be a relative ratio change from the current zoom ratio to the target zoom ratio, i.e. a variable of the zoom ratio, an absolute zoom ratio information of the target zoom ratio, or the like. The target zoom ratio may be determined based on the current zoom ratio and a variable of the zoom ratio, and the variable of the zoom ratio may also be determined based on the target zoom ratio and the current zoom ratio. For example, the ratio of the width of the current image information to the width of the frame selection area and the ratio of the height of the current image information to the height of the frame selection area are calculated respectively, and the variable of the zoom ratio takes the minimum value of the two ratios. For example, if the corresponding frame selection area is a rectangular area, the variable (Δz) of the zoom ratio is the minimum value of the ratio of the width of the current image information to the width of the frame selection area and the ratio of the height of the current image information to the height of the frame selection area:
Wherein the upper left corner coordinates of the rectangular frame region are (m x ,m y ) The lower right corner is (m' x ,m′ y )。
For another example, if the corresponding frame selection region is a circular region, the variable (Δz) of the zoom ratio is the minimum value of the ratio of the width of the current image information to the radius of the frame selection region and the ratio of the height of the current image information to the radius of the frame selection region:
where r is the radius of the framed circular area, etc.
In some embodiments, the determining the corresponding zoom scale change information according to the resolution information of the frame selection area and the current image information includes: and determining corresponding zooming ratio change information according to the minimum circumscribed rectangular frame corresponding to the frame selection area and the resolution of the current image information, wherein the zooming ratio change information is used for focusing the acquisition area of the PTZ image pickup device to the frame selection area. The change information of the zoom ratio may be a variable of the zoom ratio, or may be a target zoom ratio. For example, the variable of the zoom ratio is determined by a resolution ratio of the current image information to a minimum bounding rectangle frame corresponding to the frame selection area, and the computer device may determine the minimum bounding rectangle frame of the frame selection area and determine the variable of the corresponding zoom ratio from the current image information, e.g., the variable of the zoom ratio is a minimum value of a ratio of a width of the current image information to a width of the minimum bounding rectangle and a ratio of a height of the current image information to a height of the minimum bounding rectangle. For example, the variables corresponding to the zoom ratio are as follows:
Wherein Δz is used to describe the variables of zoom,(s) x ,s y ) For representing the upper left corner coordinates of the smallest bounding rectangle, the corresponding lower right corner coordinates are (s' x ,s′ y )。
In some embodiments, the method further includes step S107 (not shown), in step S107, the zoom ratio change information is transmitted to the PTZ imaging device to adjust the PTZ imaging deviceFocusing it to the frame-selected region. For example, after the computer device determines the corresponding zoom ratio change information, the zoom ratio change information may be transmitted to the PTZ image capturing device, the corresponding zooming may be completed before the PTZ image capturing device captures the frame selection area, the capturing of the complete clear image about the frame selection area may be completed, and so on. For example, the computer device transmits a variable of the zoom ratio (Δz) to the PTZ image pickup apparatus, and the PTZ image pickup apparatus performs image pickup based on the current zoom ratio (z 0 ) Determining a target zoom ratio (z), e.g. z=Δzz 0 The PTZ camera device adjusts the current zoom proportion to the target zoom proportion; for another example, the computer device sends the target zoom ratio to the PTZ camera, which directly adjusts the current zoom ratio to the target zoom ratio.
The foregoing description has been mainly directed to embodiments of a method for determining rotation angle information of a carrier device according to an aspect of the present application, and in addition, the present application provides a specific device capable of implementing the foregoing embodiments, and we describe below with reference to fig. 2.
Fig. 2 shows a computer device 100 for determining rotation angle information of a carrier device for carrying a PTZ camera device according to an aspect of the present application, the computer device specifically comprising a one-to-one module 101, a two-module 102, a three-module 103 and a four-module 104. A one-to-one module 101, configured to obtain image capturing parameter information of the PTZ image capturing device; a second module 102, configured to obtain current image information currently captured by the PTZ camera and first angle information of the carrier device when the current image information is captured; a third module 103, configured to obtain an area image position of a frame selection area in the current image information, where the frame selection area is used to indicate a direction to be adjusted of the carrier device; and a four-module 104, configured to determine rotation angle information of the carrying device according to the image capturing parameter information, the first angle information, and the area image position, where the rotation angle information is used to indicate angle information for adjusting the PTZ image capturing device from the current image capturing posture to a spatial position corresponding to the area image position.
In some embodiments, the first angle information includes yaw angle information in a horizontal direction and pitch angle information in a vertical direction, and the rotation angle information includes yaw rotation angle information in a horizontal direction and pitch rotation angle information in a vertical direction.
In some embodiments, the one-four module 104 includes one-four unit (not shown), one-four-two unit (not shown), and one-four-three unit (not shown). A fourth unit for determining first transformation information from a world coordinate system to a pixel coordinate system of the PTZ imaging device according to the imaging parameter information and the first angle information; the four-two unit is used for determining the region center image position corresponding to the region center of the frame selection region according to the region image position; and the four-three unit is used for determining the rotation angle information of the bearing equipment according to the region center image position and the first transformation information, wherein the rotation angle information is used for indicating the angle information for adjusting the PTZ imaging device from the current imaging posture to the spatial position corresponding to the region image position. In some embodiments, a four-one unit is configured to determine a perspective projection matrix from an imaging coordinate system of the PTZ imaging device to a corresponding pixel coordinate system according to the imaging parameter information; determining an observation matrix from a corresponding world coordinate system to the camera coordinate system according to the first angle information; and determining first transformation information from the world coordinate system to the pixel coordinate system according to the perspective projection matrix and the observation matrix. In some embodiments, the image processing unit is configured to determine, according to the minimum circumscribed rectangular frame of the area image position, a center position of the minimum circumscribed rectangular frame as an area center image position corresponding to an area center of the frame selection area. In some embodiments, a forty-three unit is configured to construct first vector information of the opposite direction of the current image information according to the first transformation information; determining second vector information of the region center corresponding to the space direction according to the first transformation information and the region center image position; and determining rotation angle information of the bearing equipment according to the first vector information and the second vector information, wherein the rotation angle information is used for indicating angle information for adjusting the PTZ imaging device from the current imaging posture to a spatial position corresponding to the position opposite to the regional image. In some embodiments, the determining the rotation angle information of the bearing device according to the first vector information and the second vector information includes: converting the first vector information and the second vector information into a spherical polar coordinate system, and determining corresponding first spherical polar vector information and second spherical polar vector information; and calculating a corresponding angle difference value according to the first sphere pole vector information and the second sphere pole vector information, so as to obtain rotation angle information of the bearing equipment according to the angle difference value, wherein the rotation angle information is used for indicating angle information for adjusting the PTZ camera from the current camera shooting posture to a spatial position corresponding to the position of the region image.
Here, the specific embodiments of the one-to-one module 101, the two modules 102, the three modules 103 and the four modules 104 shown in fig. 2 are the same as or similar to the embodiments of the step S101, the step S102, the step S103 and the step S104 shown in fig. 1, and thus are not described in detail and are incorporated herein by reference.
In some embodiments, the apparatus further includes a five-module (not shown) configured to send a corresponding rotation adjustment instruction to a corresponding carrying apparatus to adjust a spatial position of the PTZ imaging device facing the frame selection area and perform image acquisition, where the rotation adjustment instruction includes the rotation angle information.
In some embodiments, the apparatus further includes a six module (not shown) configured to determine corresponding focal length change information according to the frame selection area and resolution information of the current image information, where the zoom ratio change information is used to focus an acquisition area of the PTZ imaging device to the frame selection area. In some embodiments, the determining the corresponding zoom scale change information according to the resolution information of the frame selection area and the current image information includes: and determining corresponding zooming ratio change information according to the minimum circumscribed rectangular frame of the frame selection area and the resolution of the current image information, wherein the zooming ratio change information is used for focusing an acquisition area of the PTZ image pickup device to the frame selection area. In some embodiments, the apparatus further comprises a seven module (not shown) for sending the zoom ratio change information to the PTZ camera to adjust the acquisition area of the PTZ camera to focus on the frame selection area.
Here, the specific implementation manners of the five to seven modules are the same as or similar to the embodiments of the steps S105 to S107, and thus are not described in detail and are incorporated herein by reference.
In addition to the methods and apparatus described in the above embodiments, the present application also provides a computer-readable storage medium storing computer code which, when executed, performs a method as described in any one of the preceding claims.
The application also provides a computer program product which, when executed by a computer device, performs a method as claimed in any preceding claim.
The present application also provides a computer device comprising:
one or more processors;
a memory for storing one or more computer programs;
the one or more computer programs, when executed by the one or more processors, cause the one or more processors to implement the method of any preceding claim.
FIG. 3 illustrates an exemplary system that may be used to implement various embodiments described herein;
in some embodiments, as shown in fig. 3, system 300 can function as any of the above-described devices of the various described embodiments. In some embodiments, system 300 may include one or more computer-readable media (e.g., system memory or NVM/storage 320) having instructions and one or more processors (e.g., processor(s) 305) coupled with the one or more computer-readable media and configured to execute the instructions to implement the modules to perform the actions described in the present application.
For one embodiment, the system control module 310 may include any suitable interface controller to provide any suitable interface to at least one of the processor(s) 305 and/or any suitable device or component in communication with the system control module 310.
The system control module 310 may include a memory controller module 330 to provide an interface to the system memory 315. Memory controller module 330 may be a hardware module, a software module, and/or a firmware module.
The system memory 315 may be used, for example, to load and store data and/or instructions for the system 300. For one embodiment, system memory 315 may include any suitable volatile memory, such as, for example, a suitable DRAM. In some embodiments, the system memory 315 may comprise a double data rate type four synchronous dynamic random access memory (DDR 4 SDRAM).
For one embodiment, system control module 310 may include one or more input/output (I/O) controllers to provide an interface to NVM/storage 320 and communication interface(s) 325.
For example, NVM/storage 320 may be used to store data and/or instructions. NVM/storage 320 may include any suitable nonvolatile memory (e.g., flash memory) and/or may include any suitable nonvolatile storage device(s) (e.g., one or more Hard Disk Drives (HDDs), one or more Compact Disc (CD) drives, and/or one or more Digital Versatile Disc (DVD) drives).
NVM/storage 320 may include storage resources that are physically part of the device on which system 300 is installed or which may be accessed by the device without being part of the device. For example, NVM/storage 320 may be accessed over a network via communication interface(s) 325.
Communication interface(s) 325 may provide an interface for system 300 to communicate over one or more networks and/or with any other suitable device. The system 300 may wirelessly communicate with one or more components of a wireless network in accordance with any of one or more wireless network standards and/or protocols.
For one embodiment, at least one of the processor(s) 305 may be packaged together with logic of one or more controllers (e.g., memory controller module 330) of the system control module 310. For one embodiment, at least one of the processor(s) 305 may be packaged together with logic of one or more controllers of the system control module 310 to form a System In Package (SiP). For one embodiment, at least one of the processor(s) 305 may be integrated on the same die as logic of one or more controllers of the system control module 310. For one embodiment, at least one of the processor(s) 305 may be integrated on the same die with logic of one or more controllers of the system control module 310 to form a system on chip (SoC).
In various embodiments, the system 300 may be, but is not limited to being: a server, workstation, desktop computing device, or mobile computing device (e.g., laptop computing device, handheld computing device, tablet, netbook, etc.). In various embodiments, system 300 may have more or fewer components and/or different architectures. For example, in some embodiments, system 300 includes one or more cameras, keyboards, liquid Crystal Display (LCD) screens (including touch screen displays), non-volatile memory ports, multiple antennas, graphics chips, application Specific Integrated Circuits (ASICs), and speakers.
It should be noted that the present application may be implemented in software and/or a combination of software and hardware, e.g., using Application Specific Integrated Circuits (ASIC), a general purpose computer or any other similar hardware device. In one embodiment, the software program of the present application may be executed by a processor to perform the steps or functions described above. Likewise, the software programs of the present application (including associated data structures) may be stored on a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. In addition, some steps or functions of the present application may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.
Furthermore, portions of the present application may be implemented as a computer program product, such as computer program instructions, which when executed by a computer, may invoke or provide methods and/or techniques in accordance with the present application by way of operation of the computer. Those skilled in the art will appreciate that the form of computer program instructions present in a computer readable medium includes, but is not limited to, source files, executable files, installation package files, etc., and accordingly, the manner in which the computer program instructions are executed by a computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Herein, a computer-readable medium may be any available computer-readable storage medium or communication medium that can be accessed by a computer.
Communication media includes media whereby a communication signal containing, for example, computer readable instructions, data structures, program modules, or other data, is transferred from one system to another. Communication media may include conductive transmission media such as electrical cables and wires (e.g., optical fibers, coaxial, etc.) and wireless (non-conductive transmission) media capable of transmitting energy waves, such as acoustic, electromagnetic, RF, microwave, and infrared. Computer readable instructions, data structures, program modules, or other data may be embodied as a modulated data signal, for example, in a wireless medium, such as a carrier wave or similar mechanism, such as that embodied as part of spread spectrum technology. The term "modulated data signal" means a signal that has one or more of its characteristics set or changed in such a manner as to encode information in the signal. The modulation may be analog, digital or hybrid modulation techniques.
By way of example, and not limitation, computer-readable storage media may include volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer-readable instructions, data structures, program modules or other data. For example, computer-readable storage media include, but are not limited to, volatile memory, such as random access memory (RAM, DRAM, SRAM); and nonvolatile memory such as flash memory, various read only memory (ROM, PROM, EPROM, EEPROM), magnetic and ferromagnetic/ferroelectric memory (MRAM, feRAM); and magnetic and optical storage devices (hard disk, tape, CD, DVD); or other now known media or later developed computer-readable information/data that can be stored for use by a computer system.
An embodiment according to the application comprises an apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to operate a method and/or a solution according to the embodiments of the application as described above.
It will be evident to those skilled in the art that the application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is evident that the word "comprising" does not exclude other elements or steps, and that the singular does not exclude a plurality. A plurality of units or means recited in the apparatus claims can also be implemented by means of one unit or means in software or hardware. The terms first, second, etc. are used to denote a name, but not any particular order.

Claims (11)

1. A method of determining rotation angle information of a carrier device, wherein the carrier device is configured to carry a PTZ camera, the method comprising:
acquiring image capturing parameter information of the PTZ image capturing device;
acquiring current image information currently shot by the PTZ camera device and first angle information of the bearing equipment when the current image information is shot;
acquiring an area image position of a frame selection area in the current image information, wherein the frame selection area is used for indicating the direction to be adjusted of the bearing equipment;
determining first transformation information from a world coordinate system to a pixel coordinate system of the PTZ image pickup device according to the image pickup parameter information and the first angle information; determining a region center image position corresponding to the region center of the frame selection region according to the region image position;
constructing first vector information of the opposite direction of the current image information according to the first transformation information; determining second vector information of the region center corresponding to the space direction according to the first transformation information and the region center image position;
converting the first vector information and the second vector information into a spherical polar coordinate system, and determining corresponding first spherical polar vector information and second spherical polar vector information; and calculating a corresponding angle difference value according to the first sphere pole vector information and the second sphere pole vector information, so as to obtain rotation angle information of the bearing equipment according to the angle difference value, wherein the rotation angle information is used for indicating angle information for adjusting the PTZ camera from the current camera shooting posture to a spatial position corresponding to the position of the region image.
2. The method of claim 1, wherein the method further comprises:
and sending a corresponding rotation adjustment instruction to the corresponding bearing equipment so as to adjust the spatial position of the PTZ camera device, which is opposite to the frame selection area, and collecting images, wherein the rotation adjustment instruction comprises the rotation angle information.
3. The method of claim 1 or 2, wherein the first angle information includes yaw angle information in a horizontal direction and pitch angle information in a vertical direction, and the rotation angle information includes yaw rotation angle information in a horizontal direction and pitch rotation angle information in a vertical direction.
4. The method according to claim 1, wherein the determining first transformation information of a world coordinate system to a pixel coordinate system of the PTZ imaging device according to the imaging parameter information, the first angle information, comprises:
determining a perspective projection matrix from an imaging coordinate system of the PTZ imaging device to a corresponding pixel coordinate system according to the imaging parameter information;
determining an observation matrix from a corresponding world coordinate system to the shooting coordinate system according to the first angle information;
and determining first transformation information from the world coordinate system to the pixel coordinate system according to the perspective projection matrix and the observation matrix.
5. The method of claim 1, wherein the determining, from the region image position, a region center image position corresponding to a region center of the framed region comprises:
and determining the central position of the minimum circumscribed rectangular frame as the region center image position corresponding to the region center of the frame selection region according to the minimum circumscribed rectangular frame of the region image position.
6. The method of claim 1, wherein the method further comprises:
and determining corresponding zoom ratio change information according to the frame selection area and the resolution information of the current image information, wherein the zoom ratio change information is used for focusing an acquisition area of the PTZ image pickup device to the frame selection area.
7. The method of claim 6, wherein the determining corresponding zoom scale change information according to the resolution information of the frame selection area and the current image information comprises:
and determining corresponding zooming ratio change information according to the minimum circumscribed rectangular frame of the frame selection area and the resolution of the current image information, wherein the zooming ratio change information is used for focusing an acquisition area of the PTZ image pickup device to the frame selection area.
8. The method according to claim 6 or 7, wherein the method further comprises:
and sending the zooming proportion change information to the PTZ image pickup device so as to adjust the acquisition area of the PTZ image pickup device to focus on the frame selection area.
9. A computer device for determining rotation angle information of a carrying device for carrying a PTZ camera, the computer device comprising:
the one-to-one module is used for acquiring the shooting parameter information of the PTZ shooting device;
the first module and the second module are used for acquiring current image information currently shot by the PTZ camera device and first angle information of the bearing equipment when the current image information is shot;
the three modules are used for acquiring the area image positions of the frame selection areas in the current image information, wherein the frame selection areas are used for indicating the direction to be adjusted of the bearing equipment;
a fourth module, configured to determine first transformation information from a world coordinate system to a pixel coordinate system of the PTZ imaging device according to the imaging parameter information and the first angle information; determining a region center image position corresponding to the region center of the frame selection region according to the region image position; constructing first vector information of the opposite direction of the current image information according to the first transformation information; determining second vector information of the region center corresponding to the space direction according to the first transformation information and the region center image position; converting the first vector information and the second vector information into a spherical polar coordinate system, and determining corresponding first spherical polar vector information and second spherical polar vector information; and calculating a corresponding angle difference value according to the first sphere pole vector information and the second sphere pole vector information, so as to obtain rotation angle information of the bearing equipment according to the angle difference value, wherein the rotation angle information is used for indicating angle information for adjusting the PTZ camera from the current camera shooting posture to a spatial position corresponding to the position of the region image.
10. A computer device, wherein the device comprises:
a processor; and
a memory arranged to store computer executable instructions which, when executed, cause the processor to perform the steps of the method of any one of claims 1 to 9.
11. A computer readable storage medium having stored thereon a computer program/instructions which, when executed by a processor, cause a system to perform the steps of the method according to any of claims 1 to 9.
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