CN115442521A - Image pickup control method, related device, camera and storage medium - Google Patents
Image pickup control method, related device, camera and storage medium Download PDFInfo
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- 238000001514 detection method Methods 0.000 claims description 20
- 238000003384 imaging method Methods 0.000 claims description 13
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- 238000010586 diagram Methods 0.000 description 11
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract
The application discloses a camera shooting control method, a related device, a camera and a storage medium, wherein the camera shooting control method comprises the following steps: detecting whether a tracking object in the shot image is located in a target area formed by an alarm line; if so, determining that the motor does not need to be controlled to drive the camera to rotate along with the tracked object; if not, controlling the motor to drive the camera to rotate along with the tracking object, and re-executing the step of detecting whether the tracking object in the shooting picture is positioned in the target area formed by the warning line. By the scheme, the use frequency of the motor can be reduced, and the equipment hiding performance is improved.
Description
Technical Field
The present application relates to the field of image processing technologies, and in particular, to a camera shooting control method, a related apparatus, a camera, and a storage medium.
Background
In recent years, with the development of the electronics industry, the application of video cameras is becoming more and more widespread. Further, in some special occasions, the concealment of the camera is also one of the important indexes of the image pickup control.
At present, when the existing camera shoots, a motor usually works along with the change of a shooting picture, so that the use frequency of the motor is increased along with the change of the shooting picture, and the concealment performance is difficult to ensure. In view of this, how to reduce the frequency of use of the motor and improve the concealment of the equipment become problems to be solved urgently.
Disclosure of Invention
The technical problem mainly solved by the application is to provide a camera shooting control method and a related device, a camera and a storage medium, which can reduce the use frequency of a motor and improve the concealment of equipment.
In order to solve the above problem, a first aspect of the present application provides an imaging control method including: detecting whether a tracking object in the shot image is located in a target area formed by the warning line; if so, determining that the motor does not need to be controlled to drive the camera to rotate along with the tracked object; if not, controlling the motor to drive the camera to rotate along with the tracking object, and re-executing the step of detecting whether the tracking object in the shooting picture is positioned in the target area formed by the warning line.
In order to solve the above problem, a second aspect of the present application provides an imaging control apparatus comprising: the device comprises a detection module, a determination module, a control module and a circulation module. The detection module is used for detecting whether a tracking object in the shot image is positioned in a target area formed by the warning line; the determining module is used for determining that a motor is not required to be controlled to drive the camera to rotate along with the tracking object under the condition that the tracking object is located in the target area in the shot image; the control module is used for controlling the motor to drive the camera to rotate along with the tracking object under the condition that the tracking object is not in the target area in the shot image; the circulating module is used for combining the detection module to execute the step of detecting whether the tracking object in the shooting picture is positioned in the target area formed by the warning line again after controlling the motor to drive the camera to rotate along with the tracking object.
In order to solve the above problem, a third aspect of the present application provides a camera, which includes a camera, a motor, a memory, and a processor, where the camera, the motor, and the memory are respectively coupled to the processor, the motor is connected to the camera, the motor is used to control the camera to rotate, the memory stores program instructions, and the processor is used to execute the program instructions to implement the camera control method in the first aspect.
In order to solve the above-described problems, a fourth aspect of the present application provides a computer-readable storage medium storing program instructions executable by a processor, the program instructions being for the image capture control method in the first aspect described above.
According to the scheme, whether the tracking object in the shot image is located in the target area formed by the warning line is detected, if the detection result is yes, it is determined that the motor does not need to be controlled to drive the camera to rotate along with the tracking object, otherwise, the motor is controlled to drive the camera to rotate along with the tracking object, and the step of detecting whether the tracking object in the shot image is located in the target area formed by the warning line is executed again. On one hand, whether the tracking object is in the target area formed by the warning line or not is detected, whether the motor is controlled to rotate or not is determined, the tracking object can be ensured to be always positioned in the shot image as far as possible, the effectiveness of the shot image is improved, on the other hand, when the tracking object is determined to be positioned in the target area formed by the warning line in the shot image, the camera does not need to rotate, the use frequency of the motor can be reduced, and the concealment of equipment is improved.
Drawings
Fig. 1 is a schematic flowchart of an embodiment of an image pickup control method according to the present application;
FIG. 2 (a) is a schematic diagram of one embodiment of target area division;
FIG. 2 (b) is a schematic diagram of another embodiment of target area division;
FIG. 2 (c) is a schematic illustration of yet another embodiment of target area division;
fig. 3 is a schematic flowchart of another embodiment of the imaging control method of the present application;
fig. 4 is a schematic diagram of a framework of an embodiment of the imaging control apparatus of the present application;
FIG. 5 is a block diagram of an embodiment of the camera of the present application;
FIG. 6 is a block diagram of an embodiment of a computer-readable storage medium of the present application.
Detailed Description
The following describes in detail the embodiments of the present application with reference to the drawings attached hereto.
In the following description, for purposes of explanation and not limitation, specific details are set forth such as particular system structures, interfaces, techniques, etc. in order to provide a thorough understanding of the present application.
The terms "system" and "network" are often used interchangeably herein. The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter associated objects are in an "or" relationship. Further, "plurality" herein means two or more than two. "several" means at least one. The terms "first," "second," and the like in the description and in the claims, as well as in the drawings, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
Referring to fig. 1, fig. 1 is a schematic flowchart illustrating an embodiment of a camera shooting control method according to the present application.
Specifically, the method may include the steps of:
step S11: detecting whether a tracking object in the shot image is located in a target area formed by an alarm line; if the detection result is yes, step S12 is executed, otherwise, step S13 is executed.
In an implementation scenario, the tracking object may be a target person or a pet, and the tracking object may be selected according to an actual situation, which is not specifically limited herein.
In one implementation scenario, in order to improve the setting accuracy of the warning line, before detecting whether the tracking object is located within the target area formed by the warning line in the captured image, the target pixel distance may be obtained based on the frame rate and the reference moving speed. After determining the target pixel distance, a deployment position of the warning line may be determined based on engineering parameters of the camera, and the engineering parameters include any one of: the camera supports left-right rotation, the camera supports up-down rotation, and the camera supports left-right rotation and up-down rotation; and determining a target area based on the target pixel distance and the deployment position. For example, after the deployment orientation is determined, the distance between the warning line and the image edge line of the captured image may be set to twice the target pixel distance, or the distance between the warning line and the image edge line of the captured image may be directly set to the target pixel distance. It should be noted that when the distance from the warning line to the image edge line of the shot image is not less than the target pixel distance, the motor drives the camera to rotate along with the tracked object, so that the requirement of tracking and shooting the tracked object can be met to the greatest extent, the effectiveness of shooting the image is improved, and the use experience of a user is further improved. Of course, the distance between the warning line and the image edge line of the captured image may be set according to actual conditions, and is not particularly limited herein. According to the mode, the deployment position of the warning line is determined through various parameters, the stability of shooting of the tracked object is improved, the target area is determined based on the target pixel distance and the deployment position, the accuracy of detecting whether the tracked object in the shot image is located in the target area is improved, and the effectiveness of the shot image is improved.
In one implementation scenario, the reference moving speed may be determined based on the moving speed of the tracking object, and for example, the reference moving speed may be set as a theoretical maximum moving speed of the tracking object, and may also be set as an average of the maximum moving speeds of the tracking object obtained through long-term observation statistics. The reference moving speed may be determined according to actual conditions, and is not particularly limited herein.
In a specific implementation scenario, the frame rate is the number of frames of images captured by the camera per second, after the frame rate is determined, in order to obtain the target pixel distance, the interval duration between two adjacent frames of captured images may be determined based on the frame rate, and the reference moving distance of the tracked object may be determined based on the interval duration and the reference moving speed, for example, the interval duration may be multiplied by the reference moving speed to directly determine the reference moving distance of the tracked object, or the interval duration may be multiplied by the reference moving speed, and then the multiplication result is weighted, so as to determine the reference moving distance of the tracked object. The reference moving distance may be determined according to an actual situation, and is not specifically limited herein, after the reference moving distance is obtained, the reference moving distance is projected based on camera parameters of the camera to obtain a target pixel distance, and the reference moving distance is projected to obtain the target pixel distance, which may be determined by referring to an imaging projection relationship, and is not described herein again. According to the mode, the reference moving distance of the tracked object is determined through the interval duration and the reference moving speed, the matching between the camera and the tracked object is improved, and the accuracy of detecting whether the tracked object in the shot image is located in the target area is improved.
In one implementation scenario, the number of warning lines is determined based on engineering parameters of the camera. Referring to fig. 2 (a), fig. 2 (a) is a schematic diagram of an embodiment of target area division, and as shown in fig. 2 (a), it is determined that the camera supports left-right rotation and up-down rotation based on engineering parameters of the camera, that is, the deployment orientations of the warning lines are left, right, up and down, and after the deployment orientations of the warning lines and the target pixel distances are determined, an area formed by four warning lines is a target area. Of course, the warning lines can be set according to actual requirements.
For example, referring to fig. 2 (b), fig. 2 (b) is a schematic diagram of another embodiment of dividing the target area, as shown in fig. 2 (b), a rectangular frame is a shot image, based on the engineering parameters of the camera, it is determined that the camera supports left-right rotation, that is, the deployment orientation of the warning lines is left and right, and after determining the deployment orientation of the warning lines and the target pixel distance, the area formed by the left and right warning lines and the edge lines above and below the shot image is the target area.
For example, referring to fig. 2 (c), fig. 2 (c) is a schematic diagram of another embodiment of target area division, as shown in fig. 2 (c), a rectangular frame is a shot image, based on the engineering parameters of the camera, it is determined that the camera supports up-down rotation, that is, the deployment orientation of the warning lines is up and down, and after determining the deployment orientation of the warning lines and the target pixel distance, the area formed by the upper and lower warning lines and the edge lines at the left and right of the shot image is the target area.
Step S12: and determining that the motor is not required to be controlled to drive the camera to rotate along with the tracked object.
In an implementation scene, the tracked object in the detected shot image is located in the target area formed by the warning line, and the representation shot image can meet the shooting requirement, so that the motor does not need to be controlled to drive the camera to rotate, and the use frequency of the motor is reduced.
Step S13: and controlling the motor to drive the camera to rotate along with the tracked object, and re-executing the step of detecting whether the tracked object in the shooting picture is positioned in the target area formed by the warning line.
In one implementation scenario, before controlling the motor to drive the camera to rotate with the tracking object, a current moving speed of the tracking object may be obtained, and the target rotation speed of the motor may be determined based on the current moving speed. Note that the current moving speed includes any one of the following: a real-time moving speed detected by the tracking object, a predicted moving speed predicted based on a plurality of historical moving speeds of the tracking object. After the target rotating speed of the motor is obtained, the motor can be controlled to drive the camera to rotate along with the tracked object according to the target rotating speed. According to the mode, the target rotating speed of the motor is determined through the current moving speed of the tracked object, the stability of shooting the tracked object by the camera in the rotating process is improved, and the use experience of a user is improved.
In one implementation scenario, the current movement speed of the tracked object may be a real-time movement speed detected by the tracked object. Specifically, the pixel displacement between the target matching point pair in the two adjacent frames of shot images can be obtained, and the pixel displacement is back-projected to the three-dimensional space, so that the current moving distance of the tracked object can be obtained.
In another implementation scenario, to improve the accuracy of the current moving speed of the tracked object, the predicted moving speed may be determined as the current moving speed based on a predicted moving speed predicted from several historical moving speeds of the tracked object. Specifically, the target moving speed obtained in previous tracking shooting may be obtained, and smoothing may be performed, such as taking an average value, taking a mode value, and the like. Therefore, the purpose of optimizing the current moving speed for a long time can be achieved by tracking and shooting for a long time, and the accuracy of the current moving speed is higher.
In one implementation scenario, in response to no tracking object being detected in the captured image during tracking, the motor is controlled to drive the camera to rotate in the tracking direction for a preset time period at a first reference rotation speed to update the captured image, where the first reference rotation speed is set based on a maximum rotation speed of the motor. And judging whether the tracking object is detected in the newly acquired shot image, if so, re-executing the step of detecting whether the tracking object in the shot image is positioned in a target area formed by the warning line, and if not, determining that the tracking object loses tracking. According to the mode, when the tracking object is not in the shot image, the tracking object is tracked, the position of the tracking object is further determined, and therefore the effectiveness of shooting the image in the tracking shooting process is improved.
In one implementation scenario, after it is determined that the tracked object has lost tracking, the motor-driven camera may be controlled to return to a default position; and the field of view covers the target scene when the camera is in the default position.
In another implementation scenario, in order to further determine the position information of the tracking object, in a case that the tracking object is not detected in the newly acquired captured image, it may be further detected whether the camera has rotated to a first limit position at which the camera is located at one side of the tracking direction, and if the camera is located at the first limit position at one side of the tracking direction, the motor is controlled to drive the camera to return to the default position. It should be noted that, when the camera is at the default position, the field of view covers the target scene, and the target scene may be determined according to the actual shooting requirement, which is not specifically limited herein. And if the camera is not positioned at the first limit position on one side of the tracking direction, controlling the motor to continuously drive the camera to rotate towards the tracking direction according to the second reference rotating speed so as to continuously update the shot image, and re-executing the step of judging whether the tracking object is detected in the newly-collected shot image. It should be noted that the second reference rotation speed is not lower than the first reference rotation speed, of course, the second reference rotation speed may be equal to the first reference rotation speed, or a fast tracking parameter may be set in the camera, so that when the camera performs fast tracking, the second reference rotation speed may be higher than the maximum rotation speed of the motor. According to the mode, the rotating position of the camera is judged, so that the speed of tracking and shooting the tracked object again is improved as much as possible, and the efficiency of tracking and shooting is improved.
In one implementation scenario, in response to detecting that the camera has rotated to the first limit position at which the camera is located on the tracking direction side during the step of controlling the motor to drive the camera to rotate with the tracked object, the motor is controlled to drive the camera to rotate toward the second limit position at the third reference rotation speed, and after the motor drives the camera to rotate to the second limit position, the step of detecting whether the tracked object in the captured image is located within the target area formed by the warning line is re-performed. The third reference rotation speed may be set based on the first reference rotation speed, and for example, the third reference rotation speed may be equal to the first reference rotation speed, or may be not lower than the first reference rotation speed, and the third reference rotation speed may be set according to actual situations, and is not limited specifically herein. It should be noted that the second limit position is opposite to the tracking direction. According to the mode, the camera rotates towards the second limiting position, the coverage range of the camera is wider as much as possible, and the tracking shooting efficiency of the tracked object is improved.
According to the scheme, whether the tracking object in the shot image is located in the target area formed by the warning line is detected, if the detection result is yes, it is determined that the motor does not need to be controlled to drive the camera to rotate along with the tracking object, otherwise, the motor is controlled to drive the camera to rotate along with the tracking object, and the step of detecting whether the tracking object in the shot image is located in the target area formed by the warning line is executed again. On one hand, whether the tracking object is in the target area formed by the warning line or not is detected, whether the motor is controlled to rotate or not is determined, the tracking object can be ensured to be always positioned in the shot image as far as possible, the effectiveness of the shot image is improved, on the other hand, when the tracking object is determined to be positioned in the target area formed by the warning line in the shot image, the camera does not need to rotate, the use frequency of the motor can be reduced, and the concealment of equipment is improved.
Referring to fig. 3, fig. 3 is a schematic flowchart illustrating a camera shooting control method according to another embodiment of the present application. Specifically, the method may include the steps of:
step S31: detecting whether a tracking object in the shot image is located in a target area formed by an alarm line; if the detection result is yes, step S32 is executed, otherwise, step S33 is executed.
In an implementation scene, if the tracked object in the shot image is detected to be located in the target area formed by the warning line, the representation shot image can meet the shooting requirement, so that a motor does not need to be controlled to drive the camera to rotate; if the tracking object in the detection shot image is not located within the target area formed by the warning line, an abnormality is represented in the tracking shot, illustratively, the tracking object has lost tracking, or the moving speed of the tracking object has varied.
Step S32: and determining that the motor is not required to be controlled to drive the camera to rotate along with the tracked object.
In one implementation scenario, if it is detected whether the tracking object in the captured image is located within the target area formed by the warning line, and the detection result is yes, the camera does not need to be rotated.
Step S33: and controlling a motor to drive the camera to rotate towards the tracking direction for a preset time according to the first reference rotating speed so as to update the shot image.
In one implementation scenario, if it is detected whether the tracking object in the shot image is located in the target area formed by the warning line, and the detection result is no, the motor is controlled to drive the camera to rotate towards the tracking direction for a preset time period according to the first reference rotation speed so as to update the shot image. The manner of updating the captured image may refer to the description of updating the captured image in the foregoing disclosed embodiment, and is not described herein again.
Step S34: judging whether a tracking object is detected in a newly acquired shot image; if the detection result is yes, step S35 is executed, otherwise, step S36 is executed.
In one implementation scenario, after updating the captured image, it is detected whether a tracking object is detected in the newly captured image to determine whether the newly captured image is valid.
Step S35: the step of detecting whether the tracking target in the captured image is located within the target area formed by the warning line is re-executed.
In an implementation scene, if a tracking object is detected in a newly acquired shot image, the step of detecting whether the tracking object in the shot image is located in a target area formed by an alarm line is executed again, so that the position information of the tracking object is determined, and the effectiveness of tracking shooting of the tracking object is further improved.
Step S36: and determining that the tracked object loses tracking, and controlling a motor to drive the camera to return to the default position.
In an implementation scenario, a tracking object is not detected in a newly acquired captured image, it is determined that the tracking object is lost, and the motor may be controlled to drive the camera to return to the default position.
According to the scheme, whether the tracking object in the shot image is located in the target area formed by the warning line is detected, if the detection result is yes, it is determined that the motor does not need to be controlled to drive the camera to rotate along with the tracking object, otherwise, the motor is controlled to drive the camera to rotate along with the tracking object, and the step of detecting whether the tracking object in the shot image is located in the target area formed by the warning line is executed again. On one hand, whether the tracking object is in the target area formed by the warning line or not is detected, whether the motor is controlled to rotate or not is determined, the tracking object can be ensured to be always positioned in the shot image as far as possible, the effectiveness of the shot image is improved, on the other hand, when the tracking object is determined to be positioned in the target area formed by the warning line in the shot image, the camera does not need to rotate, the use frequency of the motor can be reduced, and the concealment of equipment is improved.
Referring to fig. 4, fig. 4 is a schematic diagram of a frame of an embodiment of a camera control device according to the present application. The imaging control device 40 includes a detection module 41, a determination module 42, a control module 43, and a circulation module 44; the detection module 41 is used for detecting whether the tracking object in the shot image is located in a target area formed by the warning line; the determining module 42 is configured to determine that the camera is driven to rotate along with the tracked object without controlling the motor when the tracked object is located in the target area in the captured image; the control module 43 is used for controlling the motor to drive the camera to rotate along with the tracking object under the condition that the tracking object is not in the target area in the shot image; the loop module 44 is configured to perform the step of detecting whether the tracking object in the captured image is located within the target area formed by the warning line in combination with the detection module again after controlling the motor to drive the camera to rotate with the tracking object.
According to the scheme, on one hand, whether the tracking object is located in the target area formed by the warning line is detected, whether the motor is controlled to rotate is determined, the tracking object can be ensured to be located in the shot image all the time as much as possible, and the effectiveness of the shot image is improved.
In some disclosed embodiments, the warning line is no lower than the target pixel distance from the image edge line of the captured image, and the target pixel distance is determined by the reference movement speed when tracking the motion of the object and the frame rate of the camera.
Therefore, the integrity of the shot image is ensured, and the use experience of the user is improved.
In some disclosed embodiments, the detection module 41 includes a first determination sub-module, configured to determine an interval duration between two adjacent captured images based on the frame rate; the detection module 41 includes a second determination submodule for determining a reference movement distance of the tracked object based on the interval duration and the reference movement speed; the detection module 41 further includes a third determination sub-module, and the third determination sub-module is configured to project the reference moving distance based on the camera parameter of the camera to obtain the target pixel distance.
Therefore, the reference moving distance of the tracked object is determined through the interval duration and the reference moving speed, the matching between the camera and the tracked object is improved, and the accuracy of detecting whether the tracked object in the shot image is located in the target area is improved.
In some disclosed embodiments, the camera control device 40 includes a first acquisition module, configured to obtain a target pixel distance based on the frame rate and the reference moving speed, and determine a deployment position of the warning line based on the engineering parameters of the camera; and the engineering parameters include any of: the camera supports left-right rotation, the camera supports up-down rotation, and the camera supports left-right rotation and up-down rotation; the imaging control apparatus 40 further includes a decision module for determining a target area based on the target pixel distance and the deployment orientation.
Therefore, the deployment position of the warning line is determined through various parameters, the stability of shooting of the tracked object is improved, the target area is determined based on the target pixel distance and the deployment position, the accuracy of detecting whether the tracked object in the shot image is located in the target area is improved, and the effectiveness of the shot image is improved.
In some disclosed embodiments, the imaging control device 40 includes a second acquisition module for acquiring a current moving speed of the tracking object and determining a target rotation speed of the motor based on the current moving speed; and the current moving speed includes: a real-time moving speed detected by the tracking object, a predicted moving speed predicted based on a plurality of historical moving speeds of the tracking object. The control module 43 includes a driving submodule, which is used to control the motor to drive the camera to rotate along with the tracked object according to the target rotation speed.
Therefore, the target rotating speed of the motor is determined by tracking the current moving speed of the object, so that the stability of shooting the tracked object by the camera in the rotating process is improved, and the use experience of a user is improved.
In some disclosed embodiments, the camera control device 40 includes an update module for controlling the motor to drive the camera to rotate in the tracking direction for a preset time period at a first reference rotation speed in response to no tracking object being detected in the captured image during tracking to update the captured image; and the first reference rotation speed is set based on a maximum rotation speed of the motor; the image pickup control device 40 includes a judgment module for judging whether a tracking object is detected in a newly acquired photographed image; the imaging control apparatus 40 includes a loop module 44, and the loop module 44 is configured to re-execute the step of detecting whether or not the tracking target in the captured image is located within the target area formed by the warning line; the imaging control apparatus 40 further includes a confirmation module for determining that the tracking object has lost tracking.
Therefore, when the tracking object is not in the shot image, the tracking object is tracked, the position of the tracking object is further determined, and the effectiveness of shooting the image in the tracking shooting process is improved.
In some disclosed embodiments, the camera control device 40 includes a driving module for controlling the motor to drive the camera to return to the default position; and the field of view covers the target scene when the camera is in the default position.
In some disclosed embodiments, the camera control device 40 includes a checking module for detecting whether the camera has rotated to a first limit position at which the camera is located at one side of the tracking direction; the camera control device 40 comprises a regression module, wherein the regression module is used for controlling the motor to drive the camera to return to the default position, and the visual field covers the target scene when the camera is at the default position; the camera control device 40 further includes a tracking module, which is configured to control the motor to continue to drive the camera to rotate in the tracking direction according to a second reference rotation speed, so as to continue to update the captured image, and to re-execute the step of determining whether the tracking object is detected in the newly captured image, where the second reference rotation speed is not lower than the first reference rotation speed.
Therefore, the rotation position of the camera is judged, so that the speed of tracking shooting the tracking object again is improved as much as possible, and the efficiency of tracking shooting is improved.
In some disclosed embodiments, the camera control device 40 includes an executing module, which is configured to control the motor to drive the camera to rotate towards the second limit position according to a third reference rotation speed in response to detecting that the camera has rotated to the first limit position on the side of the tracking direction during the step of controlling the motor to drive the camera to rotate with the tracked object; and the second limit position is opposite to the tracking direction.
Therefore, the camera is rotated towards the second limit position, the coverage area of the camera is widened as much as possible, and the tracking shooting efficiency of the tracked object is improved.
Referring to fig. 5, fig. 5 is a schematic diagram of a frame of an embodiment of a camera according to the present application. The camera 50 includes a camera 54, a motor 53, a memory 51 and a processor 52, the camera 54, the motor 53 and the memory 51 are respectively coupled to the processor 52, the motor 53 is connected to the camera 54, the motor 53 is configured to control the camera 54 to rotate, the memory 51 stores program instructions, and the processor 52 is configured to execute the program instructions to implement the steps in any of the above-described camera control method embodiments.
Specifically, the processor 52 is configured to control itself, the memory 51, the motor 53, and the camera 54 to implement the steps in any of the above-described embodiments of the image capture control method. Processor 52 may also be referred to as a CPU (Central Processing Unit). Processor 52 may be an integrated circuit chip having signal processing capabilities. The Processor 52 may also be a general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. In addition, processor 52 may be commonly implemented by a plurality of integrated circuit chips.
According to the scheme, on one hand, whether the tracking object is located in the target area formed by the warning line is detected, whether the motor is controlled to rotate is determined, the tracking object can be ensured to be always located in the shot image as far as possible, the effectiveness of the shot image is improved, on the other hand, when the tracking object is determined to be located in the target area formed by the warning line in the shot image, the camera does not need to rotate, the use frequency of the motor can be reduced, and the equipment hiding performance is improved.
Referring to fig. 6, fig. 6 is a block diagram illustrating an embodiment of a computer readable storage medium according to the present application. The computer readable storage medium 60 stores program instructions 61 executable by the processor, the program instructions 61 being for implementing the steps in any of the above-described imaging control method embodiments.
According to the scheme, on one hand, whether the tracking object is located in the target area formed by the warning line is detected, whether the motor is controlled to rotate is determined, the tracking object can be ensured to be located in the shot image all the time as much as possible, and the effectiveness of the shot image is improved.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a module or a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some interfaces, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application, which are essential or contributing to the prior art, or all or part of the technical solutions may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the methods of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
If the technical scheme of the application relates to personal information, a product applying the technical scheme of the application clearly informs personal information processing rules before processing the personal information, and obtains personal independent consent. If the technical scheme of the application relates to sensitive personal information, a product applying the technical scheme of the application obtains individual consent before processing the sensitive personal information, and simultaneously meets the requirement of 'express consent'. For example, at a personal information collection device such as a camera, a clear and significant identifier is set to inform that the personal information collection range is entered, the personal information is collected, and if the person voluntarily enters the collection range, the person is regarded as agreeing to collect the personal information; or on the device for processing the personal information, under the condition of informing the personal information processing rule by using obvious identification/information, obtaining personal authorization by modes of popping window information or asking a person to upload personal information of the person by himself, and the like; the personal information processing rule may include information such as a personal information processor, a personal information processing purpose, a processing method, and a type of personal information to be processed.
Claims (12)
1. An imaging control method, comprising:
detecting whether a tracking object in the shot image is located in a target area formed by an alarm line;
if so, determining that a motor does not need to be controlled to drive the camera to rotate along with the tracking object;
if not, controlling the motor to drive the camera to rotate along with the tracked object, and re-executing the step of detecting whether the tracked object in the shot picture is located in a target area formed by the warning line.
2. The method according to claim 1, wherein the warning line is not less than a target pixel distance from an image edge line of the captured image, and the target pixel distance is determined by a reference moving speed at which the tracking object moves and a frame rate of the camera.
3. The method of claim 2, wherein the step of obtaining the target pixel distance comprises:
determining the interval duration between two adjacent frames of the shot images based on the frame rate;
determining a reference movement distance of the tracking object based on the interval duration and the reference movement speed;
and projecting the reference moving distance based on camera parameters of the camera to obtain the target pixel distance.
4. The method according to any one of claims 1 to 3, characterized in that before the detecting whether the tracking target is located within the target area formed by the warning line in the captured image, the method further comprises:
obtaining a target pixel distance based on the frame rate of the camera and the reference moving speed of the tracked object during movement, and determining the deployment direction of the warning line based on the engineering parameters of the camera; wherein the engineering parameters include any one of: the camera supports left-right rotation, the camera supports up-down rotation, and the camera supports left-right rotation and up-down rotation;
determining the target region based on the target pixel distance and the deployment location.
5. The method of claim 1, wherein prior to said controlling said motor to drive said camera to rotate with said tracked object, said method further comprises:
acquiring the current moving speed of the tracking object, and determining the target rotating speed of the motor based on the current moving speed; wherein the current moving speed includes: the real-time moving speed detected by the tracking object and the predicted moving speed predicted based on a plurality of historical moving speeds of the tracking object;
the control the motor drive the camera rotates along with the tracking object, including:
and controlling the motor to drive the camera to rotate along with the tracking object according to the target rotating speed.
6. The method of claim 1, further comprising:
in response to the fact that the tracking object is not detected in the shot image in the tracking process, controlling the motor to drive the camera to rotate towards the tracking direction for a preset time period according to a first reference rotating speed so as to update the shot image; wherein the first reference rotation speed is set based on a maximum rotation speed of the motor;
judging whether the tracking object is detected in the newly acquired shot image;
if yes, re-executing the step of detecting whether the tracking object in the shot image is located in the target area formed by the warning line;
if not, determining that the tracking object loses tracking.
7. The method of claim 6, wherein after said determining that the tracked object has lost tracking, the method further comprises:
controlling the motor to drive the camera to return to a default position; wherein the field of view covers the target scene when the camera is in the default position.
8. The method according to claim 6, wherein in a case where the tracking object is not detected in a newly acquired captured image, before the determining that the tracking object has lost tracking, the method further comprises:
detecting whether the camera rotates to a first limit position at which the camera is positioned at one side of the tracking direction;
if so, controlling the motor to drive the camera to return to a default position; wherein the field of view covers the target scene when the camera is in the default position;
if not, controlling the motor to continuously drive the camera to rotate towards the tracking direction according to a second reference rotating speed so as to continuously update the shot image, and re-executing the step of judging whether the tracking object is detected in the newly acquired shot image; wherein the second reference rotation speed is not lower than the first reference rotation speed.
9. The method of claim 1, further comprising:
in response to detecting that the camera has rotated to a first limit position at which the camera is located on one side of a tracking direction during the step of controlling the motor to drive the camera to rotate along with the tracked object, controlling the motor to drive the camera to rotate towards a second limit position according to a third reference rotation speed; wherein the second limit position is opposite to the tracking direction.
10. An imaging control apparatus, comprising:
the detection module is used for detecting whether the tracking object in the shot image is positioned in a target area formed by the warning line;
the determining module is used for determining that a camera does not need to be controlled to drive to rotate along with the tracking object under the condition that the tracking object is located in the target area in the shot image;
the control module is used for controlling the motor to drive the camera to rotate along with the tracking object under the condition that the tracking object in the shot image is not in the target area;
and the circulating module is used for combining the detection module to execute the step of detecting whether the tracking object in the shooting picture is positioned in the target area formed by the warning line again after controlling the motor to drive the camera to rotate along with the tracking object.
11. A camera comprising a camera head, a motor, a memory and a processor, wherein the camera head, the motor and the memory are respectively coupled to the processor, the motor is connected with the camera head, the motor is used for controlling the camera head to rotate, the memory stores program instructions, and the processor is used for executing the program instructions to realize the camera control method according to any one of claims 1 to 9.
12. A computer-readable storage medium characterized by storing program instructions executable by a processor for implementing the image capture control method according to any one of claims 1 to 9.
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