CN115442531A - Method for determining direction of camera and camera direction determining device - Google Patents
Method for determining direction of camera and camera direction determining device Download PDFInfo
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- CN115442531A CN115442531A CN202211082794.1A CN202211082794A CN115442531A CN 115442531 A CN115442531 A CN 115442531A CN 202211082794 A CN202211082794 A CN 202211082794A CN 115442531 A CN115442531 A CN 115442531A
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Abstract
The invention provides a method for determining the direction of a camera, which comprises the steps of determining the shooting range of the camera, selecting a reference object in the shooting range, and acquiring the latitude and longitude or the coordinates of the camera and the reference object; controlling the camera to rotate until the reference object is horizontally centered in a viewing frame of the camera, and then determining the rotation angle of the camera in the rotation process; determining an offset reference angle of the camera according to the latitude and longitude or the coordinates of the camera and the reference object and a preset geographical reference direction; determining the offset of the camera according to the offset reference angle and the rotation angle; and determining the geographic direction of the camera according to the offset and the rotation angle. The invention can accurately determine the direction of the camera without adding extra hardware, and can avoid measurement errors caused by other factors such as geomagnetic interference and the like while reducing the cost.
Description
Technical Field
The present application relates to the field of positioning technologies, and in particular, to a method for determining a camera direction and a camera direction determining apparatus.
Background
With the development of security monitoring industry, people have higher requirements on the positioning accuracy of a monitoring target. The existing methods for determining the direction of a camera generally have two types: when the device is installed, the direction of the camera is appointed or measured and recorded, and then the angle of the camera is converted into the geographic direction; and sensors such as an electronic compass and the like are added to identify the direction of the camera.
However, the method of specifying or measuring and recording the camera direction at the time of installation requires time-consuming adjustment and measurement, increases the workload of installation, and is low in accuracy. On the other hand, the method of adding sensors such as an electronic compass and the like and identifying the direction of the camera needs to add extra hardware and cost. The electronic compass needs to be calibrated, and the calibration method usually needs to move the sensor along different directions, which is difficult to be realized for fixed equipment with large volume and weight, such as a camera. In addition, the accuracy of an electronic compass is also susceptible to temperature. Both of the above methods rely on magnetic fields to determine the geographic direction, which are easily disturbed by uncertain factors such as metals, currents, etc.
Disclosure of Invention
In view of the above, the present invention provides a method for determining a camera direction and a camera direction determining apparatus, which are used to solve the defects of the existing method for determining a camera direction.
In order to achieve the purpose, the following technical scheme is adopted in the application:
determining a shooting range of a camera, selecting a reference object in the shooting range, and acquiring longitude and latitude or coordinates of the camera and the reference object;
controlling the camera to rotate until the reference object is horizontally centered in a viewing frame of the camera, and then determining a rotation angle of the camera in the rotation process;
determining an offset reference angle of the camera according to the longitude and latitude or the coordinates of the camera and the reference object and a preset geographical reference direction;
determining the offset of the camera according to the offset reference angle and the rotation angle;
and determining the geographic direction of the camera according to the offset and the rotation angle.
In an embodiment, the offset reference angle is an included angle formed between a connection line between the camera and the reference object and the geographic reference direction.
In an embodiment, the rotation angle is an included angle formed between a current shooting direction of the camera and a connection line between the camera and the reference object.
In an embodiment, the determining an offset amount of the camera according to the offset reference angle and the rotation angle includes:
converting the rotation angle to be in the same coordinate system as the offset reference angle;
and taking the difference value of the offset reference angle and the rotation angle in the same coordinate system as the offset.
In an embodiment, the determining the geographic direction of the camera according to the offset and the rotation angle includes:
controlling the camera to rotate again until a target object is horizontally centered in a viewing frame of the camera, and then determining the rotation angle of the camera in the rotation process;
and taking the sum of the offset and the rotation angle as the geographic direction of the camera.
In one embodiment, the determining the shooting range of the camera includes:
determining a first radius according to the installation height and the inclination angle of the camera, and determining a first area according to the first radius;
determining a second radius according to the installation height, the inclination angle and the vertical visual angle of the camera, and determining a second area according to the second radius;
and taking the difference between the second area and the first area as the shooting range.
In one embodiment, the method further comprises:
arranging the camera on a first lamp pole;
and taking the second lamp post in the shooting range as the reference object.
In an embodiment, the method further comprises:
arranging the camera on a first lamp pole;
setting a lamp on a second lamp pole in the shooting range as the reference object;
and controlling the lamp to flicker.
A camera direction determining apparatus comprising:
the shooting parameter determining module is used for determining the shooting range of the camera, selecting a reference object in the shooting range and acquiring the longitude and latitude or the coordinates of the camera and the reference object;
the rotation control module is used for controlling the camera to rotate until the reference object is horizontally centered in a view finding frame of the camera, and then determining a rotation angle of the camera in the rotation process;
the reference angle determining module is used for determining an offset reference angle of the camera according to the longitude and latitude or the coordinates of the camera and the reference object and a preset geographic reference direction;
the offset determining module is used for determining the offset of the camera according to the offset reference angle and the rotation angle;
and the direction determining module is used for determining the geographic direction of the camera according to the offset and the rotation angle.
In an embodiment, the camera direction determining apparatus further includes a first lamp pole and a second lamp pole, the first lamp pole is used for installing the camera, and the second lamp pole is arranged in the shooting range and used for serving as the reference object or installing the reference object.
The invention can accurately determine the direction of the camera without adding extra hardware, and can avoid measurement errors caused by other factors such as geomagnetic interference and the like while reducing the cost.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic flowchart of a process for determining a direction of a camera according to an embodiment of the present application;
fig. 2 is a schematic diagram of determining a geographic direction of a camera according to an embodiment of the present application;
fig. 3 is a schematic diagram for determining a shooting range of a camera according to an embodiment of the present application;
fig. 4 is a schematic diagram of determining a shooting range of a camera according to another embodiment of the present application.
Detailed Description
Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the description of the invention without inventive step, are within the scope of protection of the invention.
In the description of the present invention, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and the like are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms can be understood in a specific case to those of ordinary skill in the art.
The terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", and the like, refer to orientations or positional relationships that are based on orientations or positional relationships shown in the drawings, or orientations or positional relationships that are customarily used in the construction of the inventive articles, and are used for convenience of description and simplicity of illustration only, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the invention.
Moreover, the terms "first," "second," "third," and the like are used solely to distinguish between similar elements and not to indicate or imply relative importance or a particular order.
Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, which includes other elements not expressly listed but rather than those listed.
Referring to fig. 1, a method for determining the direction of a camera includes the following steps:
s100, determining the shooting range of the camera, selecting a reference object in the shooting range, and acquiring the longitude and latitude or the coordinates of the camera and the reference object.
Specifically, the selected reference object may be any stationary object within the shooting range, such as a tree trunk, an outdoor air conditioner on a building, a guideboard, and the like. The latitude and longitude or the coordinates of the camera are parameters which are already determined during installation. After the reference object is confirmed, the longitude and latitude or the coordinates of the reference object can be acquired through a background network. A CAMERA (CAMERA or WEBCAM), also known as a computer CAMERA, a computer eye, an electronic eye, etc., is a video input device, and is widely used in video conferencing, telemedicine, real-time monitoring, etc. In an optical instrument, an angle formed by two edges of a lens, which is the maximum range in which an object image of a target to be measured can pass through, is called a field angle. The size of the field angle determines the field of view of the optical instrument, with a larger field angle providing a larger field of view and a smaller optical magnification. In general, the target object is not captured in the lens beyond this angle.
And S110, controlling the camera to rotate until the reference object is horizontally centered in a view frame of the camera, and then determining the rotation angle of the camera in the rotation process.
Specifically, the remote interconnection between the camera and the background is realized through an internet mode such as 4G/5G. The staff can carry out real time monitoring at the information such as the operating mode of camera, the content of shooing of background remote to can control the camera and rotate to arbitrary direction. The field angle of the camera also comprises a horizontal field angle and a vertical field angle, in the invention, the shooting range is only related to the vertical field angle of the camera, and the background only needs to rotate the camera in the horizontal direction. The reference object is horizontally centered within the viewing frame of the camera, which is equivalent to the reference object being centered in the vertical field angle direction of the camera. The rotation angle of the camera is an included angle formed by the direction of the current viewing frame of the camera in the middle and the direction of the camera rotating to the reference object. This mode need not to carry out the rotation on the vertical direction to the camera, has simplified the step of acquireing camera geographical direction.
And S120, determining an offset reference angle of the camera according to the longitude and latitude or the coordinates of the camera and the reference object and a preset geographical reference direction.
Specifically, according to the latitude and longitude or the coordinates of the camera and the reference object obtained in step S100, the camera and the reference object are arranged on the two-dimensional coordinate system in a point manner, and with the position of the camera as an origin and a preset geographical reference direction as a polar axis, a position relation diagram of the camera and the reference object on the two-dimensional coordinate system can be obtained. The preset geographic reference direction may be artificially defined, and may be north, south, east or west, for example. And connecting the coordinate point of the camera and the coordinate point of the reference object into a line segment, wherein the included angle formed by the line segment and the polar axis is the offset reference angle.
And S130, determining the offset of the camera according to the offset reference angle and the rotation angle.
Specifically, the offset is a fixed value, and the current geographic direction can be accurately acquired in the use process of the subsequent camera by acquiring the offset once. The rotation angle obtained in step S110 is placed in the two-dimensional coordinate system of the offset reference angle obtained in step S120, and the angular difference between the offset reference angle and the rotation angle is used as the offset of the camera.
And S140, determining the geographic direction of the camera according to the offset and the rotation angle.
Specifically, during the actual use of the camera, the geographic direction of the camera may be determined according to the rotation angle of the camera and the offset obtained in step S130.
Referring to fig. 2, in the present embodiment, the offset reference angle is an included angle formed between a connection line between the camera and the reference object and the geographic reference direction. Establishing a two-dimensional coordinate system, taking the position O of the camera as an original point, taking the due north direction as a preset geographical reference direction, making a ray along the due north direction N, and taking the ray as a polar axis ON in the two-dimensional coordinate system. The initial direction of the camera is A1, and the position of the reference object is B. The line connecting the camera and the reference object is OB, and the offset reference angle is an angle alpha 1 formed by the line connecting the camera and the reference object OB and ON.
In this embodiment, the rotation angle is an included angle formed by the current shooting direction of the camera and a connection line between the camera and the reference object. Wherein the rotation angle is an included angle α 2 formed by OA1 and OB.
In this embodiment, determining the offset amount of the camera according to the offset reference angle and the rotation angle includes: the rotation angle is converted to be in the same coordinate system as the offset reference angle. Wherein, in order to more precisely determine the angle at which the camera is rotated, the section of the rotation angle of the camera is divided into 0000-3600, and the rotation angle obtained by the measurement is divided by 10 so that the rotation angle is converted into the same coordinate system as the offset reference angle. For example, the rotation angles of the cameras obtained by measurement are 0101, 1036, and 0033, and then the rotation angles are 10.1 °, 103.6 °, and 3.3 ° respectively after the rotation angles are converted into the same coordinate system as the offset reference angle.
And taking the difference value of the offset reference angle and the rotation angle in the same coordinate system as the offset. Where α 2 is the converted rotation angle. The angles α 1 and α 2 are subtracted, and the obtained difference is used as the offset of the camera, that is, β is the offset of the camera in this embodiment, and may also be referred to as an offset angle.
In this embodiment, determining the geographic direction of the camera according to the offset and the rotation angle includes:
and controlling the camera to rotate again until the target object is horizontally centered in the view frame of the camera, and then determining the rotation angle of the camera in the rotation process. It is assumed that the direction of the camera is rotated from A1 to A2, and the rotation angle is converted to α 3.
And taking the sum of the offset and the rotation angle as the geographic direction of the camera. The geographic direction of the camera is the sum of the offset beta and the rotation angle alpha 3, namely ≈ A2ON. For example, the offset β is 15 °, the rotation angle α 3 of the camera is 270 °, the angle formed by the camera with respect to the preset geographical reference direction is 270 ° +15 ° =285 °, that is, the geographical direction of the camera is the northwest direction 285 °.
Referring to fig. 3, in an embodiment, determining a shooting range of a camera includes:
a first radius r1 is determined according to the installation height H and the inclination angle theta 1 of the camera, and a first area is determined according to the first radius r1. The inclination angle θ 1 is an angle formed by a lens of the camera and the installation height H. The first radius r1 is a distance formed by the inclination angle theta 1 on the horizontal ground, and pi r1 is a first area obtained according to the first radius r1.
And determining a second radius r2 according to the installation height H, the inclination angle theta 1 and the vertical visual angle theta 2 of the camera, and determining a second area according to the second radius r2. The vertical viewing angle theta 2 is the angle of the vertical viewing angle of the camera which is manufactured by the factory. The second radius r2 is the sum of the inclination angle theta 1 and the angle of the vertical viewing angle theta 2, and the distance formed on the horizontal ground is greater than the first radius r2, and the second area pi r2 can be obtained according to the second radius r2.
The difference between the second area and the first area is used as the shooting range. In one embodiment, the shooting range of the camera is a ring-shaped area (Πr2- Πr 1), and the reference object can be any static object in the ring-shaped area.
Referring to fig. 4, in the present embodiment, the camera is disposed on the first lamp pole, and the second lamp pole within the shooting range is used as the reference object. At the moment, the inclination angle theta 1 of the camera is larger, and the shooting range of the camera is based on the vertical visual angle theta 2. The second lamp post is another lamp post adjacent to the first lamp post within the range of the vertical visual angle theta 2.
In this embodiment, a lamp K is set on the second lamp post within the shooting range as a reference object, and the lamp K is controlled to flash through the background. Among them, since the latitude and longitude or the coordinates of all the lamp poles at the time of installation setting are known quantities, it is relatively preferable to use the second lamp pole within the shooting range of the camera as a reference object when selecting the reference object. On the other hand, because of the height limitation of the second pole, in the present embodiment, the reference object is further defined as a fixed luminaire K on the second pole. When actual measurement is night environment, can be through backstage control lamps and lanterns K scintillation to make the camera can catch this reference object more accurately, thereby obtain more accurately geographical direction.
The invention also provides a camera direction determining device, which comprises a shooting parameter determining module, a rotation control module, a reference angle determining module, an offset determining module and a direction determining module, wherein the shooting parameter determining module is used for determining the shooting range of the camera, selecting a reference object in the shooting range and acquiring the longitude and latitude or the coordinates of the camera and the reference object, the rotation control module is used for controlling the camera to rotate until the reference object is horizontally centered in a viewing frame of the camera, and then determining the rotation angle of the camera in the rotation process, the reference angle determining module is used for determining the offset reference angle of the camera according to the longitude and latitude or the coordinates of the camera and the reference object and a preset geographical reference direction, the offset determining module is used for determining the offset of the camera according to the offset reference angle and the rotation angle, and the direction determining module is used for determining the geographical direction of the camera according to the offset and the rotation angle.
In this embodiment, the camera direction determining apparatus further includes a first lamp pole and a second lamp pole, the first lamp pole is used for installing the camera, and the second lamp pole is arranged in the shooting range and used as a reference object or used for installing the reference object. Please refer to the above description for the application embodiments of the first light pole and the second light pole.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present disclosure should be covered within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (10)
1. A method of determining camera orientation, comprising:
determining a shooting range of a camera, selecting a reference object in the shooting range, and acquiring longitude and latitude or coordinates of the camera and the reference object;
controlling the camera to rotate until the reference object is horizontally centered in a viewing frame of the camera, and then determining a rotation angle of the camera in the rotation process;
determining an offset reference angle of the camera according to the latitude and longitude or the coordinates of the camera and the reference object and a preset geographic reference direction;
determining the offset of the camera according to the offset reference angle and the rotation angle;
and determining the geographic direction of the camera according to the offset and the rotation angle.
2. The method of claim 1, wherein the offset reference angle is an angle formed by a line connecting the camera and the reference object and the geographic reference direction.
3. The method according to claim 1, wherein the rotation angle is an included angle formed by a current shooting direction of the camera and a connecting line between the camera and the reference object.
4. The method of claim 1, wherein determining the offset of the camera according to the offset reference angle and the rotation angle comprises:
converting the rotation angle to be in the same coordinate system as the offset reference angle;
and taking the difference value of the offset reference angle and the rotation angle in the same coordinate system as the offset.
5. The method of claim 1, wherein determining the geographic direction of the camera based on the offset and the rotation angle comprises:
controlling the camera to rotate again until a target object is horizontally centered in a viewing frame of the camera, and then determining the rotation angle of the camera in the rotation process;
and taking the sum of the offset and the rotation angle as the geographic direction of the camera.
6. The method of claim 1, wherein the determining a shooting range of a camera comprises:
determining a first radius according to the installation height and the inclination angle of the camera, and determining a first area according to the first radius;
determining a second radius according to the installation height, the inclination angle and the vertical visual angle of the camera, and determining a second area according to the second radius;
and taking the difference between the second area and the first area as the shooting range.
7. The method of claim 1, further comprising:
arranging the camera on a first lamp post;
and taking the second lamp post in the shooting range as the reference object.
8. The method of claim 1, further comprising:
arranging the camera on a first lamp pole;
setting a lamp on a second lamp post in the shooting range as the reference object;
and controlling the lamp to flicker.
9. A camera direction determining apparatus, comprising:
the shooting parameter determining module is used for determining the shooting range of the camera, selecting a reference object in the shooting range and acquiring the longitude and latitude or the coordinates of the camera and the reference object;
the rotation control module is used for controlling the camera to rotate until the reference object is horizontally centered in a viewing frame of the camera, and then determining a rotation angle of the camera in the rotation process;
the reference angle determining module is used for determining an offset reference angle of the camera according to the latitude and longitude or the coordinates of the camera and the reference object and a preset geographic reference direction;
the offset determining module is used for determining the offset of the camera according to the offset reference angle and the rotation angle;
and the direction determining module is used for determining the geographic direction of the camera according to the offset and the rotation angle.
10. The camera direction determining apparatus of claim 9, further comprising a first pole for mounting the camera and a second pole disposed within the shooting range for serving as the reference object or mounting the reference object.
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| CN202211082794.1A CN115442531A (en) | 2022-09-05 | 2022-09-05 | Method for determining direction of camera and camera direction determining device |
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