CN116668830B - Method, system, equipment and medium for setting preset point of water level observation camera - Google Patents
Method, system, equipment and medium for setting preset point of water level observation camera Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
- H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
- H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
- H04N23/662—Transmitting camera control signals through networks, e.g. control via the Internet by using master/slave camera arrangements for affecting the control of camera image capture, e.g. placing the camera in a desirable condition to capture a desired image
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- H—ELECTRICITY
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- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
- H04N23/675—Focus control based on electronic image sensor signals comprising setting of focusing regions
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Abstract
The present disclosure relates to a method, a system, a device and a medium for setting a preset point of a water level observation camera, wherein the method comprises: setting a cruising mode of a single camera, and analyzing video streams acquired by the single camera in cruising in real time based on a target recognition algorithm to obtain coordinates of a target frame of the water gauge; judging whether a target frame of the water gauge is positioned in the central area of the picture, if so, recording preset points of a single camera; after the cruising is completed, all preset points of a single camera are obtained; traversing all preset points, sequentially fine-tuning the focal lengths of the preset points, identifying and calculating the targets of the water gauge in real time based on a target identification algorithm, determining the optimal focal length of the preset points, recording the optimal focal length of the camera, and writing the optimal focal length into the camera; traversing all cameras, obtaining all preset points of each camera and the optimal focal length under each preset point, and writing the optimal focal length into the corresponding cameras. The present disclosure enables the setting of automated and quantifiable hydrological water gauge observation camera preset bits.
Description
Technical Field
The disclosure relates to the field of hydrology, in particular to a method, a system, equipment and a medium for setting a preset point of a water level observation camera.
Background
At present, in the hydrologic field, the water level in waters such as rivers and lakes is surveyed, and the observation point distributes in different positions, mainly based on the inspection of hydrologic staff, artifical reading, records, then carries out data entry through information system at hydrologic station, has deployed network camera at partial observation point, and the picture is returned to hydrologic station or observation platform, reads water level data by artifical record or computer vision technique again.
The reading of water level data is realized through a water gauge, and in general, the water level can change by several meters all the year round, so that a plurality of water gauges are required to be installed within a certain distance range from the shore, and when the water level is at different heights, different water gauges are observed, as shown in fig. 1.
The camera is adopted to fix the point to observe the water level, the visual field range of the observation camera is limited, the number of water gauges seen by a certain angle is limited, and the water gauges at the edges of the picture possibly generate distortion to enable the reading to be inaccurate, and an ideal reading picture is a reading water gauge which is positioned in the whole center of the picture, the ruler body of the ruler is clearly visible, and the juncture between the water gauge and the water surface is clearly visible.
Therefore, a camera with a pan-tilt cruise function, typically a dome camera, needs to be used. Manually operating a cradle head on a management page of the camera, aiming a water gauge, finding an optimal visual angle, recording as a preset point 1, and the like to an nth water gauge and a preset point n. However, in the mode of cruising and observing the preset points of the camera, a manual aiming water gauge is needed, an optimal visual angle is found, one observation point can have N water gauges, each water area can have K observation points, and therefore K x N preset points are needed to be set manually, and the effects of huge workload and low efficiency are caused.
Therefore, we need to provide a method, system, device and medium for setting the preset point of the water level observation camera, and a method for automatically configuring the preset point of the camera, which improves the production efficiency, reduces the personnel investment and improves the preset point setting quality.
Disclosure of Invention
The present disclosure provides a method, a system, an apparatus, and a medium for setting a preset point of a water level observation camera, so as to at least solve at least one technical problem in the above background art.
In a preferred embodiment of the present disclosure, the embodiment of the present application provides a method for setting a preset point of a water level observation camera, where the method includes the following steps:
s1, acquiring information of all cameras with preset points to be set and inputting the information into a system;
s2, initializing a single camera;
s3, setting a cruising mode of a single camera, analyzing a video stream acquired by the single camera in cruising in real time by using a target recognition algorithm based on a training model to obtain coordinates of a water gauge target frame, and if the target recognition algorithm does not detect the water gauge target frame, repeating the step S3;
s4, judging whether the water gauge target frame is positioned in the central area of the picture, and if the water gauge target frame is positioned in the central area of the picture, recording preset points of a single camera; if the water gauge target frame does not appear in the central area of the picture, repeating the step S3;
s5, after the cruising is completed, all preset points recorded by the single camera in the cruising process are obtained;
s6, traversing all preset points, sequentially fine-tuning the focal length of the preset points, identifying and calculating the water gauge targets in real time based on a target identification algorithm, determining the optimal focal length of the preset points, recording the optimal focal length of the camera, and writing the optimal focal length into the camera;
and S7, traversing all cameras, obtaining all preset points of each camera and the optimal focal length under each preset point, and writing the optimal focal length into the corresponding cameras.
Further, the system for acquiring and inputting the information of the camera with the preset point to be set comprises:
collecting and sorting all camera information of preset points to be set, wherein the camera information comprises video stream addresses, control addresses, user names and passwords;
all acquired camera information is input into a system through a Web management page, and the input method comprises the following steps:
forming configuration files by the information of each camera, and uploading the configuration files;
a camera information table of CSV or XLSX format files is imported in batches;
and information of cameras is input one by one.
Further, initializing the single camera includes:
acquiring information of a camera holder through a camera standard protocol;
and initializing camera parameters through a camera standard protocol, wherein the initialization is set to be horizontal angle 0 degree, pitching angle 0 degree and zooming 1 time.
Further, the setting of the cruising mode of the single camera, and performing real-time analysis on the video stream acquired by the single camera in cruising by using a target recognition algorithm based on a training model, to obtain coordinates of a target frame of the water gauge, includes:
through the standard protocol of the camera, the camera is configured to perform S-shaped cruising, wherein the specific mode of S-shaped cruising is as follows: the pitching angle is kept at 0 degrees, and horizontal angle 0 degrees to the maximum horizontal angle cruising is carried out; increasing the pitching angle by theta degrees, wherein the theta degrees are more than or equal to 1 degree and less than or equal to the maximum pitching angle, and cruising from the maximum horizontal angle to the horizontal angle by 0 degree; and so on until the pitching angle increases to the maximum pitching angle, and the last cruising is completed;
and (3) while cruising, real-time analysis is carried out on the video stream acquired by the single camera by using a target recognition algorithm based on a training model to obtain coordinates of a water gauge target frame, calculating pixels of the total length of the water gauge according to the length-width ratio and the width of the water gauge target frame, and obtaining coordinates of a right lower angle of the water gauge below the water surface by the coordinates of the water gauge target frame and the pixels of the total length of the water gauge, thereby obtaining coordinates of the water gauge target frame containing the part below the water surface.
Further, the determining whether the target frame of the water gauge is located in the central area of the picture includes:
setting a picture center area in the picture center, specifically: finding the coordinates of the central symmetry point of the picture, and radiating a certain distance to the periphery by taking the coordinates as the center to obtain a picture central area;
coordinates of a central symmetry point of the water gauge are calculated according to the coordinates of the water gauge target frame identified by the target identification algorithm;
when the coordinates of the central symmetry point of the water gauge are the same as those of the central symmetry point of the picture central region, the water gauge target frame is positioned in the picture central region; finding out the abscissa of the central symmetry point, recording the horizontal angle of the camera at the moment and writing the horizontal angle into the camera; finding the ordinate of the central symmetry point, recording the pitching angle of the camera at the moment and writing the pitching angle into the camera.
Further, the fine tuning of the focal length of the preset point includes:
setting parameter information of a camera through a camera standard protocol, wherein the horizontal angle and the pitching angle are unchanged, and setting zoom multiples according to a stepping value;
when zooming, the height of the ruler body of the water gauge is ensured not to exceed the central area of the picture;
wait 2 seconds after setting for the camera to focus.
Further, the identifying and calculating the water gauge target in real time based on the target identifying algorithm, determining the optimal focal length of the preset point, recording the optimal focal length of the preset point and writing into the camera, including:
when the zoom multiple is gradually increased, the ordinate of the upper left of the water gauge target frame and the ordinate of the lower right corner of the water gauge under the water surface are gradually close to the upper edge and the lower edge of the central area and exceed the central area, when the ordinate of the upper left of the water gauge target frame or the ordinate of the lower right corner of the water gauge under the water surface exceeds the central area, the previous zoom multiple is recorded and used as the optimal focal length of the current preset point, and the zoom multiple in the parameter information of the camera is updated; wherein, when the zoom magnification is changed between 1 time to the maximum zoom magnification, there are two cases:
when the proportion of the water gauge target to the whole picture is gradually increased and the water gauge target is not suitable for observation, recording the last zooming multiple suitable for observation and taking the last zooming multiple as the optimal focal length of the current preset point;
when the scale target gradually increases to the maximum zoom multiple in the proportion of the whole picture, the scale target is suitable for observation, but cannot continue zooming, the maximum zoom multiple is recorded, and the maximum zoom multiple is used as the optimal focal length of the current preset point; the water gauge target is suitable for observation, namely the water gauge head in the water gauge target frame is clearly visible, and when the water level is lowered to the 0 scale, the water level interface is still positioned in the picture.
In a preferred embodiment of the present disclosure, the embodiment of the present application further provides a system for setting a preset point of a water level observation camera, including:
the cruise recognition module is used for setting a cruise mode of a single camera, analyzing video streams acquired by the single camera in cruise in real time by using a target recognition algorithm based on a training model to obtain coordinates of a water gauge target frame, and repeatedly executing the cruise recognition module if the target recognition algorithm does not detect the water gauge target frame;
the picture center judging module is used for judging whether the water gauge target frame is positioned in the picture center area after the cruise recognition module recognizes the water gauge target frame, and if the water gauge target frame is positioned in the picture center area, recording preset points of a single camera; if the target frame of the water gauge does not appear in the central area of the picture, executing the cruising identification module;
the preset point record acquisition module is used for acquiring all preset points recorded by the single camera in the cruising process after cruising is completed;
the fine adjustment zooming module is used for traversing all preset points, sequentially carrying out fine adjustment on the focal lengths of the preset points, identifying and calculating the targets of the water gauge in real time based on a target identification algorithm, determining the optimal focal length of the preset points, recording the optimal focal length of the preset points and writing the optimal focal length into the camera;
the camera traversing module is used for traversing all cameras, obtaining all preset points of each camera and the optimal focal length under each preset point, and writing the optimal focal length into the corresponding camera.
In a preferred embodiment of the present disclosure, the embodiment of the present application further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and capable of running on the processor, where the method for setting the preset point of the water level observation camera is implemented when the processor executes the computer program.
In a preferred embodiment of the present disclosure, a computer readable storage medium is further provided, on which a computer program is stored, where the program when executed by a processor implements the steps of the method for setting a preset point of a water level observation camera described above.
The beneficial effects of the present disclosure are: according to the method for setting the preset point of the water level observation camera, based on the target recognition technology, the method for determining the center of the water gauge on the picture is used for realizing the quantized aiming from the manual subjective aiming to the computer vision; the method for determining the optimal focal length of the preset point realizes manual subjective zooming and amplifying of the water gauge, and realizes computer vision and quantized zooming and amplifying; the camera standard protocol is used for controlling the automatic cruising and the recognition of the water gauge, and the two methods are matched, so that the automatic finding of the water gauge, the aiming of the water gauge, the amplification of the water gauge and the final observation of the water gauge by the hydrology water gauge can be realized.
Drawings
FIG. 1 is a schematic view of a hydrological scale;
fig. 2 is a flowchart of setting a preset point of a water level observation camera provided in the present disclosure;
FIG. 3 is a schematic illustration of a cruise route;
FIG. 4 is a schematic illustration of water gauge target labeling;
FIG. 5 is a diagram illustrating a frame center measurement;
FIG. 6 shows the trend of the center point of the water gauge from the center point of the picture;
FIG. 7 is a schematic illustration of a water gauge change during zooming;
fig. 8 is a block diagram of a system for setting a preset point of a water level observation camera according to the present disclosure.
Detailed Description
The following description of the technical solutions in the embodiments of the present disclosure will be made clearly and completely with reference to the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only some embodiments of the present disclosure, not all embodiments. Based on the embodiments in this disclosure, all other embodiments that a person of ordinary skill in the art would obtain without making any inventive effort are within the scope of protection of this disclosure.
Example 1
Referring to fig. 1, according to the method for setting the preset point of the water level observation camera provided by the exemplary embodiment of the present disclosure, the camera is controlled to automatically cruise and identify the water gauge through the camera standard protocol, and the method for determining the center of the screen of the water gauge and the method for determining the optimal focal length of the preset point are matched, so that the quantifiable setting of the preset points of the water gauge, the aiming water gauge, the amplified water gauge and the final hydrological water gauge observation camera is automatically achieved.
The implementation process of the method for setting the preset point of the water level observation camera by way of example comprises the following steps:
the following information of the cameras for arranging preset points is collected and arranged:
a) Video stream addresses (including but not limited to RSTP protocol addresses);
b) Control addresses (including but not limited to the ONVIF protocol);
c) User name, password.
The acquired camera information is input into the system, and the input platform is a software Web management page, including but not limited to:
a) Forming configuration files by the information of each camera, and uploading the configuration files;
b) A camera information table of CSV or XLSX format files is imported in batches;
c) And information of cameras is input one by one.
The information of the camera holder is obtained through a camera standard protocol (including but not limited to an ONVIF protocol and a GB28181 protocol).
The camera is initialized and configured through a camera standard protocol: setting a tripod head angle as follows: horizontal 0 °, pitch 0 °, zoom 1-fold.
Rough cruising: as shown in fig. 3, the camera is configured to perform "S" cruising through a camera standard protocol, specifically:
a) The pitching angle is kept at 0 DEG, and the horizontal angle roll is 0 DEG to the maximum horizontal angle roll max Cruising;
b) The pitch angle is incremented by 5 ° (increment value is configurable), and the maximum horizontal angle roll is performed max -horizontal angle 0 °, cruising;
c) And so on until the pitch angle is increased to the maximum angle pitch max The last cruising is completed.
And (3) while cruising, analyzing the video stream in real time, and obtaining coordinates of a target frame of the water gauge by using a target recognition algorithm based on a training model.
The training process of the training model is as follows:
firstly, collecting a large number of data sets (photos) containing water gauges in pictures;
preprocessing the data set, and unifying the image format and the resolution;
manually marking the water gauge target, wherein the marking range is as follows: the minimum range including the water gauge body + gauge head is shown in fig. 4;
training a water gauge target on the basis of a pre-training model to form a training model;
the training model is enabled to reach the optimal state through the parameter adjustment of Finetune, and the training model is adopted;
based on the training model, the input water gauge picture can be subjected to target identification;
the result of target recognition is: the coordinates of the target frame of the water gauge are the upper left (x lt ，y lt ) Lower right (x rb ，y rb ) And confidence.
The Finetune parameter adjusting process comprises the following steps:
the network used is RetinaNet based on Nvidia 3090Ti GPU (24G) GPU card. The setting of the super-parameters of the neural network model can greatly influence the actual performance of the algorithm, and is generally divided into super-parameters in a training stage and structured super-parameters. The super-parameter optimization strategy of the training stage of the target recognition model is provided as follows: to balance the accuracy (precision) of object recognition and the convergence speed of the model, we choose Batch size (samples_per_gpu=8, worker_per_gpu=10) to take full advantage of hardware parallelism to accelerate computation to boost the convergence speed of the model according to experiments. In order to control the convergence amplitude of the model parameters, and avoid unstable model caused by overlarge learning rate, we set learning rate=0.002, and dynamically adjust the learning rate to achieve higher model accuracy (precision). Aiming at the problem of sample imbalance, the method better learns few categories by optimizing ratio_list in good positive and negative sample proportion so as to improve the performance of target identification. To balance the accuracy (precision) of target recognition, a higher confidence threshold may be set to avoid missed detection; conversely, to increase the Recall (Recall) of the target recognition model, the confidence threshold may be appropriately lowered, but this may result in a decrease in accuracy (Precision). The confidence threshold is set to (waterrule_thre=0.75) for balancing accuracy and recall.
The water gauge target recognition is different from the target frame determination of other scenes such as target recognition, target following and the like, and the root cause is that a part of the water gauge body is always below the water surface and is undetectable by the target recognition, the part below the water surface is calculated and obtained through the processing of the step, so that an integral water gauge target is formed, and support is provided for the following position determination and focal length determination; the water gauge target frame is processed as follows:
the hydrological water gauge is a standard measuring tool, and the length and the width of the scale part of the ruler body are constant values, so that when the hydrological water gauge is completely exposed out of the water surface, the length-width ratio is determined: r is (r) ori =h (height of rule)/W (width of rule);
according to the pixels of the width of the water gauge target frame, the total length pixel Y of the water gauge can be roughly calculated: y=r ori *(x rb -x lt )；
The right lower angle coordinate of the water gauge under the water surface is [ x ] rb ＝x rb ,ny rb ＝y lt +Y]
The target frame of the water gauge containing the part below the water surface is: [ x ] lt ,y lt ],[x rb ,ny rb ]。
When the water gauge appears in the center of the picture, recording the position of the camera and target information pos_info_i, wherein the pos_info_i is represented by (roll=x, pitch=y, boom=z, and report=j), the roll represents a horizontal angle, the pitch represents a pitch angle, the boom represents a zoom multiple, and the report represents the proportion of the water gauge target to the whole picture, and x, y, z, i and j are constants:
the water gauge target frame is located at the center of the picture and refers to that the water gauge is located at the center of the picture, specifically refers to that the gauge head is located in the picture, the water surface juncture is located in the picture, and because of fluctuation of the water level, when the water level falls to the minimum scale of the current water gauge, the water surface juncture is still located in the picture, so that the water gauge can be considered to be located at the center of the picture. Specifically, the method for determining that the target frame of the water gauge is positioned in the center of the picture comprises the following steps:
assume that the picture resolution is img x *img y Then a region midarea is set in the center of the picture, and the range of the region midarea is as follows:
wherein Kx and Ky are two constants, which respectively represent a length along the X axis and the Y axis, so that a central area midarea is obtained by expanding a constant from the positive and negative of the central point, as shown in FIG. 5;
calculating central symmetry point rule of water gauge midpoint ，
When the water gauge appears to enter the central area of the picture, the value of the abscissa x is saved by a List of 10 elements, namely list= [ x ] 0 ,x 1 ,x 2 ,x 3 ,x 4 ,x 5 ,x 6 ,x 7 ,x 8 ,x 9 ]Img is subtracted from the 10 elements, respectively x 2, taking absolute value to obtain List delta I.e. List delta ＝[dx 0 ,dx 1 ,dx 2 ,dx 3 ,dx 4 ,dx 5 ,dx 6 ,dx 7 ,dx 8 ,dx 9 ]When list delta When the element in (a) is in an inverted bell shape, as shown in fig. 6, the center point of the x axis is found, the bottom x value of the inverted bell shape is the center point of the x axis, the roll value at the moment is recorded, and the coordinates of the center symmetry point of the water gauge are the same as the coordinates of the center symmetry point of the center region midarea, so that the water gauge target frame is located in the center region of the picture.
The ordinate y also takes the same way, giving the pitch value.
There is a practical problem when the surface interface is on a large scale, if stillWhen the water gauge is positioned at the center of the picture, and the water level drops to a lower scale, the water level interface can move downwards to the outside of the picture, so that the 'center' preset point is unreasonable. Therefore, the determination of the center needs to take into account the measuring range of the water gauge, i.e. the part of the water gauge below the water surface. So the water gauge center symmetry point rule midpoint The calculation formula of (2) is changed into:
after completion of one cruise cycle, the set pos_info consisting of the records pos_info_i is obtained.
And fine tuning, namely setting the camera parameter as pos_info_1 through a camera standard protocol, keeping the roll and the pitch unchanged, and adjusting the zoom value. Meanwhile, based on a target recognition algorithm, recognizing and calculating the water gauge target in real time, and when the zoom value is 1-maximum zoom multiple zoom max When the change is made, as shown in fig. 7, there are two cases:
when the water gauge target frame occupies the proportion project of the whole picture, gradually rising, determining the optimal focal length of the preset point, if the water gauge target frame is not suitable for observation, recording the last zoom value suitable for observation, and updating the zoom value in pos_info_1;
when the target frame of the water gauge occupies the whole picture proportion project, gradually rising to zoom max After that, the water gauge target frame is suitable for observation, but can not continue zooming, record the zoom value at this moment, update the zoom value in pos_info_1, wherein, the water gauge target frame is suitable for observation, and the water gauge is not bigger and better in the picture, but guarantees two points: the first is that the ruler head is clearly visible; and secondly, when the water level is reduced to the 0 scale, the water level interface is still positioned in the picture.
Specifically, the method for determining the optimal focal length of the preset point comprises the following steps:
setting a zoom value according to the stepping value through a camera standard protocol, waiting for 2 seconds after setting, and focusing by a camera;
target picture is identified, and the whole area [ (x) of the ruler body is identified lt ,y lt ),(x rb ,ny rb )]In the zooming process, the width of the target frame is not needed to be considered, and only the height of the ruler body is needed to be considered, so that the height of the ruler body does not exceed the center range of the picture:
in the zooming process, if zoom is reached first max The blade is still in the center range, so zoom max The current zoom parameter, i.e., the optimal zoom value;
during zooming, y is increased gradually lt And ny rb Will gradually get closer to the upper and lower edges of the central range and will exceed, when y lt And ny rb When one of the two data exceeds the central range, the data exceeding the previous set is recorded, and the data is the optimal zoom value.
Sequentially carrying out correction and fine adjustment on other parameters in the pos_info set one by one to obtain the parameters in the new pos_info set, namely the optimal preset point parameters of all water gauges; and configuring parameters of preset points of the cameras through a protocol, namely completing automatic preset position setting of observation points of the single camera.
The steps are repeated, and automatic water gauge discovery and optimal observation preset position setting can be carried out on each camera in batch configuration.
Example 2
As shown in fig. 8, an exemplary system for setting a preset point of a water level observation camera includes:
the camera information acquisition module is used for acquiring information of all cameras with preset points to be set and inputting the information into the system, and specifically comprises the following steps:
the following information of the cameras for arranging preset points is collected and arranged:
a) Video stream addresses (including but not limited to RSTP protocol addresses);
b) Control addresses (including but not limited to the ONVIF protocol);
c) User name, password.
The acquired camera information is input into the system, and the input platform is a software Web management page, including but not limited to:
a) Forming configuration files by the information of each camera, and uploading the configuration files;
b) A camera information table of CSV or XLSX format files is imported in batches;
c) And information of cameras is input one by one.
The initialization module is used for initializing a single camera, and specifically comprises the following steps:
acquiring information of a camera holder through a camera standard protocol (including but not limited to an ONVIF protocol and a GB28181 protocol);
the camera is initialized and configured through a camera standard protocol: setting a tripod head angle as follows: horizontal 0 °, pitch 0 °, zoom 1-fold.
The system comprises a cruising identification module, a target identification algorithm and a target frame identification module, wherein the cruising identification module is used for setting a cruising mode of a single camera, and analyzing a video stream acquired by the single camera in cruising in real time by using the target identification algorithm based on a training model to obtain coordinates of the target frame of the water gauge, and repeatedly executing the cruising identification module if the target identification algorithm does not detect the target frame of the water gauge, wherein the cruising mode of the single camera is set, and analyzing the video stream acquired by the single camera in cruising in real time by using the target identification algorithm based on the training model to obtain the coordinates of the target frame of the water gauge, and specifically comprises the following steps:
rough cruising: through the standard protocol of the camera, the camera is configured to perform S-shaped cruising, and the method is specifically as follows:
a) The pitching angle is kept at 0 DEG, and the horizontal angle roll is 0 DEG to the maximum horizontal angle roll max Cruising;
b) The pitch angle is incremented by 5 ° (increment value is configurable), and the maximum horizontal angle roll is performed max -horizontal angle 0 °, cruising;
c) And so on until the pitch angle is increased to the maximum angle pitch max The last cruising is completed.
The training process of the training model is as follows:
firstly, collecting a large number of data sets (photos) containing water gauges in pictures;
preprocessing the data set, and unifying the image format and the resolution;
manually marking the water gauge target, wherein the marking range is as follows: comprises a minimum range of the water gauge body and the gauge head;
training a water gauge target on the basis of a pre-training model to form a training model;
the training model is enabled to reach the optimal state through the parameter adjustment of Finetune, and the training model is adopted;
based on the training model, the input water gauge picture can be subjected to target identification;
the result of target recognition is: the coordinates of the target frame of the water gauge are the upper left (x lt ，y lt ) Lower right (x rb ，y rb ) And confidence;
the Finetune parameter adjusting process comprises the following steps:
the network used is RetinaNet based on Nvidia 3090Ti GPU (24G) GPU card. The setting of the super-parameters of the neural network model can greatly influence the actual performance of the algorithm, and is generally divided into super-parameters in a training stage and structured super-parameters. The super-parameter optimization strategy of the training stage of the target recognition model is provided as follows: to balance the accuracy (precision) of object recognition and the convergence speed of the model, we choose Batch size (samples_per_gpu=8, worker_per_gpu=10) to take full advantage of hardware parallelism to accelerate computation to boost the convergence speed of the model according to experiments. In order to control the convergence amplitude of the model parameters, and avoid unstable model caused by overlarge learning rate, we set learning rate=0.002, and dynamically adjust the learning rate to achieve higher model accuracy (precision). Aiming at the problem of sample imbalance, the method better learns few categories by optimizing ratio_list in good positive and negative sample proportion so as to improve the performance of target identification. To balance the accuracy (precision) of target recognition, a higher confidence threshold may be set to avoid missed detection; conversely, to increase the Recall (Recall) of the target recognition model, the confidence threshold may be appropriately lowered, but this may result in a decrease in accuracy (Precision). The confidence threshold is set to (waterrule_thre=0.75) for balancing accuracy and recall;
the fundamental reason that the water gauge target recognition is different from the target frame determination of other scenes such as target recognition, target following and the like is that a part of the water gauge body is always below the water surface and is undetectable by the target recognition, the part below the water surface is calculated through the processing of the step, and an integral water gauge target is formed, so that support is provided for the following position determination and focal length determination. The water gauge target frame is processed as follows:
the hydrological water gauge is a standard measuring tool, and the length and the width of the scale part of the ruler body are constant values, so that when the hydrological water gauge is completely exposed out of the water surface, the length-width ratio is determined: r is (r) ori =h (height of rule)/W (width of rule);
according to the pixels of the width of the water gauge target frame, the total length pixel Y of the water gauge can be roughly calculated: y=r ori *(x rb -x lt )；
The right lower angle coordinate of the water gauge under the water surface is [ x ] rb ＝x rb ,ny rb ＝y lt +Y]
The target frame of the water gauge containing the part below the water surface is: [ x ] lt ,y lt ],[x rb ,ny rb ]。
The picture center judging module is used for judging whether the water gauge target frame is positioned in the picture center area after the cruise recognition module recognizes the water gauge target frame, and if the water gauge target frame is positioned in the picture center area, recording preset points of a single camera; and if the water gauge target frame is not in the picture center area, executing a cruising identification module, wherein the judgment is carried out on whether the water gauge target frame is in the picture center area, and if the water gauge target frame is in the picture center area, recording preset points of a single camera, wherein the preset points are as follows:
the water gauge target frame is positioned in the center of the picture and refers to that the water gauge is positioned in the center of the picture, specifically refers to that the gauge head is positioned in the picture, the water surface juncture is positioned in the picture, and because of fluctuation of the water level, the water surface juncture is still positioned in the picture when the water level falls to the minimum scale of the current water gauge, namely the water gauge is considered to be positioned in the center of the picture; specifically, the method for determining that the target frame of the water gauge is positioned in the center of the picture comprises the following steps:
assume that the picture resolution is img x *img y Then a region midarea is set in the center of the picture, and the range of the region midarea is as follows:
wherein K is x And K y Two constants respectively represent a length along the X axis and the Y axis, so that a central area midarea is obtained by expanding a constant from the positive and negative of the central point;
calculating central symmetry point rule of water gauge midpoint ，
When the water gauge appears to enter the central area of the picture, the value of the abscissa x is saved by a List of 10 elements, namely list= [ x ] 0 ,x 1 ,x 2 ,x 3 ,x 4 ,x 5 ,x 6 ,x 7 ,x 8 ,x 9 ]Img is subtracted from the 10 elements, respectively x 2, taking absolute value to obtain List delta I.e. List delta ＝[dx 0 ,dx 1 ,dx 2 ,dx 3 ,dx 4 ,dx 5 ,dx 6 ,dx 7 ,dx 8 ,dx 9 ]When list delta When the element in (a) is in an inverted bell shape, the center point of the x axis is found, the bottom x value of the inverted bell shape is the center point of the x axis, the roll value at the moment is recorded, the coordinate of the center symmetry point of the water gauge is the same as the coordinate of the center symmetry point of the center region midarea, and the water gauge target frame is located in the center region of the picture;
the ordinate y also adopts the same way to obtain the pitch value;
there is a practical problem when the surface interface is on a larger scaleIf the water gauge is still at the exact center of the picture, the interface of the water level may move down to the outside of the picture when the water level falls to the lower scale, and the "center" preset point is not reasonable. Therefore, the determination of the center needs to take into account the measuring range of the water gauge, i.e. the part of the water gauge below the water surface. So the water gauge center symmetry point rule midpoint The calculation formula of (2) is changed into:
the preset point record acquisition module is used for acquiring all preset points recorded by a single camera in the cruising process after the cruising is completed, specifically, acquiring a set pos_info composed of the records pos_info_i after one cruising period is completed.
The fine adjustment zoom module is used for traversing all preset points, sequentially carrying out fine adjustment on the focal lengths of the preset points, identifying and calculating the targets of the water gauge in real time based on a target identification algorithm, determining the optimal focal length of the preset points, recording the optimal focal length of the preset points and writing the optimal focal length into the camera, and specifically comprises the following steps:
and fine tuning, namely setting the camera parameter as pos_info_1 through a camera standard protocol, keeping the roll and the pitch unchanged, and adjusting the zoom value. Meanwhile, based on a target recognition algorithm, recognizing and calculating the water gauge target in real time, and when the zoom value is 1-maximum zoom multiple zoom max When the time varies, there are two cases:
when the water gauge target is in the proportion of the whole picture, the method gradually rises to determine the focal length of the water gauge target, if the water gauge target frame is not suitable for observation, the last zoom value suitable for observation is recorded, and the zoom value in pos_info_1 is updated;
when the target frame of the water gauge occupies the whole picture proportion project, gradually rising to zoom max After that, the water gauge target frame is suitable for observation, but the zooming cannot be continued, the zoom value at the moment is recorded, and the zoom value in pos_info_1 is updated.
When the target focal length of the water gauge is determined, the water gauge is not larger and better in the picture, but two points are ensured: the first is that the ruler head is clearly visible; and secondly, when the water level is reduced to the 0 scale, the water level interface is still positioned in the picture. Specifically, the method for determining the target focal length of the water gauge comprises the following steps:
setting a zoom value according to the stepping value through a camera standard protocol, waiting for 2 seconds after setting, and focusing by a camera;
target picture is identified, and the whole area [ (x) of the ruler body is identified lt ,y lt ),(x rb ,ny rb )]In the zooming process, the width of the target frame is not needed to be considered, and only the height of the ruler body is needed to be considered, so that the height of the ruler body does not exceed the center range of the picture:
in the zooming process, if zoom is reached first max The blade is still in the center range, so zoom max The current zoom parameter, i.e., the optimal zoom value;
during zooming, y is increased gradually lt And ny rb Will gradually get closer to the upper and lower edges of the central range and will exceed, when y lt And ny rb When one of the two data exceeds the central range, the data exceeding the previous set is recorded, and the data is the optimal zoom value.
Sequentially carrying out correction and fine adjustment on other parameters in the pos_info set one by one to obtain the parameters in the new pos_info set, namely the optimal preset point parameters of all water gauges; and configuring parameters of preset points of the cameras through a protocol, namely completing automatic preset position setting of observation points of the single camera.
The camera traversing module is used for traversing all cameras, obtaining all preset points of each camera and the optimal focal length under each preset point, writing the optimal focal length into the corresponding cameras, and realizing automatic water gauge discovery and optimal observation preset position setting for each camera configured in batches.
Example 3
An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method of setting a water level observation camera preset point in embodiment 1 when executing the computer program.
Embodiment 1 of the present disclosure is merely an example, and should not be construed as limiting the functionality and scope of use of the embodiments of the present disclosure.
The electronic device may be in the form of a general purpose computing device, which may be a server device, for example. Components of an electronic device may include, but are not limited to: at least one processor, at least one memory, a bus connecting different system components, including the memory and the processor.
The buses include a data bus, an address bus, and a control bus.
The memory may include volatile memory such as Random Access Memory (RAM) and/or cache memory, and may further include Read Only Memory (ROM).
The memory may also include program means having a set (at least one) of program modules including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.
The processor executes various functional applications and data processing by running computer programs stored in the memory.
The electronic device may also communicate with one or more external devices (e.g., keyboard, pointing device, etc.). Such communication may be through an input/output (I/O) interface. And, the electronic device may also communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet, through a network adapter. The network adapter communicates with other modules of the electronic device via a bus. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with an electronic device, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, data backup storage systems, and the like.
It should be noted that although several units/modules or sub-units/modules of an electronic device are mentioned in the above detailed description, such a division is merely exemplary and not mandatory. Indeed, the features and functionality of two or more units/modules described above may be embodied in one unit/module in accordance with embodiments of the present application. Conversely, the features and functions of one unit/module described above may be further divided into ones that are embodied by a plurality of units/modules.
Example 4
A computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the method of setting a water level observation camera preset point in embodiment 1.
More specifically, among others, readable storage media may be employed including, but not limited to: portable disk, hard disk, random access memory, read only memory, erasable programmable read only memory, optical storage device, magnetic storage device, or any suitable combination of the foregoing.
In a possible embodiment, the present disclosure may also be implemented in the form of a program product comprising program code for causing a terminal device to carry out the steps of implementing the method of setting a water level observation camera preset point as described in embodiment 1, when said program product is run on the terminal device.
Wherein the program code for carrying out the present disclosure may be written in any combination of one or more programming languages, which program code may execute entirely on the user device, partly on the user device, as a stand-alone software package, partly on the user device, partly on the remote device or entirely on the remote device.
Although embodiments of the present disclosure have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the disclosure, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A method of setting a preset point of a water level observation camera, the method comprising the steps of:
s1, acquiring information of all cameras with preset points to be set and inputting the information into a system;
s2, initializing a single camera;
s3, setting a cruising mode of a single camera, analyzing a video stream acquired by the single camera in cruising in real time by using a target recognition algorithm based on a training model to obtain coordinates of a water gauge target frame, and if the target recognition algorithm does not detect the water gauge target frame, repeating the step S3;
s4, judging whether the water gauge target frame is positioned in the central area of the picture, and if the water gauge target frame is positioned in the central area of the picture, recording preset points of a single camera; if the water gauge target frame does not appear in the central area of the picture, repeating the step S3;
s5, after the cruising is completed, all preset points recorded by the single camera in the cruising process are obtained;
s6, traversing all preset points, sequentially fine-tuning the focal length of the preset points, identifying and calculating the water gauge targets in real time based on a target identification algorithm, determining the optimal focal length of the preset points, recording the optimal focal length of the camera, and writing the optimal focal length into the camera;
and S7, traversing all cameras, obtaining all preset points of each camera and the optimal focal length under each preset point, and writing the optimal focal length into the corresponding cameras.
2. The method for setting a preset point of a water level observation camera according to claim 1, wherein the acquiring and inputting information of the camera to be set with the preset point into the system comprises:
collecting and sorting all camera information of preset points to be set, wherein the camera information comprises video stream addresses, control addresses, user names and passwords;
all acquired camera information is input into a system through a Web management page, and the input method comprises the following steps:
forming configuration files by the information of each camera, and uploading the configuration files;
importing a camera information table of CSV or XLsX in batches;
and information of cameras is input one by one.
3. The method for setting a preset point of a water level observation camera according to claim 1, wherein initializing the single camera comprises:
acquiring information of a camera holder through a camera standard protocol;
and initializing camera parameters through a camera standard protocol, wherein the initialization is set to be horizontal angle 0 degree, pitching angle 0 degree and zooming 1 time.
4. The method for setting a preset point of a water level observation camera according to claim 1, wherein the setting a cruising mode of a single camera, and performing real-time analysis on a video stream acquired by the single camera during cruising by using a target recognition algorithm based on a training model, to obtain coordinates of a target frame of a water gauge, comprises:
through the standard protocol of the camera, the camera is configured to perform S-shaped cruising, wherein the specific mode of S-shaped cruising is as follows: the pitching angle is kept at 0 degrees, and horizontal angle 0 degrees to the maximum horizontal angle cruising is carried out; increasing the pitching angle by theta degrees, wherein the theta degrees are more than or equal to 1 degree and less than or equal to the maximum pitching angle, and cruising from the maximum horizontal angle to the horizontal angle by 0 degree; and so on until the pitching angle increases to the maximum pitching angle, and the last cruising is completed;
and (3) while cruising, real-time analysis is carried out on the video stream acquired by the single camera by using a target recognition algorithm based on a training model to obtain coordinates of a water gauge target frame, calculating pixels of the total length of the water gauge according to the length-width ratio and the width of the water gauge target frame, and obtaining coordinates of a right lower angle of the water gauge below the water surface by the coordinates of the water gauge target frame and the pixels of the total length of the water gauge, thereby obtaining coordinates of the water gauge target frame containing the part below the water surface.
5. The method for setting a preset point of a water level observation camera according to claim 1, wherein the determining whether the target frame of the water gauge is located in the central area of the picture comprises:
setting a picture center area in the picture center, specifically: finding the coordinates of the central symmetry point of the picture, and radiating a certain distance to the periphery by taking the coordinates as the center to obtain a picture central area;
coordinates of a central symmetry point of the water gauge are calculated according to the coordinates of the water gauge target frame identified by the target identification algorithm;
when the coordinates of the central symmetry point of the water gauge are the same as those of the central symmetry point of the picture, the water gauge target frame is positioned in the central area of the picture; finding out the abscissa of the central symmetry point, recording the horizontal angle of the camera at the moment and writing the horizontal angle into the camera; finding the ordinate of the central symmetry point, recording the pitching angle of the camera at the moment and writing the pitching angle into the camera.
6. The method for setting a preset point of a water level observation camera according to claim 5, wherein the fine tuning of the focal length of the preset point comprises:
setting parameter information of a camera through a camera standard protocol, wherein the horizontal angle and the pitching angle are unchanged, and setting zoom multiples according to a stepping value;
when zooming, the height of the ruler body of the water gauge is ensured not to exceed the central area of the picture;
wait 2 seconds after setting for the camera to focus.
7. The method for setting the preset point of the water level observation camera according to claim 6, wherein the identifying and calculating the water gauge target based on the target identification algorithm in real time, determining the optimal focal length of the preset point, recording the optimal focal length of the preset point, and writing the optimal focal length into the camera comprises the following steps:
when the zoom multiple is gradually increased, the ordinate of the upper left of the water gauge target frame and the ordinate of the lower right corner of the water gauge under the water surface are gradually close to the upper edge and the lower edge of the central area and exceed the central area, when the ordinate of the upper left of the water gauge target frame or the ordinate of the lower right corner of the water gauge under the water surface exceeds the central area, the previous zoom multiple is recorded and used as the optimal focal length of the current preset point, and the zoom multiple in the parameter information of the camera is updated; wherein, when the zoom magnification is changed between 1 time to the maximum zoom magnification, there are two cases:
when the proportion of the water gauge target to the whole picture is gradually increased and the water gauge target is not suitable for observation, recording the last zooming multiple suitable for observation and taking the last zooming multiple as the optimal focal length of the current preset point;
when the scale target gradually increases to the maximum zoom multiple in the proportion of the whole picture, the scale target is suitable for observation, but cannot continue zooming, the maximum zoom multiple is recorded, and the maximum zoom multiple is used as the optimal focal length of the current preset point; the water gauge target is suitable for observation, namely the water gauge head in the water gauge target frame is clearly visible, and when the water level is lowered to the 0 scale, the water level interface is still positioned in the picture.
8. A system for setting a preset point of a water level observation camera, comprising:
the camera information acquisition module is used for acquiring information of all cameras with preset points to be set and inputting the information into the system;
the initialization module is used for initializing a single camera;
the cruise recognition module is used for setting a cruise mode of a single camera, analyzing video streams acquired by the single camera in the cruise in real time by using a target recognition algorithm based on a training model to obtain coordinates of a water gauge target frame, and repeatedly executing cruise recognition if the target recognition algorithm does not detect the water gauge target frame;
the picture center judging module is used for judging whether the water gauge target frame is positioned in the picture center area after the cruise recognition module recognizes the water gauge target frame, and if the water gauge target frame is positioned in the picture center area, recording preset points of a single camera; if the target frame of the water gauge does not appear in the central area of the picture, cruise identification is executed;
the preset point record acquisition module is used for acquiring all preset points recorded by the single camera in the cruising process after cruising is completed;
the fine adjustment zooming module is used for traversing all preset points, sequentially carrying out fine adjustment on the focal lengths of the preset points, identifying and calculating the targets of the water gauge in real time based on a target identification algorithm, determining the optimal focal length of the preset points, recording the optimal focal length of the preset points and writing the optimal focal length into the camera;
the camera traversing module is used for traversing all cameras, obtaining all preset points of each camera and the optimal focal length under each preset point, and writing the optimal focal length into the corresponding camera.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method of setting a water level observation camera preset point according to any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method of setting a water level observation camera preset point according to any one of claims 1 to 7.
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