WO2023005659A1

WO2023005659A1 - Image processing method and apparatus, electronic device, computer-readable storage medium, computer program, and computer program product

Info

Publication number: WO2023005659A1
Application number: PCT/CN2022/105205
Authority: WO
Inventors: 周俊竹; 陈小健; 李�杰; 王磁州
Original assignee: 上海商汤智能科技有限公司
Priority date: 2021-07-30
Filing date: 2022-07-12
Publication date: 2023-02-02
Also published as: CN113592918A

Abstract

Embodiments of the present application disclose an image processing method and apparatus, an electronic device, a computer-readable storage medium, a computer program, and a computer program product. The method comprises: obtaining a first image of a first scene and position information, in the first image, of at least one camera in the first scene, wherein the first scene is a map missing scene; obtaining a second image of a target object, wherein the second image is acquired by a first camera in the first scene; determining a first position of the first camera in the first image according to the position information of the at least one camera in the first image; and determining the position of the target object in the first image according to the first position.

Description

Image processing method and device, electronic device, computer readable storage medium, computer program and computer program product

Cross References to Related Applications

This disclosure is based on the Chinese patent application with the application number 202110874129.5, the application date is July 30, 2021, and the application name is "Image processing method and device, electronic equipment and computer-readable storage medium", and requires the Chinese patent application Priority, the entire content of the Chinese patent application is hereby incorporated by reference into this disclosure.

technical field

The present disclosure relates to the technical field of image processing, and in particular to an image processing method and device, electronic equipment, computer readable storage medium, computer program and computer program product.

Background technique

By visually displaying the position of the target object in the scene, the position of the target object in the scene can be more intuitively reflected. Before visualization, it is necessary to locate the target object in the visualization data of the scene.

The traditional method uses the map of the scene as the visualized data of the scene, and determines the position of the target object in the map of the scene, so as to realize the positioning of the target object in the visualized data of the scene. However, when the detailed information of the scene is missing from the map, the positioning accuracy of the traditional method is not high.

Contents of the invention

The present disclosure provides an image processing method and device, electronic equipment, a computer-readable storage medium, a computer program and a computer program product.

In a first aspect, an image processing method is provided, the method comprising:

Acquiring a first image of a first scene and position information of at least one camera in the first scene in the first image, where the first scene is a map missing scene;

acquiring a second image of the target object, the second image being captured by the first camera in the first scene;

determining a first position of the first camera in the first image according to position information of the at least one camera in the first image;

A position of the target object in the first image is determined according to the first position.

In some embodiments of the present disclosure, said acquiring the second image of the target object includes:

Get the blacklist library;

An image containing the object in the blacklist library is determined from at least one third image as the second image, and the at least one third image is captured by the at least one camera.

In some embodiments of the present disclosure, the method also includes:

acquiring a second position of the target object in the first image, the second position being different from the first position;

A first trajectory of the target object is displayed in the first image according to the first position and the second position, the first trajectory including a drivable trajectory.

In some embodiments of the present disclosure, before displaying the first track of the target object in the first image according to the first position and the second position, the method further includes:

acquiring at least one second trajectory in the first image, each of which includes the drivable trajectory;

The displaying the first track of the target object in the first image according to the first position and the second position includes:

If the track points of the target track in the at least one second track include the first position and the second position, the target track is determined to be the first track.

In some embodiments of the present disclosure, the at least one second trajectory includes a third trajectory, and the acquiring the at least one second trajectory in the first image includes:

In the case of detecting a trajectory setting instruction for the first image, display a trajectory setting page, the trajectory setting page including at least one camera in the first image and the first scene; the first scene The at least one camera in includes a second camera and a third camera different from the second camera;

When an instruction to use the second camera as a starting track point is detected, use the position of the second camera in the first image as a starting track point;

When an instruction to use the third camera as the termination track point is detected, use the position of the third camera in the first image as the termination track point;

The trajectory input for the start trajectory point and the end trajectory point is used as the third trajectory.

In some embodiments of the present disclosure, the at least one camera further includes a fourth camera, the fourth camera is different from the second camera, and the fourth camera is different from the third camera;

Before the trajectory input for the initial trajectory point and the termination trajectory point is used as the third trajectory, the method further includes:

If an instruction to use the fourth camera as an intermediate track point is detected, use the position of the fourth camera in the first image as an intermediate track point;

The track input for the starting track point and the ending track point, as the third track, includes:

The trajectory input for the initial trajectory point, the intermediate trajectory point and the termination trajectory point is used as the third trajectory, and the endpoints of the third trajectory are the initial trajectory point and the termination trajectory point respectively. trajectory points, and the third trajectory includes the intermediate trajectory points.

In some embodiments of the present disclosure, after the third trajectory is obtained, the method further includes:

The start track point and the end track point are displayed in the first image in a first preset display manner.

In some embodiments of the present disclosure, the method also includes:

acquiring a fourth image of a second scene, the first scene including the second scene;

The thumbnail of the first image and the thumbnail of the fourth image are displayed in a second preset display manner.

In some embodiments of the present disclosure, the thumbnail of the first image and the thumbnail of the fourth image are displayed in a first area of the display page, and the display page further includes a second image different from the first area. Second area;

The method also includes:

In the case of detecting that the thumbnail of the fourth image is clicked, the fourth image is displayed in the second area.

In some embodiments of the present disclosure, the method also includes:

A thumbnail of the first scene is obtained based on the first image and the fourth image.

In some embodiments of the present disclosure, the acquiring the position information of at least one camera in the first scene in the first image includes:

When an instruction to mark the position of the camera is detected, at least one camera in the first scene and the first image are displayed on the mark page;

If a movement instruction for moving the at least one camera to the first image is detected, according to the movement instruction, obtain position information of the at least one camera in the first scene in the first image .

In the case of detecting an instruction to mark the position of the camera, at least one camera in the first scene is displayed on the mark page;

displaying a position input box if a position input instruction for the at least one camera is detected;

According to the position in the position input box, the position information of the at least one camera in the first image is obtained.

In some embodiments of the present disclosure, after obtaining the position information of the at least one camera in the first image, the method further includes:

If it is detected that a target camera in the at least one camera is clicked, the target camera is displayed in the first image in the first preset display manner.

In some embodiments of the present disclosure, the annotation page further includes at least one of the following information: whether the at least one camera has been marked in the first image, the name of the at least one camera, the name of the at least one camera type, the preview button of the at least one camera, and the detailed information viewing button of the at least one camera.

In some embodiments of the present disclosure, when it is detected that the detailed information viewing button of the at least one camera is clicked, at least one of the following information is displayed: the name of the first scene, the access of the at least one camera state, and the moving direction of the object captured by the at least one camera.

In some embodiments of the present disclosure, when it is detected that the preview button of the at least one camera is clicked, the image captured by the at least one camera is displayed.

In some embodiments of the present disclosure, the first image is a bird's-eye view of the first scene.

In a second aspect, an image processing device is provided, the device comprising:

An acquisition part configured to acquire a first image of a first scene and position information of at least one camera in the first scene in the first image, the first scene being a map missing scene;

The acquisition part is configured to acquire a second image of the target object, the second image is acquired by the first camera in the first scene;

A determining part configured to determine a first position of the first camera in the first image according to position information of the at least one camera in the first image;

The determining part is further configured to determine the position of the target object in the first image according to the first position.

In some embodiments of the present disclosure, the obtaining part is configured to obtain a blacklist library; determine an image containing an object in the blacklist library from at least one third image as the second image, The at least one third image is captured by the at least one camera.

In some embodiments of the present disclosure, the acquisition part is further configured to acquire a second position of the target object in the first image, the second position is different from the first position; according to the the first position and the second position, and a first trajectory of the target object is displayed in the first image, and the first trajectory includes a drivable trajectory.

In some embodiments of the present disclosure, the acquisition part is further configured to display the first track of the target object in the first image according to the first position and the second position Before, at least one second trajectory in the first image is acquired, and the at least one second trajectory includes the drivable trajectory;

The determining part is configured to determine the target trajectory as the first trajectory in a case where the trajectory points of the target trajectory in the at least one second trajectory include the first position and the second position.

In some embodiments of the present disclosure, the at least one second track includes a third track, and the acquisition part is configured to display a track setting page when a track setting instruction for the first image is detected , the track setting page includes the first image and at least one camera in the first scene; the at least one camera in the first scene includes a second camera and a third camera different from the second camera ; In the case of detecting an instruction to use the second camera as a starting track point, use the position of the second camera in the first image as a starting track point; In the case where the camera is used as an instruction to terminate the track point, the position of the third camera in the first image is used as the end track point; the track input for the start track point and the end track point is used as the third track.

The determining part is further configured to detect that the fourth camera is used as an intermediate track point before the track input for the start track point and the end track point is used as the third track. In the case of an instruction, use the position of the fourth camera in the first image as an intermediate track point;

The acquisition part is configured to use the trajectory input for the start trajectory point, the intermediate trajectory point and the end trajectory point as the third trajectory, and the end points of the third trajectory are respectively the a start track point and the end track point, and the third track includes the intermediate track point.

In some embodiments of the present disclosure, the image processing device further includes: a display part configured to display the first image in the first preset display mode after the third trajectory is obtained. The starting track point and the ending track point.

In some embodiments of the present disclosure, the acquiring part is further configured to acquire a fourth image of a second scene, the first scene including the second scene;

The display part is further configured to display a thumbnail of the first image and a thumbnail of the fourth image in a second preset display manner.

The display part is further configured to display the fourth image in the second area in the case of detecting that the thumbnail of the fourth image is clicked.

In some embodiments of the present disclosure, the acquisition part is further configured to acquire a fourth image of a second scene, the first scene includes the second scene; based on the first image and the fourth image to get a thumbnail of the first scene.

In some embodiments of the present disclosure, the acquiring part is further configured to display at least one camera in the first scene and the first image on the labeling page if an instruction to mark the position of the camera is detected ; In the case of detecting a movement instruction to move the at least one camera to the first image, according to the movement instruction, obtain the position of at least one camera in the first scene in the first image information.

In some embodiments of the present disclosure, the acquiring part is further configured to display at least one camera in the first scene on the labeling page if an instruction to mark the position of the camera is detected;

The display part is further configured to display a position input box when a position input instruction for the at least one camera is detected;

The obtaining part is further configured to obtain the position information of the at least one camera in the first image according to the position in the position input box.

In some embodiments of the present disclosure, the display part is further configured to, in the case of detecting that a target camera in the at least one camera is clicked, display the first image in the first preset display manner The target camera is displayed in .

In some embodiments of the present disclosure, the display part is further configured to display at least one of the following information when it is detected that the detailed information viewing button of the at least one camera is clicked: the name of the first scene , the access state of the at least one camera, and the moving direction of the object photographed by the at least one camera.

In some embodiments of the present disclosure, the display part is further configured to display the image captured by the at least one camera when it is detected that the preview button of the at least one camera is clicked.

In a third aspect, an electronic device is provided, including: a processor and a memory, the memory is used to store computer program codes, the computer program codes include computer instructions, and when the processor executes the computer instructions , the electronic device executes the method according to the foregoing first aspect and any possible implementation manner thereof.

In a fourth aspect, another electronic device is provided, including: a processor, a sending device, an input device, an output device, and a memory, the memory is used to store computer program codes, the computer program codes include computer instructions, and in the When the processor executes the computer instructions, the electronic device executes the method according to the above first aspect and any possible implementation manner thereof.

According to a fifth aspect, a computer-readable storage medium is provided. A computer program is stored in the computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a processor, the The processor executes the method according to the above first aspect and any possible implementation manner thereof.

According to a sixth aspect, a computer program product is provided, the computer program product includes a computer program or an instruction, and when the computer program or instruction is run on a computer, the computer executes the first aspect and any of the above-mentioned aspects. A method of one possible implementation.

In a seventh aspect, there is provided a computer program, including computer readable code, when the computer readable code is run in an electronic device, a processor in the computer device executes the program to implement the above first aspect and any of the above A method of one possible implementation.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosed embodiments.

Description of drawings

FIG. 1 is a schematic diagram of an image processing system architecture provided by an embodiment of the present disclosure;

FIG. 2 is a schematic flowchart of an image processing method provided by an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of a map provided by an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of a map missing scene provided by an embodiment of the present disclosure;

FIG. 5 is a schematic diagram of a pixel coordinate system provided by an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of another map missing scene provided by an embodiment of the present disclosure;

FIG. 7 is a schematic diagram of displaying a thumbnail of a first image and a thumbnail of a second image in a second preset display mode provided by an embodiment of the present disclosure;

FIG. 8 is a schematic diagram of a display page provided by an embodiment of the present disclosure;

FIG. 9 is a schematic diagram of a track setting page provided by an embodiment of the present disclosure;

FIG. 10 is a schematic diagram of displaying a first image and a fourth image in a second preset display mode provided by an embodiment of the present disclosure;

FIG. 11 is a schematic structural diagram of an image processing device provided by an embodiment of the present disclosure;

Fig. 12 is a schematic diagram of a hardware structure of an electronic device provided by an embodiment of the present disclosure.

Detailed ways

In order to enable those skilled in the art to better understand the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only It is a part of the embodiments of the present disclosure, but not all of them. Based on the embodiments in the present disclosure, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present disclosure.

The terms "first", "second" and the like in the specification and claims of the present disclosure and the above drawings are used to distinguish different objects, rather than to describe a specific order. Furthermore, the terms "include" and "have", as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or parts is not limited to the steps or parts listed, but optionally also includes steps or parts that are not listed, or optionally includes For other steps or parts inherent in these processes, methods, products or apparatus.

It should be understood that in the embodiments of the present disclosure, "at least one (item)" means one or more, "multiple" means two or more, and "at least two (items)" means two or more Three or more, the character "/" can indicate that the associated objects are an "or" relationship, which refers to any combination of these items, including any combination of single items (items) or plural items (items). For example, at least one item (piece) of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c ", where a, b, c can be single or multiple. The character "/" can also represent a division sign in mathematical operations, for example, a/b=a divided by b; 6/3=2. "At least one of the following" or similar expressions.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present disclosure. The occurrences of this phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is understood explicitly and implicitly by those skilled in the art that the embodiments described herein can be combined with other embodiments.

The traditional method uses the map of the scene as the visualized data of the scene, and determines the position of the target object in the map of the scene, so as to realize the positioning of the target object in the visualized data of the scene. However, when the detailed information of the scene is missing from the map, the positioning accuracy of the traditional method is not high, wherein the detailed information includes at least one of the following: building information and road information. Based on this, an embodiment of the present disclosure provides a technical solution to improve the accuracy of positioning in a scene when scene detail information is missing on a map.

The execution subject of the embodiments of the present disclosure is an image processing apparatus, where the image processing apparatus may be any electronic device capable of executing the technical solutions disclosed in the method embodiments of the present disclosure. For example, the image processing device may be one of the following: a mobile phone, a computer, a tablet computer, and a wearable smart device.

It should be understood that the method embodiments of the present disclosure may also be implemented in a manner in which a processor executes computer program codes. Embodiments of the present disclosure are described below with reference to the accompanying drawings in the embodiments of the present disclosure.

Please refer to FIG. 1 . FIG. 1 is a schematic structural diagram of an image processing system 11 provided by an embodiment of the present disclosure. In FIG. 1 , there is a communication connection between the image processing device 112 and at least one camera 111 . Exemplarily, the image processing device 112 may be a server. At least one camera 111 and an image processing device 112 may be deployed in a map missing scene.

Exemplarily, the map missing scene is a building in a supervision area, for example, a closed park.

At least one camera 111 is used for at least one of images and videos inside the building. The image processing device 112 processes at least one of the images and videos collected by the at least one camera 111 based on the technical solution provided below, and determines the position of the target object in the building. For example, at least one camera 111 includes a first camera. The image processing device acquires a first image including a scene in a building, and a second image acquired by a first camera, wherein the second image includes a target object. The image processing device 112 can determine the position of the target object in the first image based on the technical solutions provided below, that is, the position of the target object in the building scene.

Please refer to FIG. 2 . FIG. 2 is a schematic flowchart of an image processing method provided by an embodiment of the present disclosure.

201. Acquire a first image of a first scene and position information of at least one camera in the first scene in the first image, where the first scene includes a map missing scene.

In the embodiment of the present disclosure, the map missing scene includes an area missing detailed information on the map, where the detailed information includes at least one of the following: building information and road information.

For example, in the map shown in Figure 3, both the road information around the Ping An Financial Center and the building information of the Ping An Financial Center are missing. Wherein, for the road information around Ping An Financial Center and the building information of Ping An Financial Center, refer to the Ping An Financial Center and the road information around Ping An Financial Center shown in FIG. 4 . Exemplarily, the first scene includes at least one of the following: supervision places, subway stations.

In the embodiment of the present disclosure, the at least one camera in the first scene is at least one camera whose shooting range is located in the first scene. The at least one camera may be one camera, or may be two or more cameras.

In the embodiment of the present disclosure, the position in the image may be the position under the pixel coordinates of the image, wherein the abscissa of the pixel coordinate system is used to represent the number of columns where the pixel point is located, and the ordinate in the pixel coordinate system is used to represent the pixel point The number of rows it is on.

For example, in the image shown in Figure 5, the pixel coordinates are constructed with the upper left corner of the image as the coordinate origin O, the direction parallel to the row of the image as the direction of the X axis, and the direction parallel to the column of the image as the direction of the Y axis. The system is XOY. The units of the abscissa and ordinate are pixels. For example, the coordinates of pixel A11 in Fig. 5 are (1,1), the coordinates of pixel A23 are (3,2), the coordinates of pixel A42 are (2,4), and the coordinates of pixel A34 are (4 , 3).

In the embodiment of the present disclosure, the position of the at least one camera in the first image may be determined according to the position information of the at least one camera in the first image. The position of the camera in the first image is the position of the camera in the pixel coordinate system of the first image, and the position corresponds to the position of the camera in the first scene.

For example, camera a is installed at point A in the first scene. If in the first image, the pixel corresponding to point A is pixel point B. Then, the position of the pixel point B in the first image is the position of the camera a in the first image.

In an implementation manner of acquiring the first image, the image processing apparatus receives the first image input by the user through the input component.

In another implementation manner of acquiring the first image, the image processing apparatus receives the first image sent by the terminal.

In an implementation manner of acquiring position information of at least one camera in the first image, the image processing apparatus receives the first image input by the user through the input component.

In another implementation manner of acquiring position information of at least one camera in the first image, the image processing apparatus receives the first image sent by the terminal.

It should be understood that in the embodiments of the present disclosure, the step of acquiring the first image and the step of acquiring the position information of at least one camera in the first image may be performed separately, or may be performed simultaneously. For example, the image processing apparatus may acquire the first image first, and then acquire position information of at least one camera in the first image. For another example, the image processing device may first acquire the position information of at least one camera in the first image, and then acquire the first image. For another example, the image processing apparatus acquires position information of at least one camera in the first image during the process of acquiring the first image, or acquires the first image during the process of acquiring the position information of at least one camera in the first image.

202. Acquire a second image of the target object, where the second image is acquired by the first camera in the first scene.

In the embodiments of the present disclosure, the target object may be any object. In a possible implementation manner, the target object includes one of the following: a human body, a human face, and a vehicle.

In the embodiment of the present disclosure, the second image of the target object, that is, the second image includes the target object. The first camera is any one of the above at least one camera.

In an implementation manner of acquiring the second image, the image processing device receives the second image input by the user through the input component.

In another implementation manner of acquiring the second image, the image processing apparatus receives the second image sent by the terminal.

In yet another implementation manner of acquiring the second image, there is a communication connection between the image processing device and the first camera. The image processing device acquires the second image from the first camera through the communication connection.

203. Determine a first position of the first camera in the first image according to the position information of the at least one camera in the first image.

204. Determine a position of the target object in the first image according to the first position.

Since the second image contains the target object, the second image is collected by the first camera, and the position of the target object in the first image can be obtained according to the position of the first camera in the first image. Exemplarily, the image processing apparatus uses the first position as the position in the first image.

For example, assume that the first scene is a supervision area, and the target object is Xiao Ming, a supervised person in the supervision area. By implementing the technical solution provided by this embodiment, the image processing device can determine the position where Xiao Ming appeared in the first image.

In a possible implementation manner, the image processing device may determine a pixel point corresponding to the first position from the first image, and display the pixel point in the first image.

In another possible implementation manner, the image processing apparatus displays the first camera at the first position.

In yet another possible implementation manner, the image processing device displays the second image at the first position.

In the embodiment of the present disclosure, the image processing device determines the position of the target object in the first image according to the position of the first camera that captures the second image of the target object in the first image, thereby improving the accuracy of positioning in the first scene Spend.

In some embodiments, after the image processing device determines the position of the target object in the first image, it displays the position of the target object in the first image in the first image. In this way, the position where the target object appeared in the first scene can be reflected in the first image, so as to realize the visual display of the position of the target object in the first scene.

As an optional implementation manner, the image processing device acquires the second image of the target object by performing the following steps:

1. Obtain the blacklist library.

In the embodiment of the present disclosure, the blacklist library includes the face images of the searched object. For example, the blacklist library contains Zhang San's face image, and at this time, the search object is Zhang San. For another example, if the relevant personnel want to search for the search object at B place, the face image of the search object at B place can be stored in the blacklist library.

In an implementation manner of acquiring a blacklist library, the image processing apparatus receives the blacklist library input by a user through an input component.

In another implementation manner of acquiring a blacklist library, the image processing apparatus receives the blacklist library sent by the terminal.

2. Determine, from at least one third image, a fourth image containing the object in the blacklist database as the second image, and the at least one third image is captured by the at least one camera.

The third image is captured by at least one camera in the first scene, and if the object in the blacklist library appears in the third image, it means that the object in the blacklist library appears in the first scene. At this time, according to at least one third image containing the object in the blacklist library, the position of the object in the blacklist library in the first scene can be determined.

In a possible implementation manner, the image processing device determines that at least one third image contains faces in the blacklist library by comparing at least one third image with face images in the blacklist library. The image of the object, as the second image. In this way, steps 201 to 204 can be combined to determine the positions of the objects in the blacklist library in the first image.

For example, the blacklist database includes Zhang San's face image and Li Si's face image. The at least one third image includes a third image a and a third image b. The image processing device determines that the third image a includes Zhang San by comparing the third image a with the face image of Zhang San, and then uses the third image a as the second image. Combining the technical solutions of steps 201 to 204, the position of Zhang San in the first image can be further determined.

In step 1 and step 2, the image processing device determines whether the object in the blacklist library appears in the first scene by determining whether at least one third image contains the object in the blacklist library. When it is determined that the object in the blacklist library appears in the first scene, the position of the object in the first image can be further determined by combining steps 201 to 204 .

As an optional implementation manner, the image processing device also performs the following steps:

3. Acquiring a second position of the target object in the first image, where the second position is different from the first position.

Exemplarily, the timestamp of the first location is different from the timestamp of the second location. In an implementation manner of acquiring the second location, the image processing apparatus receives the second location input by the user through the input component.

In another implementation manner of acquiring the second location, the image processing apparatus receives the second location sent by the terminal.

4. According to the first position and the second position, display a first trajectory of the target object in the first image, where the first trajectory includes a trajectory on the road.

In the embodiments of the present disclosure, the drivable trajectories include drivable trajectories for people or vehicles. In some embodiments, when the target object includes a person, the drivable trajectory includes a drivable trajectory for a person; when the target object includes a car, the drivable trajectory includes a drivable trajectory for a car.

For example, if people cannot pass through walls, then the trajectory through the wall is not the trajectory that people can drive. People can pass through the narrow passage, so the trajectory on the narrow passage is the trajectory that people can drive. People can pass through the gate of the building, so the trajectory passing through the gate of the building is the trajectory that people can drive

For another example, if a car cannot pass through a building, then the track passing through the building is not the track that a car can drive. The car can drive on the road, so the track on the road is the track that the car can drive.

Exemplarily, the first image includes at least one road in the first scene, that is, the first image may show at least one road in the first scene. For example, Fig. 6 shows an image of the scene where the Ping An Financial Center is located, and the image may show the first road and the second road. The drivable trajectory includes at least one trajectory on the road.

In a possible implementation manner, the image processing device takes the first position and the second position as two end points respectively, and determines a track passing through the first position and the second position as the first track.

Since the image contains road information, the trajectory determined based on the position may include unreasonable trajectories. For example, a trajectory through a wall is unreasonable for a human. However, the first trajectory in the embodiment of the present disclosure includes a drivable trajectory, thereby improving the accuracy of the trajectory of the target object.

As an optional implementation manner, before performing step 4, the image processing device further performs the following steps:

5. Acquiring at least one second track in the first image, where the at least one second track includes the drivable track.

In an implementation manner of acquiring at least one second trajectory, the image processing device receives at least one second trajectory input by a user through an input component.

In another implementation manner of acquiring at least one second track, the image processing apparatus receives at least one second track sent by the terminal.

After Step 5 is executed, the image processing device executes the following steps during Step 5:

6. In a case where the track points of the target track in the at least one second track include the first position and the second position, determine that the target track is the first track.

In the embodiment of the present disclosure, the track point of the target track includes the first position and the second position, that is, the target track passes the first position and the second position.

Exemplarily, the point corresponding to the first position and the point corresponding to the second position are two endpoints of the target trajectory.

For example, the point corresponding to the first position is the starting point of the target trajectory, and the point corresponding to the second position is the ending point of the target trajectory.

For another example, the point corresponding to the second position is the starting point of the target trajectory, and the point corresponding to the first position is the ending point of the target trajectory.

In this embodiment, since at least one second trajectory is obtained by the image processing device before determining the first trajectory of the target object in the first image, and at least one second trajectory includes a drivable trajectory, the image processing The device may determine a trajectory whose trajectory points include the first location and the second location from the at least one second trajectory as the first trajectory.

As an optional implementation manner, the at least one second track includes a third track, that is, the third track is any track in the at least one second track. The image processing device performs the following steps in the process of executing step 4:

7. When a track setting instruction for the first image is detected, display a track setting page, the track setting page includes the first image and at least one camera in the first scene, and at least one camera in the first scene One camera includes a second camera and a third camera different from the second camera.

In the embodiment of the present disclosure, the trajectory setting instruction may be input by the user to the image processing device through the input component, and the trajectory setting instruction may also be sent by the user to the image processing device through the terminal. The track setting instruction is used to instruct the image processing device to enter the track setting program.

When the image processing device detects a trajectory setting instruction for the first image, it displays a trajectory setting page, and displays the first image and at least one camera in the first scene on the trajectory setting page.

In this step, at least one camera in the first scene includes a second camera and a third camera different from the second camera. That is, in this step, the first scene includes two or more cameras, and the second camera and the third camera are any two different cameras in the first scene.

8. When an instruction to use the second camera as the starting track point is detected, use the position of the second camera in the first image as the starting track point.

In a possible implementation, the image processing device displays "Please select the starting track point" on the track setting page, and the user then clicks on the second camera to input an instruction to the image processing device to use the second camera as the starting track point .

In another possible implementation, the image processing device displays "Please input the starting track point" on the track setting page, and the user further inputs the name of the second camera to input the second camera as the starting track point to the image processing device. point instruction.

9. When an instruction to use the third camera as the end track point is detected, use the position of the third camera in the first image as the end track point.

In a possible implementation, the image processing device displays "Please select the end track point" on the track setting page, and the user then clicks on the third camera to input an instruction to the image processing device to use the third camera as the starting track point.

In another possible implementation, the image processing device displays "Please enter the ending track point" on the track setting page, and the user then inputs the name of the third camera to the image processing device to use the third camera as the starting track point instructions.

10. Receive the trajectory input for the start trajectory point and the end trajectory point as a third trajectory.

Since the first image lacks road network information, the trajectory determined by the image processing device based on the start trajectory point and the end trajectory point may not be a drivable trajectory. And the user can determine the drivable trajectory between the starting trajectory point and the ending trajectory point by displaying the first image displayed on the page. Therefore, the image processing device uses the trajectory input for the start trajectory point and the end trajectory point as the third trajectory.

In a possible implementation manner, the image processing device displays a track setting page through a touch screen. The user connects the starting track point and the ending track point by touching the display screen, and constructs a track whose end points are the starting track point and the ending track point, so as to input the track for the starting track point and the ending track point to the image processing device.

It should be understood that the third trajectory in steps 7 to 10 is only an example, and it should not be understood that only one trajectory of the at least one second trajectory can be obtained through steps 7 to 10. In practical applications, the image processing device can obtain all second trajectories by performing steps 7 to 10 .

As an optional implementation manner, the at least one camera further includes a fourth camera, the fourth camera is different from the second camera, and the fourth camera is different from the third camera.

Before performing step 10, the image processing device also performs the following steps:

11. When an instruction to use the fourth camera as an intermediate track point is detected, use the position of the fourth camera in the first image as an intermediate track point.

In a possible implementation, the image processing device displays "Please select an intermediate track point" on the track setting page, and the user clicks on the fourth camera to input an instruction to use the fourth camera as the starting track point to the image processing device.

In another possible implementation, the image processing device displays "Please enter the middle track point" on the track setting page, and the user further inputs the name of the fourth camera to the image processing device to use the fourth camera as the starting track point instructions.

After performing step 11, the image processing device obtains the third trajectory by performing the following steps:

12. The trajectory input for the above-mentioned initial trajectory point, the above-mentioned intermediate trajectory point and the above-mentioned end trajectory point is used as the above-mentioned third trajectory, and the endpoints of the above-mentioned third trajectory are the above-mentioned initial trajectory point and the above-mentioned end trajectory point respectively, and the above-mentioned The third trajectory includes the above-mentioned intermediate trajectory points.

In a possible implementation manner, the image processing device displays a track setting page through a touch screen. The user connects the start track point, the middle track point and the end track point by touching the display screen, and constructs a track whose endpoints are the start track point and the end track point respectively and passes through the middle track point, so as to input the starting track point to the image processing device. , the trajectory of the intermediate trajectory point and the terminal trajectory point.

It should be understood that the second camera, the third camera and the fourth camera are all examples, and it should not be understood that the first scene only includes three cameras.

By performing step 11 and step 12, the image processing device obtains the trajectory whose endpoints are the starting trajectory point and the ending trajectory point, so that the trajectory information of the third trajectory can be made more detailed.

As an optional implementation manner, after obtaining the third trajectory, the image processing device further performs the following steps:

13. Display the start track point and the end track point in the first image according to a first preset display manner.

In the embodiment of the present disclosure, the first preset display mode may be emphatic display, that is, in step 13, the image processing device emphatically displays the start track point and the end track point in the first image. Emphasis on displaying the start track point and the end track point in the first image means that the display mode of the start track point and the end track point are different from the display mode of the non-emphasis display area, wherein the non-emphasis display area includes the first image The area in excluding the start track point and the end track point.

Exemplarily, the first preset display manner includes one or more of the following: color highlighting, highlighting, and hovering.

In a possible implementation manner, the first preset display manner includes color highlighting. The image processing device converts the non-emphasized display area into a grayscale image, and retains the color of the starting track point and the color of the ending track point, so as to realize highlighting the starting track point and the ending track point.

In another possible implementation manner, the first preset display manner includes highlighting. The image processing device highlights the start track point and the end track point, so as to realize highlighting the start track point and the end track point.

In yet another possible implementation manner, the first preset display manner includes floating display. The first image includes a head up display (HUD) layer, the image processing device determines the first display area corresponding to the starting track point from the HUD layer, and determines the second display area corresponding to the ending track point from the HUD layer area. The first display area and the second display area are used as floating display areas, and the start track point is displayed in the first display area, and the end track point is displayed in the second display area.

The image processing device can enable the user to more intuitively determine the third trajectory from the first image by displaying the start trajectory point and the end trajectory point in the first image in the first preset display manner.

14. Acquire a fourth image of the second scene, wherein the first scene includes the second scene.

In the embodiment of the present disclosure, the first scene and the second scene are affiliation relationships.

For example, the first scene is a campus, and the second scene is a teaching building in the campus.

For another example, the first scene is the teaching building, and the second scene is the third floor in the teaching building.

For another example, the first scene is the third floor of the teaching building, and the second scene is classroom 308 on the third floor. Exemplarily, the second scenario includes a map missing scenario.

In an implementation manner of acquiring the fourth image, the image processing apparatus receives the fourth image input by the user through the input component.

In another implementation manner of acquiring the fourth image, the image processing apparatus receives the fourth image sent by the terminal.

15. Display the thumbnail of the first image and the thumbnail of the fourth image in a second preset display manner.

In the embodiment of the present disclosure, the second preset display mode may be displayed in a hierarchical manner, that is, in step 15, the image processing apparatus displays the thumbnails of the first image and the thumbnails of the fourth image in a hierarchical manner. For example, in FIG. 7, a thumbnail of the first image and a thumbnail of the fourth image.

By executing step 15, the image processing device can simulate the 3D model of the first scene, obtain a 3D display effect, and better display the hierarchical relationship between the first scene and the second scene.

As an optional implementation manner, the thumbnail of the first image and the thumbnail of the fourth image are displayed in a first area of the display page, and the display page further includes a second area different from the first area. The image processing device also performs the following steps:

16. Displaying the fourth image in the second area when it is detected that the thumbnail of the fourth image is clicked.

By executing step 15, the image processing device can simulate the 3D model of the first scene, and the 3D model is displayed in the first area. And by clicking any thumbnail of the three-dimensional model in the first area, the user can make the image processing device display the scene image corresponding to the thumbnail in the second area. Therefore, the image processing device displays the fourth image in the second area when detecting that the thumbnail of the fourth image is clicked.

Exemplarily, when the image displayed in the second area is the fourth image, and it is detected that the user clicks on the thumbnail of the first image in the first area, the image processing device converts the image displayed in the second area to Switch from the fourth image to the first image.

In a possible implementation manner, the image shown in FIG. 8 is the display page in step 15 . The user clicks the thumbnail of the first image in the first area, and the image processing device will display the first image in the second area.

Exemplarily, Fig. 9 shows the track setting page. The left side of the track display page is the scene information display area, which is used to display scene information. As shown in FIG. 9 , the scene information display areas include: factory, clinic, surveillance area 3, surveillance area 4, surveillance area 1, surveillance area 2, and hospital. The middle of the track display page is the image display area, which is used to display images. Refer to FIG. 8 for the image display area shown in FIG. 9 . The right side of the track display page is the camera information display area, which is used to display the camera information.

17. Acquire a fourth image of the second scene, where the first scene includes the second scene.

For the implementation of this step, refer to step 14.

18. Obtain a thumbnail of the first scene based on the first image and the fourth image.

In a possible implementation manner, the image processing apparatus obtains the thumbnail of the first image based on the first image, and obtains the thumbnail of the fourth image based on the fourth image. By displaying the thumbnail of the first image and the thumbnail of the fourth image in a second preset display manner, simulating the three-dimensional model of the first scene, and obtaining the thumbnail of the first scene.

For example, as shown in FIG. 10 , the thumbnail of the first image and the thumbnail of the fourth image are displayed hierarchically to obtain the thumbnail of the first scene.

As an optional implementation manner, the image processing device acquires position information of at least one camera in the first scene in the first image by performing the following steps:

19. When an instruction to mark the position of the camera is detected, display at least one camera in the first scene and the first image on the mark page.

In this step, the instruction to mark the position of the camera may be that the user controls the cursor with a mouse and clicks a mark button on the displayed page. The command to mark the position of the camera may also be that the user inputs the mark command to the image processing device through the input component, for example, the user inputs the character "start" to the image processing device through the keyboard, and inputs the mark command to the image processing device. For another example, the user inputs a labeling instruction to the image processing device by inputting voice data "start labeling the camera position" to the image processing device.

In a possible implementation manner, the image processing apparatus may display at least one camera in the first scene on the annotation page by displaying an identification of at least one camera in the first scene on the annotation page, where the identification may be One or more of the following: icons, digital logos, text logos.

Exemplarily, the annotation page of the image processing device includes the following areas: a camera display area and an image display area, wherein the camera display area is used to display at least one camera in the first scene, and the camera display area is used to display images of the first scene (i.e. the first image).

For example, if the first scene is a surveillance area, there are three surveillance cameras installed in the surveillance area, namely surveillance camera a, surveillance camera b, and surveillance camera c. The logo of surveillance camera a, the logo of surveillance camera b and the logo of surveillance camera c can be displayed in the camera display area. The image of the supervision area can be displayed in the image display area.

20. When a movement instruction for moving the at least one camera to the first image is detected, obtain position information of the at least one camera in the first scene in the first image according to the movement instruction.

In a possible implementation manner, the user inputs a moving instruction to the image processing apparatus by dragging the camera in the first scene to the first image.

For example, at least one camera includes camera a and camera b, and the user drags camera a to point A in the first image, and drags camera b to point B in the first image. At this time, the moving instruction includes moving camera a to point A in the first image, and moving camera b to point B in the first image.

In another possible implementation manner, the user inputs a movement instruction to the image processing apparatus through a keyboard, where the keyboard includes a physical keyboard and a virtual keyboard.

For example, at least one camera includes camera a and camera b, and the user inputs to the image processing device through a physical keyboard to move camera a to point A in the first image and move camera b to point B in the first image. At this time, the moving instruction includes moving camera a to point A in the first image, and moving camera b to point B in the first image.

After the camera in the first scene is moved to the first image, position information of at least one camera in the first scene in the first image can be determined. Therefore, the position information of at least one camera in the first scene in the first image can be obtained according to the movement instruction.

For example, at least one camera includes camera a, and the moving instruction includes moving camera a to point A in the first image. The image processing device determines the position of camera a in the first image as point A according to the movement instruction, and then determines the position information of camera a in the first image according to the position of point A in the first image.

21. When an instruction to mark a camera position is detected, display at least one camera in the above-mentioned first scene on the mark page.

22. Display a position input box in a case where a position input instruction for the at least one camera is detected.

In the embodiment of the present disclosure, the position input instruction may be input by the user to the image processing apparatus through the input component, and the position input instruction may be sent by the user to the image processing apparatus through the terminal.

In the embodiment of the present disclosure, the input box is used to input a position, and the position in the input box represents the position in the first image. For example, if the user inputs (3, 4) in the input box, then the coordinates of the position representation in the pixel coordinate system of the first image are (3, 4).

In a possible implementation manner, at least one camera includes camera a and camera b. The user inputs a position input command for the camera a to the image processing device, so that the image processing device displays a position input box. If the position input by the user in the position input box is position A, then the image processing device uses position A as the position of camera a in the first image.

23. According to the position in the position input box, the position information of the at least one camera in the first image is obtained.

In a possible implementation manner, the image processing device obtains position information of the camera in the first image according to the position in the input frame corresponding to the position of the camera in the first scene.

For example, at least one camera includes camera a and camera b. The user inputs a position input command for the camera a to the image processing device, so that the image processing device displays a position input box. If the position input by the user in the position input box is position A, then the image processing device uses position A as the position of camera a in the first image. After inputting the position A, the user further inputs a position input command for the camera b to the image processing device, so that the image processing device displays a position input box. If the position input by the user in the position input box is position B, then the image processing device uses position B as the position of camera b in the first image.

As an optional implementation manner, after obtaining the position information of at least one camera in the first image, the image processing device further performs the following steps:

24. In a case where a click on a target camera in at least one camera is detected, display the target camera in the first image in a first preset display manner.

For the first preset display mode in this step, refer to the first preset display mode in step 13.

In a possible implementation manner, the user clicks on the target camera in the annotation page, and the image processing device highlights the target camera in the first image.

As an optional implementation manner, the annotation page further includes at least one of the following information: whether at least one camera has been marked in the first image, at least one camera name, at least one camera type, at least one camera preview button, at least A camera details view button.

In the embodiment of the present disclosure, whether to mark in the first image is used to indicate whether the camera has been marked in the first image, that is, whether to determine the position information of the camera in the first image through steps 19 to 20, or to determine whether the camera is in the first image through steps 21 to 20 Step 23 determines the position information of the camera in the first image. The types of cameras include dome cameras, bolt cameras, and dome cameras. Click the preview button of the camera to preview the images captured by the camera. You can view the detailed information of the camera by clicking the button to view the detailed information of the camera.

As an optional implementation manner, when it is detected that the button to view the detailed information of the first camera is clicked, at least one of the following information is displayed: the name of the first scene, the access status of at least one camera, the The direction of movement of the subject being photographed.

In the embodiment of the present disclosure, the access state of the camera indicates whether there is a communication connection between the image processing device and the camera.

For example, at least one camera includes camera a. If there is no communication connection between camera a and the image processing device, the access state of camera a is abnormal; if there is a communication connection between camera b and the image processing device, the connection state of camera b is normal.

In the embodiment of the present disclosure, the moving direction of the object captured by the camera includes: entering or exiting.

For example, at least one camera includes camera a. Camera a is installed at the gate of building A. If the moving direction of the objects captured by camera a includes in, then all the objects captured by camera a enter building A; if the moving direction of the objects captured by camera b includes out, then the objects captured by camera a are all Leave Building A.

As an optional implementation manner, when it is detected that a preview button of at least one camera is clicked, a captured image of at least one camera is displayed.

For example, at least one camera includes a camera a and a camera b, and the image processing device displays a captured image of the camera a when a preview button of the camera a is detected to be clicked. When the image processing device detects that the preview button of camera b is clicked, it displays the captured image of camera b.

As an optional implementation manner, the first image is a bird's-eye view of the first scene.

In the case that the first image is a bird's-eye view of the first scene, the first image contains more detailed information of the first scene. At this time, the image processing device may display the position of the target object in the first image and visually display the position where the target object appeared in the first scene, so as to improve the display effect.

Those skilled in the art can understand that in the above-mentioned method of specific implementation, the writing order of each step does not imply a strict execution order and constitutes any limitation on the implementation process, and the execution order of each step should be based on its function and possible internal Logically OK.

The method of the embodiment of the present disclosure has been described in detail above, and the device of the embodiment of the present disclosure is provided below.

Please refer to FIG. 11 . FIG. 11 is a schematic structural diagram of an image processing device provided by an embodiment of the present disclosure. The image processing device 2 includes: an acquisition part 21 and a determination part 22 . Exemplarily, the image processing device 2 further includes a display part 23 . in:

The acquiring part 21 is configured to acquire a first image of a first scene and position information of at least one camera in the first scene in the first image, the first scene being a map missing scene;

The acquisition part 21 is also configured to acquire a second image of the target object, the second image is acquired by the first camera in the first scene;

The determining part 22 is configured to determine a first position of the first camera in the first image according to position information of the at least one camera in the first image;

The determining part 22 is further configured to determine the position of the target object in the first image according to the first position.

In some disclosed embodiments, the acquiring part 21 is further configured to acquire a blacklist library; determine an image containing an object in the blacklist library from at least one third image as the second image , the at least one third image is captured by the at least one camera.

In some embodiments of the present disclosure, the acquiring part 21 is further configured to acquire a second position of the target object in the first image, where the second position is different from the first position; according to In the first position and the second position, a first trajectory of the target object is displayed in the first image, and the first trajectory includes a drivable trajectory.

In some embodiments of the present disclosure, the acquisition part 21 is further configured to display the first image of the target object in the first image according to the first position and the second position. Before the trajectory, at least one second trajectory in the first image is acquired, and the at least one second trajectory includes the drivable trajectory; the trajectory points of the target trajectory in the at least one second trajectory include the first In the case of a first location and the second location, the target trajectory is determined as the first trajectory.

In some embodiments of the present disclosure, the at least one second track includes a third track, and the acquisition part 21 is further configured to display the track when a track setting instruction for the first image is detected A setting page, the track setting page includes the first image and at least one camera in the first scene; the at least one camera in the first scene includes a second camera and a second camera different from the second camera Three cameras; in the case of detecting an instruction to use the second camera as a starting track point, use the position of the second camera in the first image as a starting track point; In the case where the third camera is used as an instruction to terminate the track point, the position of the third camera in the first image is used as the end track point; the track input for the initial track point and the end track point , as the third trajectory.

The determining part 22 is further configured to, before taking the track input for the start track point and the end track point as the third track, before detecting that the fourth camera is used as an intermediate track point In the case of an instruction, use the position of the fourth camera in the first image as an intermediate track point;

The acquisition part 21 is also configured to use the trajectory input for the initial trajectory point, the intermediate trajectory point and the end trajectory point as the third trajectory, and the endpoints of the third trajectory are respectively The starting trajectory point and the ending trajectory point, and the third trajectory includes the intermediate trajectory point.

In some embodiments of the present disclosure, the image processing device 2 further includes: a display part 23 configured to, after the third trajectory is obtained, display in the first image in a first preset display manner The start track point and the end track point are displayed.

In some embodiments of the present disclosure, the acquiring part 21 is further configured to acquire a fourth image of a second scene, the first scene including the second scene;

The display part 23 is further configured to display the thumbnail of the first image and the thumbnail of the fourth image in a second preset display manner.

The display part 23 is further configured to display the fourth image in the second area in the case of detecting that the thumbnail of the fourth image is clicked.

In some embodiments of the present disclosure, the acquisition part 21 is further configured to acquire a fourth image of a second scene, the first scene includes the second scene; based on the first image and the fourth image Four images, get the thumbnail of the first scene.

In some embodiments of the present disclosure, the acquisition part 21 is further configured to display at least one camera in the first scene and the first image; in the case where a movement instruction to move the at least one camera to the first image is detected, according to the movement instruction, the at least one camera in the first scene in the first image is obtained location information.

In some embodiments of the present disclosure, the acquiring part 21 is further configured to display at least one camera in the first scene on the labeling page if an instruction to mark the position of the camera is detected;

The display part 23 is further configured to display a position input box when a position input instruction for the at least one camera is detected;

The obtaining part 21 is further configured to obtain the position information of the at least one camera in the first image according to the position in the position input box.

In some embodiments of the present disclosure, the display part 23 is further configured to, in the case of detecting that a target camera in the at least one camera is clicked, display the The target camera is shown in the image.

In some embodiments of the present disclosure, the display part 23 is further configured to display at least one of the following information when it is detected that the detailed information viewing button of the at least one camera is clicked: name, the access status of the at least one camera, and the moving direction of the object captured by the at least one camera.

In some embodiments of the present disclosure, the display part 23 is further configured to display the image captured by the at least one camera when it is detected that the preview button of the at least one camera is clicked.

In some embodiments of the present disclosure, the functions or modules included in the apparatus provided by the embodiments of the present disclosure may be used to execute the methods described in the above method embodiments, and the implementation may refer to the descriptions of the above method embodiments.

In the embodiments of the present disclosure and other embodiments, a "part" may be a part of a circuit, a part of a processor, a part of a program or software, etc., of course it may also be a unit, a module or a non-modular one.

Fig. 12 is a schematic diagram of a hardware structure of an electronic device provided by an embodiment of the present disclosure. The electronic device 3 includes a processor 31 , a memory 32 , an input device 33 and an output device 34 . The processor 31 , the memory 32 , the input device 33 and the output device 34 are coupled through connectors, and the connectors include various interfaces, transmission lines or buses, etc., which are not limited in this embodiment of the present disclosure. It should be understood that in various embodiments of the present disclosure, coupling refers to interconnection in a specific manner, including direct connection or indirect connection through other devices, for example, connection through various interfaces, transmission lines, and buses.

The processor 31 may be one or more graphics processing units (graphics processing units, GPUs). In the case where the processor 31 is a GPU, the GPU may be a single-core GPU or a multi-core GPU. Exemplarily, the processor 31 may be a processor group formed by multiple GPUs, and the multiple processors are coupled to each other through one or more buses. In some embodiments, the processor may also be other types of processors, etc., which are not limited in this embodiment of the present disclosure.

The memory 32 can be used to store computer program instructions and various computer program codes including program codes for implementing the solutions of the present disclosure. Optionally, the memory includes but is not limited to random access memory (random access memory, RAM), read-only memory (read-only memory, ROM), erasable programmable read-only memory (erasable programmable read only memory, EPROM ), or portable read-only memory (compact disc read-only memory, CD-ROM), which is used for related instructions and data.

The input device 33 is used to input at least one of data and signals, and the output device 34 is used to output at least one of data and signals. The input device 33 and the output device 34 can be independent devices, or an integrated device.

It can be understood that in the embodiment of the present disclosure, the memory 32 can not only be used to store related instructions, but also can be used to store related data, for example, the memory 32 can be used to store the first image obtained through the input device 33, or the memory 32 can also be used to store The first location obtained by the processor 31 is stored, and the embodiment of the present disclosure does not limit the data stored in the memory.

It can be understood that Fig. 12 only shows a simplified design of an image processing device. In practical applications, the image processing device may also include other necessary components, including but not limited to any number of input/output devices, processors, memories, etc., and all image processing devices that can implement the embodiments of the present disclosure are included in this within the scope of public protection.

An embodiment of the present disclosure also provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, the computer program includes program instructions, and when the program instructions are executed by a processor, the The processor executes the image processing method described above.

An embodiment of the present disclosure also provides a computer program product, where the computer program product includes a computer program or an instruction, and when the computer program or instruction is run on a computer, causes the computer to execute the above image processing method.

In addition, an embodiment of the present disclosure also provides a computer program, including computer readable codes. When the computer readable codes are run in an electronic device, a processor in the computer device executes the above image processing method. .

Those skilled in the art can appreciate that the parts and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementation should not be considered beyond the scope of the present disclosure.

Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the above-described system, device and part can refer to the corresponding process in the foregoing method embodiment. Those skilled in the art can also clearly understand that the descriptions of each embodiment of the present disclosure have their own emphases, and for the convenience and brevity of description, the same or similar parts may not be repeated in different embodiments. Therefore, in a certain embodiment For parts not described or not described in detail, reference may be made to the descriptions of other embodiments.

In the several embodiments provided in the present disclosure, it should be understood that the disclosed systems, devices and methods may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the parts is only a logical function division. In actual implementation, there may be other division methods. For example, multiple parts or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or parts may be in electrical, mechanical or other forms.

The part described as a separate component may or may not be physically separated, and the part displayed as a part may or may not be a physical part, that is, it may be located in one place, or may also be distributed to multiple network parts. Some or all of them can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional part in each embodiment of the present disclosure may be integrated into one processing part, or each part may physically exist separately, or two or more parts may be integrated into one part.

In the above embodiments, all or part of them may be implemented by software, hardware, firmware or any combination thereof. When implemented using software, it may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, all or part of the processes or functions according to the embodiments of the present disclosure will be generated. The computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in or transmitted via a computer-readable storage medium. The computer instructions can be sent from a website site, computer, server, or data center via wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) Another website site, computer, server or data center for transmission. The computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device such as a server or a data center integrated with one or more available media. The usable medium (computer-readable storage medium) may be a tangible device capable of retaining and storing instructions used by the instruction execution device, and may be a volatile storage medium or a nonvolatile storage medium. A computer readable storage medium may be, for example, but is not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or flash memory), static random access memory (SRAM), compact disc read only memory (CD-ROM), digital versatile disc (DVD), memory stick, floppy disk, mechanically encoded device, such as a printer with instructions stored thereon A hole card or a raised structure in a groove, and any suitable combination of the above. As used herein, computer-readable storage media are not to be construed as transient signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., pulses of light through fiber optic cables), or transmitted electrical signals.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments are realized. The processes can be completed by computer programs to instruct related hardware. The programs can be stored in computer-readable storage media. When the programs are executed , may include the processes of the foregoing method embodiments. The aforementioned storage medium includes: various media capable of storing program codes such as read-only memory (ROM) or random access memory (RAM), magnetic disk or optical disk.

Industrial Applicability

The embodiment of the present disclosure discloses an image processing method and device, electronic equipment, a computer-readable storage medium, a computer program and a computer program product. The method includes: acquiring a first image of a first scene and position information of at least one camera in the first image in the first scene, where the first scene is a scene without a map; acquiring a second image of the target object image, the second image is acquired by the first camera in the first scene; according to the position information of the at least one camera in the first image, determine that the first camera is in the first image A first position in the first image; determining a position of the target object in the first image according to the first position. Positioning can be achieved when the detailed information of the scene is missing from the map, and the positioning accuracy is high.

Claims

An image processing method, the method comprising:

Acquiring a first image of a first scene and position information of at least one camera in the first scene in the first image, where the first scene is a map missing scene;

acquiring a second image of the target object, the second image being captured by the first camera in the first scene;

determining a first position of the first camera in the first image according to position information of the at least one camera in the first image;

A position of the target object in the first image is determined according to the first position.
The method according to claim 1, wherein said acquiring the second image of the target object comprises:

Get the blacklist library;

An image containing the object in the blacklist library is determined from at least one third image as the second image, and the at least one third image is captured by the at least one camera.
The method according to claim 1 or 2, wherein the method further comprises:

acquiring a second position of the target object in the first image, the second position being different from the first position;

A first trajectory of the target object is displayed in the first image according to the first position and the second position, the first trajectory including a drivable trajectory.
The method according to claim 3, wherein, before displaying the first track of the target object in the first image according to the first position and the second position, the method further comprises:

acquiring at least one second trajectory in the first image, each of which includes the drivable trajectory;

The displaying the first track of the target object in the first image according to the first position and the second position includes:

If the track points of the target track in the at least one second track include the first position and the second position, the target track is determined to be the first track.
The method according to claim 4, wherein said at least one second trajectory comprises a third trajectory, and said acquiring at least one second trajectory in said first image comprises:

In the case of detecting a trajectory setting instruction for the first image, display a trajectory setting page, the trajectory setting page including at least one camera in the first image and the first scene; the first scene The at least one camera in includes a second camera and a third camera different from the second camera;

When an instruction to use the second camera as a starting track point is detected, use the position of the second camera in the first image as a starting track point;

When an instruction to use the third camera as the termination track point is detected, use the position of the third camera in the first image as the termination track point;

The trajectory input for the start trajectory point and the end trajectory point is used as the third trajectory.
The method according to claim 5, wherein the at least one camera further comprises a fourth camera, the fourth camera is different from the second camera, and the fourth camera is different from the third camera;

Before the trajectory input for the initial trajectory point and the termination trajectory point is used as the third trajectory, the method further includes:

If an instruction to use the fourth camera as an intermediate track point is detected, use the position of the fourth camera in the first image as an intermediate track point;

The track input for the starting track point and the ending track point, as the third track, includes:

The trajectory input for the initial trajectory point, the intermediate trajectory point and the termination trajectory point is used as the third trajectory, and the endpoints of the third trajectory are the initial trajectory point and the termination trajectory point respectively. trajectory points, and the third trajectory includes the intermediate trajectory points.
The method according to claim 5 or 6, wherein, after said obtaining said third trajectory, said method further comprises:

The start track point and the end track point are displayed in the first image in a first preset display manner.
The method according to any one of claims 1 to 7, wherein the method further comprises:

acquiring a fourth image of a second scene, the first scene including the second scene;

The thumbnail of the first image and the thumbnail of the fourth image are displayed in a second preset display manner.
The method according to claim 8, wherein the thumbnail of the first image and the thumbnail of the fourth image are displayed in a first area of a display page, and the display page further includes the second area of

The method also includes:

In the case of detecting that the thumbnail of the fourth image is clicked, the fourth image is displayed in the second area.
The method according to any one of claims 1 to 7, wherein the method further comprises:

acquiring a fourth image of a second scene, the first scene including the second scene;

A thumbnail of the first scene is obtained based on the first image and the fourth image.
The method according to any one of claims 1 to 10, wherein said acquiring position information of at least one camera in said first scene in said first image comprises:

When an instruction to mark the position of the camera is detected, at least one camera in the first scene and the first image are displayed on the mark page;

If a movement instruction for moving the at least one camera to the first image is detected, according to the movement instruction, obtain position information of the at least one camera in the first scene in the first image .
The method according to any one of claims 1 to 10, wherein said acquiring position information of at least one camera in said first scene in said first image comprises:

In the case where an instruction to mark the position of the camera is detected, at least one camera in the first scene is displayed on the mark page;

displaying a position input box if a position input instruction for the at least one camera is detected;

According to the position in the position input box, the position information of the at least one camera in the first image is obtained.
The method according to claim 11 or 12, wherein, after obtaining the position information of the at least one camera in the first image, the method further comprises:

If it is detected that a target camera in the at least one camera is clicked, the target camera is displayed in the first image in the first preset display manner.
The method according to any one of claims 11 to 13, wherein the annotation page further includes at least one of the following information: whether the at least one camera has been marked in the first image, whether the at least one camera name, the type of the at least one camera, the preview button of the at least one camera, and the detailed information viewing button of the at least one camera.
The method according to claim 14, wherein when it is detected that the detailed information viewing button of the at least one camera is clicked, at least one of the following information is displayed: the name of the first scene, the name of the at least one camera access status, and the moving direction of the object photographed by the at least one camera.
The method according to claim 14 or 15, wherein when it is detected that a preview button of the at least one camera is clicked, the image captured by the at least one camera is displayed.
The method according to any one of claims 1 to 16, wherein the first image is a bird's eye view of the first scene.
An image processing device, the device comprising:

An acquisition part configured to acquire a first image of a first scene and position information of at least one camera in the first scene in the first image, the first scene being a map missing scene;

The acquisition part is configured to acquire a second image of the target object, the second image is acquired by the first camera in the first scene;

A determining part configured to determine a first position of the first camera in the first image according to position information of the at least one camera in the first image;

The determining part is configured to determine the position of the target object in the first image according to the first position.
An electronic device, comprising: a processor and a memory, the memory is used to store computer program codes, the computer program codes include computer instructions, and when the processor executes the computer instructions, the electronic device executes A method as claimed in any one of claims 1 to 17.
A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, the computer program includes program instructions, and when the program instructions are executed by a processor, the processor is caused to perform the claims The method described in any one of 1 to 17.
A computer program, comprising computer readable code, when the computer readable code is run in the electronic device, the processor in the computer device executes the image for realizing the image as claimed in any one of claims 1 to 17 Approach.
A computer program product, the computer program product comprising a computer program or instructions, when the computer program or instructions run on a computer, causing the computer to execute the image according to any one of claims 1 to 17 Approach.