CN104700409A - Method for automatically adjusting preset position of camera in accordance with monitoring target - Google Patents
Method for automatically adjusting preset position of camera in accordance with monitoring target Download PDFInfo
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Abstract
The invention discloses a method for automatically adjusting a preset position of a camera in accordance with a monitoring target; the method comprises the following steps: acquiring the position of the monitoring target; determining a two-dimensional horizontal rotation angle and a two-dimensional vertical rotation angle of the camera, with respect to the monitoring target, in a three-dimensional coordinate system; respectively translating the two-dimensional horizontal rotation angle and the two-dimensional vertical rotation angle into three-dimensional space angles; calculating a horizontal-direction angle and a vertical-direction angle of a camera lens with respect to the camera according to the two-dimensional horizontal rotation angle, the two-dimensional vertical rotation angle and the three-dimensional space angles; obtaining a focal length and a viewing angle according to a distance between the monitoring target and the camera, the width of a monitoring region and the length of a diagonal line of an imaging element of the camera lens. By adopting the method, the preset position of the camera can be generated automatically, so that the camera is capable of being rotated to the preset position rapidly and accurately, the deficiencies of insufficient flexibility, low accuracy and low precision in a visual testing layout method are avoided, and the waste of money caused by many times of onsite scene survey is avoided.
Description
Technical field
The present invention relates to field of image recognition, particularly relate to a kind of method adjusting preset positions of camera.
Background technology
Video monitoring system is applied to a lot of occasion, such as, for transformer station's unattended system.Video monitoring system, as the unattended basis of support transformer station, needs the running status of real-time monitoring equipment.The layout of current video camera is all first install according to two-dimentional drawing, again according to the presetting bit of naked eyes identification adjustment video camera after installing, belongs to range estimation layout method.This method lacks dirigibility, and precision is low, and differs and monitor equipment exactly surely.Adopt range estimation layout method, often need repeatedly to carry out scene exploration on the spot, the fund brought waste.
Summary of the invention
Namely object of the present invention is to overcome the deficiencies in the prior art, provides a kind of method automatically adjusting preset positions of camera according to monitoring objective.Adopt the method, automatically can generate preset positions of camera according to the position of monitoring objective, enable video camera forward presetting bit to fast and accurately, avoid estimating the deficiency that layout method's dirigibility is not enough, accuracy is low, precision is low.
Object of the present invention is achieved through the following technical solutions:
Automatically adjust a method for preset positions of camera according to monitoring objective, comprise the steps:
S1: the three-dimensional physical model importing monitored region, obtains the position of monitoring objective, the video camera that chosen distance monitoring objective is nearest;
S2: determine that video camera is relative to the two-dimensional level anglec of rotation of monitoring objective in three-dimensional system of coordinate and the second vertical anglec of rotation;
S3: the two-dimensional level anglec of rotation and the second vertical anglec of rotation are separately converted to three dimensions angle;
S4: according to the two-dimensional level anglec of rotation, the second vertical anglec of rotation and three dimensions angle calculation camera lens relative to video camera angle in the horizontal direction and the angle of vertical direction, camera lens is the presetting bit angle of video camera relative to the angle of video camera angle in the horizontal direction and vertical direction;
S5: obtain focal length and visual angle according to the distance of monitoring objective and video camera, guarded region width and camera lens image-forming component catercorner length;
The presetting bit angle of video camera, focal length and visual angle form presetting bit jointly.
Further, in described S2, in three-dimensional system of coordinate, the center of the center of video camera and monitoring objective is projected in X-Z plane respectively, obtain subpoint C ", P ", line segment C " P " be the two-dimensional level anglec of rotation α of video camera relative to monitoring objective with the angle of X-axis; Projected respectively on an x-y plane at the center of the center of video camera and monitoring objective, obtain subpoint C ', P ', line segment C ' P ' is the second vertical anglec of rotation β of video camera relative to monitoring objective with the angle of Y-axis.
Further, coordinate in the center of video camera and the central three-dimensional space coordinates of monitoring objective is respectively C (Cx, Cy, Cz), P (Px, Py, Pz), video camera is α relative to the two-dimensional level anglec of rotation of monitoring objective, and video camera is β relative to the second vertical anglec of rotation of monitoring objective;
In described S3:
The three dimensions angle that α is corresponding is α 1;
As Cy < Py, then α 1=-90 °-α;
As Cy >=Py, then α 1=-α;
The three dimensions angle that β is corresponding is β 1;
When | Cx-Px|≤0.1 & Cz > Pz, then β 1=180 °;
When | Cx-Px|≤0.1 & Cz≤Pz, then β 1=0 °;
When | Cz-Pz|≤0.1 & Cx > Px, then β 1=270 °;
When | Cz-Pz|≤0.1 & Cx≤Px, then β 1=90 °;
When | Cx-Px| > 0.1 & | Cz-Pz| > 0.1 & Cx > Px & Cz > Pz, then β 1=-90 °-β;
When | Cx-Px| > 0.1 & | Cz-Pz| > 0.1 & Cx > Px & Cz > Pz, then β 1=-β;
When | Cx-Px| > 0.1 & | Cz-Pz| > 0.1 & Cx < Px & Cz > Pz, then β 1=90 °+β;
When | Cx-Px| > 0.1 & | Cz-Pz| > 0.1 & Cx < Px & Cz > Pz, then β 1=β.
Further, video camera is α relative to the two-dimensional level anglec of rotation of monitoring objective, and video camera be three dimensions angle that β, α are corresponding is the three dimensions angle that α 1, β is corresponding relative to the second vertical anglec of rotation of monitoring objective is β 1;
In described S4,
α 2 be camera lens relative to video camera angle in the horizontal direction, β 2 be camera lens relative to video camera in vertical angle;
Agreement camera lens is towards β 2=0 ° during the Y-axis negative direction of video camera, and camera lens is towards α 2=0 ° during the axle positive dirction of video camera.
Further, in described S5:
f＝w*λ*Dis/W
Wherein, the distance that f is focal length, fov is visual angle, W is guarded region width, L is camera lens image-forming component catercorner length, Dis is monitoring objective and video camera, λ are that guarded region is presented at ratio shared on image.
Advantage of the present invention and beneficial effect are:
Adopt the method, automatically preset positions of camera can be generated according to the position of monitoring objective, enable video camera forward presetting bit to fast and accurately, avoid estimating the deficiency that layout method dirigibility is not enough, accuracy is low, precision is low, avoid and repeatedly carry out scene on the spot and survey the fund brought and waste.
Accompanying drawing explanation
In order to be illustrated more clearly in embodiments of the invention, be briefly described to the accompanying drawing used required for describing in the embodiment of the present invention below.Apparent, the accompanying drawing in the following describes is only some embodiments recorded in the present invention, to those skilled in the art, when not paying creative work, according to accompanying drawing below, can also obtain other accompanying drawing.
Fig. 1 is the schematic diagram of the two-dimensional level anglec of rotation and the second vertical anglec of rotation;
Fig. 2 is the schematic diagram of camera supervised scope.
Embodiment
In order to make those skilled in the art understand the present invention better, below in conjunction with the accompanying drawing in the embodiment of the present invention, clear, complete description is carried out to the technical scheme in the embodiment of the present invention.Apparent, embodiment described below is only the part in the embodiment of the present invention, instead of all.Based on the embodiment that the present invention records, other all embodiment that those skilled in the art obtain when not paying creative work, all in the scope of protection of the invention.
Embodiment:
Automatically adjust a method for preset positions of camera according to monitoring objective, comprise the steps:
S1: the three-dimensional physical model importing monitored region, obtains the position of monitoring objective, the video camera that chosen distance monitoring objective is nearest;
S2: determine that video camera is relative to the two-dimensional level anglec of rotation of monitoring objective in three-dimensional system of coordinate and the second vertical anglec of rotation;
S3: the two-dimensional level anglec of rotation and the second vertical anglec of rotation are separately converted to three dimensions angle;
S4: according to the two-dimensional level anglec of rotation, the second vertical anglec of rotation and three dimensions angle calculation camera lens relative to video camera angle in the horizontal direction and the angle of vertical direction, camera lens is the presetting bit angle of video camera relative to the angle of video camera angle in the horizontal direction and vertical direction;
S5: obtain focal length and visual angle according to the distance of monitoring objective and video camera, guarded region width and camera lens image-forming component catercorner length;
The presetting bit angle of video camera, focal length and visual angle form presetting bit jointly.
Below S2 ~ S5 is described in detail.
To the detailed description of S2.
As shown in Figure 1, in three-dimensional system of coordinate, the center of video camera is some C, and the center of monitoring objective is a P.
The center of the center of video camera and monitoring objective is projected in X-Z plane respectively, obtains subpoint C ", P ", line segment C " P " be the two-dimensional level anglec of rotation α of video camera relative to monitoring objective with the angle of X-axis,
Projected respectively on an x-y plane at the center of the center of video camera and monitoring objective, obtain subpoint C ', P ', line segment C ' P ' is the second vertical anglec of rotation β of video camera relative to monitoring objective with the angle of Y-axis,
To the detailed description of S3.
Coordinate in the center of video camera and the central three-dimensional space coordinates of monitoring objective is respectively C (Cx, Cy, Cz), P (Px, Py, Pz).
The three dimensions angle that α is corresponding is α 1;
As Cy < Py, then α 1=-90 °-α;
As Cy >=Py, then α 1=-α;
The three dimensions angle that β is corresponding is β 1;
When | Cx-Px|≤0.1 & Cz > Pz, then β 1=180 °;
When | Cx-Px|≤0.1 & Cz≤Pz, then β 1=0 °;
When | Cz-Pz|≤0.1 & Cx > Px, then β 1=270 °;
When | Cz-Pz|≤0.1 & Cx≤Px, then β 1=90 °;
When | Cx-Px| > 0.1 & | Cz-Pz| > 0.1 & Cx > Px & Cz > Pz, then β 1=-90 °-β;
When | Cx-Px| > 0.1 & | Cz-Pz| > 0.1 & Cx > Px & Cz < Pz, then β 1=-β;
When | Cx-Px| > 0.1 & | Cz-Pz| > 0.1 & Cx < Px & Cz > Pz, then β 1=90 °+β;
When | Cx-Px| > 0.1 & | Cz-Pz| > 0.1 & Cx < Px & Cz > Pz, then β 1=β.
So, the two-dimensional level anglec of rotation and the second vertical anglec of rotation can be separately converted to three dimensions angle.
To the detailed description of S4.
α 2 be camera lens relative to video camera angle in the horizontal direction, β 2 be camera lens relative to video camera in vertical angle.Agreement camera lens is towards β 2=0 ° during the Y-axis negative direction of video camera, and camera lens is towards α 2=0 ° during the axle positive dirction of video camera.
α 2 and β 2 is the presetting bit angle of video camera.
To the detailed description of S5.
As shown in Figure 2, the quadrilateral that A, B, D, E point is formed is the guarded region of video camera, guarded region width W=| AB|, the distance Dis=|CP| of monitoring objective and video camera.
Focal length and visual angle is obtained by following formulae discovery:
f＝w*λ*Dis/W
Wherein, f is focal length, fov is visual angle, L is camera lens image-forming component catercorner length, λ is that guarded region is presented at ratio shared on image.
λ=1 represents all over the screen.
The presetting bit angle of video camera, focal length and visual angle form presetting bit jointly.
Need on picture during display monitoring target, video camera is made namely to forward the presetting bit of above-mentioned steps production fast and accurately to, avoid estimating the deficiency that layout method dirigibility is not enough, accuracy is low, precision is low, avoid and repeatedly carry out scene on the spot and survey the fund brought and waste.
As mentioned above, just the present invention can be realized preferably.
Claims (5)
1. automatically adjust a method for preset positions of camera according to monitoring objective, it is characterized in that, comprise the steps:
S1: the three-dimensional physical model importing monitored region, obtains the position of monitoring objective, the video camera that chosen distance monitoring objective is nearest;
S2: determine that video camera is relative to the two-dimensional level anglec of rotation of monitoring objective in three-dimensional system of coordinate and the second vertical anglec of rotation;
S3: the two-dimensional level anglec of rotation and the second vertical anglec of rotation are separately converted to three dimensions angle;
S4: according to the two-dimensional level anglec of rotation, the second vertical anglec of rotation and three dimensions angle calculation camera lens relative to video camera angle in the horizontal direction and the angle of vertical direction, camera lens is the presetting bit angle of video camera relative to the angle of video camera angle in the horizontal direction and vertical direction;
S5: obtain focal length and visual angle according to the distance of monitoring objective and video camera, guarded region width and camera lens image-forming component catercorner length;
The presetting bit angle of video camera, focal length and visual angle form presetting bit jointly.
2. a kind of method automatically adjusting preset positions of camera according to monitoring objective according to claim 1, is characterized in that:
In described S2, in three-dimensional system of coordinate, the center of the center of video camera and monitoring objective is projected in X-Z plane respectively, obtains subpoint C ", P ", line segment C " P " be the two-dimensional level anglec of rotation α of video camera relative to monitoring objective with the angle of X-axis; Projected respectively on an x-y plane at the center of the center of video camera and monitoring objective, obtain subpoint C ', P ', line segment C ' P ' is the second vertical anglec of rotation β of video camera relative to monitoring objective with the angle of Y-axis.
3. a kind of method automatically adjusting preset positions of camera according to monitoring objective according to claim 1, is characterized in that:
Coordinate in the center of video camera and the central three-dimensional space coordinates of monitoring objective is respectively C (Cx, Cy, Cz), P (Px, Py, Pz), video camera is α relative to the two-dimensional level anglec of rotation of monitoring objective, and video camera is β relative to the second vertical anglec of rotation of monitoring objective;
In described S3:
The three dimensions angle that α is corresponding is α 1;
As Cy < Py, then α 1=-90 °-α;
As Cy >=Py, then α 1=-α;
The three dimensions angle that β is corresponding is β 1;
When | Cx-Px|≤0.1 & Cz > Pz, then β 1=180 °;
When | Cx-Px|≤0.1 & Cz≤Pz, then β 1=0 °;
When | Cz-Pz|≤0.1 & Cx > Px, then β 1=270 °;
When | Cz-Pz|≤0.1 & Cx≤Px, then β 1=90 °;
When | Cx-Px| > 0.1 & | Cz-Pz| > 0.1 & Cx > Px & Cz > Pz, then β 1=-90 °-β;
When | Cx-Px| > 0.1 & | Cz-Pz| > 0.1 & Cx > Px & Cz < Pz, then β 1=-β;
When | Cx-Px| > 0.1 & | Cz-Pz| > 0.1 & Cx < Px & Cz > Pz, then β 1=90 °+β;
When | Cx-Px| > 0.1 & | Cz-Pz| > 0.1 & Cx < Px & Cz > Pz, then β 1=β.
4. a kind of method automatically adjusting preset positions of camera according to monitoring objective according to claim 1, is characterized in that:
Video camera is α relative to the two-dimensional level anglec of rotation of monitoring objective, and video camera be three dimensions angle that β, α are corresponding is the three dimensions angle that α 1, β is corresponding relative to the second vertical anglec of rotation of monitoring objective is β 1;
In described S4,
α 2 be camera lens relative to video camera angle in the horizontal direction, β 2 be camera lens relative to video camera in vertical angle;
Agreement camera lens is towards β 2=0 ° during the Y-axis negative direction of video camera, and camera lens is towards α 2=0 ° during the axle positive dirction of video camera.
5. a kind of method automatically adjusting preset positions of camera according to monitoring objective according to claim 1, is characterized in that:
In described S5:
f＝w*λ*Dis/W
Wherein, the distance that f is focal length, fov is visual angle, W is guarded region width, L is camera lens image-forming component catercorner length, Dis is monitoring objective and video camera, λ is that guarded region is presented at ratio shared on image.
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| CN105635698A (en) * | 2016-04-01 | 2016-06-01 | 成都信息工程大学 | Generation method of optimal monitoring position according to monitoring target position |
| CN106027887A (en) * | 2016-05-20 | 2016-10-12 | 北京格灵深瞳信息技术有限公司 | Box and ball linkage control method and device aiming at rotating mirror holder, as well as electronic equipment |
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