CN105120242B - A kind of panoramic camera and high-speed ball-forming machine intelligent linkage method and device - Google Patents
A kind of panoramic camera and high-speed ball-forming machine intelligent linkage method and device Download PDFInfo
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Abstract
The invention discloses a kind of panoramic camera and high-speed ball-forming machine intelligent linkage method and device, it is included in the panorama monitoring image and part plan monitoring picture shown on computer display for same monitor area, panorama monitoring image is obtained by panorama camera, and part plan monitoring picture is obtained by the Pan/Tilt/Zoom camera with head；After locking monitoring objective in panorama monitoring image with mouse, plane monitoring picture can follow mouse in the panorama monitoring picture point to move automatically, and processing is zoomed in and out to locking monitoring objective；The inter-linked controlling method includes the step of the step of demarcation linkage coordinate forms correlation model and tracking linkage.The inventive method is different from the demarcation of the troublesome calculation of prior art, employ by estimating two images, realize that quick coordinate is demarcated by controlling mouse to slide, then the step of Accurate Calibration being completed by dialog box, method is simple, easily operated, installation only needs on one face, no harsh requirement of adjusting the distance.
Description
Technical field
The present invention relates to a kind of panoramic camera and high-speed ball-forming machine intelligent linkage method and device.
Background technology
As security video monitoring system, panoramic shooting mutually links with high-speed ball-forming machine can very easily help to monitor
Personnel in addition to monitoring site overall monitor, can also simultaneously for special object implement in the range of panoramic shooting with
The special monitoring of track, amplification etc.；For this reason, it may be necessary to coordinate synchronization settings, publication number are carried out to kind of panoramic camera and high-speed ball-forming machine
CN101707671 is disclosed " a kind of panoramic camera and Pan/Tilt/Zoom camera inter-linked controlling method and device ".Sat in the technical scheme
Mark in synchronous method, be " to determine first object point, obtain coordinate of ground point, the target point is panoramic camera first
One of at least one target point in panoramic video " is i.e.：Any point in panoramic picture；Then " the is calculated according to first object point
The Angle Position of one Pan/Tilt/Zoom camera, so that the first Pan/Tilt/Zoom camera field of view center overlaps with the first object point." this scheme
Limited by Pan/Tilt/Zoom camera head, any point selection is improper in panoramic picture, such as selects in panoramic picture lower half
When area or left and right edges, Pan/Tilt/Zoom camera field of view center is not realized with the first object point and overlapped, therefore is not just realized same
Step setting, existing defects, while lack how to realize tracking in the technical scheme.
Also, existing panoramic camera and the control that associates of clipping the ball, correcting process complexity, it usually needs set tens
Individual object of reference could accurate correlation, also require strict further for the installation site of two-shipper, it is necessary to ensure certain altitude with
On, and two-shipper distance must not be too far away.Common camera can record detailed information by zoom in video monitoring system, but
Coverage is limited；Moreover, current panoramic camera uses gunlock ball machine more, visual field is limited, and single gunlock can only monitor list
Individual direction, gunlock are combined with head, then the blind area in existence time, and not all monitor area continuously monitors, it is complete to obtain monitoring
Scape is, it is necessary to real-time continuous and target complete region in different directions shooting multi-picture synthesis, or the colleague's shooting of multiple gunlocks
Monitoring is difficult to take into account, and big with conventional method cost, installation and debugging are also very complicated, and the stability of a system is poor.
The content of the invention
The purpose of the present invention is to propose to a kind of panoramic camera and high-speed ball-forming machine intelligent linkage method and device, passes through diminution
The scope of target point selection, and only the field of view center vertical line of high-speed ball-forming machine need to aliging with target point, simplifies flow, can be with
Quickly the monitoring to specific objective is realized in linkage.
To achieve these goals, the technical scheme is that：A kind of panoramic camera and high-speed ball-forming machine intelligent linkage
Method, it is included in the panorama monitoring image and part plan watch circle shown on computer display for same monitor area
Picture, panorama monitoring image are obtained by panoramic camera, and part plan monitoring picture is obtained by the PTZ high-speed ball-forming machines with head；
After locking monitoring objective in panorama monitoring image with mouse, plane monitoring picture can follow the panorama monitoring picture point automatically
Middle mouse movement, processing is zoomed in and out to locking monitoring objective；Wherein, the interlock method includes demarcation linkage coordinate formation pass
The step of the step of gang mould type and tracking linkage：
It is described demarcation linkage coordinate formed correlation model the step of be：
The first step：" 0 " viewpoint using panorama monitoring image first in panorama monitoring image establishes one as the origin of coordinates
Individual X1 axles Y1 axle rectangular co-ordinate lines, an X2 axle Y2 axle rectangular co-ordinate line is established by origin of part plan monitoring picture center,
One PTZ parameter dialog box is set in panorama monitoring image or part plan monitoring picture, and by the PTZ of PTZ high-speed ball-forming machines
Parameter zero resets；
Second step：An object of reference is found on panorama monitoring image X1 axle upper half Y1 axis, estimates the one of object of reference
Individual point is defined as with reference to object point, is overlapped described moved with reference to object point with Y1 axis with mouse；
3rd step：The object of reference is found with mouse movement part plan monitoring picture, object of reference is amplified, estimated：With
Mouse overlaps the panorama monitoring image of determination with reference to object point with Y2 axial coordinate lines；
3rd step：The PTZ parameter informations of Pan/Tilt/Zoom camera now are obtained, the parameter is saved as corrected parameter, makes this
When P and T parameters be part plan monitoring picture reference " 0 " point coordinates, realize two image Y1 axles and Y2 axles alignment mark
It is fixed；
Wherein：P is level angle, and T is the angle of pitch, and Z is multiplication factor, and P, T, Z parameter scope are true by Pan/Tilt/Zoom camera parameter
It is fixed；
4th step：Using " 0 " viewpoint of panorama monitoring image as the centre point of panoramic picture, click on mouse in the center of circle and obtain
Panoramic picture center point coordinate, the size of panorama monitoring image is determined by the affiliated radius r of panoramic picture, two images of completion
X, y, α, β, the linkage of θ parameters demarcate to form correlation model；
Wherein：X, y is range coordinate of the monitoring objective in panorama monitoring image, and α, β are that the polar coordinates of panoramic picture are justified
Heart point, θ are panoramic picture angles, and angular range is 0 to 360 degree；
It is described tracking linkage the step of be：
The first step：On panorama monitoring image a monitoring objective is clicked on mouse；
Second step：According to the size of the panorama monitoring image of determination, calculated and obtained by correlation model by monitoring objective coordinate
Take the coordinate information of Pan/Tilt/Zoom camera；
3rd step：Pan/Tilt/Zoom camera tracing and monitoring target is driven by the coordinate information of PTZ high-speed ball-forming machines；
Wherein：When the monitoring objective that the monitoring objective that part plan monitoring picture is tracked is clicked on panorama monitoring image has
During error：By adjusting the corrected parameter that parameters revision preserves in PTZ parameter dialog boxes, reduce and monitoring objective error.
Scheme is further：The object of reference looked on panorama monitoring image X1 axle upper half Y1 axis is at least in X1
In the upper half axis area of axle upper half Y1 axis.
Scheme is further：The correlation model is embraced to include calculates PTZ high-speed ball-forming machine level angles P's for monitoring objective
Formula, the formula for calculating Pan/Tilt/Zoom camera angle of pitch T；
The formula of the calculating PTZ high-speed ball-forming machine level angles P is：, P=；
Calculating PTZ high-speed ball-forming machine angles of pitch T formula is：T=(t- (d × t)/r), t is PTZ high-speed ball-forming machines
Maximum elevation, d be monitoring objective to origin distance d=。
Scheme is further：The multiplication factor Z is adjusted determination by PTZ parameter dialog boxes.
Scheme is further：The panoramic camera and PTZ high-speed ball-forming machines with head are arranged in same horizontal plane.
A kind of device for realizing panoramic camera and high-speed ball-forming machine intelligent linkage, including panoramic camera, with head
PTZ high-speed ball-forming machines and a monitoring computer being attached thereto, panoramic camera and the PTZ high-speed ball-forming machines with head are directed to
Same monitor area obtains panorama monitoring image and obtains part plan monitoring picture, panoramic camera and the high-speed ball-forming machine peace
On the horizontal plane of equal height.
Scheme is further：The panoramic camera and high-speed ball-forming machine are horizontally mounted distance without departing from 10 meters.
The beneficial effects of the invention are as follows：This method is different from the demarcation of the troublesome calculation of prior art, employs by estimating
Two images, realize that quick coordinate is demarcated by controlling mouse to slide, the step of Accurate Calibration is then completed by dialog box, side
Method is simple, easily operated, and installation only needs on one face, no harsh requirement of adjusting the distance.
The present invention is described in detail with reference to the accompanying drawings and examples.
Brief description of the drawings
Fig. 1 is panorama monitoring image schematic diagram；
Fig. 2 is part plan monitoring picture schematic diagram；
Fig. 3 is that panorama monitoring image polar coordinates change coordinate relation with part plan monitoring picture plane coordinates correlation model
Formula figure；
Fig. 4 is two Camera composition schematic diagrames of apparatus of the present invention.
Embodiment
Embodiment 1：
A kind of panoramic camera and high-speed ball-forming machine intelligent linkage method, are a kind of panoramic camera and high-speed ball-forming machine linkage tube
Reason method, including DVR（By taking Haikang as an example）, one group of panoramic camera for being used to monitor and a carry cloud
The high-speed ball-forming machine composition of platform, control method software section use the c# programming languages of the market mainstream, are advantageous to the secondary of software and open
Hair utilizes, and DVR is connected with data storage server simultaneously, can record picture belonging to monitoring in real time.
Its methods described：It is included in the panorama monitoring image drawn game shown on computer display for same monitor area
Facial planes monitoring picture, panorama monitoring image are obtained by panoramic camera, and part plan monitoring picture is high by the PTZ with head
Fast ball machine obtains；After locking monitoring objective in panorama monitoring image with mouse, plane monitoring picture can follow described complete automatically
Mouse is moved in scape watch circle picture point, and processing is zoomed in and out to locking monitoring objective；Wherein, the interlock method includes demarcation connection
Moving axes forms the step of the step of correlation model and tracking linkage：
It is described demarcation linkage coordinate formed correlation model the step of be：
The first step：As depicted in figs. 1 and 2, made first in panorama monitoring image 1 with " 0 " viewpoint of panorama monitoring image
An X1 axle Y1 axle rectangular co-ordinate line is established for the origin of coordinates, an X2 is established by origin of the center of part plan monitoring picture 2
Axle Y2 axle rectangular co-ordinate lines, a PTZ parameter dialog box is set in panorama monitoring image or part plan monitoring picture, and will
The PTZ parameters zero of PTZ high-speed ball-forming machines resets；
Second step：An object of reference 3 is found on panorama monitoring image X1 axle upper half Y1 axis, estimates the one of object of reference
Individual point is defined as with reference to object point, is overlapped described moved with reference to object point with Y1 axis with mouse；
3rd step：The object of reference is found with mouse movement part plan monitoring picture, object of reference is amplified, estimated：With
Mouse overlaps the panorama monitoring image of determination with reference to object point with Y2 axial coordinate lines；
3rd step：The PTZ parameter informations of PTZ high-speed ball-forming machines now are obtained, the parameter is saved as corrected parameter, is made
P and T parameters now are reference " 0 " point coordinates of part plan monitoring picture, realize two image Y1 axles and the alignment of Y2 axles
Demarcation；
Wherein：P is level angle, and T is the angle of pitch, and Z is multiplication factor, and P, T, Z parameter scope are by PTZ high-speed ball-forming machine parameters
It is determined that；
4th step：Using " 0 " viewpoint of panorama monitoring image as the centre point of panoramic picture, click on mouse in the center of circle and obtain
Panoramic picture center point coordinate, the size of panorama monitoring image is determined by the affiliated radius r of panoramic picture, two images of completion
X, y, α, β, the linkage of θ parameters demarcate to form correlation model；
Wherein：X, y is range coordinate of the monitoring objective in panorama monitoring image, and α, β are that the polar coordinates of panoramic picture are justified
Heart point, θ are panoramic picture angles, and angular range is 0 to 360 degree；
It is described tracking linkage the step of be：
The first step：On panorama monitoring image a monitoring objective is clicked on mouse；
Second step：According to the size of the panorama monitoring image of determination, calculated and obtained by correlation model by monitoring objective coordinate
Take the coordinate information of PTZ high-speed ball-forming machines；
3rd step：PTZ high-speed ball-forming machine tracing and monitoring targets are driven by the coordinate information of PTZ high-speed ball-forming machines；
Wherein：When the monitoring objective that the monitoring objective that part plan monitoring picture is tracked is clicked on panorama monitoring image has
During error：By adjusting the corrected parameter that parameters revision preserves in PTZ parameter dialog boxes, reduce and monitoring objective error.
In embodiment：The object of reference looked on panorama monitoring image X1 axle upper half Y1 axis is at least on X1 axles
In the upper half axis area of half area's Y1 axis.
In embodiment：As shown in figure 3, the correlation model is embraced to have included calculates PTZ high-speed ball-forming machines level for monitoring objective
Corner P formula, the formula for calculating Pan/Tilt/Zoom camera angle of pitch T；
The formula of the calculating PTZ high-speed ball-forming machine level angles P is：, P=；
Calculating PTZ high-speed ball-forming machine angles of pitch T formula is：T=(t- (d × t)/r), t is PTZ high-speed ball-forming machines
Maximum elevation, d be monitoring objective to origin distance d=。
In embodiment：The multiplication factor Z is adjusted determination by PTZ parameter dialog boxes.The panoramic camera and
It is a kind of preferable scheme that PTZ high-speed ball-forming machines with head, which are arranged in same horizontal plane, for mutual horizontal range,
As long as there is no two images of harsh requirement to take into account between each other.
So performed in the operating procedure of reality：
1）Connect equipment：By video recorder IP address, port, user name and password where inputting panoramic shooting, stepped on
Record preview test；High-speed ball-forming machine IP address and relevant parameter are inputted, logs in and preview is tested；
2）Obtain panoramic camera（Pass through DVR）With the real-time video picture of high-speed ball-forming machine；
3）First by the PTZ parameters of clipping the ball, high-speed ball-forming machine is initialized, i.e. PTZ parameters return 0；
4）An object of reference of the direct north of panoramic camera is obtained, and allows the picture centre line of high-speed ball-forming machine to be directed at phase
Same object of reference；
5）Obtain the PTZ parameter informations of high-speed ball-forming machine and preserve；
6）The centre point of panorama is found in the image of panoramic camera, mouse is clicked on and obtains image center seat
Mark, the affiliated radius of panorama is calculated by the size and round dot information of image, completes the demarcation to intelligent linkage；
PTZ high speed spherical coordinates is determined by control method：
7）One group of nominal data is formed by information above, you can complete to the staking-out work in intelligent linkage system, can
Panorama is clicked on, makes high-speed ball-forming machine intelligent-tracking；
8）When there is the situation of linkage inaccuracy, high-speed ball-forming machine PTZ parameters are can adjust, it is corresponded to phase with panorama
Same object of reference；
9）Repeat 8）Step is multiple, obtains one group of precise information.And can be by selecting to preserve data, to this group of nominal data
Preserve, so that linkage next time is called；Complete the demarcation to intelligent linkage and application.
Correlation model described in embodiment have the characteristics that in it is several or whole：
A) there is the variant calculated value that data library possesses demarcation group data or demarcation group data；
B) according to demarcation group data, precalculated, obtain intermediate variable value；
C) when turning linkage, camera video or PTZ one party data are obtained, according to the database of correlation model
Or intermediate variable, the data of the opposing party are calculated；
D) computational accuracy of correlation model and improves constantly with the increase for the demarcation group quantity correctly added.
e）A kind of panoramic camera and high-speed ball-forming machine association control method, establish correlation model：
Panoramic camera image length a width of 4:3 rectangle, its effective monitoring picture are that inscribe is circular, are built in the picture
Vertical polar coordinates, if with（α, β）For the home position of monitored picture, r be annular image edge to the distance in the center of circle, θ is certain pixel
The polar angle scope of position（0,3600）, the coordinate information of PTZ high-speed ball-forming machines（Pan, tilt, zoom）, wherein pan is water
Flat turn angular region（0,3600）, tilt is the angle of pitch, and vertical slewing area is（0,900）If selected high-speed ball-forming machine luffing angle
Larger, scope can suitably amplify when can raise up, and used in the present embodiment is Haikang high-speed ball-forming machine, when the angle of pitch is less than 0, model
Enclose（3600-3550）, zoom is clipping the ball focal range（0,200）；By step 8）Linkage calculating is carried out, according to panoramic shooting
The coordinate points that machine is got calculate the rotational angle of ball machine, such as coordinate points（X, y）To the center of circle（α, β）Distance stock is hooked by triangle
Theorem formula, point to circle center distance is direct hypotenuse, and its distance is both sides square root sum square, and formula d=It is converted into c# edit patterns dis=Math.Sqrt ((x- α) * (x- α)+(y- β) * (y- β))；
Its angle rotatedCalculated by the tan of triangle, tangent valueEqual to the opposite side of triangle（x-a）With adjacent side（y-
β）Ratio, its formula；It can obtainAngle is the result of arctan function, i.e., is expressed as in c#=((Math.Atan(k) / Math.PI) * 180);Wherein Math is the expression of mathematical formulae, and Atan (k) is arc tangent
The expression of function,, Math.PI is the mathematical notation of pi.If the angle calculated>Exceed when 3600
The rotational angle of ball machine, be handled-=3600, untill eligible.Vertical rotational angle tilt=
(900 - (dis * 900) / r) ；Pass through what is got（pan,tilt,zoom）Parameter, transfer high-speed ball-forming machine and turn to finger
Fixed position, realize intelligent linkage effect.Zoom can actual conditions selection.
Realize that 360 degree of continuous imagings monitor simultaneously using a camera, it is ensured that 360 degree of monitor area non-blind areas, continuously
Monitoring in real time.
Control：High-speed ball-forming machine with head, level and the elevating movement of general camera are realized, and then can be with photographing thing
The regional area that part is sent.Existing most of clipping the balls（Or head）Coordinate system is to select spherical coordinate system, level angle 0
~ 3600, pitching corner 0 ~ 900, panoramic camera associates control with clipping the ball, refers to by some process, is panorama picture
The pixel coordinate of machine and the polar coordinates of clipping the ball establish mapping relations.If user needs to pay close attention to some in the range of overall view monitoring
Situation is, it is necessary to which clipping the ball can be turned and region the occurrence of this is entered by mapping relations by clicking on panorama manually
Row details is shot.
Embodiment 2：
A kind of device for realizing panoramic camera described in embodiment 1 and high-speed ball-forming machine intelligent linkage, as shown in figure 4, including
Panoramic camera 4, the PTZ high-speed ball-forming machines 5 with head and a monitoring computer 6 being attached thereto, monitoring computer are set
Put in Control Room；Panoramic camera and PTZ high-speed ball-forming machines with head obtain panorama monitoring figure for same monitor area
Picture and acquisition part plan monitoring picture, due to applying the method described in embodiment 1, there is provided PTZ ginsengs on the display screen
Several adjustment windows, therefore the effect of tracking target following can be adjusted at any time, therefore for panoramic camera and high-speed ball-forming machine
Installation avoid the need for the requirement of harshness, two cameras are avoided the need for installed in the upper bottom of same support in the present embodiment
Put, i.e.,：The panoramic camera and high-speed ball-forming machine are arranged on the horizontal plane 7 of equal height；Can be by the panorama
Video camera and high-speed ball-forming machine are horizontally mounted distance without departing from 10 meters.
Claims (5)
1. a kind of panoramic camera and PTZ high-speed ball-forming machine intelligent linkage methods, are included on computer display and are directed to same prison
The panorama monitoring image and part plan monitoring picture that control region is shown, panorama monitoring image are obtained by panoramic camera, local
Plane monitoring picture is obtained by the PTZ high-speed ball-forming machines with head；After monitoring objective being locked with mouse in panorama monitoring image,
Plane monitoring picture can follow mouse in the panorama monitoring picture point to move automatically, and place is zoomed in and out to locking monitoring objective
Reason；Characterized in that, the interlock method includes the step of the step of demarcation linkage coordinate forms correlation model and tracking linkage：
It is described demarcation linkage coordinate formed correlation model the step of be：
The first step：An X1 is established using " 0 " viewpoint of panorama monitoring image as the origin of coordinates first in panorama monitoring image
Axle Y1 axle rectangular co-ordinate lines, an X2 axle Y2 axle rectangular co-ordinate line is established by origin of part plan monitoring picture center, complete
One PTZ parameter dialog box is set in scape monitoring picture or part plan monitoring picture, and by the PTZ parameters of PTZ high-speed ball-forming machines
Zero resets；
Second step：An object of reference is found on panorama monitoring image X1 axle upper half Y1 axis, estimates a point of object of reference
It is defined as with reference to object point, is overlapped described moved with reference to object point with Y1 axis with mouse；
3rd step：The object of reference is found with mouse movement part plan monitoring picture, object of reference is amplified, estimated：Use mouse
The panorama monitoring image of determination is overlapped with reference to object point with Y2 axial coordinate lines；
3rd step：The PTZ parameter informations of PTZ high-speed ball-forming machines now are obtained, the parameter is saved as corrected parameter, and order is now
P and T parameters be part plan monitoring picture reference " 0 " point coordinates, realize two image Y1 axles and Y2 axles alignment demarcation；
Wherein：P is level angle, and T is the angle of pitch, and Z is multiplication factor, and P, T, Z parameter scope are true by PTZ high-speed ball-forming machine parameters
It is fixed；
4th step：Using " 0 " viewpoint of panorama monitoring image as the centre point of panorama monitoring image, click on mouse in the center of circle and obtain
Panorama monitoring picture centre point coordinates, determines the size of panorama monitoring image by the affiliated radius r of panorama monitoring image, complete with
X, y of panorama monitoring image, α, β, the linkage of θ parameters demarcate to form correlation model；
Wherein：X, y is range coordinate of the monitoring objective in panorama monitoring image, and α, β are the polar coordinates centre point of panoramic picture,
θ is panoramic picture angle, and angular range is 0 to 360 degree；
It is described tracking linkage the step of be：
The first step：On panorama monitoring image a monitoring objective is clicked on mouse；
Second step：According to the size of the panorama monitoring image of determination, calculated by monitoring objective coordinate by correlation model and obtain PTZ
The coordinate information of high-speed ball-forming machine；
3rd step：PTZ high-speed ball-forming machine tracing and monitoring targets are driven by the coordinate information of PTZ high-speed ball-forming machines；
Wherein：When the monitoring objective that the monitoring objective that part plan monitoring picture is tracked is clicked on panorama monitoring image has error
When：By adjusting the corrected parameter that parameters revision preserves in PTZ parameter dialog boxes, reduce and monitoring objective error.
2. interlock method according to claim 1, it is characterised in that described in panorama monitoring image X1 axle upper half Y1 axles
The object of reference looked on line is at least in the upper half axis area of X1 axle upper half Y1 axis.
3. interlock method according to claim 1, it is characterised in that the correlation model includes for monitoring objective meter
Calculate PTZ high-speed ball-forming machine level angles P formula, calculate PTZ high-speed ball-forming machine angles of pitch T formula；
The formula of the calculating PTZ high-speed ball-forming machine level angles P is：, P=；
Calculating PTZ high-speed ball-forming machine angles of pitch T formula is：T=(t- (d × t)/r), t is the maximum of PTZ high-speed ball-forming machines
The elevation angle, d be monitoring objective to origin distance d=。
4. interlock method according to claim 1, it is characterised in that the multiplication factor Z is entered by PTZ parameter dialog boxes
Row adjustment determines.
5. interlock method according to claim 1, it is characterised in that the panoramic camera and the PTZ high speeds with head
Ball machine is arranged in same horizontal plane.
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