CN113038031A - Gun and ball linkage calibration method and device, electronic equipment and storage medium - Google Patents
Gun and ball linkage calibration method and device, electronic equipment and storage medium Download PDFInfo
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- CN113038031A CN113038031A CN202110232057.4A CN202110232057A CN113038031A CN 113038031 A CN113038031 A CN 113038031A CN 202110232057 A CN202110232057 A CN 202110232057A CN 113038031 A CN113038031 A CN 113038031A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
- Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
The invention provides a gun and ball linkage calibration method and device, electronic equipment and a storage medium, belongs to the technical field of monitoring equipment, and solves the problem that a coordinate calibration method in the existing scheme is dependent on manual operation and is inconvenient. The method comprises the following steps: generating a central point coordinate and a positioning coordinate by the fixed point camera; the moving point camera moves to a corresponding position according to the center point coordinate and the positioning coordinate; generating a checking coordinate and a moving point coordinate system according to the central point coordinate and the positioning coordinate; and matching the coordinate system of the moving point with the coordinate system of the positioning camera to confirm whether the matching is successful.
Description
Technical Field
The invention relates to the technical field of monitoring equipment, in particular to a gun and ball linkage calibration method and device, electronic equipment and a storage medium.
Background
With the development of electronic technology in the monitoring field, the design direction of various products is developing towards intellectualization. People's demand is increasing, and people want to pay attention to both panoramic information and detailed images in which users are interested. The common bolt and ball machine has advantages and disadvantages respectively. The monitoring view of the gun camera is large, but the image at a far distance cannot be focused clearly. The ball machine has super strong zooming capability, a remote monitoring area can be easily focused clearly, but the view field of the whole picture is small. Gun and ball linkage requires that a gun camera and a ball machine are matched with each other, the gun camera focuses on panoramic pictures, and the ball machine focuses on specific details. Thus combining the advantages of the two devices and achieving the expected effect. The common coordinate system calibration requires a user to manually input an interested point to match the coordinate system, and is clumsy when a picture scene is complex.
Disclosure of Invention
The invention aims to provide a gun and ball linkage calibration method, a gun and ball linkage calibration device, electronic equipment and a storage medium, and solves the technical problems that a coordinate calibration method in the prior art depends on manual operation and is inconvenient.
In a first aspect, the invention provides a calibration method for gun and ball linkage, which is applied to monitoring equipment for gun and ball linkage, and the method comprises the following steps:
generating a central point coordinate and a positioning coordinate by the fixed point camera;
the moving point camera moves to a corresponding position according to the center point coordinate and the positioning coordinate;
generating a checking coordinate and a moving point coordinate system according to the central point coordinate and the positioning coordinate;
and matching the coordinate system of the moving point with the coordinate system of the positioning camera to confirm whether the matching is successful.
Further, the step of generating the coordinates of the central point and the positioning coordinates by the fixed point camera specifically includes:
the fixed-point camera acquires the coordinates of the center point of the current visual field range;
the fixed-point camera acquires a preset number of positioning coordinates in the current visual field range.
Further, the step of moving the position of the ball is controlled by the moving point camera according to the central point coordinate and the positioning coordinate specifically comprises:
rotating the moving point camera to a corresponding position according to the coordinates of the central point;
calculating a plurality of displacement coordinates according to the center point coordinates and the positioning coordinates;
and the moving point camera sequentially rotates to the corresponding position according to the plurality of displacement coordinates.
Further, the step of matching the coordinate system of the moving point with the coordinate system of the positioning camera specifically includes:
and matching the coordinate system of the fixed point camera with the coordinate system of the check coordinate and the coordinate system of the moving point to confirm whether the matching is successful.
Further, after the step of rotating the moving point camera to the corresponding position according to the coordinates of the center point, the method further includes:
confirming whether the moving point camera controls the ball;
if yes, executing the step of calculating a plurality of shift coordinates according to the central point coordinates and the positioning coordinates;
if not, the process is ended.
Further, after the step of sequentially rotating the moving point camera to the corresponding position according to the plurality of shifted coordinates, the method further includes:
confirming whether the moving point camera controls the ball;
if yes, generating a checking coordinate and a moving point coordinate system according to the central point coordinate and the positioning coordinate;
if not, the process is ended.
Further, after the step of matching the coordinate system of the fixed point camera with the coordinate system of the moving point camera according to the check coordinate system, the method further includes:
and sending the matching result to the control center.
In a second aspect, the present invention further provides a calibration apparatus for gun and ball linkage, including:
the coordinate generating module is used for generating a central point coordinate and a positioning coordinate;
the ball control positioning module is used for moving to a corresponding position according to the central point coordinate and the positioning coordinate;
the coordinate system generating module is used for generating a check coordinate and a moving point coordinate system according to the central point coordinate and the positioning coordinate;
and the coordinate system matching module is used for matching the moving point coordinate system with the coordinate system of the positioning camera and confirming whether the matching is successful.
In a third aspect, the present invention further provides an electronic device, which includes a memory and a processor, where the memory stores a computer program operable on the processor, and the processor implements the steps of the above method when executing the computer program.
In a fourth aspect, the present invention also provides a computer readable storage medium having stored thereon machine executable instructions which, when invoked and executed by a processor, cause the processor to carry out the method described above.
According to the calibration method for gun-ball linkage provided by the invention, the fixed point camera generates the center point coordinate and the positioning coordinate, the moving point camera moves to the corresponding position according to the coordinate, then the coordinate system of the moving point camera is established, and finally the coordinate system established by the moving point camera is matched with the coordinate system of the fixed point camera, so that the automatic calibration of the coordinate system is completed, the manual calibration and manual control are avoided, and the flexibility of gun-ball linkage is improved.
Accordingly, the calibration device for gun and ball linkage, the electronic device and the computer-readable storage medium provided by the embodiment of the invention also have the technical effects.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of a calibration method for gun-ball linkage according to an embodiment of the present invention;
FIG. 2 is a detailed flowchart of a calibration method for gun and ball linkage according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a calibration device for gun and ball linkage according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "comprising" and "having," and any variations thereof, as referred to in embodiments of the present invention, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements but may alternatively include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
As shown in fig. 1, an embodiment of the present invention provides a calibration method for a gun and ball linkage, including the following steps:
s11: generating a central point coordinate and a positioning coordinate by the fixed point camera;
s12: the moving point camera moves to a corresponding position according to the center point coordinate and the positioning coordinate;
s13: generating a checking coordinate and a moving point coordinate system according to the central point coordinate and the positioning coordinate;
s14: and matching the coordinate system of the moving point with the coordinate system of the positioning camera to confirm whether the matching is successful.
According to the calibration method for gun-ball linkage provided by the embodiment of the invention, the fixed point camera generates the coordinate of the central point and the positioning coordinate, the moving point camera moves to the corresponding position according to the coordinate, then the coordinate system of the moving point camera is established, and finally the coordinate system established by the moving point camera is matched with the coordinate system of the fixed point camera, so that the automatic calibration of the coordinate system is completed, the manual calibration and manual control are avoided, and the flexibility of gun-ball linkage is improved.
As shown in fig. 2, in a possible implementation, the step of generating the coordinates of the center point and the coordinates of the location by the fixed point camera specifically includes:
s211: the fixed-point camera acquires the coordinates of the center point of the current visual field range;
s212: the fixed-point camera acquires a preset number of positioning coordinates in the current visual field range.
By acquiring the coordinates of the central point and the positioning coordinates, the original point location established by the coordinates can be provided for the moving point camera.
In a possible implementation manner, the step of controlling the ball moving position by the moving point camera according to the coordinates of the central point and the positioning coordinates specifically includes:
s221: rotating the moving point camera to a corresponding position according to the coordinates of the central point;
s222: calculating a plurality of displacement coordinates according to the center point coordinates and the positioning coordinates;
s223: and the moving point camera sequentially rotates to the corresponding position according to the plurality of displacement coordinates.
The moving point camera is adjusted to a corresponding position, and the moving point camera can establish a corresponding point position.
In a possible implementation manner, the step of matching the coordinate system of the moving point with the coordinate system of the positioning camera specifically includes:
s241: and matching the coordinate system of the fixed point camera with the coordinate system of the check coordinate and the moving point coordinate system, and confirming whether the matching is successful, if so, executing the step S25, otherwise, executing the step S26.
By matching with the original coordinate system, the moving point camera can confirm whether the coordinate system is established successfully.
In a possible embodiment, after the step of rotating the moving point camera to the corresponding position according to the coordinates of the center point, the method further includes:
s2211: confirming whether the moving point camera finishes controlling the ball, if so, executing step S222, otherwise, executing step S26;
s26: and ending the process.
If the ball control is successful, the current process of establishing the coordinate system is smooth, and if the ball control is failed, the process needs to be ended so as to reestablish the coordinate system.
In a possible embodiment, after the step of sequentially rotating the moving point camera to the corresponding positions according to the plurality of shift coordinates, the method further includes:
s2231: confirming whether the moving point camera controls the ball completely, if so, executing step S23, otherwise, executing step S26;
s23: generating a checking coordinate and a moving point coordinate system according to the central point coordinate and the positioning coordinate;
s26: and ending the process.
If the ball control is successful, the current process of establishing the coordinate system is smooth, and if the ball control is failed, the process needs to be ended so as to reestablish the coordinate system.
In a possible implementation, after the step of matching the coordinate system of the fixed point camera with the coordinate system of the fixed point camera according to the check coordinate and the moving point coordinate system, the method further includes:
s25: and sending the matching result to the control center.
The staff can confirm whether the matching is successful through the matching result of the control center so as to use the matching or reestablish the coordinate system calibration.
The embodiment of the invention provides a calibration method for gun and ball linkage, which has the following specific implementation modes:
when the calibration of gun-ball linkage is established, firstly, a fixed point camera is required to output coordinates of a central point in a current visual field range, and positioning coordinates of a plurality of points of interest are randomly generated.
And then, the coordinates are sent to a moving point camera, the moving point camera performs corresponding movement according to the coordinates after receiving the coordinates, the moving point camera moves to a corresponding position, whether the ball control is completed or not needs to be confirmed after the movement is completed every time, if the movement is not completed, the ball control is failed, and the process needs to be ended and the calibration needs to be performed again.
After all point locations move, the moving point camera generates a moving point coordinate system and a random checking coordinate according to the moved point locations. And matching according to the moving point coordinate system and the check coordinate and the coordinate system of the fixed point camera to confirm whether the matching is successful, and if the matching is successful, indicating that the calibration is finished. When the camera is used subsequently, the moving point camera can move to the corresponding position in the fixed point camera view range according to the coordinates only by inputting the corresponding coordinates, clear local area amplification is carried out, and detailed conditions in the current range are clearly checked.
As shown in fig. 3, an embodiment of the present invention further provides a calibration apparatus for a gun and ball linkage, including:
the coordinate generating module 1 is used for generating a center point coordinate and a positioning coordinate;
the ball control positioning module 2 is used for moving to a corresponding position according to the central point coordinate and the positioning coordinate;
the coordinate system generating module 3 is used for generating a check coordinate and a moving point coordinate system according to the center point coordinate and the positioning coordinate;
and the coordinate system matching module 4 is used for matching the moving point coordinate system with the coordinate system of the positioning camera and confirming whether the matching is successful.
Corresponding to the method, an embodiment of the present invention further provides an electronic device, which includes a memory and a processor, where the memory stores a computer program operable on the processor, and the processor implements the steps of the method when executing the computer program.
In accordance with the above method, embodiments of the present invention also provide a computer readable storage medium storing machine executable instructions, which when invoked and executed by a processor, cause the processor to perform the steps of the above method.
The apparatus provided by the embodiment of the present invention may be specific hardware on the device, or software or firmware installed on the device, etc. The device provided by the embodiment of the present invention has the same implementation principle and technical effect as the method embodiments, and for the sake of brief description, reference may be made to the corresponding contents in the method embodiments without reference to the device embodiments. It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the foregoing systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
For another example, the division of the unit is only one division of logical functions, and there may be other divisions in actual implementation, and for another example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments provided by the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; and the modifications, changes or substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention. Are intended to be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A calibration method of gun-ball linkage is characterized by being applied to monitoring equipment of gun-ball linkage, and comprising the following steps:
generating a central point coordinate and a positioning coordinate by the fixed point camera;
the moving point camera moves to a corresponding position according to the center point coordinate and the positioning coordinate;
generating a checking coordinate and a moving point coordinate system according to the central point coordinate and the positioning coordinate;
and matching the coordinate system of the moving point with the coordinate system of the positioning camera to confirm whether the matching is successful.
2. The calibration method for the gun-ball linkage according to claim 1, wherein the step of generating the coordinates of the center point and the positioning coordinates by the fixed point camera specifically comprises:
the fixed-point camera acquires the coordinates of the center point of the current visual field range;
the fixed-point camera acquires a preset number of positioning coordinates in the current visual field range.
3. The calibration method for the gun and ball linkage according to claim 1, wherein the step of controlling the ball moving position by the moving point camera according to the center point coordinate and the positioning coordinate specifically comprises the following steps:
rotating the moving point camera to a corresponding position according to the coordinates of the central point;
calculating a plurality of displacement coordinates according to the center point coordinates and the positioning coordinates;
and the moving point camera sequentially rotates to the corresponding position according to the plurality of displacement coordinates.
4. The calibration method for the gun-ball linkage according to claim 1, wherein the step of matching the coordinate system of the moving point with the coordinate system of the positioning camera specifically comprises:
and matching the coordinate system of the fixed point camera with the coordinate system of the check coordinate and the coordinate system of the moving point to confirm whether the matching is successful.
5. The method for calibrating a gun-ball linkage according to claim 3, wherein after the step of rotating the moving point camera to a corresponding position according to the coordinates of the center point, the method further comprises:
confirming whether the moving point camera controls the ball;
if yes, executing the step of calculating a plurality of shift coordinates according to the central point coordinates and the positioning coordinates;
if not, the process is ended.
6. The calibration method for the gun-ball linkage according to claim 3, wherein after the step of sequentially rotating the moving point camera to the corresponding position according to the plurality of displacement coordinates, the calibration method further comprises:
confirming whether the moving point camera controls the ball;
if yes, generating a checking coordinate and a moving point coordinate system according to the central point coordinate and the positioning coordinate;
if not, the process is ended.
7. The method for calibrating a gun and ball linkage according to claim 4, wherein after the step of matching the coordinate system of the fixed point camera with the coordinate system of the fixed point camera according to the check coordinate and the moving point coordinate system, the method further comprises:
and sending the matching result to the control center.
8. A calibration device for gun and ball linkage is characterized by comprising:
the coordinate generating module is used for generating a central point coordinate and a positioning coordinate;
the ball control positioning module is used for moving to a corresponding position according to the central point coordinate and the positioning coordinate;
the coordinate system generating module is used for generating a check coordinate and a moving point coordinate system according to the central point coordinate and the positioning coordinate;
and the coordinate system matching module is used for matching the moving point coordinate system with the coordinate system of the positioning camera and confirming whether the matching is successful.
9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program operable on the processor, and wherein the processor implements the steps of the method of any of claims 1 to 7 when executing the computer program.
10. A computer readable storage medium having stored thereon machine executable instructions which, when invoked and executed by a processor, cause the processor to execute the method of any of claims 1 to 7.
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| CN111652941A (en) * | 2020-05-21 | 2020-09-11 | 合肥工业大学 | Camera internal reference calibration method based on adaptive variation longicorn group optimization algorithm |
| CN112305529A (en) * | 2020-10-19 | 2021-02-02 | 杭州海康威视数字技术股份有限公司 | Parameter calibration method, target object tracking method, device and system |
| CN112419424A (en) * | 2020-11-18 | 2021-02-26 | 济南博观智能科技有限公司 | Gun and ball linkage calibration method and device and related equipment |
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