WO2023051027A1 - Method and device for acquiring real-time image information of target object - Google Patents

Method and device for acquiring real-time image information of target object Download PDF

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Publication number
WO2023051027A1
WO2023051027A1 PCT/CN2022/110488 CN2022110488W WO2023051027A1 WO 2023051027 A1 WO2023051027 A1 WO 2023051027A1 CN 2022110488 W CN2022110488 W CN 2022110488W WO 2023051027 A1 WO2023051027 A1 WO 2023051027A1
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WIPO (PCT)
Prior art keywords
target
ptz camera
ptz
information
position information
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PCT/CN2022/110488
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French (fr)
Chinese (zh)
Inventor
廖春元
李文卿
陈芳
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亮风台（上海）信息科技有限公司
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Publication of WO2023051027A1 publication Critical patent/WO2023051027A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Definitions

  • the present application relates to the communication field, and in particular to a technology for acquiring real-time image information of a target object.
  • PTZ camera device refers to a surveillance camera with a PTZ control pan/tilt.
  • PTZ is the abbreviation of Pan/Tilt/Zoom.
  • the middle of the surveillance camera refers to the three dimensions of pan/tilt control: left and right rotation, up and down pitch, and zoom.
  • An object of the present application is to provide a method and device for acquiring real-time image information of a target object.
  • a method for acquiring real-time image information of a target object comprising:
  • a device for acquiring real-time image information of a target object comprising:
  • a module used to obtain the target location information of the target object
  • One or two modules used to determine a matching target PTZ camera device from a plurality of PTZ camera devices according to the target position information, wherein the acquisition area of the target PTZ camera device includes the target position information;
  • a third module configured to send an image acquisition instruction about the target object to the target PTZ camera device, and receive real-time image information returned by the target PTZ camera device based on the image acquisition instruction.
  • a computer device wherein the device includes:
  • a memory arranged to store computer-executable instructions which, when executed, cause the processor to perform the steps of any one of the methods described above.
  • a computer-readable storage medium on which computer programs/instructions are stored, wherein the computer program/instructions, when executed, cause the system to perform any of the methods described above. step.
  • a computer program product including computer programs/instructions, which is characterized in that, when the computer program/instructions are executed by a processor, the steps of any one of the methods described above are implemented.
  • the present application obtains the target position information of the target object, and determines a matching target PTZ camera device from a plurality of PTZ camera devices according to the target position information, wherein the acquisition of the target PTZ camera device
  • the area includes the target position information, sends an image acquisition instruction about the target object to the target PTZ camera device, and receives real-time image information returned by the target PTZ camera device based on the image acquisition instruction.
  • This application can intelligently recommend PTZ camera devices around the position of the specified target object among a large number of PTZ camera devices, and select the best one or more PTZ camera devices. Further, this application can also control the gimbal to focus on the target , Furthermore, corresponding AR tag prompts can also be added to each real-time image information, so as to achieve a more efficient and accurate intelligent office experience.
  • FIG. 1 shows a flow chart of a method for acquiring real-time image information of a target object according to an embodiment of the present application
  • Fig. 2 shows an example diagram of determining target location information according to an embodiment of the present application
  • FIG. 3 shows an example diagram for determining the latitude and longitude of a target object according to an embodiment of the present application
  • FIG. 4 shows an example diagram of a viewing angle of a PTZ camera device according to an embodiment of the present application
  • Fig. 5 shows an example diagram of determining an azimuth angle according to an embodiment of the present application
  • FIG. 6 shows an example diagram of a PTZ camera device for determining a target according to an embodiment of the present application
  • Fig. 7 shows the functional modules of a target location information acquisition device according to an embodiment of the present application
  • FIG. 8 illustrates an exemplary system that may be used to implement various embodiments described in this application.
  • the terminal, the device serving the network, and the trusted party all include one or more processors (for example, a central processing unit (Central Processing Unit, CPU)), an input/output interface, a network interface and Memory.
  • processors for example, a central processing unit (Central Processing Unit, CPU)
  • CPU Central Processing Unit
  • Memory may include non-permanent memory in computer-readable media, random access memory (Random Access Memory, RAM) and/or non-volatile memory, such as read-only memory (Read Only Memory, ROM) or flash memory ( Flash Memory).
  • RAM Random Access Memory
  • ROM read-only Memory
  • Flash Memory Flash Memory
  • Computer-readable media including both permanent and non-permanent, removable and non-removable media, can be implemented by any method or technology for storage of information.
  • Information may be computer readable instructions, data structures, modules of a program, or other data.
  • the example of the storage medium of computer includes, but not limited to Phase-Change Memory (Phase-Change Memory, PCM), Programmable Random Access Memory (Programmable Random Access Memory, PRAM), Static Random-Access Memory (Static Random-Access Memory, SRAM), dynamic random access memory (Dynamic Random Access Memory, DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (Electrically-Erasable Programmable Read -Only Memory, EEPROM), flash memory or other memory technology, CD-ROM (Compact Disc Read-Only Memory, CD-ROM), Digital Versatile Disc (Digital Versatile Disc, DVD) or other optical storage , magnetic cassette, magnetic tape disk storage or other magnetic storage device
  • the equipment referred to in this application includes, but is not limited to, user equipment, network equipment, or equipment formed by integrating user equipment and network equipment through a network.
  • the user equipment includes but is not limited to any mobile electronic product that can perform human-computer interaction (such as human-computer interaction through a touch panel) with the user, such as a smart phone, a tablet computer, etc., and the mobile electronic product can use any operation System, such as Android operating system, iOS operating system, etc.
  • the network device includes an electronic device that can automatically perform numerical calculation and information processing according to pre-set or stored instructions, and its hardware includes but is not limited to a microprocessor, an application specific integrated circuit (ASIC) ), Programmable Logic Device (PLD), Field Programmable Gate Array (Field Programmable Gate Array, FPGA), Digital Signal Processor (Digital Signal Processor, DSP), embedded devices, etc.
  • ASIC application specific integrated circuit
  • PLD Programmable Logic Device
  • FPGA Field Programmable Gate Array
  • DSP Digital Signal Processor
  • embedded devices etc.
  • the network equipment includes but is not limited to a computer, a network host, a single network server, a plurality of network server sets or a cloud formed by multiple servers; here, the cloud is composed of a large number of computers or network servers based on Cloud Computing, Among them, cloud computing is a kind of distributed computing, a virtual supercomputer composed of a group of loosely coupled computer sets.
  • the network includes, but is not limited to, the Internet, a wide area network, a metropolitan area network, a local area network, a VPN network, a wireless self-organizing network (Ad Hoc network) and the like.
  • the device may also be a program running on the user device, network device, or a device formed by integrating user device and network device, network device, touch terminal or network device and touch terminal through a network.
  • the present application provides a method for obtaining real-time image information of a target object, which is mainly applied to computer equipment.
  • the computer equipment has established a communication connection with the corresponding PTZ camera device, and based on the communication connection, the image information captured by the PTZ camera device can be received. , camera attitude information, etc.
  • Described PTZ camera device (such as PTZ camera etc.) comprises the zoom pan-tilt camera that is installed in the city, and the PTZ (Pan/Tilt/Zoom) parameter of camera is adjustable, and this PTZ parameter can be based on the control that the computer equipment that this program belongs to sends
  • the adjustment can also be based on the control instructions of other devices (such as other control devices or servers, etc.).
  • the calibration of the camera device includes establishing the relationship between the pixel position of the camera image and the target object, and solving the parameters of the camera model according to the corresponding relationship between the coordinates of the feature points in the image and the world coordinates according to the camera imaging model.
  • the model parameters that the camera needs to calibrate include internal parameters and external parameters.
  • the internal parameter matrix of the camera depends on the internal parameters of the camera, no matter what the positional relationship between the calibration plate and the camera is, the internal parameter matrix of the camera remains unchanged.
  • the external parameter matrix reflects the positional relationship between the calibration board and the camera. For different pictures, the positional relationship between the calibration board and the camera has changed. At this time, the external parameter matrix corresponding to each picture is different.
  • the internal and external parameters of the PTZ camera device can be pre-calculated.
  • the target object includes but is not limited to the thing corresponding to the point, line, surface, and body expected to be obtained, or the carrier where the point, line, surface, and body are located, etc.
  • the target object can be a person, a building, a car, etc., or It can be a certain place, a certain position or even a certain coordinate information, etc.
  • the computer device may be an independent server, or a server network or server cluster composed of servers.
  • the computer device described in the embodiment of the present application includes but is not limited to computers, network hosts, A single web server, multiple web server sets, or a cloud server composed of multiple servers.
  • the cloud server is composed of a large number of computers or network servers based on cloud computing (Cloud Computing).
  • Fig. 1 shows a method for acquiring real-time image information of a target object according to one aspect of the present application, wherein the method includes step S101, step S102 and step S103.
  • step S101 the target position information of the target object is obtained;
  • step S102 a matching target PTZ camera is determined from a plurality of PTZ camera devices according to the target position information, wherein the acquisition of the target PTZ camera
  • the area includes the target location information; in step S103, send an image capture instruction about the target object to the target PTZ camera device, and receive real-time image information returned by the target PTZ camera device based on the image capture command.
  • the target location information of the target object is acquired.
  • the target location information includes, but is not limited to, location information used to identify the spatial distribution of the target object.
  • the location information can be coordinate location information in a certain coordinate system, or relative to a certain object (known geographic coordinates, etc.) Relative location information, etc.
  • Relative location information etc.
  • the longitude and latitude information of the target object the position information of the target object in the electronic map, the coordinate position of the target object in the world coordinate system corresponding to the PTZ camera device, or the relative position of the target object relative to a certain PTZ camera device, etc.
  • the acquisition of target location information can be directly uploaded by the user equipment or calculated based on other data, such as by a mobile device that has a communication connection with a computer device (such as drone equipment, mobile terminals, frontline police officers, alarm personnel, etc.),
  • the target position information about the target object uploaded by other server devices (such as command equipment, etc.); or, the computer device obtains the image information about the target object, and calculates and determines the target position information of the target object based on the image information.
  • step S101 target location information about a target object uploaded by a user equipment is received.
  • the PTZ camera system including computer equipment
  • the PTZ camera system can be connected to other devices and establish corresponding communication connections with other devices, such as mobile terminals or command equipment of police officers, and mobile terminals of alarm personnel.
  • the device can upload target location information about the target object to the PTZ camera system.
  • the target location information can be the location of the user equipment itself obtained by the corresponding user equipment through the positioning device, or the target object can be calculated and determined according to the current location of the user equipment.
  • the location information such as displaying the corresponding electronic map according to the current location of the user equipment, and collecting the user's clicks and selections on the target object in the electronic map to determine the target location information of the target object, or the user equipment directly The target location information of the input target object, etc.
  • step S101 the PTZ image information about the target object is acquired; the image position information of the target object in the PTZ image information is determined based on the PTZ image information; based on the image position information identifying target location information for the target object.
  • the PTZ camera system can also obtain the target position information of the target object through the PTZ image information collected by the PTZ camera device, such as the computer equipment can receive the PTZ image information collected by one or more PTZ camera devices, and determine the Include the PTZ camera image of the target object, and determine the image position information of the target object in the PTZ image information based on the recognition result; or based on the user's operation, it can be marked in a certain PTZ image information to determine that the PTZ image information contains the target object , and identify the image position information of the target object in the PTZ image information based on the template feature of the target object; or determine the image position information of the target object in the PTZ image information based on the user's mark on a certain position in the PTZ image information.
  • the computer equipment can receive the PTZ image information collected by one or more PTZ camera devices, and determine the Include the PTZ camera image of the target object, and determine the image position information of the target object in the PTZ image information based on the recognition result; or based on the user'
  • the relative position information of the target object relative to the initial PTZ camera device can be determined based on the internal and external parameters of the PTZ image information corresponding to the initial PTZ camera device; further, combined with the initial The shooting location information of the PTZ camera device, such as longitude and latitude information or map location information, can determine the target location information of the target object, such as longitude and latitude information or map location information.
  • the method further includes step S104 (not shown), in step S104, acquiring the imaging posture information and imaging position information of the PTZ image information corresponding to the initial PTZ imaging device; wherein, the Determining the target position information of the target object based on the image position information includes: determining the target position information of the target object based on the imaging posture information, the imaging position information and the image position information.
  • the computer equipment side stores the internal reference and shooting position information of each PTZ camera device (such as the coordinate position or geographical coordinate information of the camera device in the corresponding world coordinate system, etc.), according to the carrying capacity of the initial PTZ camera device when shooting the PTZ image information, The rotation angle of the equipment, etc.
  • the computer equipment can query and determine the internal reference and imaging position information of the initial PTZ imaging device through the imaging identification information (such as serial number or serial number, etc.) of the initial PTZ imaging device, according to the initial PTZ imaging device calculated when shooting the PTZ image information
  • the external parameters of the target object are then combined with the image position information of the target object to calculate and determine the target position information of the target object, etc.
  • the camera location information includes the latitude and longitude information of the initial PTZ camera device; wherein, the determination of the target object's location based on the camera posture information, the camera location information and the image location information Target position information, including: determining the relative position information of the target object relative to the initial PTZ camera device based on the camera attitude information and the image position information; based on the relative position information and the initial PTZ camera device The latitude and longitude information determines the latitude and longitude information of the target object.
  • the imaging location information includes latitude and longitude information of the initial PTZ imaging device
  • the computer device can determine the relative position information of the target object relative to the initial PTZ imaging device based on the internal reference, external reference and image position information of the target object , such as the coordinate information of the target object in the coordinate system established based on the initial PTZ camera device.
  • the intersection point of the center point perpendicular to the ground is the coordinate system established by the origin.
  • the above coordinate system is just an example and not limited. Other coordinate systems that can represent the relative position information of the target object relative to the initial PTZ camera device are acceptable.
  • the latitude and longitude information of the initial PTZ camera is known, and we calculate the latitude and longitude of the target object according to the coordinate information of the target object in the coordinate system and the latitude and longitude information of the PTZ camera.
  • the imaging location information also includes obtaining height information of the initial PTZ imaging device; wherein, based on the imaging posture information and the image position information, it is determined that the target object is relative to the initial PTZ imaging
  • the relative position information of the device includes: determining the relative position information of the target object relative to the initial PTZ camera based on the shooting posture information, image position information, and height information of the initial PTZ camera. For example, as shown in Figure 2, the ground where the target object is located is used as the X and Y axes, and the upward Z axis is used to establish a coordinate system. c(Xc, Yc, Zc), where Xc and Yc are 0, and Zc is the height of the PTZ camera.
  • the ray L is a straight line passing through the optical center c (Xc, Yc, Zc) of the PTZ camera device, and the direction vector is Vw, where Vw is a line determined according to the image position information of the target object and the internal and external parameters of the initial PTZ camera device.
  • Vw is a line determined according to the image position information of the target object and the internal and external parameters of the initial PTZ camera device.
  • the coordinates of the intersection point m and the origin O are known, and since the latitude and longitude of the origin O (the latitude and longitude of the initial PTZ camera) are known, the latitude and longitude of the intersection point m can be obtained.
  • the earth is regarded as a positive sphere
  • the longitude and latitude of the point O where the initial PTZ camera is known is (lon, lat)
  • the longitude circle tangent circle of the point where the initial PTZ camera is located is C1
  • the initial PTZ camera is The latitude annular tangent circle of the point is C2, the radius R1 of C1 is the radius of the earth, and the radius of C2 is R2.
  • a plane coordinate system is established with the initial PTZ camera device as the origin, the coordinates of a point P on the ground are (x, y), and the corresponding arc lengths of the plane coordinates x and y mapped on the earth are approximately l2 and l1.
  • the longitude deflection angle is ⁇
  • the longitude and latitude deflection angles ⁇ and ⁇ can also be obtained by knowing the latitude and longitude of the target object m, and then the plane coordinate relationship (Xm, Ym) between the target object and the PTZ camera can be obtained.
  • a matching target PTZ camera device is determined from a plurality of PTZ camera devices according to the target position information, wherein a collection area of the target PTZ camera device includes the target position information. For example, if the PTZ camera system includes multiple PTZ camera devices, the target PTZ camera device that can capture the target object can be matched and determined according to the target position information. In some cases, according to currently captured images of multiple PTZ camera devices, the target PTZ camera device capable of capturing the target object may be determined through user selection or target recognition.
  • the corresponding distance threshold can be set in advance, and the distance difference between each PTZ camera and the target position information is compared with the distance threshold, and the PTZ camera whose distance difference is less than or equal to the distance threshold is determined as matching Target PTZ camera device.
  • the computer device determines the collection range of each PTZ camera, and determines the corresponding target PTZ camera according to the matching of the corresponding collection range and the target position information.
  • the collection range is used to indicate the collectable viewing angle and/or collectable distance of each PTZ camera device, the corresponding collectable viewing angle includes horizontal rotation angle and/or vertical rotation angle, etc., and the corresponding collectable distance It can represent the farthest acquisition distance of the PTZ camera device, and the farthest acquisition distance can be a fixed radius, or a distance that changes with changes in rotation angles, terrains, and building heights.
  • the target position information is within the collection range of a certain PTZ camera, it is determined that the PTZ camera is a matching target PTZ camera.
  • the PTZ camera device contains tag information, which is used to identify its location or the type of camera device, etc., such as XX Park, XX Park, etc., according to the target location information of the target object, the tags are screened, and the specific tag corresponding PTZ camera devices are screened out.
  • the method further includes step S105 (not shown), in step S105, acquiring the acquisition area of each PTZ camera in the plurality of PTZ camera devices; wherein, in step S102, if The target location information is within the collection area of a certain PTZ camera among the plurality of PTZ camera devices, and the certain PTZ camera device is determined as a matching target PTZ camera device.
  • the collection area usually includes the collectable angle of view and/or collectable distance of the PTZ camera device, and the corresponding collectable angle of view includes a rotation angle, such as a horizontal rotation angle and/or a vertical rotation angle, etc., as shown in FIG.
  • the PTZ camera can be determined by the acquisition distance.
  • the acquisition area of the imaging device, or, further determine the corresponding acquisition area based on the imaging position information of the PTZ imaging device, in other embodiments, the corresponding acquisition area can also be determined based on the rotation angle and the acquisition distance, or, further based on The shooting position information of the PTZ camera device determines the corresponding collection area and the like.
  • the method further includes step S106 (not shown), in step S106, according to the target position information and the shooting position information of the plurality of PTZ camera devices, it is determined that the relative position of the target object is A plurality of azimuth angles of a plurality of PTZ camera devices, wherein each azimuth angle corresponds to a PTZ camera device; wherein, in step S102, if there is a certain azimuth angle in the plurality of azimuth angles that is in the PTZ corresponding to the azimuth angle In the collection area of the camera device, the PTZ camera device corresponding to the azimuth angle is determined as the matching target PTZ camera device.
  • the azimuth is used to measure the angle difference between objects on the plane, which is the horizontal angle between the north direction line of a certain point and the target direction line in a clockwise direction.
  • the pan-tilt horizontal angles A and B of the left and right visual boundaries of each PTZ camera device are obtained in advance to ensure that the field of view is not blocked when the PTZ camera device rotates between A and B, and the group of horizontal angles AB constitutes the PTZ The collection area of the camera device (such as the viewing angle). It is known that the coordinate relationship between the PTZ camera and the target point m in the plane is (Xm, Ym), and the azimuth ⁇ of point m relative to the PTZ camera can be obtained. If ⁇ is between B and A, the target m within the collection range of the PTZ camera, otherwise the target is not within the collection range of the PTZ camera.
  • the target PTZ camera device is placed on the corresponding carrier equipment, which includes but not limited to the pan-tilt of the PTZ camera device.
  • the pan-tilt is a carrier device for installing and fixing the camera, and it is divided into two types: fixed and electric pan-tilts.
  • the fixed pan/tilt is suitable for the situation where the monitoring range is not large. After installing the camera on the fixed pan/tilt, you can adjust the horizontal and pitch angles of the camera. After reaching the best working posture, you only need to lock the adjustment mechanism.
  • the electric pan/tilt is suitable for scanning and monitoring a large area, and it can expand the monitoring range of the camera. According to the characteristics of the gimbal's rotation, the change of the rotation pose will cause the change of the carrying state.
  • the carrying state information includes the horizontal rotation angle information corresponding to the horizontal rotation angle and the vertical rotation angle information corresponding to the vertical rotation angle.
  • Coordinate transformation information (such as external parameters) of the camera coordinate system of the PTZ camera device relative to the world coordinate system changes according to the change of the bearing state information of the pan/tilt.
  • the coordinate change information includes rotation matrix information and translation matrix information.
  • the translation matrix information of the camera coordinate system relative to the world coordinate system is fixed, and there is a mapping relationship between the rotation matrix information and the bearer state information.
  • the mapping parameter information is divided into horizontal mapping parameters in the horizontal direction, vertical mapping parameters in the vertical direction, and the like.
  • the mapping parameter information is known, we only need to obtain the real-time bearer status information, such as the vertical angle information and horizontal angle information of the gimbal, to obtain the coordinate transformation information of the PTZ camera device, such as the camera coordinate system relative to the world.
  • the coordinate transformation information of the coordinate system such as the rotation matrix information of the camera coordinate system relative to the world coordinate system.
  • step S105 the rotation angle information of each PTZ camera device is obtained, wherein the rotation angle includes a horizontal rotation angle and/or a vertical rotation angle; based on each PTZ camera device
  • the rotation angle information determines the collection area of each PTZ camera device. Since PTZ camera devices are often installed on buildings, there may be obstacles, and there will be a certain dead angle in video surveillance. When the pan/tilt is controlled to rotate to the target position, the picture may be blocked. Therefore, it is necessary to determine each PTZ The collection area of the camera, for example, is determined based on the rotation angle information of each PTZ camera.
  • the corresponding rotation angle information includes horizontal rotation angle and/or vertical rotation angle information, such as pre-obtaining the horizontal rotation angles A and B of the two left and right visual boundaries of each PTZ camera device in the horizontal direction and/or obtaining the vertical rotation angle
  • the vertical angles C and D of the PTZ on the upper and lower visible boundaries in the direction ensure that the field of view is not blocked when the PTZ camera rotates between AB and/or CD, and the horizontal angle of AB and/or the vertical angle of CD are It constitutes the collection area (such as the viewing angle) of the PTZ camera device.
  • the above content is mainly based on the horizontal rotation angle to determine the acquisition area and then match the target PTZ camera device according to the azimuth angle.
  • the vertical rotation angle such as according to the angle in the vertical direction and The vertical rotation angle is used to determine whether the target position information is within the collection area, etc.
  • step S102 at least one candidate PTZ camera device is determined according to the target position information and the shooting position information of each PTZ camera device in the plurality of PTZ camera devices; if the target position information If it is within the collection area of a certain candidate PTZ camera among the plurality of candidate PTZ camera devices, the certain candidate PTZ camera device is determined as a matching target PTZ camera device. For example, due to the large number of PTZ camera devices included in the PTZ camera system, determining the target PTZ camera device through one-to-one matching corresponding collection areas will involve a large amount of calculation, which will cause waste of server resources.
  • the filtering conditions include but not limited to user selection, distance matching, label selection of PTZ camera devices, etc., such as according to the target location information, the user manually selects the PTZ camera device near the target location information as a candidate PTZ camera device, and for another example,
  • the tags are screened according to the target location information to determine the PTZ camera device corresponding to the tag as a candidate PTZ camera device.
  • the determining at least one candidate PTZ camera device according to the target position information and the shooting position information of each PTZ camera device in the plurality of PTZ camera devices includes: according to the target position information and The imaging position information of each PTZ imaging device in the plurality of PTZ imaging devices determines the imaging distance information of each PTZ imaging device; if the imaging distance information of a certain PTZ imaging device is less than or equal to the imaging distance threshold, the certain PTZ imaging device A PTZ camera device is determined as the corresponding candidate PTZ camera device.
  • the distance between the target and the PTZ camera is determined according to the target location information and the shooting position information of the PTZ camera, and when the distance is less than the shooting distance threshold, the PTZ camera is determined as a candidate PTZ camera.
  • the camera distance threshold is the search camera device within the radius (such as radius R), and the latitude and longitude of the target position information is known, such as the circle within the radius R range
  • the latitude and longitude of all points and then according to the latitude and longitude corresponding to the PTZ camera devices, screen the PTZ camera devices within the position range of the circle, and use these PTZ camera devices as candidate PTZ camera devices.
  • the candidate PTZ camera it is judged whether the target position information is in the collection area of the candidate PTZ camera, if it is in the collection area, then the candidate PTZ camera is selected as the target PTZ camera, as shown in Figure 4 , PTZ camera device A is not within the range of the shooting distance threshold, PTZ camera devices B and C meet the shooting distance threshold, and the target position information is not in the collection area (such as the viewing angle) of PTZ camera device C, so only PTZ camera device B For the target PTZ camera device.
  • the certain candidate PTZ camera is determined as the matching target PTZ An imaging device, comprising: if the target position information is within the acquisition area of a certain candidate PTZ imaging device among the plurality of candidate PTZ imaging devices, determining the certain candidate PTZ imaging device as a matching initial target PTZ imaging device , so as to determine a plurality of initial target PTZ camera devices; and determine at least one target PTZ camera device from the multiple initial target PTZ camera devices. For example, due to the dense distribution of PTZ cameras in the PTZ camera system, in some cases, the number of target PTZ cameras determined based on the acquisition area is also large.
  • disperse the camera positions and expand the viewing angle In order to observe the target object from multiple angles, disperse the camera positions and expand the viewing angle. First determine a plurality of initial target PTZ camera devices through the acquisition area, and then determine one or more final target PTZ camera devices from the multiple initial target PTZ camera devices, for example, randomly select and determine from them, such as from multiple initial target PTZ camera devices A predetermined number of initial target PTZ camera devices are randomly determined in the device as target PTZ camera devices, or determined according to one or more of camera angle, camera position, and camera parameters.
  • the determining at least one target PTZ camera from the multiple initial target PTZ camera includes: determining a target PTZ camera from the multiple initial target PTZ camera, wherein the The imaging distance information of a target PTZ imaging device is the smallest among the imaging distance information of the plurality of initial target PTZ imaging devices; according to the imaging parameter information of the one target PTZ imaging device and the imaging parameter information of other initial target PTZ imaging devices determining other target PTZ camera devices, wherein the other initial target PTZ camera devices include other initial target PTZ camera devices except the one target camera device among the multiple initial target PTZ camera devices.
  • the imaging parameter information includes but is not limited to the imaging position information of each initial target PTZ imaging device, camera parameter information or imaging angle information relative to the target object, etc., through one or several combinations of the aforementioned parameters, the initial target can be adjusted according to requirements.
  • the PTZ camera device is screened to determine the target PTZ camera device.
  • the imaging parameter information includes imaging location information; wherein, determining other target PTZ imaging devices according to the imaging parameter information of the one target PTZ imaging device and imaging parameter information of other initial target PTZ imaging devices , comprising: e determining the vector angle sum corresponding to each other initial target PTZ camera according to the camera position information of the current target PTZ camera device and the camera position information of other initial target PTZ camera devices, wherein the current target PTZ camera device Including the one target PTZ camera and other determined target PTZ cameras; f according to the vector angle and the vector angle of each other initial target PTZ camera in the other initial target PTZ cameras and determining the vector angle and the largest other For the initial target PTZ camera device, determine the other initial target PTZ camera devices as other target PTZ camera devices; repeat steps e and f above until the number of the current target PTZ camera devices meets the preset number threshold.
  • the angle sum of the initial target PTZ camera device and the orientation vector of the existing target PTZ camera device is the camera position with the greatest degree of discreteness from the original target PTZ camera device.
  • the computer device sets a preset number of target PTZ camera devices with a threshold value according to the current scene (such as the specific location of the target object, object attributes, etc.).
  • an initial target PTZ camera is first selected as a target PTZ camera among the initial target PTZ cameras, for example, the initial target PTZ camera with the shortest distance from the target position information, and then according to each other initial target PTZ camera
  • the vector composed of the camera position and the target position, and the vector composed of the camera position and the target position of a target PTZ camera device calculate the angle between the vectors, and select other initial target PTZ camera devices with the largest vector angle as other target PTZ cameras device, then, according to the current vector composed of the camera positions and target positions of each other initial target PTZ camera devices, and the camera positions and target positions of the target PTZ camera devices (one target PTZ camera device and other target PTZ camera devices) multiple vectors, calculate the sum of the angles between the vectors, select other initial target PTZ camera devices with the largest vector angle and maximum as other target PTZ camera devices, and so on, select other target PTZ camera devices in turn, until the selected A predetermined number of target PTZ camera devices.
  • the next step is to select the fourth target PTZ camera device from other current initial target PTZ camera devices 123, and calculate 123 and the determined three target PTZ camera devices ( The vector angle sum of P0, P1, P2), select other initial target PTZ camera devices with the largest vector angle and each time as other target PTZ camera devices to form a target PTZ camera device. Through the calculation in this way, all target PTZ camera devices that meet the predetermined number of thresholds are selected.
  • step S103 send an image acquisition instruction about the target object to the target PTZ camera device, and receive real-time image information returned by the target PTZ camera device based on the image acquisition instruction.
  • the PTZ camera device After the PTZ camera device has the ability to perceive the world, it can accurately display the target object in the corresponding image by controlling the rotation of the corresponding bearing device, and the computer equipment sends an image acquisition instruction about the target object to the corresponding target PTZ camera device.
  • the image collection instruction includes turning on the camera to collect the current picture. Further, the image collection instruction also includes the shooting posture information of each target PTZ camera device, which is used to instruct each target PTZ camera device to adjust the current posture information to the shooting posture information. , so as to facilitate the image acquisition of the target object.
  • the computer equipment receives the real-time image information about the target object returned by each target PTZ camera device, and presents the real-time image information collected by each target PTZ camera device through the display device.
  • the real-time image information can be displayed on the current screen in split screens, so as to realize multi-directional and multi-angle observation of the target object.
  • the target PTZ camera includes a corresponding target bearing device; wherein, the method further includes: determining the target according to the target position information and the shooting position information of the target PTZ camera The target bearer state information of the bearer device, wherein the target bearer state information includes the corresponding bearer horizontal angle and bearer vertical angle; wherein, in step S103, an image acquisition instruction about the target object is sent to the target PTZ camera device , and receive the real-time image information returned by the target PTZ camera device based on the image acquisition instruction, wherein the image acquisition instruction includes the target bearer status information, and the target bearer status information is used to indicate the target PTZ The camera device adjusts the target bearing device to the target bearing status information.
  • the target location information of the target object which can be coordinate location information in a coordinate system, or relative location information relative to an object (known geographic coordinates, etc.), such as latitude and longitude , the position information in the electronic map, the relative position relative to a certain PTZ camera device, etc.
  • the target object is to be displayed in the real-time image information, we calculate the When the target object appears in the field of view, it corresponds to the bearing status information of the gimbal, such as the horizontal and vertical angles of the gimbal.
  • the target carrying status information is used to instruct the target PTZ camera device to The bearing device adjusts to the target bearer state information, so that the target object is in the image center of the real-time image information.
  • the target position information of the known target object if the target position information is the coordinates under the coordinate system established based on the target PTZ camera device, and if the target position information is the position information expressed in other forms such as latitude and longitude, it can be further obtained
  • the coordinate m(Xm, Ym, 0) under the coordinate system established based on the target PTZ camera device if the coordinate system is based on the ground where the target object is located as the X and Y axes, and the upward direction is the Z axis, along the target
  • the intersection of the optical center point of the PTZ camera device perpendicular to the ground is the origin O, and the optical center of the target PTZ camera device is c(Xc, Yc, Zc), where Xc and Yc are 0, and Zc is the height H of the target PTZ camera device.
  • the target object is to be displayed in the real-time image information, it is necessary to adjust the target PTZ camera device so that the central axis of the lens lens coincides with the line cm, according to m(Xm,Ym,0) and c( Xc, Yc, Zc), the distance S from m to the origin O and the camera height H can be obtained.
  • the vertical corner tile of the target PTZ camera gimbal can be calculated.
  • the function can calculate the horizontal angle pan of the gimbal of the target PTZ camera device, determine the carrying state of the target, and then control the gimbal to turn to the corresponding attitude, display the target point in the center of the screen, and realize the tracking and focusing function of the target PTZ camera device.
  • the method further includes step S107 (not shown), in step S107, based on the real-time image position information of the target object in the real-time image information, superimposing Rendering information about the target object is presented.
  • the user performs labeling operations on the target object in the real-time image information captured by the target PTZ camera device, such as frame selection, clicking, drawing circles, adding video, audio, models, text, etc., computer equipment
  • the corresponding rendering information can be generated according to the annotation operation, and the rendering information can be superimposed and presented in the real-time image information.
  • the computer device may superimpose and present it in the current real-time image information according to the object-related information of the target object, such as identification information, attribute information, status information, and annotations about the target object added by other devices.
  • the above mainly introduces various embodiments of a method for acquiring real-time image information of a target object in the present application.
  • the present application also provides specific equipment capable of implementing the above-mentioned embodiments, which will be introduced below in conjunction with FIG. 7 .
  • FIG. 7 shows a device for acquiring real-time image information of a target object according to an aspect of the present application, which is also called a real-time image information acquisition device 100, wherein the device includes a module 101 and a module 102 And one or three modules 103.
  • the device includes a module 101 and a module 102 And one or three modules 103.
  • - Module 101 for acquiring target position information of the target object
  • Module 102 for determining a matching target PTZ camera device from a plurality of PTZ camera devices according to the target position information, wherein the target PTZ
  • the acquisition area of the imaging device includes the target position information
  • a third module 103 configured to send an image acquisition instruction about the target object to the target PTZ imaging device, and receive the target PTZ imaging device based on the image acquisition instruction, The returned real-time image information.
  • step S101, step S102 and step S103 shown in FIG. 7 are the same or similar to the embodiments of step S101, step S102 and step S103 shown in FIG. No more details are included here by reference.
  • the module 101 is configured to receive target location information about the target object uploaded by the user equipment.
  • the PTZ image information about the target object is acquired; the image position information of the target object in the PTZ image information is determined based on the PTZ image information; based on the image position information identifying target location information for the target object.
  • the device further includes a module (not shown), configured to acquire the imaging attitude information and imaging position information of the initial PTZ imaging device corresponding to the PTZ image information; wherein, the Position information determining target position information of the target object includes: determining target position information of the target object based on the imaging posture information, the imaging position information, and the image position information.
  • the camera location information includes the latitude and longitude information of the initial PTZ camera device; wherein, the determination of the target object's location based on the camera posture information, the camera location information and the image location information Target position information, including: determining the relative position information of the target object relative to the initial PTZ camera device based on the camera attitude information and the image position information; based on the relative position information and the initial PTZ camera device The latitude and longitude information determines the latitude and longitude information of the target object.
  • the camera position information also includes height information of the initial PTZ camera device; wherein, based on the camera posture information and the image position information, it is determined that the target object is relative to the initial PTZ
  • the relative position information of the camera device includes: determining the relative position information of the target object relative to the initial PTZ camera device based on the camera posture information, image position information, and height information of the initial PTZ camera device.
  • the device further includes a module (not shown) for obtaining the acquisition area of each PTZ camera device in the plurality of PTZ camera devices; wherein, a module 102 is used for if The target location information is within the collection area of a certain PTZ camera among the plurality of PTZ camera devices, and the certain PTZ camera device is determined as a matching target PTZ camera device.
  • the device further includes a module (not shown), configured to determine the target object relative to the plurality of PTZs according to the target position information and the imaging position information of the plurality of PTZ imaging devices.
  • a plurality of azimuths of the camera wherein each azimuth corresponds to a PTZ camera; wherein, one or two modules 102 are used for if there is a certain azimuth in the plurality of azimuths that is in the azimuth corresponding to the PTZ camera
  • the PTZ camera device corresponding to the azimuth angle is determined as the matching target PTZ camera device.
  • a five-module is used to obtain the rotation angle information of each PTZ camera device, wherein the rotation angle includes a horizontal rotation angle and/or a vertical rotation angle; based on each PTZ camera The rotation angle information of the device determines the collection area of each PTZ camera device.
  • the one-two module 102 is configured to determine at least one candidate PTZ camera device according to the target position information and the shooting position information of each PTZ camera device in the plurality of PTZ camera devices; if the target The location information is within the collection area of a certain candidate PTZ camera among the plurality of candidate PTZ camera devices, and the certain candidate PTZ camera device is determined as a matching target PTZ camera device.
  • the determining at least one candidate PTZ camera device according to the target position information and the shooting position information of each PTZ camera device in the plurality of PTZ camera devices includes: according to the target position information and The imaging position information of each PTZ imaging device in the plurality of PTZ imaging devices determines the imaging distance information of each PTZ imaging device; if the imaging distance information of a certain PTZ imaging device is less than or equal to the imaging distance threshold, the certain PTZ imaging device A PTZ camera device is determined as the corresponding candidate PTZ camera device.
  • the certain candidate PTZ camera is determined as the matching target PTZ An imaging device, comprising: if the target position information is within the acquisition area of a certain candidate PTZ imaging device among the plurality of candidate PTZ imaging devices, determining the certain candidate PTZ imaging device as a matching initial target PTZ imaging device , so as to determine a plurality of initial target PTZ camera devices; and determine at least one target PTZ camera device from the multiple initial target PTZ camera devices.
  • the determining at least one target PTZ camera from the multiple initial target PTZ camera includes: determining a target PTZ camera from the multiple initial target PTZ camera, wherein the The imaging distance information of a target PTZ imaging device is the smallest among the imaging distance information of the plurality of initial target PTZ imaging devices; according to the imaging parameter information of the one target PTZ imaging device and the imaging parameter information of other initial target PTZ imaging devices determining other target PTZ camera devices, wherein the other initial target PTZ camera devices include other initial target PTZ camera devices except the one target camera device among the multiple initial target PTZ camera devices.
  • the imaging parameter information includes imaging location information; wherein, determining other target PTZ imaging devices according to the imaging parameter information of the one target PTZ imaging device and imaging parameter information of other initial target PTZ imaging devices , comprising: e determining the vector angle sum corresponding to each other initial target PTZ camera according to the camera position information of the current target PTZ camera device and the camera position information of other initial target PTZ camera devices, wherein the current target PTZ camera device Including the one target PTZ camera and other determined target PTZ cameras; f according to the vector angle and the vector angle of each other initial target PTZ camera in the other initial target PTZ cameras and determining the vector angle and the largest other For the initial target PTZ camera device, determine the other initial target PTZ camera devices as other target PTZ camera devices; repeat steps e and f above until the number of the current target PTZ camera devices meets the preset number threshold.
  • the target PTZ camera includes a corresponding target carrier; wherein, the method further includes: determining the target carrier according to the target position information and the shooting position information of the target PTZ camera The target bearing status information, wherein, the target bearing status information includes the corresponding bearing horizontal angle and bearing vertical angle; wherein, a module 103 is used to send an image acquisition instruction about the target object to the target PTZ camera device , and receive the real-time image information returned by the target PTZ camera device based on the image acquisition instruction, wherein the image acquisition instruction includes the target bearer status information, and the target bearer status information is used to indicate the target PTZ The camera device adjusts the target bearing device to the target bearing state information.
  • the device further includes a module (not shown), configured to, based on the real-time image position information of the target object in the real-time image information, superimpose and present information about The rendering information of the target object.
  • step S104 to step S107 the specific implementation manners corresponding to the fourteenth to seventeenth modules are the same as or similar to the above-mentioned embodiments of step S104 to step S107, so they are not repeated here, and are included here by reference.
  • the present application also provides a computer-readable storage medium, the computer-readable storage medium stores computer codes, and when the computer codes are executed, as described in any one of the preceding items The described method is carried out.
  • the present application also provides a computer program product, when the computer program product is executed by a computer device, the method described in any one of the preceding items is executed.
  • the present application also provides a kind of computer equipment, and described computer equipment comprises:
  • processors one or more processors
  • memory for storing one or more computer programs
  • the one or more processors are made to implement the method as described in any one of the preceding items.
  • FIG. 8 illustrates an exemplary system that may be used to implement various embodiments described in this application
  • system 300 can be used as any one of the above-mentioned devices in each of the described embodiments.
  • system 300 may include one or more computer-readable media (e.g., system memory or NVM/storage device 320 ) having instructions and be coupled to and configured to execute The instructions are one or more processors (eg, processor(s) 305 ) that implement a module to perform the actions described in this application.
  • processors e.g, processor(s) 305
  • system control module 310 may include any suitable interface controller to provide at least one of processor(s) 305 and/or any suitable device or component in communication with system control module 310 Any suitable interface.
  • the system control module 310 may include a memory controller module 330 to provide an interface to the system memory 315 .
  • the memory controller module 330 may be a hardware module, a software module and/or a firmware module.
  • System memory 315 may be used, for example, to load and store data and/or instructions for system 300 .
  • system memory 315 may include any suitable volatile memory, such as suitable DRAM.
  • system memory 315 may include Double Data Rate Type Quad Synchronous Dynamic Random Access Memory (DDR4 SDRAM).
  • DDR4 SDRAM Double Data Rate Type Quad Synchronous Dynamic Random Access Memory
  • system control module 310 may include one or more input/output (I/O) controllers to provide interfaces to NVM/storage devices 320 and communication interface(s) 325 .
  • I/O input/output
  • NVM/storage 320 may be used to store data and/or instructions.
  • NVM/storage 320 may include any suitable non-volatile memory (e.g., flash memory) and/or may include any suitable non-volatile storage device(s) (e.g., one or more hard drives (HDD), one or more compact disc (CD) drives, and/or one or more digital versatile disc (DVD) drives).
  • suitable non-volatile memory e.g., flash memory
  • suitable non-volatile storage device(s) e.g., one or more hard drives (HDD), one or more compact disc (CD) drives, and/or one or more digital versatile disc (DVD) drives.
  • HDD hard drives
  • CD compact disc
  • DVD digital versatile disc
  • NVM/storage device 320 may include a storage resource that is physically part of the device on which system 300 is installed, or it may be accessible by the device without necessarily being part of the device. For example, NVM/storage 320 may be accessed over a network via communication interface(s) 325 .
  • Communication interface(s) 325 may provide an interface for system 300 to communicate over one or more networks and/or with any other suitable device.
  • System 300 may communicate wirelessly with one or more components of a wireless network according to any of one or more wireless network standards and/or protocols.
  • processor(s) 305 may be packaged with logic of one or more controllers of system control module 310 (eg, memory controller module 330 ).
  • processor(s) 305 may be packaged with the logic of one or more controllers of the system control module 310 to form a system-in-package (SiP).
  • SiP system-in-package
  • at least one of the processor(s) 305 may be integrated on the same die as the logic of the one or more controllers of the system control module 310 .
  • at least one of the processor(s) 305 may be integrated on the same die with the logic of the one or more controllers of the system control module 310 to form a system on chip (SoC).
  • SoC system on chip
  • system 300 may be, but is not limited to, a server, workstation, desktop computing device, or mobile computing device (eg, laptop computing device, handheld computing device, tablet computer, netbook, etc.). In various embodiments, system 300 may have more or fewer components and/or a different architecture. For example, in some embodiments, system 300 includes one or more cameras, a keyboard, a liquid crystal display (LCD) screen (including a touchscreen display), non-volatile memory ports, multiple antennas, graphics chips, application-specific integrated circuits ( ASIC) and speakers.
  • LCD liquid crystal display
  • ASIC application-specific integrated circuits
  • the present application can be implemented in software and/or a combination of software and hardware, for example, it can be implemented by using an application specific integrated circuit (ASIC), a general-purpose computer or any other similar hardware devices.
  • ASIC application specific integrated circuit
  • the software program of the present application can be executed by a processor to realize the steps or functions described above.
  • the software program (including associated data structures) of the present application can be stored in a computer-readable recording medium such as RAM memory, magnetic or optical drive or floppy disk and the like.
  • some steps or functions of the present application may be implemented by hardware, for example, as a circuit that cooperates with a processor to execute each step or function.
  • a part of the present application can be applied as a computer program product, such as a computer program instruction.
  • a computer program product such as a computer program instruction.
  • the method and/or technical solution according to the present application can be invoked or provided through the operation of the computer.
  • computer program instructions exist in computer-readable media in forms including but not limited to source files, executable files, installation package files, etc. Limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding post-installation program program.
  • a computer readable medium may be any available computer readable storage medium or communication medium that can be accessed by a computer.
  • Communication media includes the media whereby communication signals embodying, for example, computer readable instructions, data structures, program modules or other data are transmitted from one system to another.
  • Communication media can include guided transmission media such as cables and wires (e.g., fiber optics, coaxial, etc.) and wireless (unguided transmission) media capable of propagating waves of energy, such as acoustic, electromagnetic, RF, microwave, and infrared .
  • Computer readable instructions, data structures, program modules or other data may be embodied, for example, as a modulated data signal in a wireless medium such as a carrier wave or similar mechanism such as embodied as part of spread spectrum technology.
  • modulated data signal means a signal that has one or more of its characteristics changed or set in such a manner as to encode information in the signal. Modulation can be analog, digital or mixed modulation techniques.
  • computer-readable storage media may include volatile and nonvolatile, volatile, volatile, or Removable and non-removable media.
  • computer-readable storage media include, but are not limited to, volatile memories such as random access memories (RAM, DRAM, SRAM); and nonvolatile memories such as flash memory, various read-only memories (ROM, PROM, EPROM) , EEPROM), magnetic and ferromagnetic/ferroelectric memory (MRAM, FeRAM); and magnetic and optical storage devices (hard disks, tapes, CDs, DVDs); or other media known now or developed in the future capable of storing data for computer systems Computer readable information/data used.
  • volatile memories such as random access memories (RAM, DRAM, SRAM
  • nonvolatile memories such as flash memory, various read-only memories (ROM, PROM, EPROM) , EEPROM), magnetic and ferromagnetic/ferroelectric memory (MRAM, FeRAM); and magnetic and optical storage devices (hard disks, tapes, CDs, DVDs); or other media known now or developed
  • an embodiment according to the present application includes an apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, triggering
  • the operation of the device is based on the foregoing methods and/or technical solutions according to multiple embodiments of the present application.

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Abstract

The present application aims to provide a method and device for acquiring real-time image information of a target object. The method comprises: acquiring target position information of a target object; determining a matching target PTZ photographic apparatus from among a plurality of PTZ photographic apparatuses according to the target position information, wherein a collection region for the target PTZ photographic apparatus includes the target position information; and sending, to the target PTZ photographic apparatus, an image collection instruction regarding the target object, and receiving real-time image information, which is returned by the target PTZ photographic apparatus on the basis of the image collection instruction. By means of the present application, PTZ photographic apparatuses around the coordinate position of a specified target object can be intelligently recommended from among a large amount of PTZ photographic apparatuses, and one or more optimal PTZ photographic apparatuses are obtained by means of screening; gimbals are controlled, in a linked manner, to focus on a target; and a corresponding AR label prompt can also be added to each piece of real-time image information, thereby realizing a more efficient and accurate intelligent office experience.

Description

一种用于获取目标对象的实时图像信息的方法与设备A method and device for acquiring real-time image information of a target object
本申请是以CN申请号为202111154144.9，申请日为2021.09.29的申请为基础，并主张其优先权，该CN申请的公开内容在此作为整体引入本申请中。This application is based on the application with CN application number 202111154144.9 and application date 2021.09.29, and claims its priority. The disclosure content of this CN application is hereby incorporated into this application as a whole.
技术领域technical field
本申请涉及通信领域，尤其涉及一种用于获取目标对象的实时图像信息的技术。The present application relates to the communication field, and in particular to a technology for acquiring real-time image information of a target object.
背景技术Background technique
PTZ摄像装置，是指带有PTZ控制云台的监控相机，PTZ为Pan/Tilt/Zoom的简写，监控相机中指云台控制的三个维度：左右旋转、上下俯仰、变焦。随着城市的不断发展，监控摄像头的种类和数量越来越多，使得控制和维护也越来越困难。当发生突发事件时，目前是通过人工的方式打开相应的摄像头来获取现场的画面，但是对操作人员的经验要求较高，且效率较低，这些缺陷会随着摄像头数量和监控范围的增加而更加突出。PTZ camera device refers to a surveillance camera with a PTZ control pan/tilt. PTZ is the abbreviation of Pan/Tilt/Zoom. The middle of the surveillance camera refers to the three dimensions of pan/tilt control: left and right rotation, up and down pitch, and zoom. With the continuous development of cities, there are more and more types and quantities of surveillance cameras, making control and maintenance more and more difficult. When an emergency occurs, at present, the corresponding cameras are manually turned on to obtain the scene images, but the requirements for the experience of the operators are high, and the efficiency is low. These defects will increase with the number of cameras and the monitoring range. And more prominent.
发明内容Contents of the invention
本申请的一个目的是提供一种用于获取目标对象的实时图像信息的方法与设备。An object of the present application is to provide a method and device for acquiring real-time image information of a target object.
根据本申请的一个方面，提供了一种用于获取目标对象的实时图像信息的方法，该方法包括：According to one aspect of the present application, a method for acquiring real-time image information of a target object is provided, the method comprising:
获取目标对象的目标位置信息；Obtain target location information of the target object;
根据所述目标位置信息从多个PTZ摄像装置中确定相匹配的目标PTZ摄像装置，其中，所述目标PTZ摄像装置的采集区域包含所述目标位置信息；Determining a matching target PTZ camera device from a plurality of PTZ camera devices according to the target position information, wherein the acquisition area of the target PTZ camera device includes the target position information;
向所述目标PTZ摄像装置发送关于目标对象的图像采集指令，并接收所述目标PTZ摄像装置基于所述图像采集指令、返回的实时图像信息。Sending an image acquisition instruction about the target object to the target PTZ camera device, and receiving real-time image information returned by the target PTZ camera device based on the image acquisition instruction.
根据本申请的另一个方面，提供了一种用于获取目标对象的实时图像信息的设备，该设备包括：According to another aspect of the present application, a device for acquiring real-time image information of a target object is provided, the device comprising:
一一模块，用于获取目标对象的目标位置信息；A module, used to obtain the target location information of the target object;
一二模块，用于根据所述目标位置信息从多个PTZ摄像装置中确定相匹配的目 标PTZ摄像装置，其中，所述目标PTZ摄像装置的采集区域包含所述目标位置信息；One or two modules, used to determine a matching target PTZ camera device from a plurality of PTZ camera devices according to the target position information, wherein the acquisition area of the target PTZ camera device includes the target position information;
一三模块，用于向所述目标PTZ摄像装置发送关于目标对象的图像采集指令，并接收所述目标PTZ摄像装置基于所述图像采集指令、返回的实时图像信息。A third module, configured to send an image acquisition instruction about the target object to the target PTZ camera device, and receive real-time image information returned by the target PTZ camera device based on the image acquisition instruction.
根据本申请的一个方面，提供了一种计算机设备，其中，该设备包括：According to one aspect of the present application, a computer device is provided, wherein the device includes:
处理器；以及processor; and
被安排成存储计算机可执行指令的存储器，所述可执行指令在被执行时使所述处理器执行如上任一所述方法的步骤。A memory arranged to store computer-executable instructions which, when executed, cause the processor to perform the steps of any one of the methods described above.
根据本申请的一个方面，提供了一种计算机可读存储介质，其上存储有计算机程序/指令，其特征在于，该计算机程序/指令在被执行时使得***进行执行如上任一所述方法的步骤。According to one aspect of the present application, there is provided a computer-readable storage medium on which computer programs/instructions are stored, wherein the computer program/instructions, when executed, cause the system to perform any of the methods described above. step.
根据本申请的一个方面，提供了一种计算机程序产品，包括计算机程序/指令，其特征在于，该计算机程序/指令被处理器执行时实现如上任一所述方法的步骤。According to one aspect of the present application, a computer program product is provided, including computer programs/instructions, which is characterized in that, when the computer program/instructions are executed by a processor, the steps of any one of the methods described above are implemented.
与现有技术相比，本申请通过获取目标对象的目标位置信息，根据所述目标位置信息从多个PTZ摄像装置中确定相匹配的目标PTZ摄像装置，其中，所述目标PTZ摄像装置的采集区域包含所述目标位置信息，向所述目标PTZ摄像装置发送关于目标对象的图像采集指令，并接收所述目标PTZ摄像装置基于所述图像采集指令、返回的实时图像信息。本申请能够在海量的PTZ摄像装置中智能化推荐指定目标对象位置周围的PTZ摄像装置，筛选出最佳的一个或多个PTZ摄像装置，进一步地，本申请还可以联动控制云台聚焦到目标，更进一步地，在每个实时图像信息中还可以加入对应AR标签提示，从而实现更加高效准确的智能化办公体验。Compared with the prior art, the present application obtains the target position information of the target object, and determines a matching target PTZ camera device from a plurality of PTZ camera devices according to the target position information, wherein the acquisition of the target PTZ camera device The area includes the target position information, sends an image acquisition instruction about the target object to the target PTZ camera device, and receives real-time image information returned by the target PTZ camera device based on the image acquisition instruction. This application can intelligently recommend PTZ camera devices around the position of the specified target object among a large number of PTZ camera devices, and select the best one or more PTZ camera devices. Further, this application can also control the gimbal to focus on the target , Furthermore, corresponding AR tag prompts can also be added to each real-time image information, so as to achieve a more efficient and accurate intelligent office experience.
附图说明Description of drawings
通过阅读参照以下附图所作的对非限制性实施例所作的详细描述，本申请的其它特征、目的和优点将会变得更明显：Other characteristics, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:
图1示出根据本申请一个实施例的一种用于获取目标对象的实时图像信息的方法流程图；FIG. 1 shows a flow chart of a method for acquiring real-time image information of a target object according to an embodiment of the present application;
图2示出根据本申请一个实施例的一种确定目标位置信息的示例图；Fig. 2 shows an example diagram of determining target location information according to an embodiment of the present application;
图3示出根据本申请一个实施例的一种确定目标对象的经纬度的示例图；FIG. 3 shows an example diagram for determining the latitude and longitude of a target object according to an embodiment of the present application;
图4示出根据本申请一个实施例的PTZ摄像装置的视角示例图；FIG. 4 shows an example diagram of a viewing angle of a PTZ camera device according to an embodiment of the present application;
图5示出根据本申请一个实施例的确定方位角的示例图；Fig. 5 shows an example diagram of determining an azimuth angle according to an embodiment of the present application;
图6示出根据本申请一个实施例的一种确定目标PTZ摄像装置的示例图；FIG. 6 shows an example diagram of a PTZ camera device for determining a target according to an embodiment of the present application;
图7示出根据本申请一个实施例的一种目标位置信息获取设备的功能模块；Fig. 7 shows the functional modules of a target location information acquisition device according to an embodiment of the present application;
图8示出可被用于实施本申请中所述的各个实施例的示例性***。FIG. 8 illustrates an exemplary system that may be used to implement various embodiments described in this application.
附图中相同或相似的附图标记代表相同或相似的部件。The same or similar reference numerals in the drawings represent the same or similar components.
具体实施方式Detailed ways
下面结合附图对本申请作进一步详细描述。The application will be described in further detail below in conjunction with the accompanying drawings.
在本申请一个典型的配置中，终端、服务网络的设备和可信方均包括一个或多个处理器(例如，中央处理器(Central Processing Unit，CPU))、输入/输出接口、网络接口和内存。In a typical configuration of this application, the terminal, the device serving the network, and the trusted party all include one or more processors (for example, a central processing unit (Central Processing Unit, CPU)), an input/output interface, a network interface and Memory.
内存可能包括计算机可读介质中的非永久性存储器，随机存取存储器(Random Access Memory，RAM)和/或非易失性内存等形式，如只读存储器(Read Only Memory，ROM)或闪存(Flash Memory)。内存是计算机可读介质的示例。Memory may include non-permanent memory in computer-readable media, random access memory (Random Access Memory, RAM) and/or non-volatile memory, such as read-only memory (Read Only Memory, ROM) or flash memory ( Flash Memory). Memory is an example of computer readable media.
计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括，但不限于相变内存(Phase-Change Memory，PCM)、可编程随机存取存储器(Programmable Random Access Memory，PRAM)、静态随机存取存储器(Static Random-Access Memory，SRAM)、动态随机存取存储器(Dynamic Random Access Memory，DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(Electrically-Erasable Programmable Read-Only Memory，EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(Compact Disc Read-Only Memory，CD-ROM)、数字多功能光盘(Digital Versatile Disc,DVD)或其他光学存储、磁盒式磁带，磁带磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can be implemented by any method or technology for storage of information. Information may be computer readable instructions, data structures, modules of a program, or other data. The example of the storage medium of computer includes, but not limited to Phase-Change Memory (Phase-Change Memory, PCM), Programmable Random Access Memory (Programmable Random Access Memory, PRAM), Static Random-Access Memory (Static Random-Access Memory, SRAM), dynamic random access memory (Dynamic Random Access Memory, DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (Electrically-Erasable Programmable Read -Only Memory, EEPROM), flash memory or other memory technology, CD-ROM (Compact Disc Read-Only Memory, CD-ROM), Digital Versatile Disc (Digital Versatile Disc, DVD) or other optical storage , magnetic cassette, magnetic tape disk storage or other magnetic storage device or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
本申请所指设备包括但不限于用户设备、网络设备、或用户设备与网络设备通过网络相集成所构成的设备。所述用户设备包括但不限于任何一种可与用户进行人机交互(例如通过触摸板进行人机交互)的移动电子产品，例如智能手机、平板电脑等，所述移动电子产品可以采用任意操作***，如Android操作***、iOS操作***等。其中，所述网络设备包括一种能够按照事先设定或存储的指令，自动进行 数值计算和信息处理的电子设备，其硬件包括但不限于微处理器、专用集成电路(Application Specific Integrated Circuit，ASIC)、可编程逻辑器件(Programmable Logic Device，PLD)、现场可编程门阵列(Field Programmable Gate Array，FPGA)、数字信号处理器(Digital Signal Processor，DSP)、嵌入式设备等。所述网络设备包括但不限于计算机、网络主机、单个网络服务器、多个网络服务器集或多个服务器构成的云；在此，云由基于云计算(Cloud Computing)的大量计算机或网络服务器构成，其中，云计算是分布式计算的一种，由一群松散耦合的计算机集组成的一个虚拟超级计算机。所述网络包括但不限于互联网、广域网、城域网、局域网、VPN网络、无线自组织网络(Ad Hoc网络)等。优选地，所述设备还可以是运行于所述用户设备、网络设备、或用户设备与网络设备、网络设备、触摸终端或网络设备与触摸终端通过网络相集成所构成的设备上的程序。The equipment referred to in this application includes, but is not limited to, user equipment, network equipment, or equipment formed by integrating user equipment and network equipment through a network. The user equipment includes but is not limited to any mobile electronic product that can perform human-computer interaction (such as human-computer interaction through a touch panel) with the user, such as a smart phone, a tablet computer, etc., and the mobile electronic product can use any operation System, such as Android operating system, iOS operating system, etc. Wherein, the network device includes an electronic device that can automatically perform numerical calculation and information processing according to pre-set or stored instructions, and its hardware includes but is not limited to a microprocessor, an application specific integrated circuit (ASIC) ), Programmable Logic Device (PLD), Field Programmable Gate Array (Field Programmable Gate Array, FPGA), Digital Signal Processor (Digital Signal Processor, DSP), embedded devices, etc. The network equipment includes but is not limited to a computer, a network host, a single network server, a plurality of network server sets or a cloud formed by multiple servers; here, the cloud is composed of a large number of computers or network servers based on Cloud Computing, Among them, cloud computing is a kind of distributed computing, a virtual supercomputer composed of a group of loosely coupled computer sets. The network includes, but is not limited to, the Internet, a wide area network, a metropolitan area network, a local area network, a VPN network, a wireless self-organizing network (Ad Hoc network) and the like. Preferably, the device may also be a program running on the user device, network device, or a device formed by integrating user device and network device, network device, touch terminal or network device and touch terminal through a network.
当然，本领域技术人员应能理解上述设备仅为举例，其他现有的或今后可能出现的设备如可适用于本申请，也应包含在本申请保护范围以内，并在此以引用方式包含于此。Of course, those skilled in the art should understand that the above-mentioned equipment is only an example, and other existing or future equipment that may be applicable to this application should also be included in the scope of protection of this application, and it is included in this application by reference. this.
在本申请的描述中，“多个”的含义是两个或者更多，除非另有明确具体的限定。In the description of the present application, "plurality" means two or more, unless otherwise specifically defined.
本申请提供了一种用于获取目标对象的实时图像信息的方法，主要应用于计算机设备，该计算机设备与对应PTZ摄像装置建立了通信连接，基于该通信连接可以接收PTZ摄像装置拍摄的图像信息、摄像姿态信息等。所述PTZ摄像装置(如PTZ相机等)包括安装于城市的变焦云台摄像头，摄像头的PTZ(Pan/Tilt/Zoom)参数可调，该PTZ参数可以是基于本方案所属的计算机设备发送的控制指令进行调节，还可以是基于其他设备(如其他控制设备或者服务器等)的控制指令进行调节等。The present application provides a method for obtaining real-time image information of a target object, which is mainly applied to computer equipment. The computer equipment has established a communication connection with the corresponding PTZ camera device, and based on the communication connection, the image information captured by the PTZ camera device can be received. , camera attitude information, etc. Described PTZ camera device (such as PTZ camera etc.) comprises the zoom pan-tilt camera that is installed in the city, and the PTZ (Pan/Tilt/Zoom) parameter of camera is adjustable, and this PTZ parameter can be based on the control that the computer equipment that this program belongs to sends The adjustment can also be based on the control instructions of other devices (such as other control devices or servers, etc.).
具体地，摄像装置标定包括建立相机图像像素位置与目标对象之间的关系，根据相机成像模型，由特征点在图像中坐标与世界坐标的对应关系，求解相机模型的参数。相机需要标定的模型参数包括内部参数和外部参数。其中，对于同一个相机，相机的内参矩阵取决于相机的内部参数，无论标定板和相机的位置关系是怎么样的，相机的内参矩阵不变。但是，外参矩阵反映的是标定板和相机的位置关系，对于不同的图片，标定板和相机的位置关系已经改变，此时每一张图片对应的外参矩阵都是不同的。所述PTZ摄像装置的内外参数可以是预先计算的，在已知内外参数 的情况下，我们可以根据PTZ摄像装置、目标对象的图像位置等计算确定目标对象在世界坐标系下的位置信息。其中，目标对象包括但不限于预期获取的点、线、面、体对应的事物，或者点、线、面、体所处的载体等，例如，目标对象可以是人、建筑、汽车等，也可以是某个地点、某个位置甚至某个坐标信息等。Specifically, the calibration of the camera device includes establishing the relationship between the pixel position of the camera image and the target object, and solving the parameters of the camera model according to the corresponding relationship between the coordinates of the feature points in the image and the world coordinates according to the camera imaging model. The model parameters that the camera needs to calibrate include internal parameters and external parameters. Among them, for the same camera, the internal parameter matrix of the camera depends on the internal parameters of the camera, no matter what the positional relationship between the calibration plate and the camera is, the internal parameter matrix of the camera remains unchanged. However, the external parameter matrix reflects the positional relationship between the calibration board and the camera. For different pictures, the positional relationship between the calibration board and the camera has changed. At this time, the external parameter matrix corresponding to each picture is different. The internal and external parameters of the PTZ camera device can be pre-calculated. In the case of known internal and external parameters, we can calculate and determine the position information of the target object in the world coordinate system according to the PTZ camera device, the image position of the target object, etc. Among them, the target object includes but is not limited to the thing corresponding to the point, line, surface, and body expected to be obtained, or the carrier where the point, line, surface, and body are located, etc. For example, the target object can be a person, a building, a car, etc., or It can be a certain place, a certain position or even a certain coordinate information, etc.
本申请实施例中，该计算机设备可以是独立的服务器，也可以是服务器组成的服务器网络或服务器集群，例如，本申请实施例中所描述的计算机设备，其包括但不限于计算机、网络主机、单个网络服务器、多个网络服务器集或多个服务器构成的云服务器。其中，云服务器由基于云计算(Cloud Computing)的大量计算机或网络服务器构成。In the embodiment of the present application, the computer device may be an independent server, or a server network or server cluster composed of servers. For example, the computer device described in the embodiment of the present application includes but is not limited to computers, network hosts, A single web server, multiple web server sets, or a cloud server composed of multiple servers. Among them, the cloud server is composed of a large number of computers or network servers based on cloud computing (Cloud Computing).
图1示出了根据本申请的一个方面的一种用于获取目标对象的实时图像信息的方法，其中，该方法包括步骤S101、步骤S102以及步骤S103。在步骤S101中，获取目标对象的目标位置信息；在步骤S102中，根据所述目标位置信息从多个PTZ摄像装置中确定相匹配的目标PTZ摄像装置，其中，所述目标PTZ摄像装置的采集区域包含所述目标位置信息；在步骤S103中，向所述目标PTZ摄像装置发送关于目标对象的图像采集指令，并接收所述目标PTZ摄像装置基于所述图像采集指令、返回的实时图像信息。Fig. 1 shows a method for acquiring real-time image information of a target object according to one aspect of the present application, wherein the method includes step S101, step S102 and step S103. In step S101, the target position information of the target object is obtained; in step S102, a matching target PTZ camera is determined from a plurality of PTZ camera devices according to the target position information, wherein the acquisition of the target PTZ camera The area includes the target location information; in step S103, send an image capture instruction about the target object to the target PTZ camera device, and receive real-time image information returned by the target PTZ camera device based on the image capture command.
具体而言，在步骤S101中，获取目标对象的目标位置信息。例如，所述目标位置信息包括但不限于用于标识目标对象的空间分布的位置信息，该位置信息可以是某坐标系中的坐标位置信息，或者相对于某物体(已知地理坐标等)的相对位置信息等。具体地，如目标对象的经纬度信息、目标对象在电子地图中的位置信息，目标对象在PTZ摄像装置对应的世界坐标系中的坐标位置，或者目标对象相对于某PTZ摄像装置的相对位置等。目标位置信息的获取可以是直接由用户设备上传或者根据其他数据计算得到等，如由与计算机设备存在通信连接的移动设备(如无人机设备、移动终端、前线警员、报警人员等)、其他服务器设备(如指挥设备等)上传的关于目标对象的目标位置信息等；或者，计算机设备获取关于目标对象的图像信息，并基于该图像信息计算确定目标对象的目标位置信息等。Specifically, in step S101, the target location information of the target object is acquired. For example, the target location information includes, but is not limited to, location information used to identify the spatial distribution of the target object. The location information can be coordinate location information in a certain coordinate system, or relative to a certain object (known geographic coordinates, etc.) Relative location information, etc. Specifically, such as the longitude and latitude information of the target object, the position information of the target object in the electronic map, the coordinate position of the target object in the world coordinate system corresponding to the PTZ camera device, or the relative position of the target object relative to a certain PTZ camera device, etc. The acquisition of target location information can be directly uploaded by the user equipment or calculated based on other data, such as by a mobile device that has a communication connection with a computer device (such as drone equipment, mobile terminals, frontline police officers, alarm personnel, etc.), The target position information about the target object uploaded by other server devices (such as command equipment, etc.); or, the computer device obtains the image information about the target object, and calculates and determines the target position information of the target object based on the image information.
在一些实施方式中，在步骤S101中，接收用户设备上传的、关于目标对象的目标位置信息。例如，PTZ摄像***(包括计算机设备)可以接入其他设备，与其他设备建立对应的通信连接，如警务人员的移动终端或者指挥设备，还如报警人员 的移动终端等，通过通信连接，用户设备可以向该PTZ摄像***上传关于目标对象的目标位置信息，该目标位置信息可以是对应用户设备通过定位装置获取的用户设备自身所处的位置，还可以根据用户设备当前位置计算确定的目标对象所处的位置信息，如根据当前用户设备所处的位置展示对应电子地图，并采集用户关于电子地图中目标对象的点击、选中等操作从而确定目标对象的目标位置信息，还可以是用户设备直接输入的目标对象的目标位置信息等。In some implementations, in step S101, target location information about a target object uploaded by a user equipment is received. For example, the PTZ camera system (including computer equipment) can be connected to other devices and establish corresponding communication connections with other devices, such as mobile terminals or command equipment of police officers, and mobile terminals of alarm personnel. Through communication connections, users The device can upload target location information about the target object to the PTZ camera system. The target location information can be the location of the user equipment itself obtained by the corresponding user equipment through the positioning device, or the target object can be calculated and determined according to the current location of the user equipment. The location information, such as displaying the corresponding electronic map according to the current location of the user equipment, and collecting the user's clicks and selections on the target object in the electronic map to determine the target location information of the target object, or the user equipment directly The target location information of the input target object, etc.
在一些实施方式中，在步骤S101中，获取关于所述目标对象的PTZ图像信息；基于所述PTZ图像信息确定所述目标对象在所述PTZ图像信息中的图像位置信息；基于所述图像位置信息确定所述目标对象的目标位置信息。例如，PTZ摄像***还可以通过PTZ摄像装置采集的PTZ图像信息获取目标对象的目标位置信息，如计算机设备可以接收一个或多个PTZ摄像装置采集的PTZ图像信息，根据目标对象的模板特征识别确定包含目标对象的PTZ摄像图像，并基于识别结果确定目标对象在PTZ图像信息中的图像位置信息；或者基于用户的操作，可以在某一PTZ图像信息进行标记，确定该PTZ图像信息中包含目标对象，并基于目标对象的模板特征识别目标对象在PTZ图像信息中的图像位置信息；或者基于用户对PTZ图像信息中某一个位置的标记确定该PTZ图像信息中目标对象的图像位置信息。计算机设备确定目标对象在PTZ图像信息中的图像位置信息后，基于该PTZ图像信息对应初始PTZ摄像装置的内外参可以确定目标对象相对于初始PTZ摄像装置的相对位置信息；进一步，再结合该初始PTZ摄像装置的摄像位置信息，如经纬度信息或者地图位置信息等，可以确定目标对象的目标位置信息，如经纬度信息或者地图位置信息等。In some implementations, in step S101, the PTZ image information about the target object is acquired; the image position information of the target object in the PTZ image information is determined based on the PTZ image information; based on the image position information identifying target location information for the target object. For example, the PTZ camera system can also obtain the target position information of the target object through the PTZ image information collected by the PTZ camera device, such as the computer equipment can receive the PTZ image information collected by one or more PTZ camera devices, and determine the Include the PTZ camera image of the target object, and determine the image position information of the target object in the PTZ image information based on the recognition result; or based on the user's operation, it can be marked in a certain PTZ image information to determine that the PTZ image information contains the target object , and identify the image position information of the target object in the PTZ image information based on the template feature of the target object; or determine the image position information of the target object in the PTZ image information based on the user's mark on a certain position in the PTZ image information. After the computer equipment determines the image position information of the target object in the PTZ image information, the relative position information of the target object relative to the initial PTZ camera device can be determined based on the internal and external parameters of the PTZ image information corresponding to the initial PTZ camera device; further, combined with the initial The shooting location information of the PTZ camera device, such as longitude and latitude information or map location information, can determine the target location information of the target object, such as longitude and latitude information or map location information.
在一些实施方式中，所述方法还包括步骤S104(未示出)，在步骤S104中，获取所述PTZ图像信息对应初始PTZ摄像装置的摄像姿态信息及摄像位置信息；其中，所述基于所述图像位置信息确定所述目标对象的目标位置信息，包括：基于所述摄像姿态信息、所述摄像位置信息及所述图像位置信息确定所述目标对象的目标位置信息。例如，计算机设备端存储有各个PTZ摄像装置的内参及摄像位置信息(如摄像装置在对应世界坐标系下的坐标位置或者地理坐标信息等)，根据拍摄该PTZ图像信息时初始PTZ摄像装置的承载设备的转动角度等可以计算出摄像坐标系转换到该初始PTZ摄像装置对应的世界坐标系的坐标转换关系(如外参)，所述摄 像姿态信息包括该初始PTZ摄像装置的内参和外参等。计算机设备可以通过初始PTZ摄像装置的摄像标识信息(如序列号或者编号等)查询确定该初始PTZ摄像装置的内参以及摄像位置信息等，根据拍摄该PTZ图像信息时计算得到的该初始PTZ摄像装置的外参，随后结合目标对象的图像位置信息计算确定目标对象的目标位置信息等。In some embodiments, the method further includes step S104 (not shown), in step S104, acquiring the imaging posture information and imaging position information of the PTZ image information corresponding to the initial PTZ imaging device; wherein, the Determining the target position information of the target object based on the image position information includes: determining the target position information of the target object based on the imaging posture information, the imaging position information and the image position information. For example, the computer equipment side stores the internal reference and shooting position information of each PTZ camera device (such as the coordinate position or geographical coordinate information of the camera device in the corresponding world coordinate system, etc.), according to the carrying capacity of the initial PTZ camera device when shooting the PTZ image information, The rotation angle of the equipment, etc. can calculate the coordinate conversion relationship (such as external parameters) of the camera coordinate system converted to the world coordinate system corresponding to the initial PTZ camera device, and the camera attitude information includes the internal parameters and external parameters of the initial PTZ camera device, etc. . The computer equipment can query and determine the internal reference and imaging position information of the initial PTZ imaging device through the imaging identification information (such as serial number or serial number, etc.) of the initial PTZ imaging device, according to the initial PTZ imaging device calculated when shooting the PTZ image information The external parameters of the target object are then combined with the image position information of the target object to calculate and determine the target position information of the target object, etc.
在一些实施方式中，所述摄像位置信息包括所述初始PTZ摄像装置的经纬度信息；其中，所述基于所述摄像姿态信息、所述摄像位置信息及所述图像位置信息确定所述目标对象的目标位置信息，包括：基于所述摄像姿态信息、所述图像位置信息确定所述目标对象相对于所述初始PTZ摄像装置的相对位置信息；基于所述相对位置信息及所述初始PTZ摄像装置的经纬度信息确定所述目标对象的经纬度信息。例如，所述摄像位置信息包括初始PTZ摄像装置的经纬度信息，计算机设备可以基于初始PTZ摄像装置的内参、外参以及目标对象的图像位置信息确定该目标对象相对于初始PTZ摄像装置的相对位置信息，如在以初始PTZ摄像装置为基准建立的坐标系中目标对象的坐标信息，在一些实施例中，该坐标系是以地面为X、Y轴，向上为Z轴沿初始PTZ摄像装置相机光心点垂直于地面的交点为原点建立的坐标系，在此上述坐标系仅为举例不进行限定，其它可以表示目标对象相对于初始PTZ摄像装置的相对位置信息的坐标系均可。在此，所述初始PTZ摄像装置的经纬度信息是已知的，我们根据该坐标系中目标对象的坐标信息和PTZ摄像装置的经纬度信息计算目标对象的经纬度。In some implementations, the camera location information includes the latitude and longitude information of the initial PTZ camera device; wherein, the determination of the target object's location based on the camera posture information, the camera location information and the image location information Target position information, including: determining the relative position information of the target object relative to the initial PTZ camera device based on the camera attitude information and the image position information; based on the relative position information and the initial PTZ camera device The latitude and longitude information determines the latitude and longitude information of the target object. For example, the imaging location information includes latitude and longitude information of the initial PTZ imaging device, and the computer device can determine the relative position information of the target object relative to the initial PTZ imaging device based on the internal reference, external reference and image position information of the target object , such as the coordinate information of the target object in the coordinate system established based on the initial PTZ camera device. The intersection point of the center point perpendicular to the ground is the coordinate system established by the origin. The above coordinate system is just an example and not limited. Other coordinate systems that can represent the relative position information of the target object relative to the initial PTZ camera device are acceptable. Here, the latitude and longitude information of the initial PTZ camera is known, and we calculate the latitude and longitude of the target object according to the coordinate information of the target object in the coordinate system and the latitude and longitude information of the PTZ camera.
在一些实施方式中，所述摄像位置信息还包括获取所述初始PTZ摄像装置的高度信息；其中，基于所述摄像姿态信息、所述图像位置信息确定所述目标对象相对于所述初始PTZ摄像装置的相对位置信息，包括：基于所述摄像姿态信息、图像位置信息、所述初始PTZ摄像装置的高度信息确定所述目标对象相对于所述初始PTZ摄像装置的相对位置信息。例如，如图2所示，以目标对象所处地面作为X、Y轴，向上为Z轴建立坐标系，沿PTZ摄像装置光心点垂直于地面的交点为原点O，PTZ摄像装置光心坐标c(Xc,Yc,Zc)，其中Xc、Yc为0，Zc为PTZ摄像装置高度。In some implementations, the imaging location information also includes obtaining height information of the initial PTZ imaging device; wherein, based on the imaging posture information and the image position information, it is determined that the target object is relative to the initial PTZ imaging The relative position information of the device includes: determining the relative position information of the target object relative to the initial PTZ camera based on the shooting posture information, image position information, and height information of the initial PTZ camera. For example, as shown in Figure 2, the ground where the target object is located is used as the X and Y axes, and the upward Z axis is used to establish a coordinate system. c(Xc, Yc, Zc), where Xc and Yc are 0, and Zc is the height of the PTZ camera.
射线L是一条经过PTZ摄像装置光心c(Xc,Yc,Zc)，方向向量为Vw的直线，其中，Vw是根据目标对象的图像位置信息、初始PTZ摄像装置的内参和外参确定的一条世界坐标系下的射线，直线L的参数方程形式为：x＝Xc+Xw*t；y＝Yc+ Yw*t；z＝Zc+Zw*t。其中，平面P是X、Y坐标轴围成的平面，对应平面方程为z＝0；根据前述两个方程，可以求解出参数t，进而可求得交点，即目标对象m的坐标(Xm,Ym,0)。至此，图像上的一点通过坐标转换和线面交点得到了平面对应点，从而获得了目标对象相对于初始PTZ摄像装置的相对位置信息，然后根据相对位置信息和初始PTZ摄像装置的经纬度信息确定所述目标对象的经纬度信息。The ray L is a straight line passing through the optical center c (Xc, Yc, Zc) of the PTZ camera device, and the direction vector is Vw, where Vw is a line determined according to the image position information of the target object and the internal and external parameters of the initial PTZ camera device. For rays in the world coordinate system, the parametric equation form of the straight line L is: x=Xc+Xw*t; y=Yc+Yw*t; z=Zc+Zw*t. Wherein, the plane P is a plane surrounded by X and Y coordinate axes, and the corresponding plane equation is z=0; according to the aforementioned two equations, the parameter t can be solved, and then the intersection point can be obtained, that is, the coordinates of the target object m (Xm, Ym,0). So far, a point on the image has obtained the plane corresponding point through coordinate conversion and line-plane intersection, thereby obtaining the relative position information of the target object relative to the initial PTZ camera device, and then determining the relative position information and the latitude and longitude information of the initial PTZ camera device. The longitude and latitude information of the target object.
如图3所示，已知交点m和原点O的坐标，由于原点O的经纬度(初始PTZ摄像装置的经纬度)已知，可以求出交点m的经纬度。在一些实施例中，将地球看作一个正球体，已知初始PTZ摄像装置所在点O的经纬度为(lon,lat)，初始PTZ摄像装置所在点的经度环切面圆为C1，初始PTZ摄像装置所在点的纬度环切面圆为C2，C1的半径R1为地球半径，C2的半径为R2。以初始PTZ摄像装置为原点建立平面坐标系，地面上一点P的坐标为(x,y),平面坐标x和y映射在地球上对应的弧长近似为l2和l1。从O点到P点，经度偏转角为α，纬度偏转角为β，有以下关系：R1＝地球半径；R2＝R1*cos(lat)；α＝2*π*(l1/2*π*R1)＝l1/R1＝y/R1；β＝2*π*(l2/2*π*R2)＝l2/R2＝x/R2；P点的经纬度＝(lon+α,lat+β)。所以已知平面坐标关系可以得到经纬偏转角α和β，进而算出目标对象m的经纬度(lon+α,lat+β)。另一方面，已知目标对象m的经纬度也可以得到经纬偏转角α和β，进而求得目标对象和PTZ摄像装置的平面坐标关系(Xm,Ym)。As shown in FIG. 3 , the coordinates of the intersection point m and the origin O are known, and since the latitude and longitude of the origin O (the latitude and longitude of the initial PTZ camera) are known, the latitude and longitude of the intersection point m can be obtained. In some embodiments, the earth is regarded as a positive sphere, and the longitude and latitude of the point O where the initial PTZ camera is known is (lon, lat), and the longitude circle tangent circle of the point where the initial PTZ camera is located is C1, and the initial PTZ camera is The latitude annular tangent circle of the point is C2, the radius R1 of C1 is the radius of the earth, and the radius of C2 is R2. A plane coordinate system is established with the initial PTZ camera device as the origin, the coordinates of a point P on the ground are (x, y), and the corresponding arc lengths of the plane coordinates x and y mapped on the earth are approximately l2 and l1. From point O to point P, the longitude deflection angle is α, and the latitude deflection angle is β, which has the following relationship: R1=radius of the earth; R2=R1*cos(lat); α=2*π*(l1/2*π* R1)=l1/R1=y/R1; β=2*π*(l2/2*π*R2)=l2/R2=x/R2; latitude and longitude of point P=(lon+α, lat+β). Therefore, the known plane coordinate relationship can obtain the longitude and latitude deflection angles α and β, and then calculate the longitude and latitude (lon+α, lat+β) of the target object m. On the other hand, the longitude and latitude deflection angles α and β can also be obtained by knowing the latitude and longitude of the target object m, and then the plane coordinate relationship (Xm, Ym) between the target object and the PTZ camera can be obtained.
在另一些情形下，地面上选一个已知点，可以得到一个经过摄像头光心的方向向量，经过云台旋转平移后可以得到图像坐标系下的方向向量，通过求延伸直线与图像的交点就能获得物理世界地面上的点对应的图像上坐标点。In other cases, if you choose a known point on the ground, you can get a direction vector passing through the optical center of the camera. After the pan/tilt is rotated and translated, you can get the direction vector in the image coordinate system. By finding the intersection point of the extended line and the image, you can The coordinate points on the image corresponding to the points on the ground in the physical world can be obtained.
在步骤S102中，根据所述目标位置信息从多个PTZ摄像装置中确定相匹配的目标PTZ摄像装置，其中，所述目标PTZ摄像装置的采集区域包含所述目标位置信息。例如，对应PTZ摄像***中包含多个PTZ摄像装置，根据目标位置信息可以匹配确定能够采集到目标对象的目标PTZ摄像装置。在一些情形下，根据当前多个PTZ摄像装置的采集图像，可以通过用户选中或者目标识别等方式确定能够采集到目标对象的目标PTZ摄像装置。在一些情形下，可以预先设置对应的距离阈值，根据各个PTZ摄像装置与目标位置信息的距离差值与距离阈值进行比较，将距离差值小于或等于距离阈值的PTZ摄像装置确定为相匹配的目标PTZ摄像装置。在另一些情形下，计算机设备确定每个PTZ摄像装置的采集范围，并根据对应采集范围 与目标位置信息的匹配确定对应的目标PTZ摄像装置。在一些实施方式中，所述采集范围用于指示每个PTZ摄像装置的可采集视角和/或可采集距离，对应可采集视角包括水平转动角度和/或竖直转动角度等，对应可采集距离可以表示PTZ摄像装置的最远采集距离，该最远采集距离可以是固定半径，也可以是随着转动角度、地形以及建筑物高度等变化而变化的距离量。在一些实施例中，当目标位置信息处于某PTZ摄像装置的采集范围内，则确定该PTZ摄像装置为匹配的目标PTZ摄像装置。进一步地，由于PTZ摄像***中包含的PTZ摄像装置较多，我们通常需要对PTZ摄像装置进行筛选，从而确定符合条件的PTZ摄像装置，再从中确定相匹配的目标PTZ摄像装置，从而在一定程度上减少了计算量。例如，PTZ摄像装置含有标签信息，用于标识其所处的位置或摄像装置的类型等，如XX园区，XX公园等，根据目标对象的目标位置信息在标签中进行筛选，将特定标签对应的PTZ摄像装置筛选出来，又如，我们可以预先设置对应的距离阈值，根据各个PTZ摄像装置与目标位置信息的距离差值与距离阈值进行比较，将距离差值小于或等于距离阈值的PTZ摄像装置筛选出来；再如，当采集范围以固定半径(如距离阈值等)进行计算时，我们将距离差值小于或等于距离阈值的PTZ摄像装置筛选出来，然后再进一步匹配确定为目标PTZ摄像装置。In step S102, a matching target PTZ camera device is determined from a plurality of PTZ camera devices according to the target position information, wherein a collection area of the target PTZ camera device includes the target position information. For example, if the PTZ camera system includes multiple PTZ camera devices, the target PTZ camera device that can capture the target object can be matched and determined according to the target position information. In some cases, according to currently captured images of multiple PTZ camera devices, the target PTZ camera device capable of capturing the target object may be determined through user selection or target recognition. In some cases, the corresponding distance threshold can be set in advance, and the distance difference between each PTZ camera and the target position information is compared with the distance threshold, and the PTZ camera whose distance difference is less than or equal to the distance threshold is determined as matching Target PTZ camera device. In other cases, the computer device determines the collection range of each PTZ camera, and determines the corresponding target PTZ camera according to the matching of the corresponding collection range and the target position information. In some implementations, the collection range is used to indicate the collectable viewing angle and/or collectable distance of each PTZ camera device, the corresponding collectable viewing angle includes horizontal rotation angle and/or vertical rotation angle, etc., and the corresponding collectable distance It can represent the farthest acquisition distance of the PTZ camera device, and the farthest acquisition distance can be a fixed radius, or a distance that changes with changes in rotation angles, terrains, and building heights. In some embodiments, when the target position information is within the collection range of a certain PTZ camera, it is determined that the PTZ camera is a matching target PTZ camera. Furthermore, since there are many PTZ camera devices included in the PTZ camera system, we usually need to screen the PTZ camera devices to determine the PTZ camera devices that meet the conditions, and then determine the matching target PTZ camera devices, so that to a certain extent reduce the amount of computation. For example, the PTZ camera device contains tag information, which is used to identify its location or the type of camera device, etc., such as XX Park, XX Park, etc., according to the target location information of the target object, the tags are screened, and the specific tag corresponding PTZ camera devices are screened out. For another example, we can pre-set the corresponding distance threshold, compare the distance difference between each PTZ camera device and the target position information with the distance threshold, and select the PTZ camera devices whose distance difference is less than or equal to the distance threshold. Filter out; for another example, when the acquisition range is calculated with a fixed radius (such as a distance threshold, etc.), we filter out the PTZ camera devices whose distance difference is less than or equal to the distance threshold, and then further match and determine as the target PTZ camera device.
在一些实施方式中，所述方法还包括步骤S105(未示出)，在步骤S105中，获取所述多个PTZ摄像装置中每个PTZ摄像装置的采集区域；其中，在步骤S102中，若所述目标位置信息处于所述多个PTZ摄像装置中某一PTZ摄像装置的采集区域内，将该某一PTZ摄像装置确定为相匹配的目标PTZ摄像装置。例如，所述采集区域通常包括PTZ摄像装置的可采集视角和/或可采集距离等，对应可采集视角包括转动角度，如水平转动角度和/或竖直转动角度等，如图4所示，在一些实施例中，我们可以通过转动角度确定PTZ摄像装置的采集区域，或者，进一步基于PTZ摄像装置的摄像位置信息确定对应的采集区域等，在另一些实施例中，可以通过采集距离确定PTZ摄像装置的采集区域，或者，进一步基于PTZ摄像装置的摄像位置信息确定对应的采集区域等，在另一些实施例中，还可以同时基于转动角度和采集距离确定对应的采集区域，或者，进一步基于PTZ摄像装置的摄像位置信息确定对应的采集区域等。如在一些实施方式中，所述方法还包括步骤S106(未示出)，在步骤S106中，根据所述目标位置信息及所述多个PTZ摄像装置的摄像位置信息 确定所述目标对象相对于多个PTZ摄像装置的多个方位角，其中，每个方位角与一PTZ摄像装置对应；其中，在步骤S102中，若所述多个方位角中存在某一方位角处于该方位角对应PTZ摄像装置的采集区域内，将该方位角对应的PTZ摄像装置确定为相匹配的目标PTZ摄像装置。例如，如图5所示，方位角用于在平面上量度物体之间的角度差，是从某点的指北方向线起，依顺时针方向到目标方向线之间的水平夹角，PTZ摄像装置所在点O，目标位置为P，目标位置相对于PTZ摄像装置的方位角为θ，PTZ摄像装置云台水平转角为pan，则有以下关系：θ＝pan；θ＝arctan(x/y)(第一象限,x>0,y>0)；θ＝arctan(-x/y)+π*3/2(第二象限,x<0,y>0)；θ＝arctan(-x/y)+π/2(第四象限,x>0,y<0)；θ＝arctan(x/y)+π(第三象限,x<0,y<0)。In some embodiments, the method further includes step S105 (not shown), in step S105, acquiring the acquisition area of each PTZ camera in the plurality of PTZ camera devices; wherein, in step S102, if The target location information is within the collection area of a certain PTZ camera among the plurality of PTZ camera devices, and the certain PTZ camera device is determined as a matching target PTZ camera device. For example, the collection area usually includes the collectable angle of view and/or collectable distance of the PTZ camera device, and the corresponding collectable angle of view includes a rotation angle, such as a horizontal rotation angle and/or a vertical rotation angle, etc., as shown in FIG. 4 , In some embodiments, we can determine the acquisition area of the PTZ camera device through the rotation angle, or further determine the corresponding acquisition area based on the shooting position information of the PTZ camera device. In other embodiments, the PTZ camera can be determined by the acquisition distance. The acquisition area of the imaging device, or, further determine the corresponding acquisition area based on the imaging position information of the PTZ imaging device, in other embodiments, the corresponding acquisition area can also be determined based on the rotation angle and the acquisition distance, or, further based on The shooting position information of the PTZ camera device determines the corresponding collection area and the like. As in some implementations, the method further includes step S106 (not shown), in step S106, according to the target position information and the shooting position information of the plurality of PTZ camera devices, it is determined that the relative position of the target object is A plurality of azimuth angles of a plurality of PTZ camera devices, wherein each azimuth angle corresponds to a PTZ camera device; wherein, in step S102, if there is a certain azimuth angle in the plurality of azimuth angles that is in the PTZ corresponding to the azimuth angle In the collection area of the camera device, the PTZ camera device corresponding to the azimuth angle is determined as the matching target PTZ camera device. For example, as shown in Figure 5, the azimuth is used to measure the angle difference between objects on the plane, which is the horizontal angle between the north direction line of a certain point and the target direction line in a clockwise direction. PTZ camera The point O of the device, the target position is P, the azimuth angle of the target position relative to the PTZ camera is θ, and the horizontal rotation angle of the PTZ camera platform is pan, then there are the following relations: θ=pan; θ=arctan(x/y) (first quadrant, x>0, y>0); θ=arctan(-x/y)+π*3/2(second quadrant, x<0, y>0); θ=arctan(-x/ y)+π/2(fourth quadrant, x>0, y<0); θ=arctan(x/y)+π(third quadrant, x<0, y<0).
其中，预先获取每个PTZ摄像装置左右两个可视边界的云台水平转角A和B，保证PTZ摄像装置在AB之间转动时视野不受遮挡，AB这一组水平转角就组成了该PTZ摄像装置的采集区域(如可视角)。已知PTZ摄像装置和目标点m在平面中的坐标关系为(Xm,Ym)，可以求出点m相对于PTZ摄像装置的方位角θ，若θ介于B和A之间，则目标m在该PTZ摄像装置采集范围内，否则目标不在该PTZ摄像装置的采集范围。Among them, the pan-tilt horizontal angles A and B of the left and right visual boundaries of each PTZ camera device are obtained in advance to ensure that the field of view is not blocked when the PTZ camera device rotates between A and B, and the group of horizontal angles AB constitutes the PTZ The collection area of the camera device (such as the viewing angle). It is known that the coordinate relationship between the PTZ camera and the target point m in the plane is (Xm, Ym), and the azimuth θ of point m relative to the PTZ camera can be obtained. If θ is between B and A, the target m within the collection range of the PTZ camera, otherwise the target is not within the collection range of the PTZ camera.
在此，所述目标PTZ摄像装置安置于对应承载设备，承载设备包括但不限于PTZ摄像装置的云台，云台是安装、固定摄像机的承载设备，它分为固定和电动云台两种。固定云台适用于监视范围不大的情况，在固定云台上安装好摄像机后可调整摄像机的水平和俯仰的角度，达到最好的工作姿态后只要锁定调整机构就可以了。电动云台适用于对大范围进行扫描监视，它可以扩大摄像机的监视范围。云台根据其回转的特点，回转位姿的变化会引起承载状态的变化，承载状态信息包括对应水平旋转角度的水平转角信息和竖直旋转角度的竖直转角信息等。PTZ摄像装置的摄像坐标系相对于世界坐标系的坐标变换信息(如外参)根据云台的承载状态信息变化而变化。换言之，云台的承载状态信息与摄像坐标系相对于世界坐标系的坐标变换信息存在一定的映射关系，该映射关系可以通过不同摄像位姿信息对应的多个坐标变换信息进行求解。例如，坐标变化信息包括旋转矩阵信息和平移矩阵信息，摄像坐标系相对于世界坐标系的平移矩阵信息固定，对应旋转矩阵信息与承载状态信息存在映射关系。我们取至少两个不同摄像位姿信息对应的坐标变换信息，并通过该至少两个坐标变换信息中的旋转矩阵信息与该至少两个坐标变换信息对应的 承载状态信息，计算确定对应映射参数信息，该映射参数信息分为水平方向上的水平映射参数和竖直方向上的竖直映射参数等。当该映射参数信息为已知时，我们只需要获取实时承载状态信息，如云台的竖直转角信息和水平转角信息，就可以得到PTZ摄像装置的坐标变换信息，如摄像坐标系相对于世界坐标系的坐标变换信息，又如摄像坐标系相对于世界坐标系的旋转矩阵信息。Here, the target PTZ camera device is placed on the corresponding carrier equipment, which includes but not limited to the pan-tilt of the PTZ camera device. The pan-tilt is a carrier device for installing and fixing the camera, and it is divided into two types: fixed and electric pan-tilts. The fixed pan/tilt is suitable for the situation where the monitoring range is not large. After installing the camera on the fixed pan/tilt, you can adjust the horizontal and pitch angles of the camera. After reaching the best working posture, you only need to lock the adjustment mechanism. The electric pan/tilt is suitable for scanning and monitoring a large area, and it can expand the monitoring range of the camera. According to the characteristics of the gimbal's rotation, the change of the rotation pose will cause the change of the carrying state. The carrying state information includes the horizontal rotation angle information corresponding to the horizontal rotation angle and the vertical rotation angle information corresponding to the vertical rotation angle. Coordinate transformation information (such as external parameters) of the camera coordinate system of the PTZ camera device relative to the world coordinate system changes according to the change of the bearing state information of the pan/tilt. In other words, there is a certain mapping relationship between the carrying state information of the gimbal and the coordinate transformation information of the camera coordinate system relative to the world coordinate system, and the mapping relationship can be solved by multiple coordinate transformation information corresponding to different camera pose information. For example, the coordinate change information includes rotation matrix information and translation matrix information. The translation matrix information of the camera coordinate system relative to the world coordinate system is fixed, and there is a mapping relationship between the rotation matrix information and the bearer state information. We take at least two coordinate transformation information corresponding to different camera pose information, and calculate and determine the corresponding mapping parameter information through the rotation matrix information in the at least two coordinate transformation information and the bearing state information corresponding to the at least two coordinate transformation information , the mapping parameter information is divided into horizontal mapping parameters in the horizontal direction, vertical mapping parameters in the vertical direction, and the like. When the mapping parameter information is known, we only need to obtain the real-time bearer status information, such as the vertical angle information and horizontal angle information of the gimbal, to obtain the coordinate transformation information of the PTZ camera device, such as the camera coordinate system relative to the world The coordinate transformation information of the coordinate system, such as the rotation matrix information of the camera coordinate system relative to the world coordinate system.
在一些实施方式中，在步骤S105中，获取所述每个PTZ摄像装置的转动角度信息，其中，所述转动角度包括水平转动角度和/或竖直转动角度；基于所述每个PTZ摄像装置的所述转动角度信息确定所述每个PTZ摄像装置的采集区域。由于PTZ摄像装置经常安装在建筑物上，可能有障碍物的遮挡，视频监控会存在一定的死角，当控制云台转动到目标位置时画面很可能会被遮挡，因此，需要先确定每个PTZ摄像装置的采集区域，如基于每个PTZ摄像装置的转动角度信息确定每个PTZ摄像装置的采集区域。例如，对应转动角度信息包括水平转动角度和/或竖直转动角度信息，如预先获取每个PTZ摄像装置水平方向上左右两个可视边界的云台水平转角A与B和/或获取竖直方向上上下两个可视边界的云台竖直转角C与D，保证PTZ摄像装置在AB之间和/或CD之间转动时视野不受遮挡，AB水平转角和/或CD竖直转角就组成了该PTZ摄像装置的采集区域(如可视角)。前述内容主要基于水平转动角度确定采集区域进而根据方位角匹配目标PTZ摄像装置，本领域技术人员应能理解，该等实施例同样适用于竖直转动角度，如根据竖直方向上的夹角以及竖直转动角度判断目标位置信息是否处于采集区域内等。在另一些实施方式中，我们可以结合水平转动角度和竖直转动角度，确定PTZ摄像装置在当前空间内能够扫描到的点的空间坐标集合，将该空间坐标集合作为PTZ摄像装置的采集区域，若目标位置信息对应空间坐标属于空间坐标集合的坐标之一，则我们将该空间坐标集合对应的PTZ摄像装置确定为目标PTZ摄像装置。In some implementations, in step S105, the rotation angle information of each PTZ camera device is obtained, wherein the rotation angle includes a horizontal rotation angle and/or a vertical rotation angle; based on each PTZ camera device The rotation angle information determines the collection area of each PTZ camera device. Since PTZ camera devices are often installed on buildings, there may be obstacles, and there will be a certain dead angle in video surveillance. When the pan/tilt is controlled to rotate to the target position, the picture may be blocked. Therefore, it is necessary to determine each PTZ The collection area of the camera, for example, is determined based on the rotation angle information of each PTZ camera. For example, the corresponding rotation angle information includes horizontal rotation angle and/or vertical rotation angle information, such as pre-obtaining the horizontal rotation angles A and B of the two left and right visual boundaries of each PTZ camera device in the horizontal direction and/or obtaining the vertical rotation angle The vertical angles C and D of the PTZ on the upper and lower visible boundaries in the direction ensure that the field of view is not blocked when the PTZ camera rotates between AB and/or CD, and the horizontal angle of AB and/or the vertical angle of CD are It constitutes the collection area (such as the viewing angle) of the PTZ camera device. The above content is mainly based on the horizontal rotation angle to determine the acquisition area and then match the target PTZ camera device according to the azimuth angle. Those skilled in the art should understand that these embodiments are also applicable to the vertical rotation angle, such as according to the angle in the vertical direction and The vertical rotation angle is used to determine whether the target position information is within the collection area, etc. In other embodiments, we can combine the horizontal rotation angle and the vertical rotation angle to determine the set of spatial coordinates of the points that the PTZ camera can scan in the current space, and use the set of spatial coordinates as the collection area of the PTZ camera. If the space coordinate corresponding to the target position information belongs to one of the coordinates of the space coordinate set, then we determine the PTZ camera device corresponding to the space coordinate set as the target PTZ camera device.
在一些实施方式中，在步骤S102中，根据所述目标位置信息及所述多个PTZ摄像装置中每个PTZ摄像装置的摄像位置信息，确定至少一个候选PTZ摄像装置；若所述目标位置信息处于所述多个候选PTZ摄像装置中某一候选PTZ摄像装置的采集区域内，将该某一候选PTZ摄像装置确定为相匹配的目标PTZ摄像装置。例如，由于PTZ摄像***中包含的PTZ摄像装置的数量繁多，通过一一匹配对应采集区域确定目标PTZ摄像装置会存在较大计算量，对于服务器资源造成浪费。我们 可以先通过筛选条件从多个PTZ摄像装置中确定至少一个候选PTZ摄像装置，再从候选PTZ摄像装置中确定对应的目标PTZ摄像装置。其中，筛选条件包括但不限于用户选中、距离匹配、PTZ摄像装置的标签选择等方式，如根据目标位置信息，用户手动选中该目标位置信息附近的PTZ摄像装置作为候选PTZ摄像装置，又如，根据目标位置信息在标签中进行筛选确定对应标签对应的PTZ摄像装置作为候选PTZ摄像装置等。In some embodiments, in step S102, at least one candidate PTZ camera device is determined according to the target position information and the shooting position information of each PTZ camera device in the plurality of PTZ camera devices; if the target position information If it is within the collection area of a certain candidate PTZ camera among the plurality of candidate PTZ camera devices, the certain candidate PTZ camera device is determined as a matching target PTZ camera device. For example, due to the large number of PTZ camera devices included in the PTZ camera system, determining the target PTZ camera device through one-to-one matching corresponding collection areas will involve a large amount of calculation, which will cause waste of server resources. We can firstly determine at least one candidate PTZ camera device from multiple PTZ camera devices through screening conditions, and then determine a corresponding target PTZ camera device from the candidate PTZ camera devices. Among them, the filtering conditions include but not limited to user selection, distance matching, label selection of PTZ camera devices, etc., such as according to the target location information, the user manually selects the PTZ camera device near the target location information as a candidate PTZ camera device, and for another example, The tags are screened according to the target location information to determine the PTZ camera device corresponding to the tag as a candidate PTZ camera device.
在一些实施方式中，所述根据所述目标位置信息及所述多个PTZ摄像装置中每个PTZ摄像装置的摄像位置信息，确定至少一个候选PTZ摄像装置，包括：根据所述目标位置信息及所述多个PTZ摄像装置中每个PTZ摄像装置的摄像位置信息确定所述每个PTZ摄像装置的摄像距离信息；若某一PTZ摄像装置的摄像距离信息小于或等于摄像距离阈值，将该某一PTZ摄像装置确定为对应的候选PTZ摄像装置。在一些实施例中，根据目标位置信息和PTZ摄像装置的摄像位置信息确定目标和PTZ摄像装置之间的距离，当距离小于摄像距离阈值时，确定该PTZ摄像装置为候选PTZ摄像装置。例如，如图4所示，以目标位置信息为圆心，摄像距离阈值为半径(如半径为R)范围内搜索摄像装置，目标位置信息的经纬度已知，如可以获得半径R范围内的圆内所有点的经纬度，然后根据PTZ摄像装置对应的经纬度，筛选在该圆的位置范围内的PTZ摄像装置，以这些PTZ摄像装置作为候选PTZ摄像装置。进一步地，在候选PTZ摄像装置中，并判断目标位置信息是否在候选PTZ摄像装置的采集区域内，如果在采集区域内，则选择该候选PTZ摄像装置为目标PTZ摄像装置，如图4所示，PTZ摄像装置A不在摄像距离阈值范围内，符合摄像距离阈值的有PTZ摄像装置B和C，而目标位置信息不在PTZ摄像装置C的采集区域(如可视角)内，因而只有PTZ摄像装置B为目标PTZ摄像装置。In some embodiments, the determining at least one candidate PTZ camera device according to the target position information and the shooting position information of each PTZ camera device in the plurality of PTZ camera devices includes: according to the target position information and The imaging position information of each PTZ imaging device in the plurality of PTZ imaging devices determines the imaging distance information of each PTZ imaging device; if the imaging distance information of a certain PTZ imaging device is less than or equal to the imaging distance threshold, the certain PTZ imaging device A PTZ camera device is determined as the corresponding candidate PTZ camera device. In some embodiments, the distance between the target and the PTZ camera is determined according to the target location information and the shooting position information of the PTZ camera, and when the distance is less than the shooting distance threshold, the PTZ camera is determined as a candidate PTZ camera. For example, as shown in Figure 4, with the target position information as the center of the circle, the camera distance threshold is the search camera device within the radius (such as radius R), and the latitude and longitude of the target position information is known, such as the circle within the radius R range The latitude and longitude of all points, and then according to the latitude and longitude corresponding to the PTZ camera devices, screen the PTZ camera devices within the position range of the circle, and use these PTZ camera devices as candidate PTZ camera devices. Further, in the candidate PTZ camera, it is judged whether the target position information is in the collection area of the candidate PTZ camera, if it is in the collection area, then the candidate PTZ camera is selected as the target PTZ camera, as shown in Figure 4 , PTZ camera device A is not within the range of the shooting distance threshold, PTZ camera devices B and C meet the shooting distance threshold, and the target position information is not in the collection area (such as the viewing angle) of PTZ camera device C, so only PTZ camera device B For the target PTZ camera device.
在一些实施方式中，所述若所述目标位置信息处于所述多个候选PTZ摄像装置中某一候选PTZ摄像装置的采集区域内，将该某一候选PTZ摄像装置确定为相匹配的目标PTZ摄像装置，包括：若所述目标位置信息处于所述多个候选PTZ摄像装置中某一候选PTZ摄像装置的采集区域内，将该某一候选PTZ摄像装置确定为相匹配的初始目标PTZ摄像装置，从而确定多个初始目标PTZ摄像装置；从所述多个初始目标PTZ摄像装置中确定至少一个目标PTZ摄像装置。例如，由于PTZ摄像***中PTZ摄像装置分布密集，在一些情形下，基于采集区域确定的目标PTZ 摄像装置数量也很多，为了多角度观察目标位对象，分散机位、扩展视角，在此，我们先通过采集区域确定多个初始目标PTZ摄像装置，再从多个初始目标PTZ摄像装置中确定一个或多个最终的目标PTZ摄像装置，例如，从中随机选择确定，如从多个初始目标PTZ摄像装置中随机确定预定数量的初始目标PTZ摄像装置作为目标PTZ摄像装置，或者根据摄像角度、摄像位置、相机参数中一个或多个进行确定等。In some embodiments, if the target position information is within the acquisition area of a certain candidate PTZ camera among the plurality of candidate PTZ cameras, the certain candidate PTZ camera is determined as the matching target PTZ An imaging device, comprising: if the target position information is within the acquisition area of a certain candidate PTZ imaging device among the plurality of candidate PTZ imaging devices, determining the certain candidate PTZ imaging device as a matching initial target PTZ imaging device , so as to determine a plurality of initial target PTZ camera devices; and determine at least one target PTZ camera device from the multiple initial target PTZ camera devices. For example, due to the dense distribution of PTZ cameras in the PTZ camera system, in some cases, the number of target PTZ cameras determined based on the acquisition area is also large. In order to observe the target object from multiple angles, disperse the camera positions and expand the viewing angle. First determine a plurality of initial target PTZ camera devices through the acquisition area, and then determine one or more final target PTZ camera devices from the multiple initial target PTZ camera devices, for example, randomly select and determine from them, such as from multiple initial target PTZ camera devices A predetermined number of initial target PTZ camera devices are randomly determined in the device as target PTZ camera devices, or determined according to one or more of camera angle, camera position, and camera parameters.
在一些实施方式中，所述从所述多个初始目标PTZ摄像装置中确定至少一个目标PTZ摄像装置，包括：从所述多个初始目标PTZ摄像装置中确定一个目标PTZ摄像装置，其中，所述一个目标PTZ摄像装置的摄像距离信息在所述多个初始目标PTZ摄像装置的摄像距离信息中最小；根据所述一个目标PTZ摄像装置的摄像参数信息与其他初始目标PTZ摄像装置的摄像参数信息确定其他目标PTZ摄像装置，其中，所述其他初始目标PTZ摄像装置包括所述多个初始目标PTZ摄像装置中除所述一个目标摄像装置之外的其他初始目标PTZ摄像装置。例如，如图6所示，当目标位置信息附近搜索到多个符合条件的初始目标PTZ摄像装置时，为了分散机位、扩展视角，需要进行机位分配，尽量做到多角度观察目标。比如十字路口处发生了事故，除了要观察当事人和物，还要观察事故所在地段多个路口的交通和人流情况，充分了解现场做好指挥调度。所述摄像参数信息包括但不限于各个初始目标PTZ摄像装置的摄像位置信息、相机参数信息或者相对于目标对象的摄像角度信息等，通过前述参数的一种或者几种组合可以根据需求对初始目标PTZ摄像装置进行筛选，从而确定目标PTZ摄像装置。In some implementations, the determining at least one target PTZ camera from the multiple initial target PTZ camera includes: determining a target PTZ camera from the multiple initial target PTZ camera, wherein the The imaging distance information of a target PTZ imaging device is the smallest among the imaging distance information of the plurality of initial target PTZ imaging devices; according to the imaging parameter information of the one target PTZ imaging device and the imaging parameter information of other initial target PTZ imaging devices determining other target PTZ camera devices, wherein the other initial target PTZ camera devices include other initial target PTZ camera devices except the one target camera device among the multiple initial target PTZ camera devices. For example, as shown in Figure 6, when multiple qualified initial target PTZ camera devices are searched near the target location information, in order to disperse the camera positions and expand the viewing angle, it is necessary to allocate the camera positions and try to observe the target from multiple angles. For example, if an accident occurs at an intersection, in addition to observing the parties and objects, it is also necessary to observe the traffic and flow of people at multiple intersections in the area where the accident is located, and fully understand the scene to conduct command and dispatch. The imaging parameter information includes but is not limited to the imaging position information of each initial target PTZ imaging device, camera parameter information or imaging angle information relative to the target object, etc., through one or several combinations of the aforementioned parameters, the initial target can be adjusted according to requirements. The PTZ camera device is screened to determine the target PTZ camera device.
如在一些实施方式中，所述摄像参数信息包括摄像位置信息；其中，所述根据所述一个目标PTZ摄像装置的摄像参数信息与其他初始目标PTZ摄像装置的摄像参数信息确定其他目标PTZ摄像装置，包括：e根据当前目标PTZ摄像装置的摄像位置信息与其他初始目标PTZ摄像装置的摄像位置信息确定每个其他初始目标PTZ摄像装置对应的向量夹角和，其中，所述当前目标PTZ摄像装置包括所述一个目标PTZ摄像装置和已确定的其他目标PTZ摄像装置；f根据所述其他初始目标PTZ摄像装置中每个其他初始目标PTZ摄像装置的向量夹角和确定向量夹角和最大的其他初始目标PTZ摄像装置，将该其他初始目标PTZ摄像装置确定为其他目标PTZ摄像装置；重复执行上述步骤e、f，直至所述当前目标PTZ摄像装置的数量满足预 设数量阈值。As in some implementations, the imaging parameter information includes imaging location information; wherein, determining other target PTZ imaging devices according to the imaging parameter information of the one target PTZ imaging device and imaging parameter information of other initial target PTZ imaging devices , comprising: e determining the vector angle sum corresponding to each other initial target PTZ camera according to the camera position information of the current target PTZ camera device and the camera position information of other initial target PTZ camera devices, wherein the current target PTZ camera device Including the one target PTZ camera and other determined target PTZ cameras; f according to the vector angle and the vector angle of each other initial target PTZ camera in the other initial target PTZ cameras and determining the vector angle and the largest other For the initial target PTZ camera device, determine the other initial target PTZ camera devices as other target PTZ camera devices; repeat steps e and f above until the number of the current target PTZ camera devices meets the preset number threshold.
例如，为了分散机位，扩展视角，我们使用初始目标PTZ摄像装置和现有的目标PTZ摄像装置的方位向量的夹角和作为判断标准，选择向量夹角和最大的初始目标PTZ摄像装置，该初始目标PTZ摄像装置就是和原有目标PTZ摄像装置离散程度最大的机位。计算机设备根据当前场景(如目标对象的具***置、对象属性等)设置预设数量阈值的目标PTZ摄像装置。具体地，在初始目标PTZ摄像装置中先选择一个初始目标PTZ摄像装置作为一个目标PTZ摄像装置，例如距离目标位置信息距离最近的初始目标PTZ摄像装置，然后根据每个其他初始目标PTZ摄像装置的摄像位置和目标位置组成的向量，以及一个目标PTZ摄像装置的摄像位置和目标位置组成的向量，计算向量之间的夹角，选择向量夹角最大的其他初始目标PTZ摄像装置作为其他目标PTZ摄像装置，然后，根据当前的每个其他初始目标PTZ摄像装置的摄像位置和目标位置组成的向量，以及目标PTZ摄像装置(一个目标PTZ摄像装置和其他目标PTZ摄像装置)的摄像位置和目标位置组成的多个向量，计算向量之间的夹角和，选择向量夹角和最大的其他初始目标PTZ摄像装置作为其他目标PTZ摄像装置，以此类推，依次选择出其他目标PTZ摄像装置，直至选择了预定数量的目标PTZ摄像装置。如图6所示，通过先选择距离目标位置信息最近的初始目标PTZ摄像装置作为一个目标PTZ摄像装置，然后通过向量夹角和最大依次选择了两个其他目标PTZ摄像装置，共选择了三个目标PTZ摄像装置(P0、P1、P2)，下一步要从当前的其他初始目标PTZ摄像装置①②③中选出第四个目标PTZ摄像装置，分别计算①②③和已确定的三个目标PTZ摄像装置(P0、P1、P2)的向量夹角和，每次选择向量夹角和最大的其他初始目标PTZ摄像装置作为其他目标PTZ摄像装置，构成目标PTZ摄像装置。如此循环遍历计算，选出符合条件的预定数量阈值的全部目标PTZ摄像装置。For example, in order to disperse camera positions and expand viewing angles, we use the angle sum of the initial target PTZ camera device and the orientation vector of the existing target PTZ camera device as a criterion, and select the vector angle and the largest initial target PTZ camera device. The initial target PTZ camera device is the camera position with the greatest degree of discreteness from the original target PTZ camera device. The computer device sets a preset number of target PTZ camera devices with a threshold value according to the current scene (such as the specific location of the target object, object attributes, etc.). Specifically, an initial target PTZ camera is first selected as a target PTZ camera among the initial target PTZ cameras, for example, the initial target PTZ camera with the shortest distance from the target position information, and then according to each other initial target PTZ camera The vector composed of the camera position and the target position, and the vector composed of the camera position and the target position of a target PTZ camera device, calculate the angle between the vectors, and select other initial target PTZ camera devices with the largest vector angle as other target PTZ cameras device, then, according to the current vector composed of the camera positions and target positions of each other initial target PTZ camera devices, and the camera positions and target positions of the target PTZ camera devices (one target PTZ camera device and other target PTZ camera devices) multiple vectors, calculate the sum of the angles between the vectors, select other initial target PTZ camera devices with the largest vector angle and maximum as other target PTZ camera devices, and so on, select other target PTZ camera devices in turn, until the selected A predetermined number of target PTZ camera devices. As shown in Figure 6, by first selecting the initial target PTZ camera device closest to the target position information as a target PTZ camera device, and then selecting two other target PTZ camera devices in turn according to the vector angle and maximum, a total of three The target PTZ camera device (P0, P1, P2), the next step is to select the fourth target PTZ camera device from other current initial target PTZ camera devices ①②③, and calculate ①②③ and the determined three target PTZ camera devices ( The vector angle sum of P0, P1, P2), select other initial target PTZ camera devices with the largest vector angle and each time as other target PTZ camera devices to form a target PTZ camera device. Through the calculation in this way, all target PTZ camera devices that meet the predetermined number of thresholds are selected.
在步骤S103中，向所述目标PTZ摄像装置发送关于目标对象的图像采集指令，并接收所述目标PTZ摄像装置基于所述图像采集指令、返回的实时图像信息。例如，PTZ摄像装置有了感知世界的能力以后，就可以通过控制对应承载设备转动，精确地将目标对象显示于对应图像中，计算机设备向对应目标PTZ摄像装置发送关于目标对象的图像采集指令，该图像采集指令包括打开摄像头，采集当前画面，进一步地，该图像采集指令还包含各个目标PTZ摄像装置的摄像姿态信息，用于指示各个 目标PTZ摄像装置将当前姿态信息调整至所述摄像姿态信息，从而方便对目标对象进行图像采集等。计算机设备接收各个目标PTZ摄像装置返回的关于目标对象的实时图像信息，并通过显示装置呈现该各个目标PTZ摄像装置采集的实时图像信息，可选地，当目标PTZ摄像装置为多个时，为了方便观察，可以在当前屏幕中分屏显示多个实时图像信息，从而实现目标对象的多方位多角度的观察等。具体如在一些实施方式中，所述目标PTZ摄像装置包括对应的目标承载设备；其中，所述方法还包括：根据所述目标位置信息及所述目标PTZ摄像装置的摄像位置信息确定所述目标承载设备的目标承载状态信息，其中，所述目标承载状态信息包括对应的承载水平角度和承载竖直角度；其中，在步骤S103中，向所述目标PTZ摄像装置发送关于目标对象的图像采集指令，并接收所述目标PTZ摄像装置基于所述图像采集指令、返回的实时图像信息，其中，所述图像采集指令包括所述目标承载状态信息，所述目标承载状态信息用于指示所述目标PTZ摄像装置将所述目标承载设备调整至所述目标承载状态信息。例如，基于前述内容，我们已经确定目标对象的目标位置信息，该位置信息可以是某坐标系中的坐标位置信息，或者相对于某物体(已知地理坐标等)的相对位置信息等，如经纬度、在电子地图中的位置信息，相对于某PTZ摄像装置的相对位置等，若要目标对象显示到实时图像信息中，我们根据目标位置信息以及目标PTZ摄像装置的摄像位置信息等，计算得到将目标对象呈现于视野内时对应云台的承载状态信息，如云台的水平转角和竖直转角等。当然，为了呈现更好的视觉效果，我们可以将目标对象呈现于实时图像信息的图像中央，如在一些实施方式中，所述目标承载状态信息用于指示所述目标PTZ摄像装置将所述目标承载设备调整至所述目标承载状态信息，以使所述目标对象处于所述实时图像信息的图像中心。例如，已知目标对象的目标位置信息，如目标位置信息是以目标PTZ摄像装置为基准建立的坐标系下的坐标，又如目标位置信息是经纬度等其他形式表示的位置信息，可以进一步获得其在以目标PTZ摄像装置为基准建立的坐标系下的坐标m(Xm,Ym,0)，如该坐标系是以目标对象所处地面作为X、Y轴，向上为Z轴建立的，沿目标PTZ摄像装置光心点垂直于地面的交点为原点O，目标PTZ摄像装置光心为c(Xc,Yc,Zc)，其中Xc、Yc为0，Zc为目标PTZ摄像装置高度H。如图2所示坐标***，若要目标对象显示到实时图像信息中，需要调整目标PTZ摄像装置云台使的镜头透镜中轴线和直线cm重合，根据m(Xm,Ym,0)和c(Xc,Yc,Zc)的位置 信息，可以得到m到原点O的距离S和相机高度H，根据反三角函数可以计算出目标PTZ摄像装置云台的竖直转角tile，根据Xm,Ym和反三角函数可以计算出目标PTZ摄像装置云台的水平转角pan，确定了目标承载状态，从而控制云台转到相应的姿态，把目标点显示在画面中央，从而实现目标PTZ摄像装置的跟踪聚焦功能。In step S103, send an image acquisition instruction about the target object to the target PTZ camera device, and receive real-time image information returned by the target PTZ camera device based on the image acquisition instruction. For example, after the PTZ camera device has the ability to perceive the world, it can accurately display the target object in the corresponding image by controlling the rotation of the corresponding bearing device, and the computer equipment sends an image acquisition instruction about the target object to the corresponding target PTZ camera device, The image collection instruction includes turning on the camera to collect the current picture. Further, the image collection instruction also includes the shooting posture information of each target PTZ camera device, which is used to instruct each target PTZ camera device to adjust the current posture information to the shooting posture information. , so as to facilitate the image acquisition of the target object. The computer equipment receives the real-time image information about the target object returned by each target PTZ camera device, and presents the real-time image information collected by each target PTZ camera device through the display device. Optionally, when there are multiple target PTZ camera devices, for It is convenient for observation, and multiple real-time image information can be displayed on the current screen in split screens, so as to realize multi-directional and multi-angle observation of the target object. Specifically, in some embodiments, the target PTZ camera includes a corresponding target bearing device; wherein, the method further includes: determining the target according to the target position information and the shooting position information of the target PTZ camera The target bearer state information of the bearer device, wherein the target bearer state information includes the corresponding bearer horizontal angle and bearer vertical angle; wherein, in step S103, an image acquisition instruction about the target object is sent to the target PTZ camera device , and receive the real-time image information returned by the target PTZ camera device based on the image acquisition instruction, wherein the image acquisition instruction includes the target bearer status information, and the target bearer status information is used to indicate the target PTZ The camera device adjusts the target bearing device to the target bearing status information. For example, based on the foregoing, we have determined the target location information of the target object, which can be coordinate location information in a coordinate system, or relative location information relative to an object (known geographic coordinates, etc.), such as latitude and longitude , the position information in the electronic map, the relative position relative to a certain PTZ camera device, etc., if the target object is to be displayed in the real-time image information, we calculate the When the target object appears in the field of view, it corresponds to the bearing status information of the gimbal, such as the horizontal and vertical angles of the gimbal. Of course, in order to present a better visual effect, we can present the target object in the center of the image of the real-time image information, as in some implementations, the target carrying status information is used to instruct the target PTZ camera device to The bearing device adjusts to the target bearer state information, so that the target object is in the image center of the real-time image information. For example, the target position information of the known target object, if the target position information is the coordinates under the coordinate system established based on the target PTZ camera device, and if the target position information is the position information expressed in other forms such as latitude and longitude, it can be further obtained The coordinate m(Xm, Ym, 0) under the coordinate system established based on the target PTZ camera device, if the coordinate system is based on the ground where the target object is located as the X and Y axes, and the upward direction is the Z axis, along the target The intersection of the optical center point of the PTZ camera device perpendicular to the ground is the origin O, and the optical center of the target PTZ camera device is c(Xc, Yc, Zc), where Xc and Yc are 0, and Zc is the height H of the target PTZ camera device. In the coordinate system shown in Figure 2, if the target object is to be displayed in the real-time image information, it is necessary to adjust the target PTZ camera device so that the central axis of the lens lens coincides with the line cm, according to m(Xm,Ym,0) and c( Xc, Yc, Zc), the distance S from m to the origin O and the camera height H can be obtained. According to the inverse trigonometric function, the vertical corner tile of the target PTZ camera gimbal can be calculated. According to Xm, Ym and inverse trigonometric The function can calculate the horizontal angle pan of the gimbal of the target PTZ camera device, determine the carrying state of the target, and then control the gimbal to turn to the corresponding attitude, display the target point in the center of the screen, and realize the tracking and focusing function of the target PTZ camera device.
在一些实施方式中，所述方法还包括步骤S107(未示出)，在步骤S107中，基于所述目标对象在所述实时图像信息中的实时图像位置信息，在所述实时图像信息中叠加呈现关于所述目标对象的渲染信息。例如，当获取对应实时图像信息后，用户对目标PTZ摄像装置拍摄的实时图像信息中的目标对象进行标注操作，如框选、点击、画圈、添加视频、音频、模型、文字等，计算机设备可以将根据标注操作生成对应的渲染信息，并在实时图像信息中叠加并呈现渲染信息。或者，计算机设备可以根据目标对象的对象相关信息，如标识信息、属性信息、状态信息以及其他设备添加的关于目标对象的标注等，在当前实时图像信息中叠加呈现。In some embodiments, the method further includes step S107 (not shown), in step S107, based on the real-time image position information of the target object in the real-time image information, superimposing Rendering information about the target object is presented. For example, after obtaining the corresponding real-time image information, the user performs labeling operations on the target object in the real-time image information captured by the target PTZ camera device, such as frame selection, clicking, drawing circles, adding video, audio, models, text, etc., computer equipment The corresponding rendering information can be generated according to the annotation operation, and the rendering information can be superimposed and presented in the real-time image information. Alternatively, the computer device may superimpose and present it in the current real-time image information according to the object-related information of the target object, such as identification information, attribute information, status information, and annotations about the target object added by other devices.
上文主要对本申请的一种用于获取目标对象的实时图像信息的方法的各实施例进行了介绍，此外，本申请还提供了能够实施上述各实施例的具体设备，下面结合图7进行介绍。The above mainly introduces various embodiments of a method for acquiring real-time image information of a target object in the present application. In addition, the present application also provides specific equipment capable of implementing the above-mentioned embodiments, which will be introduced below in conjunction with FIG. 7 .
图7示出了根据本申请的一个方面的一种用于获取目标对象的实时图像信息的设备，又称为实时图像信息获取设备100，其中，该设备包括一一模块101、一二模块102以及一三模块103。一一模块101，用于获取目标对象的目标位置信息；一二模块102，用于根据所述目标位置信息从多个PTZ摄像装置中确定相匹配的目标PTZ摄像装置，其中，所述目标PTZ摄像装置的采集区域包含所述目标位置信息；一三模块103，用于向所述目标PTZ摄像装置发送关于目标对象的图像采集指令，并接收所述目标PTZ摄像装置基于所述图像采集指令、返回的实时图像信息。FIG. 7 shows a device for acquiring real-time image information of a target object according to an aspect of the present application, which is also called a real-time image information acquisition device 100, wherein the device includes a module 101 and a module 102 And one or three modules 103. - Module 101, for acquiring target position information of the target object; Module 102, for determining a matching target PTZ camera device from a plurality of PTZ camera devices according to the target position information, wherein the target PTZ The acquisition area of the imaging device includes the target position information; a third module 103, configured to send an image acquisition instruction about the target object to the target PTZ imaging device, and receive the target PTZ imaging device based on the image acquisition instruction, The returned real-time image information.
在此，图7示出的一一模块101、一二模块102以及一三模块103对应的具体实施方式与前述图1示出的步骤S101、步骤S102以及步骤S103的实施例相同或相似，因而不再赘述，以引用的方式包含于此。Here, the specific implementations corresponding to the one-one module 101, the one-two module 102 and the one-three module 103 shown in FIG. 7 are the same or similar to the embodiments of step S101, step S102 and step S103 shown in FIG. No more details are included here by reference.
在一些实施方式中，一一模块101，用于接收用户设备上传的、关于目标对象的目标位置信息。在一些实施方式中，在步骤S101中，获取关于所述目标对象的PTZ图像信息；基于所述PTZ图像信息确定所述目标对象在所述PTZ图像信息中的图像位置信息；基于所述图像位置信息确定所述目标对象的目标位置信息。在一 些实施方式中，所述设备还包括一四模块(未示出)，用于获取所述PTZ图像信息对应初始PTZ摄像装置的摄像姿态信息及摄像位置信息；其中，所述基于所述图像位置信息确定所述目标对象的目标位置信息，包括：基于所述摄像姿态信息、所述摄像位置信息及所述图像位置信息确定所述目标对象的目标位置信息。在一些实施方式中，所述摄像位置信息包括所述初始PTZ摄像装置的经纬度信息；其中，所述基于所述摄像姿态信息、所述摄像位置信息及所述图像位置信息确定所述目标对象的目标位置信息，包括：基于所述摄像姿态信息、所述图像位置信息确定所述目标对象相对于所述初始PTZ摄像装置的相对位置信息；基于所述相对位置信息及所述初始PTZ摄像装置的经纬度信息确定所述目标对象的经纬度信息。在一些实施方式中，所述所述摄像位置信息还包括所述初始PTZ摄像装置的高度信息；其中，基于所述摄像姿态信息、所述图像位置信息确定所述目标对象相对于所述初始PTZ摄像装置的相对位置信息，包括：基于所述摄像姿态信息、图像位置信息、所述初始PTZ摄像装置的高度信息确定所述目标对象相对于所述初始PTZ摄像装置的相对位置信息。In some implementations, the module 101 is configured to receive target location information about the target object uploaded by the user equipment. In some implementations, in step S101, the PTZ image information about the target object is acquired; the image position information of the target object in the PTZ image information is determined based on the PTZ image information; based on the image position information identifying target location information for the target object. In some implementations, the device further includes a module (not shown), configured to acquire the imaging attitude information and imaging position information of the initial PTZ imaging device corresponding to the PTZ image information; wherein, the Position information determining target position information of the target object includes: determining target position information of the target object based on the imaging posture information, the imaging position information, and the image position information. In some implementations, the camera location information includes the latitude and longitude information of the initial PTZ camera device; wherein, the determination of the target object's location based on the camera posture information, the camera location information and the image location information Target position information, including: determining the relative position information of the target object relative to the initial PTZ camera device based on the camera attitude information and the image position information; based on the relative position information and the initial PTZ camera device The latitude and longitude information determines the latitude and longitude information of the target object. In some implementations, the camera position information also includes height information of the initial PTZ camera device; wherein, based on the camera posture information and the image position information, it is determined that the target object is relative to the initial PTZ The relative position information of the camera device includes: determining the relative position information of the target object relative to the initial PTZ camera device based on the camera posture information, image position information, and height information of the initial PTZ camera device.
在一些实施方式中，所述设备还包括一五模块(未示出)，用于获取所述多个PTZ摄像装置中每个PTZ摄像装置的采集区域；其中，一二模块102，用于若所述目标位置信息处于所述多个PTZ摄像装置中某一PTZ摄像装置的采集区域内，将该某一PTZ摄像装置确定为相匹配的目标PTZ摄像装置。在一些实施方式中，所述设备还包括一六模块(未示出)，用于根据所述目标位置信息及所述多个PTZ摄像装置的摄像位置信息确定所述目标对象相对于多个PTZ摄像装置的多个方位角，其中，每个方位角与一PTZ摄像装置对应；其中，一二模块102，用于若所述多个方位角中存在某一方位角处于该方位角对应PTZ摄像装置的采集区域内，将该方位角对应的PTZ摄像装置确定为相匹配的目标PTZ摄像装置。在一些实施方式中，一五模块，用于获取所述每个PTZ摄像装置的转动角度信息，其中，所述转动角度包括水平转动角度和/或竖直转动角度；基于所述每个PTZ摄像装置的所述转动角度信息确定所述每个PTZ摄像装置的采集区域。In some implementations, the device further includes a module (not shown) for obtaining the acquisition area of each PTZ camera device in the plurality of PTZ camera devices; wherein, a module 102 is used for if The target location information is within the collection area of a certain PTZ camera among the plurality of PTZ camera devices, and the certain PTZ camera device is determined as a matching target PTZ camera device. In some embodiments, the device further includes a module (not shown), configured to determine the target object relative to the plurality of PTZs according to the target position information and the imaging position information of the plurality of PTZ imaging devices. A plurality of azimuths of the camera, wherein each azimuth corresponds to a PTZ camera; wherein, one or two modules 102 are used for if there is a certain azimuth in the plurality of azimuths that is in the azimuth corresponding to the PTZ camera In the collection area of the device, the PTZ camera device corresponding to the azimuth angle is determined as the matching target PTZ camera device. In some implementations, a five-module is used to obtain the rotation angle information of each PTZ camera device, wherein the rotation angle includes a horizontal rotation angle and/or a vertical rotation angle; based on each PTZ camera The rotation angle information of the device determines the collection area of each PTZ camera device.
在一些实施方式中，一二模块102，用于根据所述目标位置信息及所述多个PTZ摄像装置中每个PTZ摄像装置的摄像位置信息，确定至少一个候选PTZ摄像装置；若所述目标位置信息处于所述多个候选PTZ摄像装置中某一候选PTZ摄像装置的 采集区域内，将该某一候选PTZ摄像装置确定为相匹配的目标PTZ摄像装置。在一些实施方式中，所述根据所述目标位置信息及所述多个PTZ摄像装置中每个PTZ摄像装置的摄像位置信息，确定至少一个候选PTZ摄像装置，包括：根据所述目标位置信息及所述多个PTZ摄像装置中每个PTZ摄像装置的摄像位置信息确定所述每个PTZ摄像装置的摄像距离信息；若某一PTZ摄像装置的摄像距离信息小于或等于摄像距离阈值，将该某一PTZ摄像装置确定为对应的候选PTZ摄像装置。在一些实施方式中，所述若所述目标位置信息处于所述多个候选PTZ摄像装置中某一候选PTZ摄像装置的采集区域内，将该某一候选PTZ摄像装置确定为相匹配的目标PTZ摄像装置，包括：若所述目标位置信息处于所述多个候选PTZ摄像装置中某一候选PTZ摄像装置的采集区域内，将该某一候选PTZ摄像装置确定为相匹配的初始目标PTZ摄像装置，从而确定多个初始目标PTZ摄像装置；从所述多个初始目标PTZ摄像装置中确定至少一个目标PTZ摄像装置。在一些实施方式中，所述从所述多个初始目标PTZ摄像装置中确定至少一个目标PTZ摄像装置，包括：从所述多个初始目标PTZ摄像装置中确定一个目标PTZ摄像装置，其中，所述一个目标PTZ摄像装置的摄像距离信息在所述多个初始目标PTZ摄像装置的摄像距离信息中最小；根据所述一个目标PTZ摄像装置的摄像参数信息与其他初始目标PTZ摄像装置的摄像参数信息确定其他目标PTZ摄像装置，其中，所述其他初始目标PTZ摄像装置包括所述多个初始目标PTZ摄像装置中除所述一个目标摄像装置之外的其他初始目标PTZ摄像装置。如在一些实施方式中，所述摄像参数信息包括摄像位置信息；其中，所述根据所述一个目标PTZ摄像装置的摄像参数信息与其他初始目标PTZ摄像装置的摄像参数信息确定其他目标PTZ摄像装置，包括：e根据当前目标PTZ摄像装置的摄像位置信息与其他初始目标PTZ摄像装置的摄像位置信息确定每个其他初始目标PTZ摄像装置对应的向量夹角和，其中，所述当前目标PTZ摄像装置包括所述一个目标PTZ摄像装置和已确定的其他目标PTZ摄像装置；f根据所述其他初始目标PTZ摄像装置中每个其他初始目标PTZ摄像装置的向量夹角和确定向量夹角和最大的其他初始目标PTZ摄像装置，将该其他初始目标PTZ摄像装置确定为其他目标PTZ摄像装置；重复执行上述步骤e、f，直至所述当前目标PTZ摄像装置的数量满足预设数量阈值。In some implementations, the one-two module 102 is configured to determine at least one candidate PTZ camera device according to the target position information and the shooting position information of each PTZ camera device in the plurality of PTZ camera devices; if the target The location information is within the collection area of a certain candidate PTZ camera among the plurality of candidate PTZ camera devices, and the certain candidate PTZ camera device is determined as a matching target PTZ camera device. In some embodiments, the determining at least one candidate PTZ camera device according to the target position information and the shooting position information of each PTZ camera device in the plurality of PTZ camera devices includes: according to the target position information and The imaging position information of each PTZ imaging device in the plurality of PTZ imaging devices determines the imaging distance information of each PTZ imaging device; if the imaging distance information of a certain PTZ imaging device is less than or equal to the imaging distance threshold, the certain PTZ imaging device A PTZ camera device is determined as the corresponding candidate PTZ camera device. In some embodiments, if the target position information is within the acquisition area of a certain candidate PTZ camera among the plurality of candidate PTZ cameras, the certain candidate PTZ camera is determined as the matching target PTZ An imaging device, comprising: if the target position information is within the acquisition area of a certain candidate PTZ imaging device among the plurality of candidate PTZ imaging devices, determining the certain candidate PTZ imaging device as a matching initial target PTZ imaging device , so as to determine a plurality of initial target PTZ camera devices; and determine at least one target PTZ camera device from the multiple initial target PTZ camera devices. In some implementations, the determining at least one target PTZ camera from the multiple initial target PTZ camera includes: determining a target PTZ camera from the multiple initial target PTZ camera, wherein the The imaging distance information of a target PTZ imaging device is the smallest among the imaging distance information of the plurality of initial target PTZ imaging devices; according to the imaging parameter information of the one target PTZ imaging device and the imaging parameter information of other initial target PTZ imaging devices determining other target PTZ camera devices, wherein the other initial target PTZ camera devices include other initial target PTZ camera devices except the one target camera device among the multiple initial target PTZ camera devices. As in some implementations, the imaging parameter information includes imaging location information; wherein, determining other target PTZ imaging devices according to the imaging parameter information of the one target PTZ imaging device and imaging parameter information of other initial target PTZ imaging devices , comprising: e determining the vector angle sum corresponding to each other initial target PTZ camera according to the camera position information of the current target PTZ camera device and the camera position information of other initial target PTZ camera devices, wherein the current target PTZ camera device Including the one target PTZ camera and other determined target PTZ cameras; f according to the vector angle and the vector angle of each other initial target PTZ camera in the other initial target PTZ cameras and determining the vector angle and the largest other For the initial target PTZ camera device, determine the other initial target PTZ camera devices as other target PTZ camera devices; repeat steps e and f above until the number of the current target PTZ camera devices meets the preset number threshold.
在一些实施方式中，所述目标PTZ摄像装置包括对应的目标承载设备；其中， 所述方法还包括：根据所述目标位置信息及所述目标PTZ摄像装置的摄像位置信息确定所述目标承载设备的目标承载状态信息，其中，所述目标承载状态信息包括对应的承载水平角度和承载竖直角度；其中，一三模块103，用于向所述目标PTZ摄像装置发送关于目标对象的图像采集指令，并接收所述目标PTZ摄像装置基于所述图像采集指令、返回的实时图像信息，其中，所述图像采集指令包括所述目标承载状态信息，所述目标承载状态信息用于指示所述目标PTZ摄像装置将所述目标承载设备调整至所述目标承载状态信息。在一些实施方式中，所述设备还包括一七模块(未示出)，用于基于所述目标对象在所述实时图像信息中的实时图像位置信息，在所述实时图像信息中叠加呈现关于所述目标对象的渲染信息。In some implementations, the target PTZ camera includes a corresponding target carrier; wherein, the method further includes: determining the target carrier according to the target position information and the shooting position information of the target PTZ camera The target bearing status information, wherein, the target bearing status information includes the corresponding bearing horizontal angle and bearing vertical angle; wherein, a module 103 is used to send an image acquisition instruction about the target object to the target PTZ camera device , and receive the real-time image information returned by the target PTZ camera device based on the image acquisition instruction, wherein the image acquisition instruction includes the target bearer status information, and the target bearer status information is used to indicate the target PTZ The camera device adjusts the target bearing device to the target bearing state information. In some implementations, the device further includes a module (not shown), configured to, based on the real-time image position information of the target object in the real-time image information, superimpose and present information about The rendering information of the target object.
在此，所述一四模块至一七模块对应的具体实施方式与前述步骤S104至步骤S107的实施例相同或相似，因而不再赘述，以引用的方式包含于此。Here, the specific implementation manners corresponding to the fourteenth to seventeenth modules are the same as or similar to the above-mentioned embodiments of step S104 to step S107, so they are not repeated here, and are included here by reference.
除上述各实施例介绍的方法和设备外，本申请还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机代码，当所述计算机代码被执行时，如前任一项所述的方法被执行。In addition to the methods and devices introduced in the above embodiments, the present application also provides a computer-readable storage medium, the computer-readable storage medium stores computer codes, and when the computer codes are executed, as described in any one of the preceding items The described method is carried out.
本申请还提供了一种计算机程序产品，当所述计算机程序产品被计算机设备执行时，如前任一项所述的方法被执行。The present application also provides a computer program product, when the computer program product is executed by a computer device, the method described in any one of the preceding items is executed.
本申请还提供了一种计算机设备，所述计算机设备包括：The present application also provides a kind of computer equipment, and described computer equipment comprises:
一个或多个处理器；one or more processors;
存储器，用于存储一个或多个计算机程序；memory for storing one or more computer programs;
当所述一个或多个计算机程序被所述一个或多个处理器执行时，使得所述一个或多个处理器实现如前任一项所述的方法。When the one or more computer programs are executed by the one or more processors, the one or more processors are made to implement the method as described in any one of the preceding items.
图8示出了可被用于实施本申请中所述的各个实施例的示例性***；FIG. 8 illustrates an exemplary system that may be used to implement various embodiments described in this application;
如图8所示在一些实施例中，***300能够作为各所述实施例中的任意一个上述设备。在一些实施例中，***300可包括具有指令的一个或多个计算机可读介质(例如，***存储器或NVM/存储设备320)以及与该一个或多个计算机可读介质耦合并被配置为执行指令以实现模块从而执行本申请中所述的动作的一个或多个处理器(例如，(一个或多个)处理器305)。As shown in FIG. 8 , in some embodiments, the system 300 can be used as any one of the above-mentioned devices in each of the described embodiments. In some embodiments, system 300 may include one or more computer-readable media (e.g., system memory or NVM/storage device 320 ) having instructions and be coupled to and configured to execute The instructions are one or more processors (eg, processor(s) 305 ) that implement a module to perform the actions described in this application.
对于一个实施例，***控制模块310可包括任意适当的接口控制器，以向(一个或多个)处理器305中的至少一个和/或与***控制模块310通信的任意适当的设备 或组件提供任意适当的接口。For one embodiment, system control module 310 may include any suitable interface controller to provide at least one of processor(s) 305 and/or any suitable device or component in communication with system control module 310 Any suitable interface.
***控制模块310可包括存储器控制器模块330，以向***存储器315提供接口。存储器控制器模块330可以是硬件模块、软件模块和/或固件模块。The system control module 310 may include a memory controller module 330 to provide an interface to the system memory 315 . The memory controller module 330 may be a hardware module, a software module and/or a firmware module.
***存储器315可被用于例如为***300加载和存储数据和/或指令。对于一个实施例，***存储器315可包括任意适当的易失性存储器，例如，适当的DRAM。在一些实施例中，***存储器315可包括双倍数据速率类型四同步动态随机存取存储器(DDR4SDRAM)。 System memory 315 may be used, for example, to load and store data and/or instructions for system 300 . For one embodiment, system memory 315 may include any suitable volatile memory, such as suitable DRAM. In some embodiments, system memory 315 may include Double Data Rate Type Quad Synchronous Dynamic Random Access Memory (DDR4 SDRAM).
对于一个实施例，***控制模块310可包括一个或多个输入/输出(I/O)控制器，以向NVM/存储设备320及(一个或多个)通信接口325提供接口。For one embodiment, system control module 310 may include one or more input/output (I/O) controllers to provide interfaces to NVM/storage devices 320 and communication interface(s) 325 .
例如，NVM/存储设备320可被用于存储数据和/或指令。NVM/存储设备320可包括任意适当的非易失性存储器(例如，闪存)和/或可包括任意适当的(一个或多个)非易失性存储设备(例如，一个或多个硬盘驱动器(HDD)、一个或多个光盘(CD)驱动器和/或一个或多个数字通用光盘(DVD)驱动器)。For example, NVM/storage 320 may be used to store data and/or instructions. NVM/storage 320 may include any suitable non-volatile memory (e.g., flash memory) and/or may include any suitable non-volatile storage device(s) (e.g., one or more hard drives ( HDD), one or more compact disc (CD) drives, and/or one or more digital versatile disc (DVD) drives).
NVM/存储设备320可包括在物理上作为***300被安装在其上的设备的一部分的存储资源，或者其可被该设备访问而不必作为该设备的一部分。例如，NVM/存储设备320可通过网络经由(一个或多个)通信接口325进行访问。NVM/storage device 320 may include a storage resource that is physically part of the device on which system 300 is installed, or it may be accessible by the device without necessarily being part of the device. For example, NVM/storage 320 may be accessed over a network via communication interface(s) 325 .
(一个或多个)通信接口325可为***300提供接口以通过一个或多个网络和/或与任意其他适当的设备通信。***300可根据一个或多个无线网络标准和/或协议中的任意标准和/或协议来与无线网络的一个或多个组件进行无线通信。Communication interface(s) 325 may provide an interface for system 300 to communicate over one or more networks and/or with any other suitable device. System 300 may communicate wirelessly with one or more components of a wireless network according to any of one or more wireless network standards and/or protocols.
对于一个实施例，(一个或多个)处理器305中的至少一个可与***控制模块310的一个或多个控制器(例如，存储器控制器模块330)的逻辑封装在一起。对于一个实施例，(一个或多个)处理器305中的至少一个可与***控制模块310的一个或多个控制器的逻辑封装在一起以形成***级封装(SiP)。对于一个实施例，(一个或多个)处理器305中的至少一个可与***控制模块310的一个或多个控制器的逻辑集成在同一模具上。对于一个实施例，(一个或多个)处理器305中的至少一个可与***控制模块310的一个或多个控制器的逻辑集成在同一模具上以形成片上***(SoC)。For one embodiment, at least one of processor(s) 305 may be packaged with logic of one or more controllers of system control module 310 (eg, memory controller module 330 ). For one embodiment, at least one of the processor(s) 305 may be packaged with the logic of one or more controllers of the system control module 310 to form a system-in-package (SiP). For one embodiment, at least one of the processor(s) 305 may be integrated on the same die as the logic of the one or more controllers of the system control module 310 . For one embodiment, at least one of the processor(s) 305 may be integrated on the same die with the logic of the one or more controllers of the system control module 310 to form a system on chip (SoC).
在各个实施例中，***300可以但不限于是：服务器、工作站、台式计算设备或移动计算设备(例如，膝上型计算设备、手持计算设备、平板电脑、上网本等)。在各个实施例中，***300可具有更多或更少的组件和/或不同的架构。例如，在一 些实施例中，***300包括一个或多个摄像机、键盘、液晶显示器(LCD)屏幕(包括触屏显示器)、非易失性存储器端口、多个天线、图形芯片、专用集成电路(ASIC)和扬声器。In various embodiments, system 300 may be, but is not limited to, a server, workstation, desktop computing device, or mobile computing device (eg, laptop computing device, handheld computing device, tablet computer, netbook, etc.). In various embodiments, system 300 may have more or fewer components and/or a different architecture. For example, in some embodiments, system 300 includes one or more cameras, a keyboard, a liquid crystal display (LCD) screen (including a touchscreen display), non-volatile memory ports, multiple antennas, graphics chips, application-specific integrated circuits ( ASIC) and speakers.
需要注意的是，本申请可在软件和/或软件与硬件的组合体中被实施，例如，可采用专用集成电路(ASIC)、通用目的计算机或任何其他类似硬件设备来实现。在一个实施例中，本申请的软件程序可以通过处理器执行以实现上文所述步骤或功能。同样地，本申请的软件程序(包括相关的数据结构)可以被存储到计算机可读记录介质中，例如，RAM存储器，磁或光驱动器或软磁盘及类似设备。另外，本申请的一些步骤或功能可采用硬件来实现，例如，作为与处理器配合从而执行各个步骤或功能的电路。It should be noted that the present application can be implemented in software and/or a combination of software and hardware, for example, it can be implemented by using an application specific integrated circuit (ASIC), a general-purpose computer or any other similar hardware devices. In one embodiment, the software program of the present application can be executed by a processor to realize the steps or functions described above. Likewise, the software program (including associated data structures) of the present application can be stored in a computer-readable recording medium such as RAM memory, magnetic or optical drive or floppy disk and the like. In addition, some steps or functions of the present application may be implemented by hardware, for example, as a circuit that cooperates with a processor to execute each step or function.
另外，本申请的一部分可被应用为计算机程序产品，例如计算机程序指令，当其被计算机执行时，通过该计算机的操作，可以调用或提供根据本申请的方法和/或技术方案。本领域技术人员应能理解，计算机程序指令在计算机可读介质中的存在形式包括但不限于源文件、可执行文件、安装包文件等，相应地，计算机程序指令被计算机执行的方式包括但不限于：该计算机直接执行该指令，或者该计算机编译该指令后再执行对应的编译后程序，或者该计算机读取并执行该指令，或者该计算机读取并安装该指令后再执行对应的安装后程序。在此，计算机可读介质可以是可供计算机访问的任意可用的计算机可读存储介质或通信介质。In addition, a part of the present application can be applied as a computer program product, such as a computer program instruction. When it is executed by a computer, the method and/or technical solution according to the present application can be invoked or provided through the operation of the computer. Those skilled in the art should understand that computer program instructions exist in computer-readable media in forms including but not limited to source files, executable files, installation package files, etc. Limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding post-installation program program. Here, a computer readable medium may be any available computer readable storage medium or communication medium that can be accessed by a computer.
通信介质包括藉此包含例如计算机可读指令、数据结构、程序模块或其他数据的通信信号被从一个***传送到另一***的介质。通信介质可包括有导的传输介质(诸如电缆和线(例如，光纤、同轴等))和能传播能量波的无线(未有导的传输)介质，诸如声音、电磁、RF、微波和红外。计算机可读指令、数据结构、程序模块或其他数据可被体现为例如无线介质(诸如载波或诸如被体现为扩展频谱技术的一部分的类似机制)中的已调制数据信号。术语“已调制数据信号”指的是其一个或多个特征以在信号中编码信息的方式被更改或设定的信号。调制可以是模拟的、数字的或混合调制技术。Communication media includes the media whereby communication signals embodying, for example, computer readable instructions, data structures, program modules or other data are transmitted from one system to another. Communication media can include guided transmission media such as cables and wires (e.g., fiber optics, coaxial, etc.) and wireless (unguided transmission) media capable of propagating waves of energy, such as acoustic, electromagnetic, RF, microwave, and infrared . Computer readable instructions, data structures, program modules or other data may be embodied, for example, as a modulated data signal in a wireless medium such as a carrier wave or similar mechanism such as embodied as part of spread spectrum technology. The term "modulated data signal" means a signal that has one or more of its characteristics changed or set in such a manner as to encode information in the signal. Modulation can be analog, digital or mixed modulation techniques.
作为示例而非限制，计算机可读存储介质可包括以用于存储诸如计算机可读指令、数据结构、程序模块或其它数据的信息的任何方法或技术实现的易失性和非易失性、可移动和不可移动的介质。例如，计算机可读存储介质包括，但不限于，易 失性存储器，诸如随机存储器(RAM,DRAM,SRAM)；以及非易失性存储器，诸如闪存、各种只读存储器(ROM,PROM,EPROM,EEPROM)、磁性和铁磁/铁电存储器(MRAM,FeRAM)；以及磁性和光学存储设备(硬盘、磁带、CD、DVD)；或其它现在已知的介质或今后开发的能够存储供计算机***使用的计算机可读信息/数据。By way of example, and not limitation, computer-readable storage media may include volatile and nonvolatile, volatile, volatile, or Removable and non-removable media. For example, computer-readable storage media include, but are not limited to, volatile memories such as random access memories (RAM, DRAM, SRAM); and nonvolatile memories such as flash memory, various read-only memories (ROM, PROM, EPROM) , EEPROM), magnetic and ferromagnetic/ferroelectric memory (MRAM, FeRAM); and magnetic and optical storage devices (hard disks, tapes, CDs, DVDs); or other media known now or developed in the future capable of storing data for computer systems Computer readable information/data used.
在此，根据本申请的一个实施例包括一个装置，该装置包括用于存储计算机程序指令的存储器和用于执行程序指令的处理器，其中，当该计算机程序指令被该处理器执行时，触发该装置运行基于前述根据本申请的多个实施例的方法和/或技术方案。Here, an embodiment according to the present application includes an apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, triggering The operation of the device is based on the foregoing methods and/or technical solutions according to multiple embodiments of the present application.
对于本领域技术人员而言，显然本申请不限于上述示范性实施例的细节，而且在不背离本申请的精神或基本特征的情况下，能够以其他的具体形式实现本申请。因此，无论从哪一点来看，均应将实施例看作是示范性的，而且是非限制性的，本申请的范围由所附权利要求而不是上述说明限定，因此旨在将落在权利要求的等同要件的含义和范围内的所有变化涵括在本申请内。不应将权利要求中的任何附图标记视为限制所涉及的权利要求。此外，显然“包括”一词不排除其他单元或步骤，单数不排除复数。装置权利要求中陈述的多个单元或装置也可以由一个单元或装置通过软件或者硬件来实现。第一，第二等词语用来表示名称，而并不表示任何特定的顺序。It will be apparent to those skilled in the art that the present application is not limited to the details of the exemplary embodiments described above, but that the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be regarded as exemplary and not restrictive in all points of view, and the scope of the application is defined by the appended claims rather than the foregoing description, and it is intended that the scope of the present application be defined by the appended claims rather than by the foregoing description. All changes within the meaning and range of equivalents of the elements are embraced in this application. Any reference sign in a claim should not be construed as limiting the claim concerned. In addition, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means stated in the device claims may also be realized by one unit or device through software or hardware. The words first, second, etc. are used to denote names and do not imply any particular order.

Claims (21)

  1. 一种用于获取目标对象的实时图像信息的方法，其中，该方法包括：A method for acquiring real-time image information of a target object, wherein the method includes:
    获取目标对象的目标位置信息；Obtain target location information of the target object;
    根据所述目标位置信息从多个PTZ摄像装置中确定相匹配的目标PTZ摄像装置，其中，所述目标PTZ摄像装置的采集区域包含所述目标位置信息；Determining a matching target PTZ camera device from a plurality of PTZ camera devices according to the target position information, wherein the acquisition area of the target PTZ camera device includes the target position information;
    向所述目标PTZ摄像装置发送关于目标对象的图像采集指令，并接收所述目标PTZ摄像装置基于所述图像采集指令、返回的实时图像信息。Sending an image acquisition instruction about the target object to the target PTZ camera device, and receiving real-time image information returned by the target PTZ camera device based on the image acquisition instruction.
  2. 根据权利要求1所述的方法，其中，所述获取目标对象的目标位置信息，包括：The method according to claim 1, wherein said acquiring the target location information of the target object comprises:
    接收用户设备上传的、关于目标对象的目标位置信息。The target location information about the target object uploaded by the user equipment is received.
  3. 根据权利要求1所述的方法，其中，所述获取目标对象的目标位置信息，包括：The method according to claim 1, wherein said acquiring the target location information of the target object comprises:
    获取关于所述目标对象的PTZ图像信息；Obtaining PTZ image information about the target object;
    基于所述PTZ图像信息确定所述目标对象在所述PTZ图像信息中的图像位置信息；determining image position information of the target object in the PTZ image information based on the PTZ image information;
    基于所述图像位置信息确定所述目标对象的目标位置信息。Target location information of the target object is determined based on the image location information.
  4. 根据权利要求3所述的方法，其中，所述方法还包括：The method according to claim 3, wherein the method further comprises:
    获取所述PTZ图像信息对应初始PTZ摄像装置的摄像姿态信息及摄像位置信息；Obtaining the imaging posture information and imaging position information of the PTZ image information corresponding to the initial PTZ imaging device;
    其中，所述基于所述图像位置信息确定所述目标对象的目标位置信息，包括：Wherein, the determining the target position information of the target object based on the image position information includes:
    基于所述摄像姿态信息、所述摄像位置信息及所述图像位置信息确定所述目标对象的目标位置信息。Target position information of the target object is determined based on the imaging posture information, the imaging position information, and the image position information.
  5. 根据权利要求4所述的方法，其中，所述摄像位置信息包括所述初始PTZ摄像装置的经纬度信息；The method according to claim 4, wherein the camera position information comprises latitude and longitude information of the initial PTZ camera device;
    其中，所述基于所述摄像姿态信息、所述摄像位置信息及所述图像位置信息确定所述目标对象的目标位置信息，包括：Wherein, the determining the target position information of the target object based on the shooting posture information, the shooting position information and the image position information includes:
    基于所述摄像姿态信息、所述图像位置信息确定所述目标对象相对于所述初始PTZ摄像装置的相对位置信息；Determine the relative position information of the target object relative to the initial PTZ camera device based on the camera attitude information and the image position information;
    基于所述相对位置信息及所述初始PTZ摄像装置的经纬度信息确定所述目标对象的经纬度信息。The latitude and longitude information of the target object is determined based on the relative position information and the latitude and longitude information of the initial PTZ camera device.
  6. 根据权利要求5所述的方法，其中，所述摄像位置信息还包括所述初始PTZ摄像装置的高度信息；The method according to claim 5, wherein the camera location information further comprises height information of the initial PTZ camera device;
    其中，基于所述摄像姿态信息、所述图像位置信息确定所述目标对象相对于所述初始PTZ摄像装置的相对位置信息，包括：Wherein, determining the relative position information of the target object with respect to the initial PTZ camera device based on the camera posture information and the image position information includes:
    基于所述摄像姿态信息、图像位置信息、所述初始PTZ摄像装置的高度信息确定所述目标对象相对于所述初始PTZ摄像装置的相对位置信息。Determine relative position information of the target object relative to the initial PTZ camera device based on the shooting posture information, image position information, and height information of the initial PTZ camera device.
  7. 根据权利要求1所述的方法，其中，所述方法还包括：The method according to claim 1, wherein the method further comprises:
    获取所述多个PTZ摄像装置中每个PTZ摄像装置的采集区域；Obtain the collection area of each PTZ camera in the plurality of PTZ cameras;
    其中，所述根据所述目标位置信息从多个PTZ摄像装置中确定相匹配的目标PTZ摄像装置，包括：Wherein, said determining a matching target PTZ camera device from a plurality of PTZ camera devices according to the target position information includes:
    若所述目标位置信息处于所述多个PTZ摄像装置中某一PTZ摄像装置的采集区域内，将该某一PTZ摄像装置确定为相匹配的目标PTZ摄像装置。If the target position information is within the collection area of a certain PTZ camera among the plurality of PTZ cameras, the certain PTZ camera is determined as a matching target PTZ camera.
  8. 根据权利要求7所述的方法，其中，所述方法还包括：The method according to claim 7, wherein the method further comprises:
    根据所述目标位置信息及所述多个PTZ摄像装置的摄像位置信息确定所述目标对象相对于多个PTZ摄像装置的多个方位角，其中，每个方位角与一PTZ摄像装置对应；Determine multiple azimuths of the target object relative to a plurality of PTZ imaging devices according to the target position information and the imaging position information of the plurality of PTZ imaging devices, wherein each azimuth corresponds to a PTZ imaging device;
    其中，所述根据所述目标位置信息从多个PTZ摄像装置中确定相匹配的目标PTZ摄像装置，包括：Wherein, said determining a matching target PTZ camera device from a plurality of PTZ camera devices according to the target position information includes:
    若所述多个方位角中存在某一方位角处于该方位角对应PTZ摄像装置的采集区域内，将该方位角对应的PTZ摄像装置确定为相匹配的目标PTZ摄像装置。If a certain azimuth among the plurality of azimuths is within the collection area of the PTZ camera corresponding to the azimuth, the PTZ camera corresponding to the azimuth is determined as the matching target PTZ camera.
  9. 根据权利要求8所述的方法，其中，所述获取所述多个PTZ摄像装置中每个PTZ摄像装置的采集区域，包括：The method according to claim 8, wherein said acquiring the acquisition area of each PTZ camera in said plurality of PTZ camera devices comprises:
    获取所述每个PTZ摄像装置的转动角度信息，其中，所述转动角度包括水平转动角度和/或竖直转动角度；Obtaining rotation angle information of each PTZ camera device, wherein the rotation angle includes a horizontal rotation angle and/or a vertical rotation angle;
    基于所述每个PTZ摄像装置的所述转动角度信息确定所述每个PTZ摄像装置的采集区域。The acquisition area of each PTZ camera device is determined based on the rotation angle information of each PTZ camera device.
  10. 根据权利要求7至9中任一项所述的方法，其中，所述根据所述目标位置信息从多个PTZ摄像装置中确定相匹配的目标PTZ摄像装置，包括：The method according to any one of claims 7 to 9, wherein said determining a matching target PTZ camera device from a plurality of PTZ camera devices according to the target position information includes:
    根据所述目标位置信息及所述多个PTZ摄像装置中每个PTZ摄像装置的摄像位置信息，确定至少一个候选PTZ摄像装置；Determine at least one candidate PTZ camera device according to the target position information and the camera position information of each PTZ camera device in the plurality of PTZ camera devices;
    若所述目标位置信息处于所述多个候选PTZ摄像装置中某一候选PTZ摄像装置的采集区域内，将该某一候选PTZ摄像装置确定为相匹配的目标PTZ摄像装置。If the target position information is within the collection area of a certain candidate PTZ camera among the plurality of candidate PTZ cameras, the certain candidate PTZ camera is determined as a matching target PTZ camera.
  11. 根据权利要求10所述的方法，其中，所述根据所述目标位置信息及所述多个PTZ摄像装置中每个PTZ摄像装置的摄像位置信息，确定至少一个候选PTZ摄像装置，包括：The method according to claim 10, wherein said determining at least one candidate PTZ camera device according to the target position information and the camera position information of each PTZ camera device in the plurality of PTZ camera devices comprises:
    根据所述目标位置信息及所述多个PTZ摄像装置中每个PTZ摄像装置的摄像位置信息确定所述每个PTZ摄像装置的摄像距离信息；Determine the imaging distance information of each PTZ imaging device according to the target position information and the imaging position information of each PTZ imaging device in the plurality of PTZ imaging devices;
    若某一PTZ摄像装置的摄像距离信息小于或等于摄像距离阈值，将该某一PTZ摄像装置确定为对应的候选PTZ摄像装置。If the imaging distance information of a certain PTZ imaging device is less than or equal to the imaging distance threshold, the certain PTZ imaging device is determined as the corresponding candidate PTZ imaging device.
  12. 根据权利要求10所述的方法，其中，所述若所述目标位置信息处于所述多个候选PTZ摄像装置中某一候选PTZ摄像装置的采集区域内，将该某一候选PTZ摄像装置确定为相匹配的目标PTZ摄像装置，包括：The method according to claim 10, wherein, if the target position information is within the collection area of a certain candidate PTZ camera among the plurality of candidate PTZ camera devices, determining the certain candidate PTZ camera device as Matching target PTZ cameras, including:
    若所述目标位置信息处于所述多个候选PTZ摄像装置中某一候选PTZ摄像装置的采集区域内，将该某一候选PTZ摄像装置确定为相匹配的初始目标PTZ摄像装置，从而确定多个初始目标PTZ摄像装置；If the target position information is in the collection area of a certain candidate PTZ camera among the plurality of candidate PTZ cameras, this certain candidate PTZ camera is determined as a matching initial target PTZ camera, thereby determining multiple Initial target PTZ camera device;
    从所述多个初始目标PTZ摄像装置中确定至少一个目标PTZ摄像装置。At least one target PTZ camera is determined from the plurality of initial target PTZ cameras.
  13. 根据权利要求12所述的方法，其中，所述从所述多个初始目标PTZ摄像装置中确定至少一个目标PTZ摄像装置，包括：The method according to claim 12, wherein said determining at least one target PTZ camera from said plurality of initial target PTZ cameras comprises:
    从所述多个初始目标PTZ摄像装置中确定一个目标PTZ摄像装置，其中，所述一个目标PTZ摄像装置的摄像距离信息在所述多个初始目标PTZ摄像装置的摄像距离信息中最小；Determine a target PTZ camera from the plurality of initial target PTZ cameras, wherein the imaging distance information of the one target PTZ camera is the smallest among the imaging distance information of the plurality of initial target PTZ cameras;
    根据所述一个目标PTZ摄像装置的摄像参数信息与其他初始目标PTZ摄像装置的摄像参数信息确定其他目标PTZ摄像装置，其中，所述其他初始目标PTZ摄像装置包括所述多个初始目标PTZ摄像装置中除所述一个目标摄像装置之外的其他初始目标PTZ摄像装置。Determine other target PTZ camera devices according to the camera parameter information of the one target PTZ camera device and the camera parameter information of other initial target PTZ camera devices, wherein the other initial target PTZ camera devices include the plurality of initial target PTZ camera devices other initial target PTZ camera devices except the one target camera device.
  14. 根据权利要求13所述的方法，其中，所述摄像参数信息包括摄像位置信息；The method according to claim 13, wherein the imaging parameter information includes imaging location information;
    其中，所述根据所述一个目标PTZ摄像装置的摄像参数信息与其他初始目标PTZ摄像装置的摄像参数信息确定其他目标PTZ摄像装置，包括：Wherein, said determining other target PTZ camera devices according to the camera parameter information of said one target PTZ camera device and the camera parameter information of other initial target PTZ camera devices includes:
    e根据当前目标PTZ摄像装置的摄像位置信息与其他初始目标PTZ摄像装置的摄像位置信息确定每个其他初始目标PTZ摄像装置对应的向量夹角和，其中，所述当前目标PTZ摄像装置包括所述一个目标PTZ摄像装置和已确定的其他目标PTZ摄像装置；e determine the vector angle sum corresponding to each other initial target PTZ camera according to the shooting position information of the current target PTZ camera and the shooting position information of other initial target PTZ cameras, wherein the current target PTZ camera includes the A target PTZ camera and identified other target PTZ cameras;
    f根据所述其他初始目标PTZ摄像装置中每个其他初始目标PTZ摄像装置的向量夹角和确定向量夹角和最大的其他初始目标PTZ摄像装置，将该其他初始目标PTZ摄像装置确定为其他目标PTZ摄像装置；f According to the vector angle of each other initial target PTZ camera device in the other initial target PTZ camera devices and other initial target PTZ camera devices that determine the vector angle and the largest other initial target PTZ camera devices, determine the other initial target PTZ camera devices as other targets PTZ camera device;
    重复执行上述步骤e、f，直至所述当前目标PTZ摄像装置的数量满足预设数量阈值。Repeat steps e and f above until the number of the current target PTZ camera device meets the preset number threshold.
  15. 根据权利要求1所述的方法，其中，所述目标PTZ摄像装置包括对应的目标承载设备；其中，所述方法还包括：The method according to claim 1, wherein the target PTZ camera device comprises a corresponding target bearing device; wherein the method further comprises:
    根据所述目标位置信息及所述目标PTZ摄像装置的摄像位置信息确定所述目标承载设备的目标承载状态信息，其中，所述目标承载状态信息包括对应的承载水平角度和承载竖直角度；Determine the target bearing status information of the target bearing device according to the target position information and the shooting position information of the target PTZ camera device, wherein the target bearing status information includes the corresponding bearing horizontal angle and bearing vertical angle;
    其中，所述向所述目标PTZ摄像装置发送关于目标对象的图像采集指令，并接收所述目标PTZ摄像装置基于所述图像采集指令、返回的实时图像信息，包括：Wherein, the sending the image acquisition instruction about the target object to the target PTZ camera device, and receiving the real-time image information returned by the target PTZ camera device based on the image acquisition instruction includes:
    向所述目标PTZ摄像装置发送关于目标对象的图像采集指令，并接收所述目标PTZ摄像装置基于所述图像采集指令、返回的实时图像信息，其中，所述图像采集指令包括所述目标承载状态信息，所述目标承载状态信息用于指示所述目标PTZ摄像装置将所述目标承载设备调整至所述目标承载状态信息。Sending an image acquisition instruction about the target object to the target PTZ camera device, and receiving real-time image information returned by the target PTZ camera device based on the image acquisition instruction, wherein the image acquisition instruction includes the target bearing status information, the target bearer state information is used to instruct the target PTZ camera to adjust the target bearer device to the target bearer state information.
  16. 根据权利要求15所述的方法，其中，所述目标承载状态信息用于指示所述目标PTZ摄像装置将所述目标承载设备调整至所述目标承载状态信息，以使所述目标对象处于所述实时图像信息的图像中心。The method according to claim 15, wherein the target bearer state information is used to instruct the target PTZ camera to adjust the target bearer device to the target bearer state information so that the target object is in the Image center for live image information.
  17. 根据权利要求1所述的方法，其中，所述方法还包括：The method according to claim 1, wherein the method further comprises:
    基于所述目标对象在所述实时图像信息中的实时图像位置信息，在所述实时图像信息中叠加呈现关于所述目标对象的渲染信息。Based on real-time image position information of the target object in the real-time image information, rendering information about the target object is superimposed and presented in the real-time image information.
  18. 一种用于获取目标对象的实时图像信息的设备，其中，该设备包括：A device for acquiring real-time image information of a target object, wherein the device includes:
    一一模块，用于获取目标对象的目标位置信息；A module, used to obtain the target location information of the target object;
    一二模块，用于根据所述目标位置信息从多个PTZ摄像装置中确定相匹配的目标PTZ摄像装置，其中，所述目标PTZ摄像装置的采集区域包含所述目标位置信息；One or two modules, used to determine a matching target PTZ camera device from a plurality of PTZ camera devices according to the target position information, wherein the acquisition area of the target PTZ camera device includes the target position information;
    一三模块，用于向所述目标PTZ摄像装置发送关于目标对象的图像采集指令，并接收所述目标PTZ摄像装置基于所述图像采集指令、返回的实时图像信息。A third module, configured to send an image acquisition instruction about the target object to the target PTZ camera device, and receive real-time image information returned by the target PTZ camera device based on the image acquisition instruction.
  19. 一种计算机设备，其中，该设备包括：A computer device, wherein the device includes:
    处理器；以及processor; and
    被安排成存储计算机可执行指令的存储器，所述可执行指令在被执行时使所述处理器执行如权利要求1至17中任一项所述方法的步骤。A memory arranged to store computer executable instructions which, when executed, cause the processor to perform the steps of the method as claimed in any one of claims 1 to 17.
  20. 一种计算机可读存储介质，其上存储有计算机程序/指令，其特征在于，该计算机程序/指令在被执行时使得***进行执行如权利要求1至17中任一项所述方法的步骤。A computer-readable storage medium on which computer programs/instructions are stored, wherein the computer program/instructions cause a system to perform the steps of the method as claimed in any one of claims 1 to 17 when executed.
  21. 一种计算机程序产品，包括计算机程序/指令，其特征在于，该计算机程序/指令被处理器执行时实现权利要求1至17中任一项所述方法的步骤。A computer program product, comprising computer programs/instructions, characterized in that, when the computer program/instructions are executed by a processor, the steps of the method described in any one of claims 1 to 17 are implemented.
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