CN113949814A - Gun and ball linkage snapshot method, device, equipment and medium - Google Patents
Gun and ball linkage snapshot method, device, equipment and medium Download PDFInfo
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Abstract
The application relates to the field of security monitoring, and provides a gun and ball linkage snapshot method, a gun and ball linkage snapshot device, gun and ball linkage snapshot equipment and a gun and ball linkage snapshot medium, which are used for solving the problem of how to realize 360-degree panoramic tracking snapshot of a camera of a dome camera on the basis of using a cable. The method is applied to a microcontroller of a panoramic module of gun and ball linkage equipment, the panoramic module further comprises a panoramic camera, the equipment further comprises a ball machine camera of a ball machine module, the panoramic module and the ball machine module are connected through a cable, and the method comprises the following steps: and controlling the camera of the ball machine to rotate based on the physical coordinate of the target in the coordinate system where the camera of the ball machine is located, and if the camera of the ball machine rotates in the first plane along the first direction and the rotation angle of the camera of the ball machine in the first plane is the first angle, controlling the camera of the ball machine to rotate in the second direction in the first plane until the rotation angle is the second angle, and controlling the camera of the ball machine to shoot the target image.
Description
Technical Field
The application relates to the field of security monitoring and provides a gun and ball linkage snapshot method, a gun and ball linkage snapshot device, gun and ball linkage snapshot equipment and a gun and ball linkage snapshot medium.
Background
In the technical field of security monitoring, the gun and ball linkage equipment plays an important role. The gun and ball linkage equipment combines a gun camera and a ball machine, the panorama of a target area can be monitored through a panoramic camera in the gun camera, the multiplying power is adjusted through the ball machine camera in the ball machine, and the detailed image of the target area is captured in a tracking mode, so that the target area is monitored more clearly.
The existing gun and ball linkage equipment comprises 2 Digital Signal Processing (DSP) platforms, one DSP platform is used for reading data collected by a panoramic camera, the other DSP platform is used for reading data collected by a ball camera, Signal transmission is carried out between the two DSP platforms through sliding of a sliding ring, and the sliding ring easily causes instability of Signal transmission.
Disclosure of Invention
The embodiment of the application provides a gun and ball linkage snapshot method, a gun and ball linkage snapshot device, equipment and a medium, and is used for solving the problem of how to realize 360-degree panoramic tracking snapshot of a camera of a dome camera on the basis of using a cable.
In a first aspect, the application provides a rifle ball linkage snapshot method, which is applied to a microcontroller of a panoramic module of rifle ball linkage equipment, wherein the panoramic module further comprises a panoramic camera, the equipment further comprises a dome camera of a dome camera module, the panoramic module and the dome camera module are connected through a cable, and the method comprises the following steps:
controlling the camera of the dome camera to rotate based on the physical coordinate of the target in the coordinate system where the camera of the dome camera is located; the physical coordinates are obtained by converting image coordinates of the target in a first image, and the first image is a panoramic image shot by the panoramic camera;
if the camera of the ball machine rotates on a first plane along a first direction and the rotation angle of the camera of the ball machine on the first plane is a first angle, controlling the camera of the ball machine to rotate on the first plane along a second direction until the rotation angle is a second angle; the second direction and the first direction are opposite in an hour-hand direction, the first angle is smaller than 360 degrees, and the difference value between the first angle and the 360 degrees is smaller than or equal to the field angle of the dome camera on the first plane;
and controlling the camera of the ball machine to shoot to obtain a second image of the target.
In this application embodiment, connect through the cable between panorama module and the ball machine module among the rifle ball aggregate unit that this application embodiment provided, the cable can improve the signal transmission quality between panorama module and the ball machine module, and the cost of cable is lower than the cost of sliding ring, can reduce rifle ball aggregate unit's hardware cost. And when the rotation angle of the ball machine camera reaches the first angle, the ball machine camera is controlled to rotate in the opposite direction, and the first angle is smaller than 360 degrees, so that the cable winding caused by the fact that the rotation angle of the ball machine camera exceeds 360 degrees can be avoided. And the difference value between the first angle and 360 degrees is less than or equal to the field angle of the dome camera on the first plane, so that the dome camera can be ensured to acquire all areas under 360-degree rotation, and 360-degree panoramic tracking snapshot is realized under the condition of using a cable.
In a possible embodiment, the panoramic module further includes a digital signal processing platform, and the control of the rotation of the dome camera based on the physical coordinates of the target in the coordinate system of the dome camera includes:
acquiring physical coordinates of a target sent by the digital signal processing platform in a coordinate system where the dome camera is located;
controlling the camera of the dome camera to rotate on the first plane based on a first coordinate value of the physical coordinate;
controlling the camera of the dome camera to rotate on a second plane based on a second coordinate value of the physical coordinate; wherein the first plane and the second plane are perpendicular to each other.
In the embodiment of the application, only one digital signal processing platform is adopted, and compared with gun and ball linkage equipment based on multiple platforms, the hardware cost of the gun and ball linkage equipment is reduced. And the microcontroller can accurately control the camera of the ball machine to rotate to a specified position according to the physical coordinates of the target, so as to shoot the image of the target.
In one possible embodiment, controlling the ball machine camera to rotate in a second direction in the first plane comprises:
controlling the camera of the ball machine to rotate 180 degrees on the second plane;
and controlling the camera of the ball machine to rotate on the first plane along the second direction until the rotation angle is a second angle.
In the embodiment of the application, the microcontroller rotates 180 degrees on the second plane to the control ball machine camera, and then controls the ball machine camera to rotate horizontally along the second direction on the first plane, so that the speed of the ball machine camera rotating to the second angle can be increased.
In a possible embodiment, after controlling the camera of the ball machine to shoot and obtaining the second image of the target, the method further includes:
and controlling the second image to rotate 180 degrees along the first direction by taking the central point of the second image as a center, and obtaining the rotated second image.
In the embodiment of the application, after the camera of the dome camera rotates 180 degrees on the second plane, the second image is also rotated, so that the image content overturn caused by the rotation of the camera of the dome camera on the second plane is avoided, and the target can be conveniently and subsequently tracked continuously.
In one possible embodiment, controlling the camera of the ball machine to rotate in a first plane comprises:
controlling the camera of the ball machine to rotate on the first plane at a first speed;
if the rotation angle of the dome camera on the first plane is a third angle, controlling the dome camera to continue rotating on the first plane according to a second speed; wherein the third angle is less than the first angle and the second speed is less than the first speed.
In this application embodiment, when the rotation angle of ball machine camera was close first angle, control ball machine camera earlier and slow down, avoid the rotation rate of ball machine camera too fast, microcontroller does not come to time control ball machine camera and turns to, leads to the rotation angle of ball machine camera to exceed first angle, surpasss 360 degrees even.
In a possible embodiment, controlling the camera of the ball machine to shoot to obtain a second image of the target includes:
if the target in the second image is an incomplete target, reducing the magnification; or,
if the target in the second image is a complete target and the area ratio of the complete target in the second image is smaller than a preset ratio, increasing the magnification;
and controlling the camera of the dome camera to shoot by adopting the adjusted multiplying power to obtain an adjusted second image.
In the embodiment of the application, if the target in the second image is an incomplete target, the magnification is reduced, and if the area of the complete target in the second image is smaller, the magnification is increased, so that the completeness and the clarity of the target in the second image shot by the rotary camera can be ensured.
In one possible embodiment, the apparatus further comprises a heated defogging module, and the method further comprises:
and if the internal temperature of the equipment is less than the preset temperature and/or the internal humidity of the equipment is greater than the preset humidity, controlling to start the heating demisting module, and heating the panoramic camera and the window of the dome camera.
In the embodiment of the application, when the inside temperature of rifle ball aggregate unit is lower and/or inside humidity is higher, control start-up heating defogging module heats the defogging processing to the window of panoramic camera and ball machine camera, guarantees that the window of panoramic camera and ball machine camera does not have the fog, can shoot clear image.
In a second aspect, a rifle ball linkage snapshot device is provided, the device sets up in the microcontroller of the panorama module of rifle ball linkage equipment, the panorama module still includes the panorama camera, equipment still includes the ball machine camera of ball machine module, the panorama module with the ball machine module passes through the cable connection, the device includes:
the control module is used for controlling the camera of the dome camera to rotate based on the physical coordinate of the target in the coordinate system where the camera of the dome camera is located; the physical coordinates are obtained by converting image coordinates of the target in a first image, and the first image is a panoramic image shot by the panoramic camera;
the control module is further configured to control the dome camera to rotate in a second direction on the first plane until the rotation angle is a second angle if the dome camera rotates in the first direction on the first plane and the rotation angle of the dome camera on the first plane is a first angle; the second direction and the first direction are opposite in an hour-hand direction, the first angle is smaller than 360 degrees, and the difference value between the first angle and the 360 degrees is smaller than or equal to the field angle of the dome camera on the first plane;
and the obtaining module is used for controlling the camera of the dome camera to shoot so as to obtain a second image of the target.
In a possible embodiment, the panoramic module further includes a digital signal processing platform, and the control module is specifically configured to:
acquiring physical coordinates of a target sent by the digital signal processing platform in a coordinate system where the dome camera is located;
controlling the camera of the dome camera to rotate on the first plane based on a first coordinate value of the physical coordinate;
controlling the camera of the dome camera to rotate on a second plane based on a second coordinate value of the physical coordinate; wherein the first plane and the second plane are perpendicular to each other.
In a possible embodiment, the control module is specifically configured to:
controlling the camera of the ball machine to rotate 180 degrees on the second plane;
and controlling the camera of the ball machine to rotate on the first plane along the second direction until the rotation angle is a second angle.
In a possible embodiment, the obtaining module is further configured to: and controlling the second image to rotate 180 degrees along the first direction by taking the central point of the second image as a center, and obtaining the rotated second image.
In a possible embodiment, the control module is specifically configured to:
controlling the camera of the ball machine to rotate on the first plane at a first speed;
if the rotation angle of the dome camera on the first plane is a third angle, controlling the dome camera to continue rotating on the first plane according to a second speed; wherein the third angle is less than the first angle and the second speed is less than the first speed.
In a possible embodiment, the obtaining module is specifically configured to:
if the target in the second image is an incomplete target, reducing the magnification; or,
if the target in the second image is a complete target and the area ratio of the complete target in the second image is smaller than a preset ratio, increasing the magnification;
and controlling the camera of the dome camera to shoot by adopting the adjusted multiplying power to obtain an adjusted second image.
In a possible embodiment, the device further comprises a heating defogging module, the control module being further configured to:
and if the internal temperature of the equipment is less than the preset temperature and/or the internal humidity of the equipment is greater than the preset humidity, controlling to start the heating demisting module, and heating the panoramic camera and the window of the dome camera.
In a third aspect, there is provided a rifle ball linkage comprising:
at least one processor, and
a memory communicatively coupled to the at least one processor;
wherein the memory stores instructions executable by the at least one processor, the at least one processor implementing the method of any one of the first aspect by executing the instructions stored by the memory.
In a fourth aspect, a computer readable storage medium stores computer instructions which, when run on a computer, cause the computer to perform the method of any of the first aspects.
Drawings
FIG. 1 is a schematic structural diagram of a conventional gun and ball linkage device;
FIG. 2 is a first block diagram of a gun and ball linkage device according to an embodiment of the present disclosure;
fig. 3 is a flowchart of a method for capturing a gun and a ball in linkage according to an embodiment of the present disclosure;
fig. 4 is a first schematic rotation diagram of a ball game machine camera provided in an embodiment of the present application;
fig. 5 is a second schematic rotation diagram of a camera of a ball game machine according to an embodiment of the present disclosure;
FIG. 6 is a schematic diagram illustrating a second image before and after rotation according to an embodiment of the present disclosure;
FIG. 7 is a second block diagram of a gun and ball linkage device according to an embodiment of the present disclosure;
fig. 8 is a structural diagram of a gun and ball linkage capture device provided in an embodiment of the present application;
fig. 9 is a third structural diagram of a gun and ball linkage device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions in the embodiments of the present invention will be described clearly and completely in the following with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. In the present application, the embodiments and features of the embodiments may be arbitrarily combined with each other without conflict. Also, while a logical order is shown in the flow diagrams, in some cases, the steps shown or described may be performed in an order different than here.
The terms "first" and "second" in the description and claims of the present application and the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the term "comprises" and any variations thereof, which are intended to cover non-exclusive protection. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
In the embodiments of the present application, "a plurality" may mean at least two, for example, two, three, or more, and the embodiments of the present application are not limited.
Before describing the target capture method provided in the embodiments of the present application, for ease of understanding, the structure of the conventional gun and ball linkage apparatus will be described first.
Please refer to fig. 1, which is a schematic structural diagram of a conventional gun and ball linkage apparatus. The existing gun and ball linkage equipment comprises a panoramic module 101, a ball machine module 102 and a slip ring 103 which connects the panoramic module 101 and the ball machine module 102. The panorama module 101 includes a first DSP platform 104, a panorama camera 105, a panorama fill-in light module 106, and a Microcontroller (MCU) 107. The dome camera module 102 includes a second DSP platform 108, a dome camera 109, a light supplement dome camera module 110, and a zoom module 111.
The first DSP platform 104 may acquire data collected by the panoramic camera 105, control the panoramic light supplement module 106 to supplement light to a shooting area of the panoramic camera 105, and send an instruction to the microcontroller 107. The second DSP platform 108 can control the ball machine light supplement module 110 to supplement light to the shooting area of the ball machine camera 109, and control the zoom module 111 to adjust the magnification of the ball machine camera 109.
However, in the existing gun and ball linkage device, the first DSP platform 104 and the second DSP platform 108 transmit signals through the slip ring 103, and the general slip ring 103 is not stable in signal transmission, so that the cost of the slip ring 103 capable of ensuring the signal transmission quality is high. In view of this, the present embodiment provides a gun and ball linkage device, and the structure of the gun and ball linkage device will be described below.
Referring to fig. 2, a schematic structural diagram of a gun and ball linkage device according to an embodiment of the present disclosure is shown, where the gun and ball linkage device includes a panoramic module 201, a ball machine module 202, and a cable 203 connecting the panoramic module 201 and the ball machine module 202, where the cable 203 is, for example, a coaxial cable, a twisted pair cable, and the like. The panoramic module 201 comprises a panoramic camera 204, a DSP platform 205 and a microcontroller 206, and the dome camera module 202 comprises a dome camera 207. The functions of the respective modules are described below.
The panoramic camera 204 specifically includes a panoramic fixed-focus image Sensor (Sensor) for acquiring a panoramic image of a shooting area and sending acquired RAW data to the DSP platform 205. The dome camera 207 specifically includes a dome camera image Sensor (Sensor) for acquiring a detailed image of a partial area in the shooting area, and sending the acquired RAW data to the DSP platform 205. RAW data represents RAW format data that is not processed, nor compressed. The DSP platform 205 is configured to receive image data collected by the panoramic camera 204 and the dome camera 207, and send an instruction to the microcontroller 206. The microcontroller 206 is used for receiving the instruction sent by the DSP platform 205, transmitting a signal to the ball machine module 202 through the cable 203, and controlling the ball machine camera 207 to rotate.
The rifle ball aggregate unit that this application embodiment provided has only adopted a DSP platform, compares in the rifle ball aggregate unit based on many DSP platforms, very big reduction the hardware design degree of difficulty and software design complexity, indirectly reduced product development cost and hardware cost. And connect through the cable between panorama module and the ball machine module, compare in the sliding ring in current rifle ball aggregate unit, can show the quality that promotes data transmission, and the cost of cable is lower, can further reduce the hardware cost of rifle ball aggregate unit.
Because current ball machine camera can 360 degrees rotations, considers that the cable follows the 360 degrees rotations of ball machine camera and can take place the winding, this application embodiment provides a rifle ball linkage snapshot method, and this method can be carried out by rifle ball linkage equipment, specifically can be realized by the microcontroller among the rifle ball linkage equipment.
The following description will be made by taking a method for a microcontroller of a panoramic module of the gun and ball linkage device to execute gun and ball linkage snapshot as an example, in conjunction with the gun and ball linkage device shown in fig. 2. Fig. 3 is a flowchart of a method for capturing a gun and a ball in linkage according to an embodiment of the present disclosure.
S301, controlling the camera of the ball machine to rotate based on the physical coordinates of the target in the coordinate system where the camera of the ball machine is located.
Specifically, after a Digital Signal Processing (DSP) platform acquires physical coordinates of a target in a coordinate system where a camera of the dome camera is located, the physical coordinates are sent to a microcontroller. The physical coordinates of the target are obtained through conversion according to the image coordinates of the target in a first image, and the first image is a panoramic image shot by a panoramic camera. It is referred to how the DSP platform obtains the physical coordinates of the object, which is described in detail below.
S1.1, acquiring a panoramic image sent by the panoramic camera.
The panoramic camera collects panoramic images within a 360-degree range in real time at a preset capturing speed of 25 frames/second for example through a panoramic fixed-focus image sensor. The panoramic camera can directly send all the collected panoramic images to the DSP platform, and can also extract partial panoramic images from all the panoramic images according to a certain interval sequence, for example, one frame is extracted every 3 frames, and the extracted partial panoramic images are sent to the DSP platform, so that the DSP platform can obtain the panoramic images sent by the panoramic camera.
S1.2, detecting whether a target exists in the panoramic image.
Specifically, after receiving the panoramic image, the DSP platform may detect whether a target exists in the current frame panoramic image, where the target may be a person, a motor vehicle, a non-motor vehicle, or the like, and for example, may determine whether the target exists in the current frame panoramic image through a pre-trained target detection model. And if the target does not exist in the current frame panoramic image, continuously detecting the next frame panoramic image. If the target exists in the current frame panoramic image, the current frame panoramic image is the first image, and S1.3 is continuously executed, namely the image coordinate of the target in the first image is determined.
S1.3, determining the image coordinates of the target in the first image.
In order to facilitate the determination of the position of the target in the first image, the DSP platform establishes a rectangular plane coordinate system with a first preset point of the first image as an origin of coordinates, where the first preset point may be a center point of the first image, or a point in four vertices of the first image, for example, a vertex where an upper left corner of the first image is located, or any point in the first image. The DSP platform may use the coordinates of the center point or any point of the target rectangular frame in the first image as the image coordinates of the target in the first image, where the target rectangular frame refers to a rectangular frame formed in the area where the target is located. For example, the vertex at the lower left corner of the first image is taken as the origin of coordinates (0, 0), and the image coordinates are P (x, y).
And S1.4, converting the image coordinates into physical coordinates.
After the DSP platform acquires the image coordinates of the target, the image coordinates of the target can be converted into physical coordinates of the target in a coordinate system where the dome camera is located. For example, the DSP platform establishes a spherical coordinate system with the position of the camera of the ball machine as the origin of coordinates, and converts the image coordinates in the planar rectangular coordinate system into physical coordinates in the spherical coordinate system according to the conversion relationship between the planar rectangular coordinate system and the spherical coordinate system.
It should be noted that a plurality of objects may exist in the first image, and after determining that a plurality of objects exist in the first image, the DSP platform may sequentially determine object Identifiers (IDs) of the plurality of objects and image coordinates corresponding to each object ID according to a sequence in which the plurality of objects are detected, and sequentially convert the image coordinates corresponding to each object ID into physical coordinates, where the object ID is used to uniquely identify each object.
Further, after the microcontroller obtains the physical coordinates of the target, the ball machine camera can be controlled to rotate based on the physical coordinates.
Specifically, the physical coordinates include a first coordinate value and a second coordinate value, and the microcontroller may control the ball machine camera to rotate in the first plane based on the first coordinate value of the physical coordinates, and control the ball machine camera to rotate in the second plane based on the second coordinate value of the physical coordinates. The first plane and the second plane are perpendicular to each other, for example, the first plane is a horizontal plane, the second plane is a vertical plane, or the first plane is a vertical plane, the second plane is a horizontal plane, the rotation angle of the camera of the ball machine on the horizontal plane is a horizontal rotation angle, and the rotation angle of the camera of the ball machine on the vertical plane is a vertical rotation angle. Specifically, for example, the image coordinates P (x, y) are converted into physical coordinates P (α, β), α is a first coordinate value, i.e., a rotation angle of the dome camera on the first plane, and β is a second coordinate value, i.e., a rotation angle of the dome camera on the second plane.
And S302, if the camera of the ball machine rotates on the first plane along the first direction and the rotation angle of the camera of the ball machine on the first plane is a first angle, controlling the camera of the ball machine to rotate on the first plane along the second direction until the rotation angle is a second angle.
Because the cable can not 360 degrees rotations, the ball machine camera in this application embodiment can not 360 degrees rotations, and when the rotation angle of ball machine camera on the first plane reached preset angle, only can toward the opposite direction rotatory to avoid the cable to follow the cable winding or damage that the 360 degrees rotations of ball machine camera lead to.
Specifically, if the camera of the ball machine rotates on the first plane along the first direction, and the rotation angle of the camera of the ball machine on the first plane is the first angle, the camera of the ball machine is controlled to rotate on the first plane along the second direction until the rotation angle of the camera of the ball machine on the first plane is the second angle.
The second direction is an hour direction opposite to the first direction, for example, the first direction is a clockwise direction, the second direction is a counterclockwise direction, or the first direction is a counterclockwise direction, and the second direction is a clockwise direction. The first angle is smaller than 360 degrees, and the difference value between the first angle and 360 degrees is smaller than or equal to the field angle of the camera of the dome camera on the first plane. For example, the first plane is a horizontal plane, the angle of view in the first plane is a horizontal angle of view, and if the horizontal angle of view of the dome camera is 10 °, the difference between the first angle and 360 ° is less than or equal to 10 °, that is, the first angle is greater than or equal to 350 °, the first angle may be 355 °, and the second angle may be 0 °.
For example, the second angle is 0 °, the first angle is 355 °, and the ball machine camera can only rotate clockwise or counterclockwise horizontally in an angle interval of 0 ° to 355 °.
There are two ways for the microcontroller to control the rotation of the camera head from the first angle to the second angle, as described below.
In the first mode, the microcontroller directly controls the camera of the ball machine to rotate on the first plane along the second direction until the rotation angle of the camera of the ball machine on the first plane is the second angle.
For example, when the ball machine camera is rotated horizontally in a clockwise direction to 355 °, the ball machine camera is directly controlled to rotate horizontally from 355 ° in a counterclockwise direction back to 0 °.
Referring to fig. 4, which is a first schematic rotation diagram of a dome camera provided in the embodiment of the present application, a small rectangular frame on a circle represents the dome camera, a region between dotted lines represents a horizontal field angle of the dome camera, 0 ° is a second angle, and 355 ° is a first angle. Fig. 4 (1) is a schematic diagram of the camera head of the ball machine rotating to a first angle along a first direction, wherein the direction of the curved arrow represents the first direction, i.e., clockwise direction. Fig. 4 (2) is a schematic diagram of the camera head of the ball machine rotating to a second angle along a second direction, wherein the direction of the curved arrow represents the second direction, i.e., counterclockwise direction.
And in the second mode, the microcontroller controls the ball machine camera to rotate 180 degrees on the second plane, and controls the ball machine camera to continue to rotate on the first plane along the second direction until the rotation angle of the ball machine camera on the first plane is a second angle.
For example, when the ball machine camera is horizontally rotated to 355 ° in the clockwise direction, the ball machine camera is controlled to vertically turn over 180 °, at which time the horizontal rotation angle of the ball machine camera is 175 °, and then the ball machine camera is controlled to continue to horizontally rotate from 175 ° in the counterclockwise direction back to 0 °.
Referring to fig. 5, which is a second schematic rotation diagram of the dome camera provided in the embodiment of the present application, a small rectangular frame on a circle represents the dome camera, a region between dotted lines represents a horizontal field angle of the dome camera, 355 ° is a first angle, and 0 ° is a second angle. Fig. 5 (1) is a schematic diagram of the camera head of the ball machine rotating to a first angle along a first direction, wherein the direction of the curved arrow indicates the first direction, i.e. clockwise direction. Fig. 5 (2) is a schematic view of the ball machine camera after rotating 180 degrees in a second plane, wherein the direction of the curved arrow represents the second direction, i.e., counterclockwise, illustrating that the ball machine camera will continue to rotate in the counterclockwise direction. Fig. 5 (3) is a schematic diagram of the camera head of the ball machine rotating to a second angle along a second direction, wherein the direction of the curved arrow represents the second direction, i.e., counterclockwise direction.
The camera of the ball machine is directly controlled to vertically turn over 180 degrees, and the mode of horizontal rotation is faster compared with the mode I, so that the camera of the ball machine can quickly return to the second angle.
Further, after the camera of the ball machine rotates to the second angle, the target can be continuously tracked along the first direction. For example, after the camera of the ball machine horizontally rotates to 0 ° in the counterclockwise direction, the camera can horizontally rotate in the clockwise direction to continuously track the target.
In the second mode provided in this embodiment of the present application, since the camera of the dome camera rotates 180 degrees on the second plane, the captured image is inverted, and therefore, in this embodiment of the present application, the second image is controlled to rotate 180 degrees along the first direction with the central point of the second image as the center, so as to obtain the rotated second image, which is convenient for continuously tracking the target subsequently.
Referring to fig. 6, which is a schematic view of a second image before and after rotation according to an embodiment of the present disclosure, a rectangular frame represents the second image, and a cart represents a target. Fig. 6 (1) is a schematic diagram of the cart before the second image is rotated and to the right of the center point of the second image, and fig. 6 (2) is a schematic diagram of the cart after the second image is rotated and to the left of the center point of the second image.
Considering that the rotating speed of the camera of the ball machine is too fast, when the first angle is reached, the camera of the ball machine may not be controlled to rotate in the opposite direction, so that the rotating angle of the camera of the ball machine exceeds the first angle and even exceeds 360 degrees. Therefore, in the embodiment of the application, when the rotation angle of the ball machine camera on the first plane is close to the first angle, the ball machine camera is controlled to reduce the rotation speed.
Specifically, when the microcontroller controls the ball machine camera to rotate on the first plane at the first speed, if the rotation angle of the ball machine camera on the first plane is the third angle, the ball machine camera is controlled to continue to rotate on the first plane at the second speed. Wherein the third angle is smaller than the first angle, for example the first angle is 355 °, and the third angle is 305 °. The second speed is less than the first speed, for example, the second speed is half of the value of the first speed, or the second speed is any value less than the first speed.
Fig. 7 is a schematic structural diagram of a gun and ball linkage device according to an embodiment of the present disclosure. The gun and ball linkage device comprises a DSP platform 701, a panoramic camera 702, a ball machine camera 703 and a microcontroller 704, and the specific functions of the DSP platform 701, the panoramic camera 702, the ball machine camera 703 and the microcontroller 704 refer to the contents discussed above, and are not described herein again.
The gun and ball linkage shown in fig. 7 also includes a ball machine PTZ module 705 and a rotation limit module 706. A Pan/Tilt/Zoom module 705 is used to control the rotation of the camera 703 in the first plane and/or the second plane. The rotation limiting module 706 is configured to detect whether a rotation angle of the ball machine camera 703 on the first plane reaches a third angle and the first angle.
For example, the ball machine PTZ module 705 may control horizontal rotation and/or vertical rotation of the ball machine camera 703, when the ball machine camera 703 needs to rotate, the DSP platform 701 sends an instruction to the microcontroller 704, and after the microcontroller 704 receives the instruction, the ball machine PTZ module 705 is controlled, and a motion parameter after the rotation of the ball machine camera 703, such as a current position coordinate of the ball machine camera 703, is returned to the DSP platform 701, so that the DSP platform 701 determines whether the ball machine camera 703 rotates to a specified position.
The rotation limit module 706 can detect whether the horizontal rotation angle of the ball machine camera 703 is close to a limit value and whether the horizontal rotation angle of the ball machine camera 703 reaches the limit value. When the ball machine camera 703 horizontally rotates to the limit value along the clockwise direction, the rotation limit module 706 limits the ball machine camera 703 to continue to horizontally rotate no longer along the clockwise direction, and the ball machine camera 703 can only horizontally rotate along the counterclockwise direction.
And S303, controlling the camera of the ball machine to shoot to obtain a second image of the target.
Specifically, after the microcontroller controls the ball machine camera to rotate to the physical coordinate, the ball machine camera can be controlled to shoot to obtain a second image of the target. The dome camera is provided with a dome zoom image sensor, the multiplying power can be adjusted according to the specific condition of the target in the second image, and the complete and clear target can be captured and shot.
Considering that the target profile may exceed the shooting area of the dome camera, the dome camera catches an incomplete target, such as only one person's lower body. Therefore, after the second image of the target is obtained in the embodiment of the application, whether the target in the second image is a complete target or not can be detected first, so that the complete target can be captured.
Specifically, if the target in the second image is an incomplete target, the magnification is reduced, the ball camera is controlled to shoot by adopting the adjusted magnification, the adjusted second image is obtained, and the target in the adjusted second image is ensured to be an integral target.
The target is far away from the camera of the dome camera, so that the area ratio of the target in the second image is too small, and the details of the target are not easy to view. Therefore, after determining that the target in the second image is a complete target, the embodiment of the present application may also detect an area ratio of the complete target in the second image, so as to ensure that a clear target can be captured.
Specifically, if the target in the second image is a complete target and the area ratio of the complete target in the second image is smaller than the preset ratio, the magnification is increased, the ball control camera performs shooting with the adjusted magnification to obtain the adjusted second image, and it is ensured that the target in the adjusted second image is the complete target, and the area ratio of the complete target in the adjusted second image is greater than or equal to the preset ratio, for example, 30%.
Referring to fig. 7, the gun and ball linkage device further includes a dome camera zoom control module 707, and if a high magnification view detail or a low magnification view large scene is required, the DSP platform 701 may send an instruction to the dome camera zoom control module 707 to adjust the magnification, and at the same time, the module has a focusing function, and the focusing operation may be automatically completed after the magnification is changed.
In addition, when the ambient temperature changes violently or the internal humidity of the device is high, a window (i.e., a glass lens) of the camera is likely to form water mist. Therefore, in the embodiment of the application, the gun and ball linkage device further comprises a heating demisting module, and if the internal temperature and/or the internal humidity of the gun and ball linkage device meet the preset conditions, the heating demisting module is controlled to be started.
The preset conditions have various conditions, which are described below.
First, the internal temperature of the device is less than a preset temperature.
The microcontroller can obtain the inside temperature of rifle ball aggregate unit in real time, and for example, rifle ball aggregate unit is inside to have temperature sensor, sends the inside temperature that detects for microcontroller, and the temperature of predetermineeing is the minimum temperature that can guarantee equipment normal work through presetting. Microcontroller judges inside temperature and predetermineeing the temperature, if inside temperature is less than predetermineeing the temperature, then control start heating defogging module heats the window of panoramic camera and ball machine camera.
Second, the internal humidity of the apparatus is greater than a preset humidity.
Microcontroller can obtain rifle ball aggregate unit's inside humidity in real time, and there is humidity transducer for example rifle ball aggregate unit is inside, sends the inside humidity that detects for microcontroller, and it is the minimum humidity that preset window hazed to predetermine humidity. Microcontroller judges inside humidity and predetermineeing humidity, if inside humidity is greater than predetermineeing humidity, then control start heating defogging module heats the window of panoramic camera and ball machine camera.
Thirdly, the internal temperature of the equipment is lower than the preset temperature, and the internal humidity of the equipment is higher than the preset humidity.
The microcontroller can obtain the inside temperature and the inside humidity of rifle ball aggregate unit in real time, and for example, rifle ball aggregate unit is inside to have temperature sensor and humidity transducer, sends the inside temperature and the inside humidity that detect respectively to microcontroller. Microcontroller judges inside temperature and preset temperature to and judge inside humidity and preset humidity, if inside temperature is less than preset temperature, and inside humidity is greater than preset humidity, then control start heating defogging module heats the window of panoramic camera and ball machine camera.
Referring to fig. 7, the gun and ball linkage device further includes a temperature and humidity detecting module 708 and a heating defogging module 709, where the temperature and humidity detecting module 708 is configured to detect an internal temperature and an internal humidity of the gun and ball linkage device in real time, for example, the temperature and humidity detecting module 708 includes a temperature sensor and a humidity sensor. Heating defogging module 709 is used for heating panorama camera 702 and ball machine camera 703's window, and the window inlayer of camera is pasted with the heating film for example, and this heating film can generate heat after the circular telegram to improve the temperature of window, reach the effect of defogging.
When the environment light is dark, the image shot by the camera is not clear. Therefore, in this application embodiment, rifle ball aggregate unit still includes panorama light filling module and ball machine light filling module, and microcontroller can control panorama light filling module respectively and carry out the light filling to the region of making a video recording of panorama camera to and control ball machine light filling module and carry out the light filling to the region of making a video recording of ball machine camera, and the light filling is not restricted to white light, infrared and laser etc..
Referring to fig. 7, the gun and ball linkage device further includes 2 light supplement modules, which are a panoramic light supplement module 710 and a ball machine light supplement module 711, respectively, where the panoramic light supplement module 710 is used to supplement light for a shooting area of the panoramic camera 702, and the ball machine light supplement module 711 is used to supplement light for a shooting area of the ball machine camera 703.
In one possible embodiment, with continued reference to FIG. 7, the gun and ball linkage further includes a power module 712. The power supply module 712 is configured to convert an external power input into an internal power consumption of the device, and supply power to the DSP platform 701, the microcontroller 704, the two light supplement modules, the heating defogging module 709, the dome camera PTZ module 705, the rotation limiting module 706, and the like, so as to ensure that the power supply of each module inside the device is stable, and ensure that the modules can normally operate.
Based on the same inventive concept, the application provides a rifle ball linkage snapshot device, the device is equivalent to be arranged in the microcontroller of the panoramic module of the rifle ball linkage equipment discussed in the foregoing, the panoramic module further comprises a panoramic camera, the rifle ball linkage equipment further comprises a ball machine camera of a ball machine module, the panoramic module and the ball machine module are connected through a cable, please refer to fig. 8, the device comprises:
the control module 801 is used for controlling the camera of the ball machine to rotate based on the physical coordinate of the target in the coordinate system where the camera of the ball machine is located; the physical coordinates are obtained by converting image coordinates of a target in a first image, and the first image is a panoramic image shot by a panoramic camera;
the control module 801 is further configured to, if the camera of the ball machine rotates on the first plane along the first direction and the rotation angle of the camera of the ball machine on the first plane is a first angle, control the camera of the ball machine to rotate on the first plane along the second direction until the rotation angle is a second angle; the second direction and the first direction are opposite in an hour-hand direction, the first angle is smaller than 360 degrees, and the difference value between the first angle and the 360 degrees is smaller than or equal to the field angle of the camera of the dome camera on the first plane;
and an obtaining module 802, configured to control the camera of the ball machine to shoot, so as to obtain a second image of the target.
In a possible embodiment, the panorama module further includes a digital signal processing platform, and the control module 801 is specifically configured to:
acquiring physical coordinates of a target sent by a digital signal processing platform in a coordinate system where a camera of a dome camera is located;
controlling the camera of the ball machine to rotate on a first plane based on a first coordinate value of the physical coordinate;
controlling the camera of the ball machine to rotate on a second plane based on a second coordinate value of the physical coordinate; wherein the first plane and the second plane are perpendicular to each other.
In a possible embodiment, the control module 801 is specifically configured to:
controlling the camera of the ball machine to rotate 180 degrees on the second plane;
and controlling the camera of the ball machine to rotate along the second direction on the first plane until the rotation angle is a second angle.
In a possible embodiment, the obtaining module 802 is further configured to: and controlling the second image to rotate 180 degrees along the first direction by taking the central point of the second image as a center, and obtaining the rotated second image.
In a possible embodiment, the control module 801 is specifically configured to:
controlling the camera of the ball machine to rotate on a first plane according to a first speed;
if the rotating angle of the ball machine camera on the first plane is a third angle, controlling the ball machine camera to continue rotating on the first plane according to a second speed; wherein the third angle is smaller than the first angle, and the second speed is smaller than the first speed.
In a possible embodiment, the obtaining module 802 is specifically configured to:
if the target in the second image is an incomplete target, reducing the magnification; or,
if the target in the second image is a complete target and the area ratio of the complete target in the second image is smaller than the preset ratio, increasing the magnification;
and the camera of the control ball machine shoots by adopting the adjusted multiplying power to obtain an adjusted second image.
In one possible embodiment, the apparatus further comprises a heated defogging module, and the control module 801 is further configured to:
and if the internal temperature of the equipment is less than the preset temperature and/or the internal humidity of the equipment is greater than the preset humidity, controlling to start the heating demisting module to heat the windows of the panoramic camera and the dome camera.
As an example, the rifle ball linked capturing device discussed in fig. 8 may implement any one of the rifle ball linked capturing methods discussed above, and details thereof are not repeated here.
Based on the same inventive concept, an embodiment of the present application provides a rifle ball linkage apparatus, which is equivalent to the rifle ball linkage apparatus discussed above, and referring to fig. 9, the apparatus includes:
at least one processor 901, and
a memory 902 communicatively connected to the at least one processor 901;
wherein the memory 902 stores instructions executable by the at least one processor 901, and the at least one processor 901 implements the security check method as discussed above by executing the instructions stored by the memory 902.
The processor 901 may be a Central Processing Unit (CPU), or one or more combinations of a digital processing unit, an image processor, and the like. The memory 902 may be a volatile memory (volatile memory), such as a random-access memory (RAM); the memory 902 may also be a non-volatile memory (non-volatile memory) such as, but not limited to, a read-only memory (rom), a flash memory (flash memory), a Hard Disk Drive (HDD) or a solid-state drive (SSD), or the memory 902 may be any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory 902 may be a combination of the above memories.
As an example, the processor 901 in fig. 9 may implement the gun and ball linkage capturing method discussed above, and the processor 901 may also implement the function of the gun and ball linkage capturing device discussed above in fig. 8.
Based on the same inventive concept, embodiments of the present application provide a computer-readable storage medium storing computer instructions that, when executed on a computer, cause the computer to perform the gun and ball linkage snapshot method as discussed above.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. The gun and ball linkage snapshot method is applied to a microcontroller of a panoramic module of gun and ball linkage equipment, the panoramic module further comprises a panoramic camera, the equipment further comprises a ball machine camera of a ball machine module, the panoramic module and the ball machine module are connected through a cable, and the method comprises the following steps:
controlling the camera of the dome camera to rotate based on the physical coordinate of the target in the coordinate system where the camera of the dome camera is located; the physical coordinates are obtained by converting image coordinates of the target in a first image, and the first image is a panoramic image shot by the panoramic camera;
if the camera of the ball machine rotates on a first plane along a first direction and the rotation angle of the camera of the ball machine on the first plane is a first angle, controlling the camera of the ball machine to rotate on the first plane along a second direction until the rotation angle is a second angle; the second direction and the first direction are opposite in clockwise direction, the first angle is smaller than 360 degrees, and the difference value between the first angle and the 360 degrees is smaller than or equal to the field angle of the dome camera on the first plane;
and controlling the camera of the ball machine to shoot to obtain a second image of the target.
2. The method of claim 1, wherein the panoramic module further comprises a digital signal processing platform that controls the dome camera to rotate based on the physical coordinates of the target in the coordinate system in which the dome camera is located, comprising:
acquiring physical coordinates of a target sent by the digital signal processing platform in a coordinate system where the dome camera is located;
controlling the camera of the dome camera to rotate on the first plane based on a first coordinate value of the physical coordinate;
controlling the camera of the dome camera to rotate on a second plane based on a second coordinate value of the physical coordinate; wherein the first plane and the second plane are perpendicular to each other.
3. The method of claim 1, wherein controlling the ball machine camera to rotate in a second direction in the first plane comprises:
controlling the camera of the ball machine to rotate 180 degrees on the second plane;
and controlling the camera of the ball machine to rotate on the first plane along the second direction until the rotation angle is a second angle.
4. The method of claim 3, wherein after controlling the ball machine camera to capture the second image of the target, the method further comprises:
and controlling the second image to rotate 180 degrees along the first direction by taking the central point of the second image as a center, and obtaining the rotated second image.
5. The method of claim 1, wherein controlling the ball machine camera to rotate in a first plane comprises:
controlling the camera of the ball machine to rotate on the first plane at a first speed;
if the rotation angle of the dome camera on the first plane is a third angle, controlling the dome camera to continue rotating on the first plane according to a second speed; wherein the third angle is less than the first angle and the second speed is less than the first speed.
6. The method of any of claims 1-5, wherein controlling the ball machine camera to capture a second image of the target comprises:
if the target in the second image is an incomplete target, reducing the magnification; or,
if the target in the second image is a complete target and the area ratio of the complete target in the second image is smaller than a preset ratio, increasing the magnification;
and controlling the camera of the dome camera to shoot by adopting the adjusted multiplying power to obtain an adjusted second image.
7. The method of any of claims 1-5, wherein the apparatus further comprises a heated defogging module, the method further comprising:
and if the internal temperature of the equipment is less than the preset temperature and/or the internal humidity of the equipment is greater than the preset humidity, controlling to start the heating demisting module, and heating the panoramic camera and the window of the dome camera.
8. The utility model provides a rifle ball linkage snapshot device, a serial communication port, the device sets up in the microcontroller of the panorama module of rifle ball linkage equipment, the panorama module still includes panoramic camera, equipment still includes the ball machine camera of ball machine module, the panorama module with the ball machine module passes through the cable and connects, the device includes:
the control module is used for controlling the camera of the dome camera to rotate based on the physical coordinate of the target in the coordinate system where the camera of the dome camera is located; the physical coordinates are obtained by converting image coordinates of the target in a first image, and the first image is a panoramic image shot by the panoramic camera;
the control module is further configured to control the dome camera to rotate in a second direction on the first plane until the rotation angle is a second angle if the dome camera rotates in the first direction on the first plane and the rotation angle of the dome camera on the first plane is a first angle; the second direction and the first direction are opposite in clockwise direction, the first angle is smaller than 360 degrees, and the difference value between the first angle and the 360 degrees is smaller than or equal to the field angle of the dome camera on the first plane;
and the obtaining module is used for controlling the camera of the dome camera to shoot so as to obtain a second image of the target.
9. A rifle ball linkage apparatus, comprising:
at least one processor, and
a memory communicatively coupled to the at least one processor;
wherein the memory stores instructions executable by the at least one processor, the at least one processor implementing the method of any one of claims 1-7 by executing the instructions stored by the memory.
10. A computer-readable storage medium having stored thereon computer instructions which, when executed on a computer, cause the computer to perform the method of any one of claims 1-7.
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