CN105611242A - PTZ (Pan/Tilt/Zoom) camera monitoring geographic orientation calibration method - Google Patents
PTZ (Pan/Tilt/Zoom) camera monitoring geographic orientation calibration method Download PDFInfo
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- CN105611242A CN105611242A CN201510973865.0A CN201510973865A CN105611242A CN 105611242 A CN105611242 A CN 105611242A CN 201510973865 A CN201510973865 A CN 201510973865A CN 105611242 A CN105611242 A CN 105611242A
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- orientation
- wide area
- video camera
- demarcated
- area monitoring
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- 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
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Abstract
The invention discloses a PTZ (Pan/Tilt/Zoom) camera monitoring geographic orientation calibration method. The method comprises following steps of S01, preparing; S02, surveying and mapping; S03, initially calibrating; SS04, making a first corresponding relation table; S05, calibrating the north and the south; S06, calibrating orientation; and S07, secondarily calibrating. The PTZ camera monitoring direction is truly consistent with the map orientation through the software platform and the secondary calibration, and visually corresponds to and confirms the region monitored by a current image.
Description
Technical field
The present invention relates to intelligent video monitoring field, is that a kind of The Cloud Terrace monitors the method that geographic orientation is demarcated specifically.
Background technology
In wide area field of video monitoring, the features such as GIS electronic chart is directly perceived to show, feature richness, information content foot are widely used in video monitoring system. By mark the position of camera, sensor on map, facilitate the accurate locating and monitoring point of user position, by the accurate location of GIS, can grasp the topography and geomorphology in this region simultaneously, and corresponding space length data, for the behavioural analysis of moving target provides good data supporting. The hot-zone navigation feature of innovation more can make map extend to interior of building, by representing to user of the information solids such as safety devices, fire escape, deathtrap.
In wide area video monitoring system, the general telephoto lens monopod video camera or the large multiple clipping the ball that adapt to remote observation of adopting, equipment is in rotation control procedure, equipment is more difficult directly perceived corresponding with the relation showing on GIS map to monitored concrete orientation, in order to facilitate the two correspondence, need to there is a unified orientation to do basic reference, general clipping the ball or The Cloud Terrace adopt the mode of built-in OSD angles of display to carry out, which mainly relies on artificial judgment, and precision is not high; Or on-the-spot proofread and correct with GIS map, but owing to lacking necessary aid, relying on monitoring picture and judge initial position, transition relies on manually, also inaccuracy comparatively. And the present invention determines the correcting mode in positive north, due south by the sun, provide a kind of bearing calibration method reliably.
Summary of the invention
The object of the present invention is to provide a kind of The Cloud Terrace to monitor the method that geographic orientation is demarcated.
Technical program of the present invention lies in: a kind of The Cloud Terrace monitors the method that geographic orientation is demarcated, and it is characterized in that, comprises the following steps:
S01: prepare; At spacious horizontal field, wide area monitoring video camera is installed, is connected cable and supervisory computer;
S02: mapping; Adjust the camera lens of wide area monitoring video camera in horizontal direction;
S03: initial alignment; The image resolution ratio of wide area monitoring video camera is 1080P form, is made up of 1920 × 1080 pixels, can obtain 1 the corresponding actual area width of block of pixels size by calculating;
S04: make mapping table one; Repeating step S02 and step S03, make wide area monitoring camera lens continuous vari-focus, records piece respective distances and peak width under each zoom state, forms the mapping table one of each burnt section of camera lens and real scene distance;
S05: north and south is demarcated; After equipment is installed and finished, described wide area monitoring video camera calls the prefabricated position of orientation calibration, enters orientation calibration link;
S06: bearing calibration; The direction in the north and south of confirming by vertical line, an angle а of photograph apparent direction existence of the prefabricated position of this direction and orientation calibration video camera, this angle а is The Cloud Terrace and turns to the angle of direct north;
S07: secondary is demarcated; Monitoring software calls mapping table one, carries out corresponding relation conversion with GIS map, obtains mapping table two.
Further, in described step S02, adjust the lens focus of wide area monitoring video camera, in the visual field of this focal length, draw a triangle, on corresponding AB, AC limit, vertical placement demarcated vertical rod; On AB, AC limit, vertical demarcation vertical rod of placing overlaps on image, and makes on AB, the border, left and right of AC limit in image frame.
Further, in described step S04, this mapping table one is kept at wide area monitoring video camera inside.
Further, in described step S04, scene is arranged on wide area monitoring video camera level on control point, and the position of control point is marked out in GIS coordinate come, on GIS map, taking control point as starting point is to the line segment OA of standardized section of corresponding GIS map K rice distance of random direction, taking this line segment as standardized section of circular arc of radius, obtain the angle θ of circular arc according to the current burnt section of camera lens, determine another radius OB through over-angle θ clockwise, the ray of the mid point C of AB point line and the line OC in the center of circle is the wide area monitoring camera surveillance orientation embodying on GIS map.
Further, in described step S05, shine upon the morning and demarcating on bar, when the shadow of demarcation bar blocks photo resistance for the last time, the location and time of this photo resistance under system log (SYSLOG), when the shadow of demarcating bar afternoon blocks photo resistance for the first time, the location and time of this photo resistance under system log (SYSLOG); According to the position line of two photo resistance, do vertical line from demarcating bar through this line, the direction of this vertical line is positive North and South direction.
Further, in described step S06, this angle by computer obtain, record, in monitoring software, call debugging mode, on monitor supervision platform, by assigning rotation command to wide area monitoring video camera, after wide area monitoring video camera rotational angle а, the ray of line OC is also followed rotational angle а, this position is demarcated, be set to initial orientation 1.
Further, in described step S07, on the basis of initial orientation 1, on GIS map, recall direct north reference line, translation reference line, make reference line through control point O, on map, rotate OC, when in the process of rotation OC, wide area monitoring video camera is different, rotate, overlap with direct north reference line to OC, monitoring software records the angle beta that OC rotates, be initial orientation 2 by this set positions, as the zero-bit of monitoring software control rotation, now the axis, virtual monitor area fan section on monopod video camera and GIS map is in same orientation, complete the staking-out work that The Cloud Terrace monitors position, the positive north.
The invention has the advantages that:
1, adopt the sun as position, positive north calibrated reference, compare earth magnetism and visual means, the degree of accuracy is high, and calibration process relies on computer data, reduces artificial subjective factor impact.
2, complete after demarcation, further can realize the corresponding relation between video pictures pixel and actual map.
3, realize video monitor picture directly corresponding, more directly perceived with map area. Along with the rotation of The Cloud Terrace, the virtual sectors icon on map is and then rotation also, can embody well the position of current supervision, in broad regions during as desert, marine monitoring, is convenient in without object of reference situation, determine fast monitoring direction.
Brief description of the drawings
Fig. 1 is the invention process mapping schematic diagram;
Fig. 2 is the schematic diagram of the embodiment of the present invention;
Fig. 3 is the demarcation schematic diagram that the embodiment of the present invention provides;
Fig. 4 is the flow chart of the embodiment of the present invention.
Detailed description of the invention
For above-mentioned feature and advantage of the present invention can be become apparent, special embodiment below, and coordinate accompanying drawing, be described in detail below, but the present invention is not limited to this.
As shown in Figure 1, the invention provides a kind of method that The Cloud Terrace monitors that geographic orientation is demarcated, comprise the following steps:
S01: prepare; At spacious horizontal field, wide area monitoring video camera is installed, is connected cable and supervisory computer;
S02: mapping; Adjust the camera lens of wide area monitoring video camera in horizontal direction;
S03: initial alignment; The image resolution ratio of wide area monitoring video camera is 1080P form, is made up of 1920 × 1080 pixels, can obtain 1 the corresponding actual area width of block of pixels size by calculating;
S04: make mapping table one; Repeating step S02 and step S03, make wide area monitoring camera lens continuous vari-focus, records piece respective distances and peak width under each zoom state, forms the mapping table one of each burnt section of camera lens and real scene distance;
S05: north and south is demarcated; After equipment is installed and finished, described wide area monitoring video camera calls the prefabricated position of orientation calibration, enters orientation calibration link;
S06: bearing calibration; The direction in the north and south of confirming by vertical line, an angle а of photograph apparent direction existence of the prefabricated position of this direction and orientation calibration video camera, this angle а is The Cloud Terrace and turns to the angle of direct north;
S07: secondary is demarcated; Monitoring software calls mapping table one, carries out corresponding relation conversion with GIS map, obtains mapping table two.
Below in conjunction with brief description of the drawings of the present invention concrete steps of the present invention and principle:
Step S01, preparation. Prepare a spacious horizontal field, wide area monitoring video camera is installed, at the A of accompanying drawing 2 point region horizontal positioned wide area monitoring video camera, connect cable and supervisory computer.
Further, described wide area monitoring video camera is 1080P network high-definition camera, can carry out 360 degree rotations, and an annulus being formed by multiple photo resistance close-packed arrays is installed at video camera top, have a screw hole in the center of annulus, for the vertical calibrating bar that spins. According to the center of circle, to the distance of annulus, choose reasonable is demarcated the length of bar, demarcates the diameter of bar suitable with the receiving plane of single photo resistance, so that the bar shadow producing when sunray irradiation vertical calibrating bar can cover photo resistance receiving plane just.
Step S02, mapping. Adjust the camera lens of wide area video camera in horizontal direction (passing through horizon rule) observation, and show by wide area monitoring video camera vertical direction angle degree judge. Adjust the lens focus of wide area monitoring video camera, in the visual field of this focal length, draws a triangle as shown in Figure 2, vertically on corresponding AB, AC limit place demarcation vertical rod. On AB, AC limit, vertical demarcation vertical rod of placing overlaps on image, and makes on AB, the border, left and right of AC limit in image frame.
Further, pass through this method, under this lens focus, on angle of visual field horizontal plane, present a sector region, the delta-shaped region of 3 formations of ABC, be rendered as straight line from image BC in the horizontal direction, this straight line apart from a certain distance of A point in the situation that, on its length and screen, the level of imaging is wired to certain proportionate relationship. Although the focal length of camera lens and imaging size have formula to calculate, owing to controlling the difference of software, cannot confirm the lens focus at a certain control point, adopt the mode of mapping to contribute to provide data accurately.
Step S03, initial alignment. The image resolution ratio of wide area monitoring video camera is 1080P form, is made up of 1920 × 1080 pixels. Can obtain 1 the corresponding actual area width of block of pixels size by calculating.
Further, two width of demarcating between vertical rod of same distance, just be full of picture, suppose that it is M rice that A selects the vertical range of demarcating vertical rod B, C line, the distance of measuring between BC is N rice, between AC, AB, acute angle angle is θ, can by existing formula calculate 1 block of pixels at the width L=N/1080 apart from camera lens M rice position---------formula one
Angle of view θ=the 2arctan(M/2N of this Jiao's section)---------formula two
Distance K=M/cos(θ/2 between AC)---------------formula three
Step S04, making mapping table one. Repeating step S02 ~ S03, makes wide area monitoring camera lens continuous vari-focus, records the piece respective distances M peak width N under each zoom state, forms the mapping table one of each burnt section of camera lens and real scene distance. This relation table is kept at wide area monitoring video camera inside.
On-the-spot installation, is arranged on wide area monitoring video camera level on control point, and the position of control point is marked out in GIS coordinate come. On GIS map, taking control point as starting point (center of circle O) is to the line segment OA of standardized section of corresponding GIS map K rice distance of random direction, taking this line segment as standardized section of circular arc of radius, obtain the angle θ of circular arc according to the current burnt section of camera lens, determine clockwise another radius OB, the ray of the mid point C of AB point line and the line OC in the center of circle is the wide area monitoring camera surveillance orientation embodying on GIS map.
Further, the prefabricated position of reserved orientation calibration before wide area monitoring video camera dispatches from the factory, calls this prefabricated position camera lens in horizontal direction. Described wide area monitoring video camera top is useful on the photo resistance annulus of demarcation and is positioned at the dismountable vertical calibrating bar of photo resistance circle ring center.
Step S05, north and south are demarcated. After equipment is installed and finished, described wide area monitoring video camera calls the prefabricated position of orientation calibration, enters orientation calibration link. Shine upon the morning and demarcating on bar, when the shadow of demarcation bar blocks photo resistance for the last time, the location and time of this photo resistance under system log (SYSLOG), when the shadow of demarcating bar afternoon blocks photo resistance for the first time, the location and time of this photo resistance under system log (SYSLOG). According to the position line of two photo resistance, do vertical line from demarcating bar through this line, the direction of this vertical line is positive North and South direction.
Further, which has been ignored different latitude sun's motion direction difference, but on GIS map, passes through to determine the installation site of control point by existing known technology general knowledge, can lock definite North and South direction to vertical line and revise, and this case is no longer narrated.
As shown in Figure 3, be the main principle of this scaling method, whether the resistance difference of the light sensing of photo resistance to varying strength, can utilize this characteristic to be blocked as detecting photo resistance. utilize geographical knowledge, be from east orientation west by sun's motion in a day, because photo resistance can be responded to the power of light, the resistance difference showing under different light, by detecting the resistance of photo resistance, can judge the position of demarcating bar shadow, the sun is at the beginning of rising, the shadow that demarcation bar casts out is long, As time goes on, more approach high noon, the shadow of demarcating bar is shorter, just entering after photo resistance annulus, the illumination that all photo resistance receive should be identical, resistance is close, now can think that shadow is for the last time away from photo resistance annulus, the length of shadow equates with the radius of annulus, system can detect the position of this resistance at annulus, in the afternoon, the shadow of bar tiltedly, is demarcated by convergence photo resistance annulus in sun west, and in the time that shadow just covers certain photo resistance receiving plane, the resistance of this photo resistance is obviously different from other photo resistance, can think that shadow approaches photo resistance annulus for the first time.
Suppose that photo resistance ring has S photo resistance close-packed arrays to form, angle corresponding to each photo resistance is 360/S. After the location positioning of two photo resistance, can obtain two corner dimensions between photo resistance, the half of angle is а.
Step S06, bearing calibration. The direction in the north and south of confirming by vertical line, an angle а of photograph apparent direction existence of the prefabricated position of this direction and orientation calibration video camera, this angle а is The Cloud Terrace and turns to the angle of direct north (initial orientation). This angle by computer obtain, record, in monitoring software, call debugging mode, on monitor supervision platform by assigning rotation command to wide area monitoring video camera, after wide area monitoring video camera rotational angle а, the ray of line OC is also followed rotational angle а, this position is demarcated, be set to initial orientation 1.
Consult Fig. 4, the initial position of The Cloud Terrace is as shown on Fig. 4, determine after meridian line, there is an angle а in initial position and North and South direction, make camera surveillance angle inceptive direction be adjusted into positive north orientation, should make amplitude а of cloud platform rotation, arrive and demarcate orientation, because be manipulates on GIS map, therefore the sector on The Cloud Terrace and GIS map is to turn to demarcate orientation simultaneously. Because the direction of The Cloud Terrace has been pointed to positive north, but the fan section initial orientation that above-mentioned employing GIS marks is random, therefore also needs to carry out secondary demarcation.
Step S07, secondary are demarcated. monitoring software calls mapping table one, carries out corresponding relation conversion with GIS map, obtains mapping table two. on the basis of initial orientation 1, on GIS map, recall direct north reference line, translation reference line, make reference line through control point O, on map, rotate OC, when in the process of rotation OC, wide area monitoring video camera is different, rotate, overlap with direct north reference line to OC, monitoring software records the angle beta that OC rotates, be initial orientation 2 by this set positions, as the zero-bit of monitoring software control rotation, now the axis, virtual monitor area fan section on monopod video camera and GIS map is in same orientation, complete the staking-out work that The Cloud Terrace monitors position, the positive north.
Further on GIS map, can directly measure the actual distance x of any two points, by mapping table one, distance correspondence on the supervision scope of known certain lower sector of burnt section and video image between pixel, on video pictures, can complete and monitor in orientation, district the corresponding relation of regional location on pixel and GIS map, also just can realize and on video pictures or GIS map, realize corresponding intellectual analysis, moving target calibrating function.
It should be noted that, those having ordinary skill in the art will appreciate that all or part of flow process realizing in above-described embodiment method, can carry out relevant hardware by computer program to complete, described program can install storage with PC server on storage medium, change program in the time carrying out, can comprise the embodiment flow process of said method.
The foregoing is only preferred embodiment of the present invention, all equalizations of doing according to the present patent application the scope of the claims change and modify, and all should belong to covering scope of the present invention.
Claims (7)
1. The Cloud Terrace monitors the method that geographic orientation is demarcated, and it is characterized in that, comprises the following steps:
S01: prepare; At spacious horizontal field, wide area monitoring video camera is installed, is connected cable and supervisory computer;
S02: mapping; Adjust the camera lens of wide area monitoring video camera in horizontal direction;
S03: initial alignment; The image resolution ratio of wide area monitoring video camera is 1080P form, is made up of 1920 × 1080 pixels, can obtain 1 the corresponding actual area width of block of pixels size by calculating;
S04: make mapping table one; Repeating step S02 and step S03, make wide area monitoring camera lens continuous vari-focus, records piece respective distances and peak width under each zoom state, forms the mapping table one of each burnt section of camera lens and real scene distance;
S05: north and south is demarcated; After equipment is installed and finished, described wide area monitoring video camera calls the prefabricated position of orientation calibration, enters orientation calibration link;
S06: bearing calibration; The direction in the north and south of confirming by vertical line, an angle а of photograph apparent direction existence of the prefabricated position of this direction and orientation calibration video camera, this angle а is The Cloud Terrace and turns to the angle of direct north;
S07: secondary is demarcated; Monitoring software calls mapping table one, carries out corresponding relation conversion with GIS map, obtains mapping table two.
2. a kind of The Cloud Terrace according to claim 1 monitors the method that geographic orientation is demarcated, it is characterized in that: in described step S02, adjust the lens focus of wide area monitoring video camera, in the visual field of this focal length, draw a triangle, on corresponding AB, AC limit, vertical placement demarcated vertical rod; On AB, AC limit, vertical demarcation vertical rod of placing overlaps on image, and makes on AB, the border, left and right of AC limit in image frame.
3. a kind of The Cloud Terrace according to claim 1 monitors the method that geographic orientation is demarcated, and it is characterized in that: in described step S04, this mapping table one is kept at wide area monitoring video camera inside.
4. a kind of The Cloud Terrace according to claim 1 monitors the method that geographic orientation is demarcated, it is characterized in that: in described step S04, scene is arranged on wide area monitoring video camera level on control point, and the position of control point is marked out in GIS coordinate come, on GIS map, taking control point as starting point is to the line segment OA of standardized section of corresponding GIS map K rice distance of random direction, taking this line segment as standardized section of circular arc of radius, obtain the angle θ of circular arc according to the current burnt section of camera lens, determine another radius OB through over-angle θ clockwise, the ray of the mid point C of AB point line and the line OC in the center of circle is the wide area monitoring camera surveillance orientation embodying on GIS map.
5. a kind of The Cloud Terrace according to claim 1 monitors the method that geographic orientation is demarcated, it is characterized in that: in described step S05, shine upon the morning and demarcating on bar, when the shadow of demarcation bar blocks photo resistance for the last time, the location and time of this photo resistance under system log (SYSLOG), when the shadow of demarcating bar afternoon blocks photo resistance for the first time, the location and time of this photo resistance under system log (SYSLOG); According to the position line of two photo resistance, do vertical line from demarcating bar through this line, the direction of this vertical line is positive North and South direction.
6. a kind of The Cloud Terrace according to claim 1 monitors the method that geographic orientation is demarcated, it is characterized in that: in described step S06, this angle by computer obtain, record, in monitoring software, call debugging mode, on monitor supervision platform, by assigning rotation command to wide area monitoring video camera, after wide area monitoring video camera rotational angle а, the ray of line OC is also followed rotational angle а, this position is demarcated, be set to initial orientation 1.
7. a kind of The Cloud Terrace according to claim 1 monitors the method that geographic orientation is demarcated, it is characterized in that: in described step S07, on the basis of initial orientation 1, on GIS map, recall direct north reference line, translation reference line, make reference line through control point O, on map, rotate OC, when in the process of rotation OC, wide area monitoring video camera is different, rotate, overlap with direct north reference line to OC, monitoring software records the angle beta that OC rotates, be initial orientation 2 by this set positions, as the zero-bit of monitoring software control rotation, now the axis, virtual monitor area fan section on monopod video camera and GIS map is in same orientation, complete the staking-out work that The Cloud Terrace monitors position, the positive north.
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| CN201510973865.0A CN105611242A (en) | 2015-12-23 | 2015-12-23 | PTZ (Pan/Tilt/Zoom) camera monitoring geographic orientation calibration method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110211177A (en) * | 2019-06-05 | 2019-09-06 | 视云融聚（广州）科技有限公司 | Camera picture linear goal refers to northern method, electronic equipment and storage medium |
| CN111131790A (en) * | 2019-12-31 | 2020-05-08 | 中国地质工程集团有限公司 | Mine restoration remote site construction monitoring system |
| CN113280799A (en) * | 2021-06-15 | 2021-08-20 | 天地伟业技术有限公司 | Orientation determining method and device of ball machine and computer readable storage medium |
| CN117593414A (en) * | 2024-01-17 | 2024-02-23 | 亿海蓝（北京）数据技术股份公司 | Method and system for drawing shooting area of camera, electronic equipment and storage medium |
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2015
- 2015-12-23 CN CN201510973865.0A patent/CN105611242A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110211177A (en) * | 2019-06-05 | 2019-09-06 | 视云融聚（广州）科技有限公司 | Camera picture linear goal refers to northern method, electronic equipment and storage medium |
| CN111131790A (en) * | 2019-12-31 | 2020-05-08 | 中国地质工程集团有限公司 | Mine restoration remote site construction monitoring system |
| CN113280799A (en) * | 2021-06-15 | 2021-08-20 | 天地伟业技术有限公司 | Orientation determining method and device of ball machine and computer readable storage medium |
| CN117593414A (en) * | 2024-01-17 | 2024-02-23 | 亿海蓝（北京）数据技术股份公司 | Method and system for drawing shooting area of camera, electronic equipment and storage medium |
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Application publication date: 20160525 |