CN-115719383-B - Gun ball calibration data acquisition method, gun ball calibration method and device and electronic equipment

CN115719383BCN 115719383 BCN115719383 BCN 115719383BCN-115719383-B

Abstract

The embodiment of the invention provides a gun ball calibration data acquisition method, a gun ball calibration device and electronic equipment, which are applied to the technical field of image data processing. The method comprises the steps of controlling a ball machine to move to an initial position corresponding to a reference position in a camera picture at the center of the camera picture, determining a calibration motion control parameter of the ball machine by using the reference position in the camera picture and a camera view angle of the camera, controlling the ball machine to move to the center of the camera picture corresponding to a target area in the camera picture by using the calibration motion control parameter, controlling the ball machine to move to the target position by using the calibration motion control parameter, acquiring a calibration picture acquired by the ball machine at the target position, and determining a pair of calibration point pair data between the camera and the ball machine by using the target area in the camera picture, the calibration picture and the calibration motion control parameter. By the scheme, the data acquisition process of the calibration point can be simplified.

Inventors

HUANG CHIJUN

Assignees

杭州微影软件有限公司

Dates

Publication Date: 20260505
Application Date: 20210824

Claims (16)

1. A method for acquiring gun ball calibration data, the method comprising: Controlling the dome camera to move to an initial position, corresponding to a reference position in a gun camera picture, at the center of the dome camera picture; Determining a calibration motion control parameter of the dome camera by utilizing the reference position in the picture of the dome camera and the field angle of the dome camera, wherein the calibration motion control parameter can control the dome camera to move to the center of the picture of the dome camera to correspond to a target area in the picture of the dome camera; Controlling the ball machine to move to a target position by using the calibration motion control parameters, and acquiring a calibration picture acquired by the ball machine at the target position; The method comprises the steps of identifying a first subarea of a target area in a camera picture and a second subarea in a calibration picture, wherein picture contents of the first subarea and the second subarea are matched, and determining a pair of calibration point pair data between a camera and a dome camera by utilizing position information of the first subarea in the camera picture and motion control parameters which can control the center of the dome camera picture of the dome camera to correspond to the first subarea.
2. The method of claim 1, wherein the bolt face includes a plurality of different target areas, and wherein the nominal motion control parameter controls movement of the bolt face to a center of the bolt face corresponding to one of the target areas.
3. The method of claim 2, wherein the reference position in the bolt face is a center of the bolt face or the reference position in the bolt face is one of the target areas in the bolt face.
4. The method of claim 3, wherein in the case where the reference position in the bolt face is one of the target areas in the bolt face, the method further comprises: And determining a pair of standard point pair data between the gun camera and the ball camera by using the standard position in the gun camera picture and the motion control parameter of the ball camera moving to the initial position.
5. A method according to claim 3, wherein the nominal motion control parameter controls movement of the bolt face to a centre of the bolt face to correspond to a target area of the bolt face other than the reference position, in the event that the reference position in the bolt face is one of the target areas of the bolt face.
6. The method of claim 2, wherein the step of determining the position of the substrate comprises, The determining the calibration motion control parameters of the ball machine by using the reference position in the picture of the gun machine and the field angle of the gun machine comprises the following steps: Determining the calibration motion control parameters of the dome camera according to the preset sequence of the target area in the picture of the dome camera and by utilizing the reference position in the picture of the dome camera and the field angle of the dome camera; The calibration motion control parameters can control the ball machine to move to the center of a ball machine picture to correspond to the target area determined according to the preset sequence, and the calibration picture is collected by the ball machine under the state that the center of the ball machine picture corresponds to the target area determined according to the preset sequence.
7. The method of claim 1, wherein the calibration point data includes position information of a first sub-region in the target region, and a motion control parameter that controls a dome camera screen center of the dome camera to correspond to a position of the first sub-region, the first sub-region being a region in the target region that matches a screen content in the calibration screen.
8. The method of claim 1, wherein the identifying a first sub-region of a target region in the bolt face picture and a second sub-region in the calibration picture comprises: Identifying characteristic points in a target area in the gun camera picture and characteristic points in the calibration picture by utilizing a characteristic point identification algorithm; Comparing the characteristic points of the target area in the rifle bolt picture with the characteristic points in the calibration picture to determine a plurality of first characteristic points in the target area in the rifle bolt picture and a plurality of second characteristic points in the calibration picture, wherein the plurality of first characteristic points and the plurality of second characteristic points represent the same object; and determining a minimum area containing the first characteristic points from the target area of the gun camera picture as a first subarea, and taking the minimum area containing the second characteristic points in the calibration picture as a second subarea.
9. The method of claim 1 or 8, wherein determining a pair of calibration point pair data between the bolt face and the ball machine using the position information of the first sub-area in the bolt face and a motion control parameter that controls a center of a ball machine face of the ball machine to correspond to the first sub-area, comprises: In the gun camera picture, determining pixel coordinates of a pixel point at a center point of the first sub-region as position information of the first sub-region in the gun camera picture; transmitting the position information of the second subarea in the calibration picture to the dome camera, and acquiring a motion control parameter which can control the dome camera picture center of the dome camera and corresponds to the first subarea; A pair of calibration point pair data between the bolt face and the ball machine is determined using the determined position information and the acquired motion control parameters.
10. The method of claim 1, wherein the bolt face angle of view of the bolt face comprises a horizontal maximum angle of view of the bolt face or a vertical maximum angle of view of the bolt face; the determining the calibration motion control parameters of the ball machine by using the reference position in the picture of the gun machine and the field angle of the gun machine comprises the following steps: determining the distance of the target area relative to a reference position in the rifle bolt picture; In the case where the camera view angle of the camera includes the horizontal maximum view angle, determining a first offset angle of the target area in a horizontal direction with respect to a reference position in the camera view, and determining a horizontal movement position of the camera based on the horizontal maximum view angle of the camera, the first offset angle, and horizontal components of the distance, or Determining a second offset angle in a vertical direction of the target area relative to a reference position in the bolt face picture, and determining a vertical movement position of the bolt face based on the vertical maximum field angle of the bolt face, the second offset angle, and a vertical component of the distance, where the bolt face field angle includes the vertical maximum field angle; And determining the calibration motion control parameters of the ball machine by using the horizontal movement position or the vertical movement position.
11. The method of claim 10, wherein the step of determining the position of the first electrode is performed, The determining a horizontal movement position of the ball machine based on a horizontal maximum field angle of the bolt, the first offset angle, and a horizontal component of the distance, comprising: the horizontal movement position of the ball machine is determined according to the following formula: ; Wherein, the For the horizontal movement position of the ball machine, As the abscissa of the central position of the target area, As the abscissa of the reference position, For the horizontal component of the light in question, For the horizontal maximum field of view, To preset a horizontal parameter corresponding to the first offset angle, A multiple of the sampling precision of the dome camera relative to the sampling precision of the gun camera; the determining a vertical movement position of the ball machine based on the vertical maximum field angle of the bolt, the second offset angle, and a vertical component of the distance, comprising: the vertical movement position of the ball machine is determined according to the following formula: ; Wherein, the For the vertical rotational position of the ball machine, As the ordinate of the central position of the target area, As the ordinate of the reference position, For the vertical component of the light beam, For the vertical maximum field of view, And presetting a vertical parameter corresponding to the second offset angle.
12. The method of claim 1, wherein the bolt face is an infrared thermal imaging bolt face.
13. A method for calibrating a gun ball, the method comprising: acquiring a plurality of pairs of calibration point pair data by using the gun ball calibration data acquisition method of any one of claims 1 to 12; and determining the mapping relation between each position in a rifle bolt picture of the rifle bolt and the motion control parameters of the ball machine by utilizing the plurality of pairs of standard point pair data.
14. A device for acquiring calibration data of a gun ball, the device comprising: The ball machine motion control module is used for controlling the ball machine to move to an initial position of the center of a ball machine picture corresponding to a reference position in a gun machine picture; the parameter determining module is used for determining a calibration motion control parameter of the ball machine by utilizing the reference position in the picture of the gun machine and the field angle of the gun machine, wherein the calibration motion control parameter can control the ball machine to move to the center of the picture of the ball machine to correspond to a target area in the picture of the gun machine; The picture acquisition module is used for controlling the ball machine to move to a target position by using the calibration motion control parameters and acquiring a calibration picture acquired by the ball machine at the target position; The data determining module is used for determining a pair of calibration point pair data between the gun camera and the ball camera by utilizing a target area in the gun camera picture, the calibration picture and the calibration motion control parameter; A data determination module, comprising: the region identification sub-module is used for identifying a first sub-region of a target region in a gun camera picture and a second sub-region in a calibration picture, wherein picture contents of the first sub-region and the second sub-region are matched; the data determining sub-module is used for determining a pair of standard point pair data between the gun camera and the ball camera by utilizing the position information of the first sub-area in the gun camera picture and the motion control parameters which can control the center of the ball camera picture of the ball camera and correspond to the first sub-area.
15. A gun ball calibration device, the device comprising: a data acquisition module for acquiring a plurality of pairs of calibration point pair data using the gun ball calibration point pair data acquisition device of claim 14; and the relation determining module is used for determining the mapping relation between each position in a rifle bolt picture of the rifle bolt and the motion control parameters of the ball machine by utilizing the plurality of pairs of calibration point pair data.
16. The electronic equipment is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus; a memory for storing a computer program; A processor for carrying out the method steps of any one of claims 1-12 or 13 when executing a program stored on a memory.

Description

Gun ball calibration data acquisition method, gun ball calibration method and device and electronic equipment Technical Field The present invention relates to the field of image data processing technologies, and in particular, to a method and apparatus for acquiring calibration data of a gun ball, and an electronic device. Background Currently, video surveillance cameras in the mainstream are classified into gun type cameras (hereinafter referred to as gun cameras) and dome type cameras (hereinafter referred to as dome cameras). For video monitoring of a target object moving in a large range, in order to monitor not only the moving condition of the target object as a whole, but also the details of the target object, a gun-ball linkage video monitoring method is generally required, wherein the gun-ball linkage is used for monitoring the same scene in an in-situ combination manner through a gun camera and a ball camera. In order to realize the gun-ball linkage, the data needs to be calibrated by utilizing a calibration point. In the related art, the calibration point pair data is mainly obtained by a manual mode, so that the process of obtaining the calibration point pair data is complicated. Disclosure of Invention The embodiment of the invention aims to provide a method and a device for acquiring gun ball calibration data, which are used for simplifying the process of acquiring the data by a calibration point, and further provides a method and a device for gun ball calibration on the basis of the method and the device for gun ball calibration, so that the gun ball calibration efficiency is improved. The specific technical scheme is as follows: in a first aspect, an embodiment of the present invention provides a method for acquiring calibration data of a gun ball, where the method includes: Controlling the dome camera to move to an initial position, corresponding to a reference position in a gun camera picture, at the center of the dome camera picture; Determining a calibration motion control parameter of the dome camera by utilizing the reference position in the picture of the dome camera and the field angle of the dome camera, wherein the calibration motion control parameter can control the dome camera to move to the center of the picture of the dome camera to correspond to a target area in the picture of the dome camera; Controlling the ball machine to move to a target position by using the calibration motion control parameters, and acquiring a calibration picture acquired by the ball machine at the target position; and determining a pair of calibration point pair data between the gun camera and the ball camera by utilizing the target area in the gun camera picture, the calibration picture and the calibration motion control parameters. Optionally, the camera picture comprises a plurality of different target areas, and the calibrated motion control parameters can control the ball camera to move to the center of the camera picture to correspond to one of the target areas in the camera picture. Optionally, the reference position in the rifle bolt picture is the center of the rifle bolt picture, or the reference position in the rifle bolt picture is one of the target areas in the rifle bolt picture. Optionally, in the case that the reference position in the bolt face frame is one of the target areas in the bolt face frame, the method further includes: And determining a pair of standard point pair data between the gun camera and the ball camera by using the standard position in the gun camera picture and the motion control parameter of the ball camera moving to the initial position. Optionally, in the case that the reference position in the bolt face frame is one of the target areas in the bolt face frame, the calibration motion control parameter may control the bolt face to move to the center of the bolt face frame to correspond to one of the target areas except the reference position in the bolt face frame. Optionally, the determining the calibration motion control parameters of the ball machine by using the reference position in the camera picture and the camera view angle of the camera comprises determining the calibration motion control parameters of the ball machine by using the reference position in the camera picture and the camera view angle of the camera according to the preset sequence of the target area in the camera picture; The calibration motion control parameters are pictures which can control the ball machine to move to the center of a ball machine picture and correspond to the target areas determined according to the preset sequence, and the calibration pictures are pictures which are collected by the ball machine in a state that the center of the ball machine picture corresponds to the target areas determined according to the preset sequence. Optionally, the determining a pair of calibration point pair data between the bolt face and the ball machine using a target area in the bolt face frame