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CN-122027896-A - Viewing angle adjusting device and method for observation camera with memory function

CN122027896ACN 122027896 ACN122027896 ACN 122027896ACN-122027896-A

Abstract

The invention discloses an observation camera field angle adjusting device with a memory function and a method thereof, and relates to the technical field of observation camera field angle adjustment. Firstly, initial pose adjustment, manually adjusting a group of rough camera shooting pose parameters, storing corresponding 2D material imaging patterns, manually selecting an effective pattern area on the patterns by a manual frame as a traversing target characteristic reference pixel set; secondly, generating a visible surface pixel set, manually introducing rough camera shooting pose parameters, camera view angle parameters and a material 3D model into an FOV automatic analysis algorithm, constructing a view cone by using an OpenGL standard method, transmitting rays in 640X 480 resolution in the view cone, performing intersection test on each ray and a scene, recording the first intersection point of each ray, and generating the visible surface pixel set in a simulation environment.

Inventors

  • Yang Kaidai
  • ZHOU CHUN
  • Pan Zhilun

Assignees

  • 英达视(苏州)智能科技有限公司

Dates

Publication Date
20260512
Application Date
20251229

Claims (8)

  1. 1. The method for adjusting the viewing angle of the observation camera with the memory function is characterized by comprising the following steps of: Step one, initial pose adjustment, manually adjusting a group of rough camera shooting pose parameters, storing corresponding 2D material imaging patterns, manually selecting an effective pattern area on the patterns by a manual frame as a traversing target characteristic reference pixel set; Secondly, generating a visible surface pixel set, manually introducing rough camera shooting pose parameters, camera view angle parameters and a material 3D model into an FOV automatic analysis algorithm, constructing a view cone by using an OpenGL standard method, emitting rays in the view cone according to 640X 480 resolution, performing intersection test on each ray and a scene, recording the first intersection point of each ray, and generating the visible surface pixel set in a simulation environment; Step three, screening available camera attitude parameters, automatically traversing the full travel range parameters of each axis of the camera adjusting device by using an FOV automatic analysis algorithm, comparing a visible surface pixel set generated under various traversal combinations with a reference pixel set selected by a manual adjusting time frame in a simulation environment, and screening available camera attitude parameters; And fourthly, memorizing the optimal view angle and axis parameters, manually adjusting the camera pose to the coordinates of the axes corresponding to the available camera pose recognized by the system, and clicking a memorizing button on the scanning gun to memorize the optimal view angle axis parameters once after manually referring to the scale marks of each axis to be adjusted to the axis parameters screened by the algorithm.
  2. 2. The method for adjusting the angle of view of an observation camera with a memory function according to claim 1, wherein the third step is to screen out the available camera pose parameters when the geometrical center of the effective pattern area in the visible surface pixel set and the geometrical center of the complete frame of the visible surface pixel set overlap by more than 99%, and the effective pattern area is identified as the available camera pose parameters when the duty ratio of the effective pattern area in the complete frame of the visible surface pixel set is more than 90%.
  3. 3. The method for adjusting the angle of view of an observation camera with a memory function according to claim 2, wherein the effective pattern area set center-of-coincidence ratio calculation formula and parameters are defined as follows: The width W and the height H can be calculated by manually adjusting the imaging image size when the pose is first adjusted, and the center of the target is set ) The center is expected to be [ ] ) Then: normalized distance: And (3) coincidence ratio: 。
  4. 4. The method for adjusting the angle of view of an observation camera with a memory function as set forth in claim 3, wherein the duty ratio calculation formula and parameters of the effective pattern area in the complete picture are defined as follows: The effective pattern pixel duty cycle is: and wherein: n=640×480; A total of 640×480 pixel numbers; Is an effective pattern pixel; = and wherein: p is a pixel value, and its effective range is 。
  5. 5. The method for adjusting the angle of view of an observation camera with a memory function as set forth in claim 1, wherein in the fourth step, when the optimal angle of view and the axis parameters are memorized, the automatic FOV analysis algorithm running in the background will quickly complete the automatic saving of the optimal angle of view and the axis parameters under the working condition.
  6. 6. The method for adjusting the angle of view of an observation camera with a memory as set forth in claim 5, wherein the stored axis parameters are manually called out for rapidly reproducing the optimal angle of view imaging effect when data acquisition under the same scene is performed again.
  7. 7. An observation camera angle of view adjustment apparatus with a memory function for implementing the observation camera angle of view adjustment method with a memory function as set forth in any one of claims 1 to 6, comprising: an X-axis (1); A Z-axis (2) arranged outside the X-axis (1) and a code scanning gun fixing plate (6) arranged on the Z-axis (2); The code scanning gun (7) is arranged on the code scanning gun fixing plate (6); the cradle head mounting plate (3) is connected to the X-axis (1) in a sliding manner, and the cradle head (4) is arranged outside the cradle head mounting plate (3); And a camera (5) arranged on the cradle head (4).
  8. 8. The viewing angle adjusting device for an observation camera with a memory function as set forth in claim 7, wherein the pan-tilt (4) includes a first joint (8), a second joint (9) and a third joint (10), and the first joint (8), the second joint (9) and the third joint (10) are used for driving the camera (5) to deflect.

Description

Viewing angle adjusting device and method for observation camera with memory function Technical Field The invention relates to the technical field of observation camera field angle adjustment, in particular to an observation camera field angle adjustment device and method with a memory function. Background An observation camera generally refers to an imaging device designed for continuous monitoring, recording or remote observation of a scene, and emphasizes long-term, stable and automatic image or video capturing of a target area, and is widely applied to the fields of security monitoring, environmental monitoring, scientific research observation, industrial detection and the like. Currently, the adjustment of the field angle of an observation camera in the body data acquisition mainly depends on a mechanical tripod head and a fixed lens camera, the core objective of the camera is to balance between 'seeing widely' and 'seeing clearly', the tripod head is controlled to translate or tilt through a servo motor, the orientation of the camera is changed, and the effective observation FOV is indirectly adjusted, so that the main technical defects are that: 1. The contradiction between response speed and flexibility is that the mechanical holder has physical inertia, so that millisecond-level rapid visual angle switching is difficult to realize, and the real-time response capability of the intelligent body in high-speed interaction is limited. 2. Additional errors and calibration burdens are introduced, that is, vibration is caused by mechanical movement, image stability is affected, and frequent and complex calibration is needed to compensate, so that system complexity and data inconsistency are increased. 3. The hardware cost and the integration level challenge are that the high-performance cradle head and the electric lens are high in cost and large in volume power consumption. The traditional adjustment mode needs to accumulate huge test data and has no memory function, and repeated debugging is needed when different tasks are developed, so that the automatic recommendation capability is not provided. Disclosure of Invention Aiming at the problem that the prior observation camera angle of view adjustment has obvious defects in flexibility, intelligence and system integration level, the invention provides an observation camera angle of view adjustment method with a memory function, which comprises the following steps: Step one, initial pose adjustment, manually adjusting a group of rough camera shooting pose parameters, storing corresponding 2D material imaging patterns, manually selecting an effective pattern area on the patterns by a manual frame as a traversing target characteristic reference pixel set; Secondly, generating a visible surface pixel set, manually introducing rough camera shooting pose parameters, camera view angle parameters and a material 3D model into an FOV automatic analysis algorithm, constructing a view cone by using an OpenGL standard method, emitting rays in the view cone according to 640X 480 resolution, performing intersection test on each ray and a scene, recording the first intersection point of each ray, and generating the visible surface pixel set in a simulation environment; Step three, screening available camera attitude parameters, automatically traversing the full travel range parameters of each axis of the camera adjusting device by using an FOV automatic analysis algorithm, comparing a visible surface pixel set generated under various traversal combinations with a reference pixel set selected by a manual adjusting time frame in a simulation environment, and screening available camera attitude parameters; And fourthly, memorizing the optimal view angle and axis parameters, manually adjusting the camera pose to the coordinates of the axes corresponding to the available camera pose recognized by the system, and clicking a memorizing button on the scanning gun to memorize the optimal view angle axis parameters once after manually referring to the scale marks of each axis to be adjusted to the axis parameters screened by the algorithm. Preferably, in the third step, when screening the available camera pose parameters, the geometrical center of the effective pattern area in the visible surface pixel set is screened out, the geometrical center overlap ratio of the effective pattern area to the geometrical center of the complete frame of the visible surface pixel set is above 99%, and the effective pattern area is identified as the available camera pose parameters when the occupation ratio of the effective pattern area in the complete frame of the visible surface pixel set is above 90%. The vision pose and vision imaging effect autonomous matching function is achieved, and optimal vision pose parameters can be autonomously recommended based on multi-pose data. Preferably, the effective pattern area set center-of-coincidence calculating formula and parameters are defined as follow