CN102231799A - A PTZ camera instantaneous optical positioning system and method thereof - Google Patents

Abstract

A PTZ camera instantaneous optical positioning system is provided, which comprises a wide-angle camera, a camera module and a positioning module, wherein the wide-angle camera is used for shooting wide-angle video in a large scene view field; the PTZ camera is used for shooting a local amplified video in a large scene view field; the operation maintenance platform is used for a user to intercept or click the shot image of the wide-angle camera; and the front-end processing device receives the user instruction, establishes coordinate relation mapping between the wide-angle camera and the PTZ camera and determines the magnification of the PTZ camera. The PTZ camera instantaneous optical positioning method comprises the steps that a user intercepts or clicks a shot image of a wide-angle camera; establishing coordinate relation mapping between the wide-angle camera and the PTZ camera and determining the magnification factor of the PTZ camera; and controlling the PTZ camera to aim at the target object. The invention can convert the wide area video image intercepted or clicked by the user into the PTZ motion control instruction so as to obtain the image optically amplified by the PTZ camera, and has convenient operation and quick processing.

Description

Translated fromChinese

一种PTZ摄像机瞬时光学就位系统及其方法A PTZ camera instantaneous optical positioning system and method thereof

技术领域technical field

本发明涉及一种由广角摄像机与PTZ摄像机构成的双摄像系统及其方法，尤其涉及一种PTZ摄像机瞬时光学就位系统及其方法。The invention relates to a dual camera system composed of a wide-angle camera and a PTZ camera and a method thereof, in particular to a PTZ camera instantaneous optical positioning system and a method thereof.

背景技术Background technique

在道路交通，小区或建筑安保等越来越多的领域中使用了由广角摄像机与PTZ摄像机构成的双摄像系统。其中广角摄像机用于拍摄大范围的广域视频，而PTZ摄像机则可以调整焦距拍摄清晰的局部放大视频。Dual camera systems consisting of wide-angle cameras and PTZ cameras are used in more and more fields such as road traffic, community or building security. Among them, the wide-angle camera is used to shoot a large-scale wide-area video, while the PTZ camera can adjust the focal length to shoot a clear partial zoom-in video.

当用户发现广角摄像机拍摄的广域视频中有感兴趣的目标对象时，需要切换至覆盖目标对象的PTZ摄像机所拍摄的清晰画面。然而现有技术中，用户需要利用键盘来进行上述操作，操作十分麻烦，而且需要手动调整PTZ摄像机的焦距，可能延误观察目标对象的最佳时机。具体参照图3所示，现有技术中PTZ球机采用的是键盘操作方法，用户通过实体键盘或者软件虚拟键盘进行“上”、“下”、“左”、“右”、“放大”、“缩小”等操作。通过键盘操作的方法，用户想要摄像机镜头对准某一个感兴趣的区域并且放大，需要反复进行“上”、“下”、“左”、“右”、“放大”、“缩小”等等操作，一般需要十几秒钟甚至几十秒钟。When the user finds a target object of interest in the wide-area video captured by the wide-angle camera, he needs to switch to a clear picture captured by the PTZ camera covering the target object. However, in the prior art, the user needs to use a keyboard to perform the above operations, which is very cumbersome and requires manual adjustment of the focal length of the PTZ camera, which may delay the best time to observe the target object. Specifically referring to Fig. 3, the PTZ dome camera in the prior art adopts the keyboard operation method, and the user performs "up", "down", "left", "right", "zoom in", "Zoom out" and other operations. Through the method of keyboard operation, the user wants to point the camera lens at a certain area of interest and zoom in, and needs to repeatedly perform "up", "down", "left", "right", "zoom in", "zoom out" and so on The operation generally takes more than ten seconds or even tens of seconds.

因此，有必要提出一种新的双摄像系统以解决上述技术缺陷。Therefore, it is necessary to propose a new dual-camera system to solve the above-mentioned technical defects.

发明内容Contents of the invention

本发明旨在提供一种PTZ摄像机瞬时光学就位系统及其方法，通过前置处理装置能够瞬时将用户在广域视频图像上截取或点击的图像转换为PTZ运动控制指令从而获得经PTZ摄像机光学放大后的图像。The present invention aims to provide a PTZ camera instantaneous optical positioning system and its method. Through the pre-processing device, the image intercepted or clicked by the user on the wide-area video image can be converted into PTZ motion control instructions instantaneously to obtain the PTZ camera optical positioning system. Enlarged image.

为了解决上述技术问题，本发明采用的技术方案为提供一种PTZ摄像机瞬时光学就位系统，包括：广角摄像机，用于拍摄大场景视域内的广角视频；PTZ摄像机，用于拍摄大场景视域内的局部放大视频；操作维护平台，设于用户端，供用户对广角摄像机的拍摄图像中感兴趣的目标对象进行截取或点击；前置处理装置，与操作维护平台、所述广角摄像机以及所述PTZ摄像机通信连接，用于接收所述用户指令、在广角摄像机及PTZ摄像机间建立坐标关系映射并确定PTZ摄像机的放大倍数从而对PTZ摄像机进行运动控制。In order to solve the above technical problems, the technical solution adopted by the present invention is to provide a PTZ camera instantaneous optical positioning system, including: a wide-angle camera, used to shoot wide-angle video in the field of view of a large scene; The partially enlarged video; the operation and maintenance platform is set at the user end, for the user to intercept or click on the target object of interest in the image taken by the wide-angle camera; the pre-processing device is connected with the operation and maintenance platform, the wide-angle camera and the The communication connection of the PTZ camera is used for receiving the user instruction, establishing coordinate relationship mapping between the wide-angle camera and the PTZ camera, and determining the magnification of the PTZ camera so as to control the motion of the PTZ camera.

较佳地，所述前置处理装置包括：坐标映射模块，用于根据用户指令在广角摄像机及PTZ摄像机间建立坐标关系映射并确定PTZ摄像机的放大倍数；以及PTZ运动控制模块，与所述坐标映射模块通信连接，用于根据坐标映射模块产生的坐标关系映射及放大倍数生成相应的运动指令，使PTZ摄像机的画面中心对准目标对象的位置中心。Preferably, the pre-processing device includes: a coordinate mapping module, which is used to establish a coordinate relationship mapping between the wide-angle camera and the PTZ camera according to user instructions and determine the magnification of the PTZ camera; The mapping module is connected in communication, and is used to generate corresponding motion instructions according to the coordinate relationship mapping and magnification generated by the coordinate mapping module, so that the center of the PTZ camera picture is aligned with the position center of the target object.

较佳地，所述PTZ摄像机瞬时光学就位系统还包括管理服务器，与所述操作维护平台通信连接以及所述前置处理装置，用于接收用户的指令并将用户指令分发给所述前置处理装置进行处理；视频采集模块，所述与广角摄像机及PTZ摄像机连接，用于获取广角摄像机及PTZ摄像机拍摄的视频；图像处理模块，与所述视频采集模块以及所述坐标映射模块通信连接，用于对摄像机镜头造成的光学畸变进行矫正；以及RS232/R485转换装置，与所述PTZ运动控制装置以及PTZ摄像机通信连接，用于将PTZ运动控制模块生成的运动指令传送至PTZ摄像机使PTZ摄像机进行相应调整。Preferably, the PTZ camera instantaneous optical positioning system also includes a management server, communicated with the operation and maintenance platform and the front-end processing device, used to receive user instructions and distribute user instructions to the front-end The processing device is processed; the video acquisition module is connected with the wide-angle camera and the PTZ camera, and is used to obtain the video taken by the wide-angle camera and the PTZ camera; the image processing module is connected in communication with the video acquisition module and the coordinate mapping module, It is used to correct the optical distortion caused by the camera lens; and the RS232/R485 conversion device is communicated with the PTZ motion control device and the PTZ camera, and is used to transmit the motion command generated by the PTZ motion control module to the PTZ camera to make the PTZ camera Adjust accordingly.

较佳地，所述PTZ摄像机的放大倍数根据以下公式确定：Preferably, the magnification of the PTZ camera is determined according to the following formula:

f_PTZ＝min{α_w，α_h}·f_WACf_PTZ =min{α_w ,α_h }·f_WAC

其中，min{α_w，α_h}表示在α_w和α_h中选取值较小的，而Among them, min{α_w , α_h } means to choose the smaller value among α_w and α_h , and

${\mathrm{<span><span>\&alpha;</span>\&alpha;</span>}}_{\mathrm{<span><span>w</span>w</span>}}<span><span>=</span>=</span>\frac{{\mathrm{<span><span>w</span>w</span>}}_{\mathrm{<span><span>wac</span>wac</span>}}}{{\mathrm{<span><span>w</span>w</span>}}_{\mathrm{<span><span>t</span>t</span>}\mathrm{<span><span>arg</span>arg</span>}\mathrm{<span><span>et</span>et</span>}}}<span><span>\&CenterDot;</span>\&CenterDot;</span>\frac{{\mathrm{<span><span>sw</span>sw</span>}}_{\mathrm{<span><span>ptz</span>ptz</span>}}}{{\mathrm{<span><span>sw</span>sw</span>}}_{\mathrm{<span><span>wac</span>wac</span>}}}<span><span>;</span>;</span>$${\mathrm{<span><span>\&alpha;</span>\&alpha;</span>}}_{\mathrm{<span><span>h</span>h</span>}}<span><span>=</span>=</span>\frac{{\mathrm{<span><span>h</span>h</span>}}_{\mathrm{<span><span>wac</span>wac</span>}}}{{\mathrm{<span><span>h</span>h</span>}}_{\mathrm{<span><span>t</span>t</span>}\mathrm{<span><span>arg</span>arg</span>}\mathrm{<span><span>et</span>et</span>}}}<span><span>\&CenterDot;</span>\&CenterDot;</span>\frac{{\mathrm{<span><span>sh</span>sh</span>}}_{\mathrm{<span><span>ptz</span>ptz</span>}}}{{\mathrm{<span><span>sh</span>sh</span>}}_{\mathrm{<span><span>wac</span>wac</span>}}}$

f_WAC是广角摄像机的焦距，sw_wac和sh_wac分别是广角摄像机图像传感器的长和宽，sw_ptz和sh_ptz分别是PTZ摄像机图像传感器的长和宽，w_wac和h_wac分别是广角摄像机全幅画面的长和宽，w_target和h_target分别是需要放大的目标在广角摄像机画面中的长和宽，f_PTZ是PTZ摄像机的焦距。f_WAC is the focal length of the wide-angle camera, sw_wac and sh_wac are the length and width of the image sensor of the wide-angle camera, sw_ptz and sh_ptz are the length and width of the image sensor of the PTZ camera, respectively, w_wac and h_wac are the full frame of the wide-angle camera The length and width of the picture, w_target and h_target are the length and width of the target to be enlarged in the wide-angle camera picture respectively, and f_PTZ is the focal length of the PTZ camera.

本发明还提供一种PTZ摄像机瞬时光学就位方法，包括步骤：The present invention also provides a method for instantaneous optical positioning of a PTZ camera, comprising the steps of:

1)用户对广角摄像机的拍摄图像中感兴趣的目标对象进行截取或点击；1) The user intercepts or clicks on the target object of interest in the image captured by the wide-angle camera;

2)根据用户指令在广角摄像机及PTZ摄像机间建立坐标关系映射并根据广角摄像机的焦距、广角摄像机图像传感器的长和宽、PTZ摄像机图像传感器的长和宽、广角摄像机全幅画面的长和宽、需要放大的目标在广角摄像机画面中的长和宽来确定PTZ摄像机的放大倍数；以及2) Establish coordinate relationship mapping between the wide-angle camera and the PTZ camera according to user instructions, and according to the focal length of the wide-angle camera, the length and width of the image sensor of the wide-angle camera, the length and width of the image sensor of the PTZ camera, the length and width of the full-frame image of the wide-angle camera, The length and width of the zoomed-in target in the wide-angle camera screen are required to determine the magnification of the PTZ camera; and

3)根据产生的坐标关系映射及放大倍数生成相应的运动指令，控制PTZ摄像机的画面中心对准目标对象的位置中心。3) Generate corresponding motion commands according to the generated coordinate relationship mapping and magnification, and control the center of the picture of the PTZ camera to align with the position center of the target object.

较佳地，所述步骤1)由用户在操作维护平台用鼠标完成；所述步骤2)由前置处理装置中坐标映射模块完成；所述步骤3)由前置处理装置中PTZ运动控制模块完成。Preferably, said step 1) is completed by the user on the operation and maintenance platform with a mouse; said step 2) is completed by the coordinate mapping module in the pre-processing device; said step 3) is completed by the PTZ motion control module in the pre-processing device Finish.

较佳地，所述步骤2)中所述PTZ摄像机的放大倍数根据以下公式确定：Preferably, the magnification of the PTZ camera described in step 2) is determined according to the following formula:

f_PTZ＝min{α_w，α_h}·f_WACf_PTZ =min{α_w ,α_h }·f_WAC

其中，min{α_w，α_h }表示在α_w和α_h中选取值较小的，而Among them, min{α_w , α_h } means to choose the smaller value among α_w and α_h , and

${\mathrm{<span><span>\&alpha;</span>\&alpha;</span>}}_{\mathrm{<span><span>w</span>w</span>}}<span><span>=</span>=</span>\frac{{\mathrm{<span><span>w</span>w</span>}}_{\mathrm{<span><span>wac</span>wac</span>}}}{{\mathrm{<span><span>w</span>w</span>}}_{\mathrm{<span><span>t</span>t</span>}\mathrm{<span><span>arg</span>arg</span>}\mathrm{<span><span>et</span>et</span>}}}<span><span>\&CenterDot;</span>\&CenterDot;</span>\frac{{\mathrm{<span><span>sw</span>sw</span>}}_{\mathrm{<span><span>ptz</span>ptz</span>}}}{{\mathrm{<span><span>sw</span>sw</span>}}_{\mathrm{<span><span>wac</span>wac</span>}}}<span><span>;</span>;</span>$${\mathrm{<span><span>\&alpha;</span>\&alpha;</span>}}_{\mathrm{<span><span>h</span>h</span>}}<span><span>=</span>=</span>\frac{{\mathrm{<span><span>h</span>h</span>}}_{\mathrm{<span><span>wac</span>wac</span>}}}{{\mathrm{<span><span>h</span>h</span>}}_{\mathrm{<span><span>t</span>t</span>}\mathrm{<span><span>arg</span>arg</span>}\mathrm{<span><span>et</span>et</span>}}}<span><span>\&CenterDot;</span>\&CenterDot;</span>\frac{{\mathrm{<span><span>sh</span>sh</span>}}_{\mathrm{<span><span>ptz</span>ptz</span>}}}{{\mathrm{<span><span>sh</span>sh</span>}}_{\mathrm{<span><span>wac</span>wac</span>}}}$

f_WAC是广角摄像机的焦距，sw_wac和sh_wac分别是广角摄像机图像传感器的长和宽，sw_ptz和sh_ptz分别是PTZ摄像机图像传感器的长和宽，w_wac和h_wac分别是广角摄像机全幅画面的长和宽，w_target和h_target分别是需要放大的目标在广角摄像机画面中的长和宽，f_PTZ是PTZ摄像机的焦距。f_WAC is the focal length of the wide-angle camera, sw_wac and sh_wac are the length and width of the image sensor of the wide-angle camera, sw_ptz and sh_ptz are the length and width of the image sensor of the PTZ camera, respectively, w_wac and h_wac are the full frame of the wide-angle camera The length and width of the picture, w_target and h_target are the length and width of the target to be enlarged in the wide-angle camera picture respectively, and f_PTZ is the focal length of the PTZ camera.

较佳地，所述PTZ摄像机瞬时光学就位方法还包括由前置处理装置中图像处理模块对摄像机镜头造成的光学畸变进行矫正的步骤；由管理服务器接收用户的指令并将用户指令分发给所述前置处理装置进行处理的步骤。Preferably, the instantaneous optical positioning method of the PTZ camera also includes the step of correcting the optical distortion caused by the camera lens by the image processing module in the pre-processing device; receiving the user's instruction by the management server and distributing the user's instruction to all The processing steps of the pre-processing device are described above.

所述在广角摄像机及PTZ摄像机间建立坐标关系的映射可参照本申请人的另一项申请号为20110119042.3，发明名称为《多目标跟踪特写拍摄视频监控系统》的专利申请。简单来说，坐标转换模块利用坐标转换机制将第一摄像系统拍摄的大场景视域中的任意点投影于所述第一摄像系统拍摄的广角视频的图像平面上的二维坐标(x，y)转换为第二摄像系统中的一个被选择的PTZ摄像机在其中心对准所述任意点时的垂直高度角θ和水平方位角

，其中所述坐标转换机制是通过在所述大场景视域内随机选取的至少三个任意点来建立。坐标转换方程式为：The mapping for establishing the coordinate relationship between the wide-angle camera and the PTZ camera can refer to another patent application of the applicant with the application number 20110119042.3 and the invention title "Video Surveillance System for Multi-Target Tracking and Close-up Shooting". To put it simply, the coordinate conversion module uses the coordinate conversion mechanism to project any point in the field of view of the large scene captured by the first camera system to the two-dimensional coordinates (x, y) on the image plane of the wide-angle video captured by the first camera system. ) is converted into the vertical elevation angle θ and the horizontal azimuth angle of a selected PTZ camera in the second camera system when its center is aimed at the arbitrary point

, wherein the coordinate transformation mechanism is established by randomly selecting at least three arbitrary points within the field of view of the large scene. The coordinate transformation equation is:

其中，$r=\sqrt{\frac{{(x-c_x)}^2}{f_x^2}+\frac{{(y-c_y)}^2}{f_y^2}+1}$in,$r=\sqrt{\frac{{(x-c_x)}^2}{f_x^2}+\frac{{(\mathrm{the\; y}-c_{\mathrm{the\; y}})}^2}{f_{\mathrm{the\; y}}^2}+1}$

f_x，f_y是以像素x和y方向的尺寸为单位的焦距长度，(c_x，c_y)是广角摄像机光学中心在像平面上投影的坐标，A是所述坐标转换映射参数矩阵。f_x , f_y are the focal lengths in units of pixel x and y directions, (c_x , cy₎ are the coordinates projected on the image plane by the optical center of the wide-angle camera, and A is the coordinate conversion mapping parameter matrix.

通过本发明的PTZ摄像机瞬时光学就位系统及其方法，当用户利用鼠标进行画框截取或点击这样的简单操作时，通过前置处理装置能够瞬时将用户在广域视频图像上截取或点击的图像转换为PTZ运动控制指令从而获得经PTZ摄像机光学放大后的图像，不仅操作便捷而且整个处理过程十分快速，一般在0.5秒以内，几乎在瞬间就可以让PTZ摄像机指向目标区域并且光学放大，与传统的PTZ键盘操作方法相比效率大大提高。Through the PTZ camera instantaneous optical positioning system and method of the present invention, when the user uses the mouse to perform a simple operation such as intercepting or clicking on a picture frame, the pre-processing device can instantly capture or click on the wide-area video image. The image is converted into PTZ motion control commands to obtain the optically amplified image of the PTZ camera. Compared with the traditional PTZ keyboard operation method, the efficiency is greatly improved.

附图说明Description of drawings

下面将结合附图和具体实施方式对本发明的钢结构的铰连接装置作进一步说明。The steel structure hinged connection device of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

图1为本发明的PTZ摄像机瞬时光学就位系统的示意图；Fig. 1 is the schematic diagram of PTZ camera instantaneous optical system in place of the present invention;

图2为通过本发明的PTZ摄像机瞬时光学就位系统及方法将用户截取或点击的图像瞬间光学放大的示意图，其中左图为广角摄像机拍摄的图像，右图为光学放大的图像；以及Fig. 2 is the schematic diagram of instantaneous optical amplification of the image intercepted or clicked by the user through the PTZ camera instantaneous optical positioning system and method of the present invention, wherein the left image is the image taken by the wide-angle camera, and the right image is the optically enlarged image; and

图3为现有技术中利用键盘对PTZ摄像机进行控制的键盘示意图。FIG. 3 is a schematic diagram of a keyboard used to control a PTZ camera in the prior art.

具体实施方式Detailed ways

如图1所示，本发明的PTZ摄像机瞬时光学就位系统包括：广角摄像机10、PTZ摄像机20、操作维护平台30、管理服务器40以及前置处理装置50。As shown in FIG. 1 , the PTZ camera instantaneous optical positioning system of the present invention includes: a wide-angle camera 10 , a PTZ camera 20 , an operation and maintenance platform 30 , a management server 40 and a pre-processing device 50 .

所述广角摄像机10，用于拍摄大场景视域内的广角视频。所述PTZ摄像机20，用于拍摄大场景视域内的局部放大视频。The wide-angle camera 10 is used to shoot wide-angle videos within the field of view of a large scene. The PTZ camera 20 is used to shoot partially enlarged video in the field of view of a large scene.

所述操作维护平台30，设于用户端，供用户通过鼠标对所述广角摄像机10的拍摄图像中感兴趣的目标对象进行截取或点击，为了将所截取的图像进行光学放大。The operation and maintenance platform 30 is set at the user end, allowing the user to intercept or click on the target object of interest in the image captured by the wide-angle camera 10 through the mouse, in order to optically zoom in on the intercepted image.

所述管理服务器40，与所述操作维护平台30通信连接，用于接收用户的指令并进行分发。The management server 40 is connected to the operation and maintenance platform 30 in communication, and is used for receiving and distributing instructions from users.

所述前置处理装置50，与所述管理服务器40、所述广角摄像机10以及所述PTZ摄像机20通信连接，用于接收管理服务器40分发的用户指令、在所述广角摄像机10及所述PTZ摄像机20间建立坐标关系映射并确定所述PTZ摄像机20的放大倍数从而对所述PTZ摄像机20进行运动控制。The pre-processing device 50 is communicatively connected with the management server 40, the wide-angle camera 10 and the PTZ camera 20, and is used to receive user instructions distributed by the management server 40, and communicate with the wide-angle camera 10 and the PTZ camera. A coordinate relationship mapping is established between the cameras 20 and a magnification of the PTZ camera 20 is determined so as to control the movement of the PTZ camera 20 .

所述前置处理装置50包括：视频采集模块51、图像处理模块52、坐标映射模块53、PTZ运动控制模块54以及RS232/R485转换装置55。The pre-processing device 50 includes: a video acquisition module 51 , an image processing module 52 , a coordinate mapping module 53 , a PTZ motion control module 54 and an RS232/R485 conversion device 55 .

所述视频采集模块51，所述与广角摄像机10及PTZ摄像机20连接，用于获取广角摄像机10及PTZ摄像机拍摄20的视频。所述图像处理模块52，与所述视频采集模块51通信连接，用于对摄像机镜头造成的光学畸变进行矫正。所述坐标映射模块53，与所述图像处理模块52通信连接，用于根据用户指令在所述广角摄像机10及所述PTZ摄像机20间建立坐标关系映射并确定所述PTZ摄像机20的放大倍数。所述PTZ运动控制模块54，与所述坐标映射模块53通信连接，用于根据坐标映射模块53产生的坐标关系映射及放大倍数生成相应的运动指令，使所述PTZ摄像机20的画面中心对准目标对象的位置中心。所述RS232/R485转换装置55，与所述PTZ运动控制装置54以及所述PTZ摄像机20通信连接，用于将所述PTZ运动控制模块54生成的运动指令传送至所述PTZ摄像机20使所述PTZ摄像机20进行相应调整。The video capture module 51 is connected to the wide-angle camera 10 and the PTZ camera 20 and used to acquire the video captured by the wide-angle camera 10 and the PTZ camera 20 . The image processing module 52 is communicatively connected with the video acquisition module 51, and is used to correct the optical distortion caused by the camera lens. The coordinate mapping module 53 is communicated with the image processing module 52, and is used for establishing a coordinate relationship mapping between the wide-angle camera 10 and the PTZ camera 20 and determining the magnification of the PTZ camera 20 according to user instructions. The PTZ motion control module 54 is connected in communication with the coordinate mapping module 53, and is used to generate corresponding motion instructions according to the coordinate relationship mapping and magnification generated by the coordinate mapping module 53, so that the center of the picture of the PTZ camera 20 is aligned The location center of the target object. The RS232/R485 conversion device 55 is communicatively connected with the PTZ motion control device 54 and the PTZ camera 20, and is used to transmit the motion command generated by the PTZ motion control module 54 to the PTZ camera 20 so that the The PTZ camera 20 is adjusted accordingly.

本发明的PTZ摄像机瞬时光学就位方法，包括如下步骤：The PTZ camera instantaneous optical positioning method of the present invention comprises the following steps:

1)用户对广角摄像机的拍摄图像中感兴趣的目标对象进行截取或点击；1) The user intercepts or clicks on the target object of interest in the image captured by the wide-angle camera;

2)根据用户指令在广角摄像机及PTZ摄像机间建立坐标关系映射并根据广角摄像机的焦距、广角摄像机图像传感器的长和宽、PTZ摄像机图像传感器的长和宽、广角摄像机全幅画面的长和宽、需要放大的目标在广角摄像机画面中的长和宽来确定PTZ摄像机的放大倍数；以及2) Establish coordinate relationship mapping between the wide-angle camera and the PTZ camera according to user instructions, and according to the focal length of the wide-angle camera, the length and width of the image sensor of the wide-angle camera, the length and width of the image sensor of the PTZ camera, the length and width of the full-frame image of the wide-angle camera, The length and width of the zoomed-in target in the wide-angle camera screen are required to determine the magnification of the PTZ camera; and

3)根据产生的坐标关系映射及放大倍数生成相应的运动指令，控制PTZ摄像机的画面中心对准目标对象的位置中心。3) Generate corresponding motion commands according to the generated coordinate relationship mapping and magnification, and control the center of the picture of the PTZ camera to align with the position center of the target object.

较佳地，所述步骤1)由用户在操作维护平台30用鼠标完成；所述步骤2)由前置处理装置50中坐标映射模块53完成；所述步骤3)由前置处理装置50中PTZ运动控制模块54完成。Preferably, the step 1) is completed by the user on the operation and maintenance platform 30 with a mouse; the step 2) is completed by the coordinate mapping module 53 in the pre-processing device 50; the step 3) is completed by the pre-processing device 50 The PTZ motion control module 54 is complete.

较佳地，还包括由前置处理装置50中图像处理模块52对摄像机镜头造成的光学畸变进行矫正的步骤，以及由管理服务器40接收用户的指令并将用户指令分发给所述前置处理装置50进行处理的步骤。Preferably, it also includes the step of correcting the optical distortion caused by the camera lens by the image processing module 52 in the pre-processing device 50, and receiving the user's instruction by the management server 40 and distributing the user's instruction to the pre-processing device 50 steps for processing.

如图2所示，用户在操作维护平台30上用鼠标在广角摄像机10拍摄的广域图像上截取或点击想要放大的图像(如左图)，瞬间前置处理装置50会将该用户指令转换为PTZ运动控制指令，即对PTZ摄像机20的水平移动(Pan)以及垂直移动(Tilt)的精确位置以及放大倍数(焦距)确定从而获得由PTZ摄像机20光学放大后的图像(如右图)，整个操作过程完成在0.5秒以内，远远快于传统的PTZ键盘式操作模式。As shown in Figure 2, the user uses the mouse on the operation and maintenance platform 30 to intercept or click on the wide-area image captured by the wide-angle camera 10 or click on the image to be enlarged (as shown in the left figure), and the pre-processing device 50 will instantly give the user instruction Converted to PTZ motion control commands, that is, to determine the precise position and magnification (focal length) of the horizontal movement (Pan) and vertical movement (Tilt) of the PTZ camera 20 to obtain the optically enlarged image of the PTZ camera 20 (as shown on the right) , the entire operation process is completed within 0.5 seconds, much faster than the traditional PTZ keyboard operation mode.

以下进一步阐述本发明的PTZ摄像机瞬时光学就位系统及方法根据用户指令在广角摄像机及PTZ摄像机间建立坐标关系的映射并确定PTZ摄像机的放大倍数的实现原理。The following further elaborates the implementation principle of the PTZ camera instantaneous optical positioning system and method of the present invention to establish a coordinate relationship mapping between the wide-angle camera and the PTZ camera and determine the magnification of the PTZ camera according to user instructions.

所述PTZ摄像机20的放大倍数即PTZ摄像机拍摄大场景视域内的目标区域时所采用的焦距根据以下公式确定：The magnification of the PTZ camera 20, that is, the focal length adopted when the PTZ camera shoots the target area in the field of view of the large scene, is determined according to the following formula:

f_PTZ＝min{α_w，α_h}·f_WACf_PTZ =min{α_w ,α_h }·f_WAC

其中，min{α_w，α_h}表示在α_w和α_h中选取值较小的，而Among them, min{α_w , α_h } means to choose the smaller value among α_w and α_h , and

${\mathrm{<span><span>\&alpha;</span>\&alpha;</span>}}_{\mathrm{<span><span>w</span>w</span>}}<span><span>=</span>=</span>\frac{{\mathrm{<span><span>w</span>w</span>}}_{\mathrm{<span><span>wac</span>wac</span>}}}{{\mathrm{<span><span>w</span>w</span>}}_{\mathrm{<span><span>t</span>t</span>}\mathrm{<span><span>arg</span>arg</span>}\mathrm{<span><span>et</span>et</span>}}}<span><span>\&CenterDot;</span>\&Center\; Dot;</span>\frac{{\mathrm{<span><span>sw</span>sw</span>}}_{\mathrm{<span><span>ptz</span>ptz</span>}}}{{\mathrm{<span><span>sw</span>sw</span>}}_{\mathrm{<span><span>wac</span>wac</span>}}}<span><span>;</span>;</span>$${\mathrm{<span><span>\&alpha;</span>\&alpha;</span>}}_{\mathrm{<span><span>h</span>h</span>}}<span><span>=</span>=</span>\frac{{\mathrm{<span><span>h</span>h</span>}}_{\mathrm{<span><span>wac</span>wac</span>}}}{{\mathrm{<span><span>h</span>h</span>}}_{\mathrm{<span><span>t</span>t</span>}\mathrm{<span><span>arg</span>arg</span>}\mathrm{<span><span>et</span>et</span>}}}<span><span>\&CenterDot;</span>\&Center\; Dot;</span>\frac{{\mathrm{<span><span>sh</span>sh</span>}}_{\mathrm{<span><span>ptz</span>ptz</span>}}}{{\mathrm{<span><span>sh</span>sh</span>}}_{\mathrm{<span><span>wac</span>wac</span>}}}$

f_WAC是广角摄像机的焦距，sw_wac和sh_wac分别是广角摄像机图像传感器的长和宽，sw_ptz和sh_ptz分别是PTZ摄像机图像传感器的长和宽，w_wac和h_wac分别是广角摄像机全幅画面的长和宽，w_target和h_target分别是需要放大的目标在广角摄像机画面中的长和宽，f_PTZ是PTZ摄像机的焦距。f_WAC is the focal length of the wide-angle camera, sw_wac and sh_wac are the length and width of the image sensor of the wide-angle camera, sw_ptz and sh_ptz are the length and width of the image sensor of the PTZ camera, respectively, w_wac and h_wac are the full frame of the wide-angle camera The length and width of the picture, w_target and h_target are the length and width of the target to be enlarged in the wide-angle camera picture respectively, and f_PTZ is the focal length of the PTZ camera.

所述在广角摄像机及PTZ摄像机间建立坐标关系的映射可参照本申请人的另一项申请号为20110119042.3，发明名称为《多目标跟踪特写拍摄视频监控系统》的专利申请。简单来说，坐标转换模块利用坐标转换机制将第一摄像系统拍摄的大场景视域中的任意点投影于所述第一摄像系统拍摄的广角视频的图像平面上的二维坐标(x，y)转换为第二摄像系统中的一个被选择的PTZ摄像机在其中心对准所述任意点时的垂直高度角θ和水平方位角

，其中所述坐标转换机制是通过在所述大场景视域内随机选取的至少三个任意点来建立。所述坐标转换机制通过以下步骤来建立：The mapping for establishing the coordinate relationship between the wide-angle camera and the PTZ camera can refer to another patent application of the applicant with the application number 20110119042.3 and the invention title "Video Surveillance System for Multi-Target Tracking and Close-up Shooting". To put it simply, the coordinate conversion module uses the coordinate conversion mechanism to project any point in the field of view of the large scene captured by the first camera system to the two-dimensional coordinates (x, y) on the image plane of the wide-angle video captured by the first camera system. ) is converted into the vertical elevation angle θ and the horizontal azimuth angle of a selected PTZ camera in the second camera system when its center is aimed at the arbitrary point

, wherein the coordinate transformation mechanism is established by randomly selecting at least three arbitrary points within the field of view of the large scene. The coordinate transformation mechanism is established through the following steps:

选取位于大场景视域内的一任意点；Pick an arbitrary point within the field of view of the large scene;

确定所述第二摄像系统的PTZ摄像机在其中心对准所述任意点以定标时的垂直高度θ和水平方位角

Determine the vertical height θ and horizontal azimuth angle when the PTZ camera of the second camera system is aimed at the arbitrary point at its center for calibration

确定所述任意点投射于所述第一摄像系统拍摄的广角视频图像平面上的坐标(x，y)；Determine the coordinates (x, y) of the arbitrary point projected on the wide-angle video image plane captured by the first camera system;

通过随机选取至少三个任意点的上述数据确定一坐标转换映射参数矩阵A；Determine a coordinate transformation mapping parameter matrix A by randomly selecting the above-mentioned data of at least three arbitrary points;

利用所述映射参数矩阵A建立所述第一摄像系统的摄像机的像平面像素坐标(x，y)与相应的第二摄像系统的PTZ摄像机的垂直高度角和水平方位角(θ，

)之间的坐标转换方程式：Utilize described mapping parameter matrix A to set up the vertical elevation angle and the horizontal azimuth angle (θ, y) of the image plane pixel coordinates (x, y) of the camera of the camera of the first camera system and the corresponding second camera system

) Coordinate conversion equation between:

其中，$r=\sqrt{\frac{{(x-c_x)}^2}{f_x^2}+\frac{{(y-c_y)}^2}{f_y^2}+1}$in,$r=\sqrt{\frac{{(x-c_x)}^2}{f_x^2}+\frac{{(\mathrm{the\; y}-c_{\mathrm{the\; y}})}^2}{f_{\mathrm{the\; y}}^2}+1}$

f_x，f_y是以像素x和y方向的尺寸为单位的焦距长度，(c_x，c_y)是广角摄像机光学中心在像平面上投影的坐标，A是所述坐标转换映射参数矩阵。f_x , f_y are the focal lengths in units of pixel x and y directions, (c_x , cy₎ are the coordinates projected on the image plane by the optical center of the wide-angle camera, and A is the coordinate conversion mapping parameter matrix.

通过上述技术方案，当用户利用鼠标进行画框截取或点击这样的简单操作时，通过前置处理装置能够瞬时将用户在广域视频图像上截取或点击的图像转换为PTZ运动控制指令从而获得经PTZ摄像机光学放大后的图像，不仅操作便捷而且整个处理过程十分快速，一般在0.5秒以内，几乎在瞬间就可以让PTZ摄像机指向目标区域并且光学放大，与传统的PTZ键盘操作方法相比效率大大提高。Through the above technical solution, when the user uses the mouse to perform a simple operation such as intercepting or clicking on a picture frame, the pre-processing device can instantly convert the image intercepted or clicked on the wide-area video image by the user into a PTZ motion control command to obtain the experience The optically enlarged image of the PTZ camera is not only convenient to operate but also the entire processing process is very fast, generally within 0.5 seconds, and the PTZ camera can be pointed at the target area and optically enlarged almost instantly, which is much more efficient than the traditional PTZ keyboard operation method improve.

以上所述仅是本发明的较佳实施例而已，并非对本发明做任何形式上的限制，虽然本发明已以较佳实施例揭露如上，然而并非用以限定本发明，任何熟悉本专业的技术人员，在不脱离本发明技术方案的范围内，当可利用上述揭示的技术内容作出些许更动或修饰为等同变化的等效实施例，但凡是未脱离本发明技术方案的内容，依据本发明的技术实质对以上实施例所作的任何简单修改、等同变化与修饰，均仍属于本发明技术方案的范围内。The above descriptions are only preferred embodiments of the present invention, and do not limit the present invention in any form. Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Anyone familiar with this professional technology Personnel, without departing from the scope of the technical solution of the present invention, when the technical content disclosed above can be used to make some changes or modifications to equivalent embodiments with equivalent changes, but all the content that does not depart from the technical solution of the present invention, according to the present invention Any simple modifications, equivalent changes and modifications made to the above embodiments by the technical essence still belong to the scope of the technical solution of the present invention.

Claims (10)

1. A PTZ camera transient optical seating system, comprising:

the wide-angle camera is used for shooting a wide-angle video in a large scene view field;

the PTZ camera is used for shooting a local amplified video in a large scene view field;

the operation maintenance platform is arranged at the user side and is used for a user to intercept or click an interested target object in a shot image of the wide-angle camera;

and the front processing device is in communication connection with the operation maintenance platform, the wide-angle camera and the PTZ camera, and is used for receiving the user instruction, establishing coordinate relation mapping between the wide-angle camera and the PTZ camera, and determining the magnification of the PTZ camera so as to control the motion of the PTZ camera.

2. The PTZ camera transient optical positioning system of claim 1, wherein said pre-processing means comprises:

the coordinate mapping module is used for establishing coordinate relation mapping between the wide-angle camera and the PTZ camera according to a user instruction and determining the magnification factor of the PTZ camera; and

and the PTZ motion control module is in communication connection with the coordinate mapping module and is used for generating a corresponding motion instruction according to the coordinate relation mapping and the magnification factor generated by the coordinate mapping module so as to enable the picture center of the PTZ camera to be aligned to the position center of the target object.

3. The PTZ camera transient optical seating system of claim 2, further comprising a management server communicatively coupled to said operations and maintenance platform and said pre-processing device for receiving user instructions and distributing the user instructions to said pre-processing device for processing.

4. The PTZ camera temporal optical seating system of claim 3, further comprising: the video acquisition module is connected with the wide-angle camera and the PTZ camera and is used for acquiring videos shot by the wide-angle camera and the PTZ camera;

the image processing module is in communication connection with the video acquisition module and the coordinate mapping module and is used for correcting optical distortion caused by a camera lens; and

and the RS232/R485 conversion device is in communication connection with the PTZ motion control device and the PTZ camera and is used for transmitting the motion command generated by the PTZ motion control module to the PTZ camera so as to enable the PTZ camera to perform corresponding adjustment.

5. PTZ camera instantaneous optical seating system according to any one of claims 1 to 4, characterised in that the magnification of the PTZ camera is determined according to the following formula:

f_PTZ＝min{α_w，α_h}·f_WAC

wherein, min { α [ ]_w，α_hDenotes at α_wAnd alpha_hThe selected value is smaller, and

<math> <mrow> <msub> <mi>&alpha;</mi> <mi>w</mi> </msub> <mo>=</mo> <mfrac> <msub> <mi>w</mi> <mi>wac</mi> </msub> <msub> <mi>w</mi> <mrow> <mi>t</mi> <mi>arg</mi> <mi>et</mi> </mrow> </msub> </mfrac> <mo>&CenterDot;</mo> <mfrac> <msub> <mi>sw</mi> <mi>ptz</mi> </msub> <msub> <mi>sw</mi> <mi>wac</mi> </msub> </mfrac> <mo>;</mo> </mrow></math> <math> <mrow> <msub> <mi>&alpha;</mi> <mi>h</mi> </msub> <mo>=</mo> <mfrac> <msub> <mi>h</mi> <mi>wac</mi> </msub> <msub> <mi>h</mi> <mrow> <mi>t</mi> <mi>arg</mi> <mi>et</mi> </mrow> </msub> </mfrac> <mo>&CenterDot;</mo> <mfrac> <msub> <mi>sh</mi> <mi>ptz</mi> </msub> <msub> <mi>sh</mi> <mi>wac</mi> </msub> </mfrac> </mrow></math>

f_WACis the focal length, sw, of a wide-angle camera_wacAnd sh_wacLength and width, sw, of wide-angle camera image sensor, respectively_ptzAnd sh_ptzLength and width, w, of the PTZ camera image sensor, respectively_wacAnd h_wacRespectively the length and width of the full picture of the wide-angle camera, w_targetAnd h_targetLength and width, respectively, of the object to be magnified in the wide-angle camera view, f_PTZIs the focal length of the PTZ camera.

6. A PTZ camera transient optical seating method, comprising the steps of:

1) a user intercepts or clicks an interested target object in a shot image of the wide-angle camera;

2) establishing coordinate relation mapping between the wide-angle camera and the PTZ camera according to a user instruction, and determining the magnification factor of the PTZ camera according to the focal length of the wide-angle camera, the length and the width of an image sensor of the wide-angle camera, the length and the width of the image sensor of the PTZ camera, the length and the width of a full-width picture of the wide-angle camera and the length and the width of a target needing to be magnified in the picture of the wide-angle camera; and

3) and generating a corresponding motion instruction according to the generated coordinate relation mapping and the magnification factor, and controlling the picture center of the PTZ camera to be aligned to the position center of the target object.

7. The PTZ camera momentary optical seating method according to claim 6, wherein the step 1) is performed by a user with a mouse at an operation and maintenance platform; the step 2) is completed by a coordinate mapping module in the preprocessing device; and 3) completing the step by a PTZ motion control module in the front processing device.

8. The PTZ camera instantaneous optical seating method according to claim 8, characterized in that the magnification of the PTZ camera in step 2) is determined according to the following formula:

f_PTZ＝min{α_w，α_h}·f_WAC

wherein, min { α [ ]_w，α_hDenotes at α_wAnd alpha_hThe selected value is smaller, and

<math> <mrow> <msub> <mi>&alpha;</mi> <mi>w</mi> </msub> <mo>=</mo> <mfrac> <msub> <mi>w</mi> <mi>wac</mi> </msub> <msub> <mi>w</mi> <mrow> <mi>t</mi> <mi>arg</mi> <mi>et</mi> </mrow> </msub> </mfrac> <mo>&CenterDot;</mo> <mfrac> <msub> <mi>sw</mi> <mi>ptz</mi> </msub> <msub> <mi>sw</mi> <mi>wac</mi> </msub> </mfrac> <mo>;</mo> </mrow></math> <math> <mrow> <msub> <mi>&alpha;</mi> <mi>h</mi> </msub> <mo>=</mo> <mfrac> <msub> <mi>h</mi> <mi>wac</mi> </msub> <msub> <mi>h</mi> <mrow> <mi>t</mi> <mi>arg</mi> <mi>et</mi> </mrow> </msub> </mfrac> <mo>&CenterDot;</mo> <mfrac> <msub> <mi>sh</mi> <mi>ptz</mi> </msub> <msub> <mi>sh</mi> <mi>wac</mi> </msub> </mfrac> </mrow></math>

f_WACis the focal length, sw, of a wide-angle camera_wacAnd sh_wacLength and width, sw, of wide-angle camera image sensor, respectively_ptzAnd sh_ptzLength and width, w, of the PTZ camera image sensor, respectively_wacAnd h_wacRespectively the length and width of the full picture of the wide-angle camera, w_targetAnd h_targetLength and width, respectively, of the object to be magnified in the wide-angle camera view, f_PTZIs the focal length of the PTZ camera.

9. The PTZ camera temporal optical seating method of claim 8, further comprising the step of correcting for optical distortion caused by the camera lens by an image processing module in the pre-processing device.

10. The PTZ camera transient optical seating method of claim 9, further comprising the step of receiving user instructions by a management server and distributing the user instructions to the pre-processing device for processing.

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