CN111669551A - Building high-altitude parabolic point blind vision quantitative evidence obtaining method and system - Google Patents
Building high-altitude parabolic point blind vision quantitative evidence obtaining method and systemDownload PDFInfo
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- CN111669551A CN111669551ACN202010549820.1ACN202010549820ACN111669551ACN 111669551 ACN111669551 ACN 111669551ACN 202010549820 ACN202010549820 ACN 202010549820ACN 111669551 ACN111669551 ACN 111669551A
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Abstract
Description
Technical Field
The invention relates to the field of video monitoring, in particular to a method and a system for building high-altitude parabolic spot blind vision quantitative evidence obtaining.
Background
The high-altitude parabolic roof of the residential building, especially the person responsible for death and disability caused by falling objects hurting people, is difficult to confirm, so that the responsibility of the high-altitude parabolic roof is definitely stipulated in the infringement responsibility law of the people's republic of China, and if the source of the parabolic roof cannot be confirmed, residents of the whole building can be reported and share the responsibility. Obviously, this is a misappropriation to innocent owners, and some cells begin to deploy building high altitude parabolic monitoring systems to resolve this problem in order to specifically identify the offenders.
The existing high-altitude parabolic monitoring system for buildings is provided with a plurality of upward-looking cameras on the ground, fully-covered imaging is carried out on the whole outer vertical surface of the building, and 24-hour video monitoring is carried out. The monitoring system has the defects of poor upward-looking backlight shooting effect, easy fouling of a camera and the like, and particularly, the system directly infringes the privacy of all owners and is not suitable for comprehensive popularization and use.
Disclosure of Invention
The invention provides a building high-altitude parabolic monitoring system and a building high-altitude parabolic monitoring method and system, aiming at solving the technical problems that the privacy of owners is invaded and the high-altitude parabolic points of buildings are difficult to quantitatively obtain evidence in the monitoring process of the existing building high-altitude parabolic monitoring system.
The technical scheme of the invention is specifically that the building high-altitude parabolic spot blind vision quantitative evidence obtaining method comprises the following steps:
s1: the first camera is arranged at the right corner of the top of the building and faces the left side of the building and the ground, and the second camera is arranged at the left corner of the top of the building and faces the right side of the building and the ground to shoot the parabolic video respectively;
s2: the parabolic videos shot by the first camera are overlapped frame by frame to obtain a first parabolic image track, and the parabolic videos shot by the second camera are overlapped frame by frame to obtain a second parabolic image track;
s3: obtaining a first included angle formed by a first straight line determined from a parabolic point on a wall-attached imaging surface to a first camera position and the horizontal direction in the first parabolic image track, and obtaining a second included angle formed by a second straight line determined from the parabolic point on the wall-attached imaging surface to a second camera position and the horizontal direction in the second parabolic image track;
s4: solving the coordinates of the parabolic points on the wall-attached imaging surface according to the first included angle, the second included angle, the coordinates of the first camera position and the coordinates of the second camera position;
s5: judging whether the actual parabolic point is located on the outer wall concave surface or not according to the coordinates of the parabolic point on the wall-attached imaging surface, if not, directly determining that the actual parabolic point coordinates are the coordinates of the parabolic point on the wall-attached imaging surface, if so, solving an analytic expression of a parabola on the parabola imaging surface according to the coordinates of the parabolic point on the wall-attached imaging surface and the first parabolic image track or the second parabolic image track, and substituting the outer wall concave value into the analytic expression of the parabola to solve the actual parabolic point coordinates on the outer wall concave surface on the parabola imaging surface.
Further, in step S3, the first angle and the second angle are calibrated and determined by an image in a camera view.
Further, in step S4, a point-diagonal equation of the first straight line is set according to the first included angle and the first camera position, a point-diagonal equation of the second straight line is set according to the second included angle and the second camera position, and the point-diagonal equation of the first straight line and the point-diagonal equation of the second straight line are simultaneously solved to obtain the coordinates of the parabolic point.
Further, in step S5, the solving of the analytic expression of the parabola on the parabolic imaging surface according to the coordinate of the parabolic point on the wall-attached imaging surface and the first parabolic image trajectory or the second parabolic image trajectory specifically includes: firstly, determining the proportional relation between the actual position of the parabola in the vicinity of the parabola point and the position of the parabola in the camera visual field according to the coordinate of the parabola point, then selecting three points in the vicinity of the parabola point on the first parabola image track or the second parabola image track, determining the coordinates of the three points on the parabola imaging plane according to the proportional relation, finally setting up a unitary quadratic function of the parabola on the parabola imaging plane, respectively substituting the coordinates of the three points into the unitary quadratic function to simultaneously solve three coefficients of the unitary quadratic function, and obtaining the analytic expression of the parabola on the parabola imaging plane.
Further, step S5 further includes: and under the condition that the actual parabolic point is positioned on the concave surface of the outer wall, acquiring the coordinate of the actual parabolic drop point on the ground plane, and calculating to acquire the coordinate of the oblique correction parabolic point according to the coordinate of the parabolic point projected to the ground plane on the wall-attached imaging surface and the coordinate of the actual parabolic point projected to the ground plane.
The invention also provides a building high-altitude parabolic point blind vision quantification evidence obtaining system, which comprises: first camera, second camera and video image device of collecting evidence, building top right corner is arranged in to first camera, and the left side and the ground towards the building, the second camera sets up in building top left corner, and the right side and the ground towards the building, the video image device of collecting evidence respectively with first camera and second camera are connected.
Furthermore, the video image evidence obtaining device comprises a video superposition module, a parabolic point imaging included angle calibration module, a wall-attached imaging surface parabolic point calculation module and an actual parabolic point calculation module; the video overlapping module is used for overlapping the parabolic videos shot by the first camera frame by frame to obtain a first parabolic image track and overlapping the parabolic videos shot by the second camera frame by frame to obtain a second parabolic image track; the parabolic point imaging included angle calibration module is used for obtaining a first included angle formed by a first straight line determined from a parabolic point on a wall-attached imaging surface to a first camera position and the horizontal direction in the first parabolic image track and obtaining a second included angle formed by a second straight line determined from the parabolic point on the wall-attached imaging surface to a second camera position and the horizontal direction in the second parabolic image track; the wall-attached imaging surface parabolic point calculation module is used for solving the coordinate of a parabolic point on the wall-attached imaging surface according to the first included angle, the second included angle, the coordinate of the position of the first camera and the coordinate of the position of the second camera; the actual parabolic point calculating module is used for judging whether the actual parabolic point is located on the outer wall concave surface or not according to the coordinates of the parabolic point on the wall-attached imaging surface, if not, directly determining that the actual parabolic point coordinates are the coordinates of the parabolic point on the wall-attached imaging surface, if so, solving an analytic expression of a parabola on the parabolic imaging surface according to the coordinates of the parabolic point on the wall-attached imaging surface and the first parabolic image track or the second parabolic image track, and substituting the outer wall concave value into the analytic expression of the parabola to solve the actual parabolic point coordinates on the outer wall concave surface on the parabolic imaging surface.
Furthermore, the parabolic point imaging included angle calibration module calibrates and determines the first included angle and the second included angle through an image in a camera visual field.
Further, the wall-attached imaging surface parabolic point calculation module sets a point-oblique equation of the first straight line according to the first included angle and the first camera position, sets a point-oblique equation of the second straight line according to the second included angle and the second camera position, and solves the point-oblique equation of the first straight line and the point-oblique equation of the second straight line to obtain the coordinate of the parabolic point.
Further, the step of solving an analytic expression of the parabola on the parabola imaging surface by the actual parabola point calculation module according to the coordinates of the parabola point on the wall-attached imaging surface and the first parabola image trajectory or the second parabola image trajectory specifically includes: firstly, determining the proportional relation between the actual position of the parabola in the vicinity of the parabola point and the position of the parabola in the camera visual field according to the coordinate of the parabola point, then selecting three points in the vicinity of the parabola point on the first parabola image track or the second parabola image track, determining the coordinates of the three points on the parabola imaging plane according to the proportional relation, finally setting up a unitary quadratic function of the parabola on the parabola imaging plane, respectively substituting the coordinates of the three points into the unitary quadratic function to simultaneously solve three coefficients of the unitary quadratic function, and obtaining the analytic expression of the parabola on the parabola imaging plane.
Further, the actual parabolic point calculating module obtains the coordinate of the actual parabolic drop point on the ground plane under the condition that the actual parabolic point is located on the concave surface of the outer wall, and calculates and obtains the coordinate of the oblique correction parabolic point according to the coordinate of the parabolic point projected to the ground plane on the wall-attached imaging surface and the coordinate of the actual parabolic point projected to the ground plane.
Further, the first camera is a plurality of camera combinations with the visual field covering the left side of the building and the ground, and the second camera is a plurality of camera combinations with the visual field covering the right side of the building and the ground.
The building high-altitude parabolic point blind vision quantitative evidence obtaining method can be implemented by the building high-altitude parabolic point blind vision quantitative evidence obtaining system provided by the invention, and can also be implemented independently.
The invention has the beneficial effects that:
(1) the imaging range of the invention completely shields the privacy space of owners, and the accurate position of the parabolic point is obtained on the premise of privacy protection of the owners, thereby avoiding various disputes and litigation caused by privacy disclosure.
(2) The invention reconstructs the parabolic track by superposing, calibrating and analyzing the point-by-point tracing of the parabolic video frame by frame, can accurately obtain the position of the parabolic point and achieves evidence obtaining quantification.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
FIG. 1 is a schematic diagram of the high-altitude parabolic spot blind vision quantitative evidence obtaining of the building.
FIG. 2 is an enlarged view of part A of a building high-altitude parabolic spot blind vision quantification evidence obtaining schematic diagram.
FIG. 3 is an enlarged view of the part B of the high-altitude parabolic spot blind vision quantitative evidence-taking schematic diagram of the invention.
FIG. 4 is a high-altitude parabolic spot blind vision quantitative evidence-taking analytic graph of the building.
Fig. 5 is a parabolic trajectory within the field of view of the first camera of the present invention.
FIG. 6 is a schematic diagram of a building high-altitude parabolic spot blind vision quantification evidence-obtaining oblique parabolic correction according to the present invention.
Fig. 7 is a schematic view of a first camera according to another embodiment of the present invention.
Fig. 8 is a schematic view of a second camera according to another embodiment of the present invention.
The objectives, features, and advantages of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The first embodiment is as follows:
referring to fig. 1 to 4, the embodiment of the invention provides a building high-altitude parabolic spot blind vision quantitative evidence obtaining method, which comprises the following steps:
s1: thefirst camera 1 arranged at the top right corner of the building and facing the left side of the building and the ground and thesecond camera 2 arranged at the top left corner of the building and facing the right side of the building and the ground shoot the parabolic videos respectively;
s2: the method comprises the steps of superposing the point-by-frame tracing of the parabolic video shot by a first camera to obtain a first parabolic image track, and superposing the point-by-frame tracing of the parabolic video shot by a second camera to obtain a second parabolic image track;
s3: obtaining a first included angle alpha formed by a first straight line DA determined from a parabolic point D on a wall-attached imaging surface 7 to a first camera position A and the horizontal direction in a first parabolic image track, and obtaining a second included angle beta formed by a second straight line DB determined from the parabolic point D on the wall-attached imaging surface to a second camera position B and the horizontal direction in a second parabolic image track;
s4: solving the coordinate of a parabolic point D on the wall-attached imaging surface 7 according to the first included angle alpha, the second included angle beta, the coordinate of the first camera position A and the coordinate of the second camera position B;
s5: judging whether the actual parabolic point is located on the outer wallconcave surface 8 or not according to the coordinate of the parabolic point D on the wall-attached imaging surface 7, if not, directly determining that the actual parabolic point coordinate is the coordinate of the parabolic point D on the wall-attached imaging surface 7, if so, solving the analytic expression of the parabola 3 on theparabolic imaging surface 5 according to the coordinate of the parabolic point D on the wall-attached imaging surface 7 and the first parabolic image track or the second parabolic image track, and substituting the outer wall concave value into the analytic expression of the parabola 3 to solve the actual parabolic point C coordinate on the outer wallconcave surface 8 on theparabolic imaging surface 5.
It should be noted that, in the embodiment of the present invention, the first camera and the second camera are deployed by using the cross viewing angle, the imaging range is adjusted to be close to the floor, and meanwhile, it is ensured that the privacy space of all owners is shielded from the imaging blind area. The wall-attached imaging surface 7 is an outermost vertical surface of the building outer wall and is positioned at the edge of the imaging area of the first camera and the second camera, and the outer wallconcave surface 8 is a vertical surface of a concave part of the building outer wall and is positioned in the imaging blind area of the first camera and the second camera. If the actual parabolic point C is located on the outer wallconcave surface 8, the starting points of parabolic tracks shot by the first camera and the second camera are both parabolic points D located on the wall-attached imaging surface 7, and under the condition that the analytic expression of the parabola 3 and the outer wall concave value are known, the coordinate of the actual parabolic point C can be calculated.
In addition, for the parabolic point D of the parabola 3 on the wall-attached imaging surface 7 and the parabolic point E of the parabola 4 on the wall-attached imaging surface 7, which are at the same position in the visual field of the first camera, but the parabola 3 is at theparabola imaging surface 5 and the parabola 3 is at theparabola imaging surface 6, so that the actual position of the parabola point in the z-axis direction in fig. 4 cannot be determined by only shooting the parabola video by the first camera. Therefore, the invention adopts the crossed visual angles to deploy two groups of cameras, so that a first included angle alpha formed by a first straight line DA from the object point D to the first camera position A and the horizontal direction on the wall-attached imaging surface 7 and a second included angle beta formed by a second straight line DB from the object point D to the second camera position B and the horizontal direction can be obtained, and the coordinate of the object point D on the wall-attached imaging surface 7 can be solved by combining the coordinates of the first camera position A and the second camera position B.
Further, in step S3, the first included angle α and the second included angle β are calibrated and determined by the image in the camera view. For example, a parabolic video in the field of view of the first camera is overlapped frame by frame to obtain a first parabolic image track as shown in fig. 5, and by overlapping an angle scale in the field of view, a first included angle formed by a connecting line from a parabolic point at the wall-attached imaging surface to the first camera and the horizontal direction can be determined. The angular scale can be obtained by real surveying.
Further, referring to fig. 4, in step S4, a point-slope equation of a first straight line DA is established according to the first included angle α and the first camera position a, a point-slope equation of a second straight line DB is established according to the second included angle β and the second camera position B, and the point-slope equation of the first straight line DA and the point-slope equation of the second straight line DB are simultaneously solved to obtain the coordinates of the parabolic point D.
Specifically, on the wall-attached image forming surface 7, the vertical direction is the y-axis direction, the horizontal direction from the left side to the right side of the building is the z-axis direction, the coordinates of the first camera position a are (Ya, Za), the coordinates of the second camera position B are (Yb, Zb), the linear rate of the first straight line DA is ka tan α, the linear rate of the second straight line DB is kb tan β, the equation of the first straight line DA is equation (1), the equation of the second straight line DB is equation (2), and the coordinates (Yd, Zd) of the intersection point D of the first straight line DA and the second straight line DB can be obtained by combining equation (1) and equation (2).
y-Ya＝ka(z-Za) (1)
y-Yb＝kb(z-Zb) (2)
Further, in step S5, the solving of the analytic expression of the parabola 3 on theparabolic imaging surface 5 according to the coordinate of the parabolic point D on the wall-attached imaging surface 7 and the first parabolic image trajectory or the second parabolic image trajectory specifically includes: firstly, determining the proportional relation between the actual position of a parabola 3 near a parabola point D and the position of the parabola 3 in the camera visual field according to the coordinate of the parabola point D, then selecting three points near the parabola point D on a first parabola image track or a second parabola image track, determining the coordinates of the three points on aparabola imaging surface 5 according to the proportional relation, finally setting a unitary quadratic function of the parabola 3 on theparabola imaging surface 5, respectively substituting the coordinates of the three points into the unitary quadratic function, and simultaneously solving three coefficients of the unitary quadratic function to obtain an analytical expression of the parabola 3 on theparabola imaging surface 5.
For example, assuming that the coordinates of the parabolic point D are (Xd, Yd, Zd) and the coordinates of the first camera are (Xa, Ya, Za), the proportional relationship between the position in the camera field of view near the parabolic point D and the actual position can be set according to the distance P being Ya-Yd for the parabolic image trajectory captured by the first camera.
It should be noted that, the parabolic image trajectory obtained by superimposing the parabolic related video segments frame by frame is determined to be a parabola no matter the lens angle and the distance of the parabolic image as long as the quality is large enough to hurt the person, and the analytic expression of the parabolic image trajectory on the parabolic imaging plane is a unitary quadratic function shown in formula (3), and the vertical direction is the y-axis direction on the parabolic imaging plane, and the direction from the front side to the rear side of the building along the horizontal plane is the x-axis direction.
y＝ax2+bx+c (3)
Three points are selected near a parabolic point D on a parabolic image track, coordinates (x1, y1), (x2, y2) and (x3, y3) of the three points on aparabolic imaging surface 5 can be determined through the positions of the three points in a camera view and a proportional relation set by the distance P, the coordinates of the three points are respectively substituted for the values of the formula (3) simultaneous solution coefficients a, b and c, and an analytical expression of the parabola 3 on theparabolic imaging surface 5 can be obtained.
Further, referring to fig. 6, step S5 further includes:
and under the condition that the actual parabolic point is positioned on the outer wallconcave surface 8, acquiring the coordinate of the actual parabolic drop point F on the ground plane, and calculating to obtain the coordinate of the oblique correction parabolic point G according to the coordinate of the parabolic point D projected to the ground plane on the wall-attached imaging surface 7 and the coordinate of the actual parabolic point C projected to the ground plane.
Specifically, for the case of an oblique parabola, since the plane 10 of the actual parabola trajectory 9 is not perpendicular to the floor but inclined at an angle with respect to the outer wall, the parabola drop point needs to be referenced to accurately determine the parabola point. The actual parabolic drop point F can be obtained by combining the shot parabolic video.
And (3) setting the coordinates of the actual parabolic drop point F on the ground plane as (Xf, Zf), the calculated coordinates of the parabolic point D projected to the ground plane as (Xd, Zd), and the calculated coordinates of the actual parabolic point C projected to the ground plane as (Xc, Zc), then solving the coordinates (Xg, Zg) of the oblique correction parabolic point G through the joint vertical type (4) and the formula (5).
(Zf-Zd)/(Xf-Xd)＝(Zd-Zg)/(Xd-Xg) (4)
Xg＝Xc (5)
The y-axis coordinate of the oblique correction parabolic point G is the same as the y-axis coordinate of the actual parabolic point C.
Example two:
referring to fig. 1 to 4, the present invention provides an embodiment of a building high-altitude parabolic spot blind vision quantification evidence obtaining system, including:first camera 1,second camera 2 and video image device of collecting evidence, the building top right corner is arranged in to first camera, and towards the left side and the ground of building, the second camera sets up in building top left corner, towards the right side and the ground of building, and the video image device of collecting evidence is connected with first camera and second camera respectively.
Further, referring to fig. 1 to 4, the video image evidence obtaining device includes a video stacking module, a parabolic point imaging angle calibration module, a wall-attached imaging surface parabolic point calculation module, and an actual parabolic point calculation module; the video overlapping module is used for overlapping the parabolic videos shot by the first camera 1 frame by frame to obtain a first parabolic image track and overlapping the parabolic videos shot by the second camera 2 frame by frame to obtain a second parabolic image track; the parabolic point imaging included angle calibration module is used for obtaining a first included angle alpha formed by a first straight line DA from a parabolic point D on the wall-attached imaging surface 7 to a first camera position A and the horizontal direction in a first parabolic image track and obtaining a second included angle beta formed by a second straight line DB from the parabolic point D on the wall-attached imaging surface to a second camera position B and the horizontal direction in a second parabolic image track; the wall-attached imaging surface parabolic point calculation module is used for solving the coordinate of a parabolic point D on the wall-attached imaging surface 7 according to the first included angle alpha, the second included angle beta, the coordinate of the first camera position A and the coordinate of the second camera position B; the actual parabolic point calculating module is used for judging whether the actual parabolic point is located on the outer wall concave surface 8 or not according to the coordinate of the parabolic point D on the wall attaching imaging surface 7, if not, the actual parabolic point coordinate is directly determined to be the coordinate of the parabolic point D on the wall attaching imaging surface 7, if yes, the analytic expression of the parabola 3 on the parabola imaging surface 5 is solved according to the coordinate of the parabolic point D on the wall attaching imaging surface 7 and the first parabola image track or the second parabola image track, and the outer wall concave value is substituted into the analytic expression of the parabola 3 to solve the actual parabolic point C coordinate on the outer wall concave surface 8 on the parabola imaging surface 5.
Further, referring to fig. 4, the parabolic point imaging included angle calibration module calibrates and determines the first included angle α and the second included angle β through an image in the field of view of the camera.
Further, referring to fig. 4, the wall-attached imaging surface parabolic point calculation module sets a point-slope equation of a first straight line DA according to the first included angle α and the first camera position a, sets a point-slope equation of a second straight line DB according to the second included angle β and the second camera position B, and solves the point-slope equation of the first straight line DA and the point-slope equation of the second straight line DB to obtain the coordinate of the parabolic point D.
Further, referring to fig. 4, the actual parabolic point calculating module solves an analytic expression of the parabola 3 on theparabolic imaging surface 5 according to the coordinate of the parabolic point D on the wall-attached imaging surface 7 and the first parabolic image trajectory or the second parabolic image trajectory, specifically: firstly, determining the proportional relation between the actual position of the parabola 3 near the parabola point D and the position of the parabola 3 in the camera visual field according to the coordinate of the parabola point D, then selecting three points near the parabola point D on the first parabola image track or the second parabola image track, determining the coordinates of the three points on theparabola imaging surface 5 according to the proportional relation, finally setting up a unitary quadratic function of the parabola 3 on theparabola imaging surface 5, respectively substituting the coordinates of the three points into the unitary quadratic function, and simultaneously solving three coefficients of the unitary quadratic function to obtain the analytical expression of the parabola 3 on theparabola imaging surface 5.
Further, referring to fig. 6, the actual parabolic point calculating module obtains the coordinate of the actual parabolic drop point F on the ground plane under the condition that the actual parabolic point is located on the outer wallconcave surface 8, and calculates and obtains the coordinate of the oblique correction parabolic point G according to the coordinate of the parabolic point D projected on the wall-attached imaging surface 7 to the ground plane and the coordinate of the actual parabolic point C projected on the ground plane.
Further, as a modified example, referring to fig. 7, the first camera is a plurality of camera combinations whose visual fields cover the left side and the ground of the building, and referring to fig. 8, the second camera is a plurality of camera combinations whose visual fields cover the right side and the ground of the building. In practical implementation, the number and the arrangement angle of the camera combinations are selected according to the building size and the camera lens parameters, so that the visual field of the cameras can cover the wall-attached imaging surface of the whole building.
The embodiment of the building high-altitude parabolic point blind vision quantitative evidence obtaining method provided by the invention can be implemented by the embodiment of the building high-altitude parabolic point blind vision quantitative evidence obtaining system provided by the invention, and can also be implemented independently.
In conclusion, the building high-altitude parabolic point blind vision quantitative evidence obtaining method and the system provided by the invention completely shield the privacy space of owners, and the accurate positions of parabolic points are obtained on the premise of privacy protection of the owners, so that various disputes and litigation caused by privacy disclosure are avoided; the invention reconstructs the parabolic track by superposing, calibrating and analyzing the point-by-point tracing of the parabolic video frame by frame, can accurately obtain the position of the parabolic point and achieves evidence obtaining quantification.
Claims (12)
1. The building high-altitude parabolic spot blind vision quantitative evidence obtaining method is characterized by comprising the following steps of:
s1: the first camera (1) arranged at the top right corner of the building and facing the left side of the building and the ground and the second camera (2) arranged at the top left corner of the building and facing the right side of the building and the ground respectively shoot the parabolic video;
s2: the parabolic videos shot by the first camera are overlapped frame by frame to obtain a first parabolic image track, and the parabolic videos shot by the second camera are overlapped frame by frame to obtain a second parabolic image track;
s3: obtaining a first included angle (alpha) formed by a first straight line (DA) determined from a parabolic point (D) on the wall-attached imaging surface (7) to a first camera position (A) and the horizontal direction in the first parabolic image track, and obtaining a second included angle (beta) formed by a second straight line (DB) determined from the parabolic point (D) on the wall-attached imaging surface to a second camera position (B) and the horizontal direction in the second parabolic image track;
s4: solving the coordinate of a parabolic point (D) on a wall-attached imaging surface (7) according to a first included angle (alpha), a second included angle (beta), the coordinate of a first camera position (A) and the coordinate of a second camera position (B);
s5: judging whether an actual parabolic point is located on an outer wall concave surface (8) or not according to the coordinate of the parabolic point (D) on the wall-attached imaging surface (7), if not, directly determining the coordinate of the actual parabolic point as the coordinate of the parabolic point (D) on the wall-attached imaging surface (7), if so, solving the analytic expression of the parabola (3) on the parabolic imaging surface (5) according to the coordinate of the parabolic point (D) on the wall-attached imaging surface (7) and the first parabolic image track or the second parabolic image track, and substituting the outer wall concave value into the analytic expression of the parabola (3) to solve the coordinate of the actual parabolic point (C) located on the outer wall concave surface (8) on the parabolic imaging surface (5).
2. The building high-altitude parabolic spot blind vision quantification evidence obtaining method as claimed in claim 1, characterized in that in step S3, the first included angle (α) and the second included angle (β) are calibrated and determined by images in a camera view.
3. The building high altitude parabolic point blind vision quantification evidence obtaining method according to claim 1, characterized in that in step S4, a point-slope equation of the first straight line (DA) is established according to the first angle (α) and the first camera position (a), a point-slope equation of the second straight line (DB) is established according to the second angle (β) and the second camera position (B), and the point-slope equation of the first straight line (DA) and the point-slope equation of the second straight line (DB) are simultaneously solved to obtain the coordinates of the parabolic point (D).
4. The building high altitude parabolic point blind vision quantification evidence obtaining method according to claim 1, wherein in step S5, the analytic expression of the parabola (3) on the parabolic imaging plane (5) solved according to the coordinates of the parabolic point (D) on the wall-attached imaging plane (7) and the first parabolic image trajectory or the second parabolic image trajectory is specifically: firstly, determining a proportional relation between an actual position of the parabola (3) near the parabola point (D) and a position of the parabola in a camera visual field according to the coordinate of the parabola point (D), then selecting three points near the parabola point (D) on the first parabolic image track or the second parabolic image track, determining the coordinates of the three points on the parabolic imaging plane (5) according to the proportional relation, finally setting a unitary quadratic function of the parabola (3) on the parabolic imaging plane (5), respectively substituting the coordinates of the three points into the unitary quadratic function, and simultaneously solving three coefficients of the unitary quadratic function to obtain an analytical expression of the parabola (3) on the parabolic imaging plane (5).
5. The building high altitude parabolic spot blind vision quantitative evidence obtaining method as claimed in claim 4, wherein the step S5 further comprises: and under the condition that the actual parabolic point is positioned on the outer wall concave surface (8), acquiring the coordinate of the actual parabolic drop point (F) on the ground plane, and calculating to acquire the coordinate of the oblique correction parabolic point (G) according to the coordinate of the parabolic point (D) on the wall-attached imaging surface (7) projected to the ground plane and the coordinate of the actual parabolic point (C) projected to the ground plane.
6. Building high altitude parabolic point blind vision quantization system of collecting evidence, its characterized in that includes: first camera (1), second camera (2) and video image device of collecting evidence, building top right corner is arranged in to first camera, and the left side and the ground of orientation building, the second camera sets up in building top left corner, the right side and the ground of orientation building, the video image device of collecting evidence respectively with first camera and second camera are connected.
7. The building high altitude parabolic spot blind vision quantification evidence obtaining system as claimed in claim 6, wherein the video image evidence obtaining device comprises a video superposition module, a parabolic spot imaging included angle calibration module, a wall-attached imaging surface parabolic spot calculation module and an actual parabolic spot calculation module; the video overlapping module is used for overlapping the parabolic videos shot by the first camera (1) frame by frame to obtain a first parabolic image track and overlapping the parabolic videos shot by the second camera (2) frame by frame to obtain a second parabolic image track; the parabolic point imaging included angle calibration module is used for obtaining a first included angle (alpha) formed by a first straight line (DA) and the horizontal direction, wherein the first straight line (DA) is determined from a parabolic point (D) on the wall-attached imaging surface (7) to a first camera position (A), and obtaining a second included angle (beta) formed by a second straight line (DB) and the horizontal direction, wherein the second straight line (DB) is determined from the parabolic point (D) on the wall-attached imaging surface to a second camera position (B), in the second parabolic image track; the wall-attached imaging surface parabolic point calculation module is used for solving the coordinate of a parabolic point (D) on a wall-attached imaging surface (7) according to a first included angle (alpha), a second included angle (beta), the coordinate of a first camera position (A) and the coordinate of a second camera position (B); the actual parabolic point calculating module is used for judging whether an actual parabolic point is located on an outer wall concave surface (8) or not according to the coordinate of a parabolic point (D) on a wall-attached imaging surface (7), if not, the actual parabolic point coordinate is directly determined to be the coordinate of the parabolic point (D) on the wall-attached imaging surface (7), if yes, the analytic expression of a parabola (3) on the parabola imaging surface (5) is solved according to the coordinate of the parabolic point (D) on the wall-attached imaging surface (7) and the first parabola image track or the second parabola image track, and the outer wall concave value is substituted into the analytic expression of the parabola (3) to solve the coordinate of the actual parabolic point (C) located on the outer wall concave surface (8) on the parabola imaging surface (5).
8. The building high altitude parabolic spot blind vision quantification and evidence obtaining system as claimed in claim 7, characterized in that the parabolic spot imaging included angle calibration module calibrates and determines the first included angle (α) and the second included angle (β) through images in a camera view.
9. The building high altitude parabolic point blind vision quantification evidence obtaining system as claimed in claim 7, wherein the wall-attached imaging surface parabolic point calculation module sets up a point-slope equation of the first straight line (DA) according to the first included angle (α) and the first camera position (a), sets up a point-slope equation of the second straight line (DB) according to the second included angle (β) and the second camera position (B), and solves the point-slope equation of the first straight line (DA) and the point-slope equation of the second straight line (DB) to obtain the coordinates of the parabolic point (D).
10. The building high altitude parabolic point blind vision quantitative evidence obtaining system as claimed in claim 7, wherein the actual parabolic point calculating module solves an analytic expression of the parabola (3) on the parabolic imaging plane (5) according to the coordinates of the parabolic point (D) on the wall-attached imaging plane (7) and the first parabolic image trajectory or the second parabolic image trajectory, and specifically comprises: firstly, determining a proportional relation between an actual position of the parabola (3) near the parabola point (D) and a position of the parabola in a camera visual field according to the coordinate of the parabola point (D), then selecting three points near the parabola point (D) on the first parabolic image track or the second parabolic image track, determining the coordinates of the three points on the parabolic imaging plane (5) according to the proportional relation, finally setting up a unitary quadratic function of the parabola (3) on the parabolic imaging plane (5), respectively substituting the coordinates of the three points into the unitary quadratic function, and simultaneously solving three coefficients of the unitary quadratic function to obtain an analytical expression of the parabola (3) on the parabolic imaging plane (5).
11. The building high altitude parabolic point blind vision quantitative evidence obtaining system as claimed in claim 10, wherein the actual parabolic point calculating module obtains coordinates of an actual parabolic drop point (F) on a ground plane under the condition that the actual parabolic point is located on the outer wall concave surface (8), and calculates and obtains coordinates of an oblique correction parabolic point (G) according to the coordinates of the projection of the parabolic point (D) on the wall-attached imaging surface (7) to the ground plane and the coordinates of the projection of the actual parabolic point (C) to the ground plane.
12. The building high altitude parabolic spot blind vision quantitative evidence taking system as claimed in claim 7, wherein the first camera is a plurality of camera combinations with a field of view covering the left side and the ground of the building, and the second camera is a plurality of camera combinations with a field of view covering the right side and the ground of the building.
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