CN107679015A - A kind of real-time monitoring range emulation mode of monopod video camera based on three-dimensional map - Google Patents
A kind of real-time monitoring range emulation mode of monopod video camera based on three-dimensional map Download PDFInfo
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- CN107679015A CN107679015A CN201710804750.8A CN201710804750A CN107679015A CN 107679015 A CN107679015 A CN 107679015A CN 201710804750 A CN201710804750 A CN 201710804750A CN 107679015 A CN107679015 A CN 107679015A
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Abstract
The present invention discloses a kind of real-time monitoring range emulation mode of monopod video camera based on three-dimensional map, this method simulates monopod video camera under the conditions of some installation site, setting height(from bottom), calculates video camera visual range according to data such as head horizontal angle, the angle of pitch, the camera horizon angle of visual field, the pitching angle of visual field, maximum visual distances and is shown in three-dimensional map.This method is based on electronic three-dimensional map, is capable of the information such as the position for showing video camera more directly perceived three-dimensional, height above sea level, setting height(from bottom), is more suitable for the emulation for carrying out camera supervised region.
Description
Technical field
The present invention relates to a kind of method of analog video camera monitoring range, specifically a kind of head based on three-dimensional map is taken the photograph
The real-time monitoring range emulation mode of camera, belongs to video monitoring and geographical information space analysis field.
Background technology
Currently in Video Surveillance Industry, the camera video surveillance application based on electronic map is relatively broad,
The location of video camera can be intuitively viewed in electronic map, meanwhile, with reference to monitoring model of the head data to video camera
Enclose and emulated, improve user experience.
Video monitoring based on Two-dimensional electron map is not due to that two-dimensional map can not show terrain altitude being present, therefore not
Can accurately analog video monitoring range；And the video monitoring based on electronic three-dimensional map more directly perceived three-dimensional can be shown
The information such as the position of video camera, height above sea level, setting height(from bottom), therefore it is more suitable for the emulation for carrying out camera supervised region.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of real-time monitoring range emulation of video camera based on three-dimensional map
Method, analog video camera calculate video camera maximum visual scope and in three-dimensional under the conditions of installation site, a setting height(from bottom) is touched
Shown in map.
In order to solve the technical problem, the technical solution adopted by the present invention is：A kind of video camera based on three-dimensional map
Real-time monitoring range emulation mode, comprises the following steps：S01 the geographical coordinate of camera position point), is obtained, then in three-dimensional
Geographical coordinate is converted into projection coordinate in electronic map；
S02）, obtain the level angle and luffing angle of camera pan-tilt, the horizontal field of view angle of video camera and vertical field of view in real time
The level angle and luffing angle at angle, wherein head are consistent with head real time position, the camera horizon angle of visual field and vertical
The angle of visual field changes with the zoom of video camera；
S03）, the boundary line of maximum monitoring range calculated relative to the angle of head zero point according to head angle and camera field of view angle
Degree, further calculate the unit vector of boundary line；
S04）, calculate the vector value of maximum monitoring range boundary line, the vector value of maximum monitoring range boundary line is unit vector
With the product of video camera maximum visual distance；
S05）, according to camera position and boundary line vector value, calculate maximum monitoring range border point coordinates, maximum monitoring range
Border point coordinates is camera position point and Margin Vector value sum；
S06）, drawn by camera position, maximum boundary point position and draw the real-time maximum monitoring range of video camera.
Further, in step S03, if the boundary point of video camera maximum monitoring range is A1, A2, A3, A4, position for video camera
Origin O is set to, boundary line OA1, OA2, OA3, OA4 of maximum monitoring range are respectively relative to the angle of head zero point（H-β/2
, P+ α/2）、（H+ β/2, P+ α/2）、（H+ β/2, P- α/2）、（H- β/2, P- α/2）；
Then boundary lineUnit vector be respectively：
,
Wherein H is the real-time level angle of head, and P is the real-time luffing angle of head, and β is the horizontal field of view angle of video camera, and α is
The vertical field of view angle of video camera.
Further, in step S04, the maximum visual distance for setting video camera is S, then maximum monitoring range boundary line
Vector value is respectively：
。
The real-time monitoring range emulation mode of video camera of the present invention based on three-dimensional map, in step S01, obtain shooting
The geographical coordinate of machine is（Lon, lat, h）, wherein lon expression longitudes, unit is degree, and lat represents latitude, and to spend, h is represented unit
Height above sea level, unit are rice, and the projection coordinate after conversion is（Cordx, cordy, h）, unit is rice.
Further, the boundary point A1, A2, A3, A4 of video camera maximum monitoring range coordinate are respectively：
。
The real-time monitoring range emulation mode of video camera of the present invention based on three-dimensional map, head horizontal angle H are head
Angle between direction and geographical direct north, span for [0-360) degree, head direction is 0 when being geographical direct north
Degree；Angles of the head angle of pitch P between head direction and horizontal plane, value is just when head is faced upward, value during head nutation
It is negative, when head is horizontal, P is 0 degree.
The real-time monitoring range emulation mode of video camera of the present invention based on three-dimensional map, what is obtained in step S06 takes the photograph
Camera maximum monitoring range is isosceles pyramid shape.
Beneficial effects of the present invention：The real-time monitoring range emulation side of monopod video camera of the present invention based on three-dimensional map
Method simulates monopod video camera under the conditions of some installation site, setting height(from bottom), according to head horizontal angle, the angle of pitch, video camera water
Look squarely rink corner, the pitching angle of visual field, maximum visual distance calculate video camera maximum visual scope and shown in three-dimensional map
Show, be capable of the information such as the position for showing video camera more directly perceived three-dimensional, height above sea level, setting height(from bottom), be more suitable for carrying out video camera
The emulation of monitor area.
Brief description of the drawings
Fig. 1 is the schematic diagram of monopod video camera level angle and luffing angle；
Fig. 2 is horizontal field of view angle and the schematic diagram at vertical field of view angle of video camera；
Fig. 3 is the schematic diagram of video camera maximum monitoring range；
In figure：1st, monopod video camera, H are camera pan-tilt horizontal angle, and P is the head angle of pitch, and β is the camera horizon angle of visual field, α
For video camera vertical field of view angle, A1, A2, A3, A4 are the boundary point of video camera maximum monitor area, and O is the position of monopod video camera
Put a little, and origin.
Embodiment
The present invention is described further with specific embodiment below in conjunction with the accompanying drawings.
A kind of real-time monitoring range emulation mode of monopod video camera based on three-dimensional map, comprises the following steps：
S01）, obtain monopod video camera location point geographical coordinate, and be designated as（Lon, lat, h）, wherein, lon represents latitude, lat
Represent longitude, h represents height above sea level, and the unit of longitude and latitude is degree, and the unit of height above sea level is rice；In electronic map transfer
It is projection coordinate to change geographical coordinate（Cordx, cordy, h）；It has been prior art that geographical coordinate is converted into projection coordinate, one
As electronic map i.e. can be achieved, no longer transfer process is described in the present embodiment.
S02）, obtain that head is horizontal, luffing angle information.As shown in figure 1, wherein H is camera pan-tilt horizontal angle, P is
The head angle of pitch；Angle of the head horizontal angle between head direction and geographical direct north, span for [0-360) degree,
Geographical direct north is given tacit consent to for 0 degree；Angle of the head angle of pitch between head direction and horizontal plane, value is when head is faced upward
Just, value is negative during head nutation, when being horizontal, value 0.
Obtain camera horizon, vertical field of view angle.As shown in Fig. 2 the camera horizon angle of visual field is β, vertical field of view angle is
α。
S03）, the boundary line of maximum monitoring range calculated relative to head zero point according to head angle and camera field of view angle
Angle, further calculate boundary line unit vector；As shown in figure 3, ccd image sensor is rectangle, therefore video camera
The boundary point of maximum video monitoring regional is 4 points, and can make up a rectangle, and maximum monitor area boundary end point is set to
A1, A2, A3, A4, O point are monopod video camera location point, then OA1, and OA2, OA3, OA4 four directions are relative to head zero-bit
Angle is respectively：
（H- β/2, P+ α/2）,（H+ β/2, P+ α/2）,（H+ β/2, P- α/2）, （H- β/2, P- α/2）.
The position O of monopod video camera is set as origin, is calculatedUnit vector be respectively
；
S04）, setting video camera maximum visual distance s, the vector value that the vector value of maximum monitoring range boundary line is is respectively
S05）, O points be monopod video camera location point, its projection coordinate is（lon,lat,h）, the point coordinates of A1, A2, A3, A4 tetra-
Not to be：
；
S06）, drawn by camera position, maximum boundary point position and draw the real-time maximum monitoring range of video camera, such as Fig. 3 institutes
Show, create the real-time maximum monitoring range that rectangular pyramid O-A1A2A3A4 is exactly video camera in the present embodiment in three-dimensional map.
Described above is only the general principle and preferred embodiment of the present invention, and those skilled in the art are according to the present embodiment
The improvement and replacement made, belong to protection scope of the present invention.
Claims (7)
- A kind of 1. real-time monitoring range emulation mode of monopod video camera based on three-dimensional map, it is characterised in that：Including following step Suddenly：S01 the geographical coordinate of camera position point), is obtained, geographical coordinate is then converted into projection in electronic three-dimensional map Coordinate；S02）, obtain the level angle and luffing angle of camera pan-tilt, the horizontal field of view angle of video camera and vertical field of view in real time The level angle and luffing angle at angle, wherein head are consistent with head real time position, the camera horizon angle of visual field and vertical The angle of visual field changes with the zoom of video camera；S03）, the boundary line of maximum monitoring range calculated relative to the angle of head zero point according to head angle and camera field of view angle Degree, further calculate the unit vector of boundary line；S04）, calculate the vector value of maximum monitoring range boundary line, the vector value of maximum monitoring range boundary line is unit vector With the product of video camera maximum visual distance；S05）, according to camera position and boundary line vector value, calculate maximum monitoring range border point coordinates, maximum monitoring range Border point coordinates is camera position point and Margin Vector value sum；S06）, drawn by camera position, maximum boundary point position and draw the real-time maximum monitoring range of video camera.
- 2. the real-time monitoring range emulation mode of the monopod video camera according to claim 1 based on three-dimensional map, its feature It is：In step S03, if the boundary point of video camera maximum monitoring range is A1, A2, A3, A4, position for video camera is set to origin O, most Boundary line OA1, OA2, OA3, OA4 of big monitoring range be respectively relative to the angle of head zero point（H- β/2, P+ α/2）、（H+ β/2, P+ α/2）、（H+ β/2, P- α/2）, H- β/2, P- α/2）；Then boundary lineUnit vector be respectively：,Wherein H is the real-time level angle of head, and P is the real-time luffing angle of head, and β is the horizontal field of view angle of video camera, and α is The vertical field of view angle of video camera.
- 3. the real-time monitoring range emulation mode of the monopod video camera according to claim 2 based on three-dimensional map, its feature It is：In step S04, the maximum visual distance for setting video camera is S, then the vector value difference of maximum monitoring range boundary line For：。
- 4. the real-time monitoring range emulation mode of the monopod video camera according to claim 3 based on three-dimensional map, its feature It is：In step S01, the geographical coordinate for obtaining video camera is（Lon, lat, h）, wherein lon expression longitudes, unit is spends, lat Latitude is represented, unit is degree, and h represents height above sea level, and unit is rice, and the projection coordinate after conversion is（Cordx, cordy, h）, Unit is rice.
- 5. the real-time monitoring range emulation mode of the monopod video camera according to claim 4 based on three-dimensional map, its feature It is：The boundary point A1, A2, A3, A4 of video camera maximum monitoring range coordinate is respectively：。
- 6. the real-time monitoring range emulation mode of the monopod video camera according to claim 1 or 2 based on three-dimensional map, it is special Sign is：Angles of the head horizontal angle H between head direction and geographical direct north, span for [0-360) degree, head It is 0 degree when direction is geographical direct north；Angles of the head angle of pitch P between head direction and horizontal plane, when head is faced upward Value is just, and value be negative during head nutation, and when head is horizontal, P is 0 degree.
- 7. the real-time monitoring range emulation mode of the monopod video camera according to claim 1 based on three-dimensional map, its feature It is：The video camera maximum monitoring range obtained in step S06 is pyramid shape.
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| CN110012270A (en) * | 2019-04-09 | 2019-07-12 | 视云融聚（广州）科技有限公司 | The display methods of target video camera visual orientation and range, apparatus and system |
| CN110944154A (en) * | 2019-12-05 | 2020-03-31 | 山东八五信息技术有限公司 | Method for marking and identifying fixed object in high-altitude lookout camera image |
| CN112230257A (en) * | 2020-09-04 | 2021-01-15 | 勤上光电股份有限公司 | Positioning monitoring method based on PTZ camera |
| CN112995578A (en) * | 2019-12-02 | 2021-06-18 | 杭州海康威视数字技术股份有限公司 | Electronic map display method, device and system and electronic equipment |
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