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CN106331653B - Method and device for positioning sub-picture display area of panoramic camera - Google Patents

Method and device for positioning sub-picture display area of panoramic camera Download PDF

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CN106331653B
CN106331653B CN201610863904.6A CN201610863904A CN106331653B CN 106331653 B CN106331653 B CN 106331653B CN 201610863904 A CN201610863904 A CN 201610863904A CN 106331653 B CN106331653 B CN 106331653B
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程剑
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Jinan Yushi Intelligent Technology Co ltd
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Zhejiang Uniview Technologies Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment
    • H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
    • H04N5/2628—Alteration of picture size, shape, position or orientation, e.g. zooming, rotation, rolling, perspective, translation

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Abstract

本发明提供一种定位全景相机子画面显示区域的方法及装置及视频监控系统，所述方法包括：确定子画面云台在水平方向上的第一转动速度和竖直方向上的第二转动速度；根据子画面云台相对全景画面中心的水平方向上的第一转动时间、第一转动方向以及第一转动速度确定子画面线框在水平方向上的边界位置，并根据子画面云台相对全景画面中心的竖直方向上的第二转动时间、第二转动方向以及第二转动速度确定子画面线框在竖直方向上的边界位置；根据子画面线框在水平方向上的边界位置以及在竖直方向上的边界位置确定子画面线框在全景画面中的位置。应用本发明实施例可以在不需要前端设备支持线框信息输出的情况下，实现子画面线框的显示，提高方案的通用性。

Figure 201610863904

The present invention provides a method and device for locating a sub-picture display area of a panoramic camera, and a video monitoring system. The method includes: determining a first rotational speed of a sub-picture pan/tilt in the horizontal direction and a second rotational speed in the vertical direction. ; Determine the boundary position of the sub-picture wire frame in the horizontal direction according to the first rotation time, the first rotation direction and the first rotation speed in the horizontal direction of the sub-picture pan-tilt relative to the center of the panoramic picture, and according to the relative panorama of the sub-picture pan-tilt The second rotation time, the second rotation direction and the second rotation speed in the vertical direction of the center of the picture determine the boundary position of the sub-picture wire frame in the vertical direction; according to the boundary position of the sub-picture wire frame in the horizontal direction and the The boundary position in the vertical direction determines the position of the sprite wireframe in the panorama picture. By applying the embodiments of the present invention, the display of the wire frame of the sub-picture can be realized without the need for the front-end device to support the output of the wire frame information, and the generality of the solution can be improved.

Figure 201610863904

Description

一种定位全景相机子画面显示区域的方法及装置A method and device for locating a sub-picture display area of a panoramic camera

技术领域technical field

本发明涉及通信技术领域，尤其涉及一种定位全景相机子画面显示区域的方法及装置。The present invention relates to the field of communication technologies, and in particular, to a method and device for locating a sub-picture display area of a panoramic camera.

背景技术Background technique

全景相机在包含一个全景视频通道的情况下，还可配置多个独立子画面视频的逻辑显示通道，并可由用户自行选择各个子画面在全景图像中的位置。通常还会通过线框将各个子画面当前显示的区域在全景画面中标记出来。方便用户定位子画面在全景画面中的位置。When the panoramic camera includes one panoramic video channel, multiple logical display channels of independent sub-picture videos can also be configured, and the user can choose the position of each sub-picture in the panoramic image. Usually, the currently displayed area of each sub-picture is marked in the panorama picture by a wire frame. It is convenient for users to locate the position of the sub-picture in the panoramic picture.

现有方案中，为了实现在全景相机子画面显示区域的定位，通常是由前端摄像机输出线框元数据，前端摄像机在码流里通过携带私有字段的方式，传输各个子画面通道显示区域的线框位置信息，客户端可根据这些信息将各个子画面的线框用不同颜色标记出来。In the existing solution, in order to realize the positioning in the sub-picture display area of the panoramic camera, the front-end camera usually outputs the wireframe metadata, and the front-end camera transmits the lines in the display area of each sub-picture channel by carrying private fields in the code stream. Frame position information, the client can mark the wire frame of each sub-picture with different colors according to this information.

然而实践发现，在上述方案中，由于没有标准的协议支持输出框线数据，各个厂家使用私有的传输协议，客户端实现此功能需要额外的对接开发工作量，同时对于不支持提供线框位置数据的前端设备，该功能将不可用。However, it is found in practice that in the above solution, since there is no standard protocol to support the output of frame line data, each manufacturer uses a private transmission protocol, and the client needs additional development workload to realize this function. front-end devices, this feature will not be available.

发明内容SUMMARY OF THE INVENTION

本发明提供一种定位全景相机子画面显示区域的方法及装置，以在不需要前端设备支持线框信息输出的情况下，在全景画面中显示子画面线框。The present invention provides a method and device for locating a sub-picture display area of a panoramic camera, so as to display the sub-picture wireframe in the panoramic picture without the need for front-end equipment to support wireframe information output.

根据本发明的第一方面，提供一种定位全景相机子画面显示区域的方法，应用于视频监控系统中的后端设备，所述视频监控系统支持通过子画面云台转动控制子画面线框在全景画面中移动，所述方法包括：According to a first aspect of the present invention, a method for locating a sub-picture display area of a panoramic camera is provided, which is applied to a back-end device in a video surveillance system. Moving in a panoramic picture, the method includes:

确定子画面云台在水平方向上的第一转动速度和竖直方向上的第二转动速度；determining the first rotation speed of the sub-picture head in the horizontal direction and the second rotation speed in the vertical direction;

根据所述子画面云台相对全景画面中心的水平方向上的第一转动时间、第一转动方向以及所述第一转动速度确定子画面线框在水平方向上的边界位置，并根据所述子画面云台相对全景画面中心的竖直方向上的第二转动时间、第二转动方向以及所述第二转动速度确定子画面线框在竖直方向上的边界位置；Determine the border position of the sub-picture wire frame in the horizontal direction according to the first rotation time, the first rotation direction and the first rotation speed of the sub-picture pan/tilt in the horizontal direction relative to the center of the panoramic picture, and determine the boundary position of the sub-picture wire frame in the horizontal direction according to the The second rotation time, the second rotation direction, and the second rotation speed in the vertical direction of the picture pan/tilt relative to the center of the panoramic picture determine the boundary position of the sub-picture wire frame in the vertical direction;

根据所述子画面线框在水平方向上的边界位置以及在竖直方向上的边界位置确定所述子画面线框在全景画面中的位置。The position of the sub-picture wire frame in the panoramic picture is determined according to the boundary position of the sub-picture wire frame in the horizontal direction and the boundary position in the vertical direction.

根据本发明的第二方面，提供一种定位全景相机子画面显示区域的装置，应用于视频监控系统中的后端设备，所述视频监控系统支持通过子画面云台转动控制子画面线框在全景画面中移动，其特征在于，所述装置包括：According to a second aspect of the present invention, a device for locating a sub-picture display area of a panoramic camera is provided, which is applied to a back-end device in a video surveillance system. The video surveillance system supports controlling the sub-picture wireframe in the sub-picture by rotating the sub-picture pan/tilt. Moving in a panoramic picture, characterized in that the device includes:

第一确定单元，用于确定子画面云台在水平方向上的第一转动速度和竖直方向上的第二转动速度；a first determining unit, configured to determine the first rotation speed of the sub-picture head in the horizontal direction and the second rotation speed in the vertical direction;

第二确定单元，用于根据所述子画面云台相对全景画面中心的水平方向上的第一转动时间、第一转动方向以及所述第一转动速度确定子画面线框在水平方向上的边界位置，并根据所述子画面云台相对全景画面中心的竖直方向上的第二转动时间、第二转动方向以及所述第二转动速度确定子画面线框在竖直方向上的边界位置；a second determining unit, configured to determine the horizontal boundary of the sub-picture wire frame according to the first rotation time, the first rotation direction and the first rotation speed of the sub-picture pan/tilt in the horizontal direction relative to the center of the panorama picture position, and determine the boundary position of the sub-picture wire frame in the vertical direction according to the second rotation time, the second rotation direction and the second rotation speed of the sub-picture pan/tilt in the vertical direction relative to the center of the panoramic picture;

第三确定单元，用于根据所述子画面线框在水平方向上的边界位置以及在竖直方向上的边界位置确定所述子画面线框在全景画面中的位置。The third determining unit is configured to determine the position of the sub-picture wire frame in the panoramic picture according to the boundary position of the sub-picture wire frame in the horizontal direction and the boundary position in the vertical direction.

应用本发明公开的技术方案，通过确定子画面云台在水平方向上的第一转动速度和竖直方向上的第二转动速度，并根据子画面云台相对全景画面中心的水平方向上的第一转动时间、第一转动方向以及第一转动速度确定子画面线框在水平方向上的边界位置，根据子画面云台相对全景画面中心的竖直方向上的第二转动时间、第二转动方向以及第二转动速度确定子画面线框在竖直方向上的边界位置，进而，根据子画面线框在水平方向上的边界位置以及在竖直方向上的边界位置确定子画面线框在全景画面中的位置，在不需要前端设备支持线框信息输出的情况下，实现了子画面线框的显示，提高了方案的通用性。By applying the technical solution disclosed in the present invention, by determining the first rotation speed of the sub-picture pan/tilt in the horizontal direction and the second rotational speed in the vertical direction, and according to the first rotation speed of the sub-picture pan/tilt in the horizontal direction relative to the center of the panoramic picture, A rotation time, a first rotation direction and a first rotation speed determine the horizontal boundary position of the sub-picture wireframe, according to the second rotation time and the second rotation direction of the sub-picture pan/tilt in the vertical direction relative to the center of the panorama picture And the second rotation speed determines the boundary position of the sub-picture wire frame in the vertical direction, and further, according to the boundary position of the sub-picture wire frame in the horizontal direction and the boundary position in the vertical direction, determines the sub-picture wire frame in the panoramic picture. In the position of the sub-picture, the display of the wireframe of the sub-picture is realized without the need for the front-end device to support the output of the wireframe information, which improves the versatility of the scheme.

附图说明Description of drawings

图1是本发明实施例提供的一种定位全景相机子画面显示区域的方法的流程示意图；1 is a schematic flowchart of a method for locating a sub-picture display area of a panoramic camera provided by an embodiment of the present invention;

图2A～2C是本发明实施例提供的子画面转动角度的示意图；2A to 2C are schematic diagrams of rotation angles of sub-pictures provided by embodiments of the present invention;

图3是本发明实施例提供的一种定位全景相机子画面显示区域的装置的结构示意图；3 is a schematic structural diagram of an apparatus for locating a sub-picture display area of a panoramic camera provided by an embodiment of the present invention;

图4是本发明实施例提供的另一种定位全景相机子画面显示区域的装置的结构示意图。FIG. 4 is a schematic structural diagram of another apparatus for locating a sub-picture display area of a panoramic camera provided by an embodiment of the present invention.

具体实施方式Detailed ways

为了使本领域技术人员更好地理解本发明实施例中的技术方案，并使本发明实施例的上述目的、特征和优点能够更加明显易懂，下面结合附图对本发明实施例中技术方案作进一步详细的说明。In order for those skilled in the art to better understand the technical solutions in the embodiments of the present invention, and to make the above objects, features, and advantages of the embodiments of the present invention more clearly understood, the following describes the technical solutions in the embodiments of the present invention with reference to the accompanying drawings. Further detailed instructions.

请参见图1，图1为本发明实施例提供的一种定位全景相机子画面显示区域的方法的流程示意图，该方法可以应用于视频监控系统中的后端设备，该视频监控系统支持通过子画面云台转动控制子画面线框在全景画面中移动，如图1所示，该定位全景相机子画面显示区域的方法可以包括以下步骤：Please refer to FIG. 1. FIG. 1 is a schematic flowchart of a method for locating a sub-screen display area of a panoramic camera according to an embodiment of the present invention. The method can be applied to a back-end device in a video surveillance system. The video surveillance system supports The rotation of the screen pan/tilt controls the sub-picture wire frame to move in the panoramic picture. As shown in FIG. 1 , the method for locating the sub-picture display area of the panoramic camera may include the following steps:

步骤101、确定子画面云台在水平方向上的第一转动速度和竖直方向上的第二转动速度。Step 101: Determine the first rotation speed of the sub-picture pan/tilt in the horizontal direction and the second rotation speed in the vertical direction.

需要说明的是，在本发明实施例中，子画面云台为逻辑上的云台，其可以通过软件实现，该子画面云台用于控制子画面线框的移动，即通过控制子画面云台转动，可以控制子画面线框在全景画面中移动。It should be noted that, in the embodiment of the present invention, the sub-picture pan/tilt is a logical pan/tilt, which can be realized by software, and the sub-picture pan/tilt is used to control the movement of the sub-picture wireframe, that is, by controlling the sub-picture cloud By rotating the stage, you can control the sub-picture wireframe to move in the panorama picture.

本发明实施例中，为了实现对全景相机子画面显示区域的定位，需要先分别确定子画面云台在水平方向上的转动速度(本文中称为第一转动速度)和竖直方向上的转动速度(本文中称为第二转动速度)。其中，该转动速度的单位可以为“转动角度/单位时间”，如“转动角度/毫秒”。In the embodiment of the present invention, in order to realize the positioning of the sub-picture display area of the panoramic camera, it is necessary to first determine the rotation speed of the sub-picture pan/tilt in the horizontal direction (referred to as the first rotation speed herein) and the rotation in the vertical direction. speed (herein referred to as the second rotational speed). The unit of the rotation speed may be "rotation angle/unit time", such as "rotation angle/millisecond".

其中，子画面云台在水平方向上的转动时控制对应的子画面线框在后端设备侧显示的全景画面中从左向右移动或从右向左移动；子画面云台在竖直方向上转动时控制对应的子画面线框在后端设备侧显示的全景画面中从上向下移动或从下向上移动。Among them, when the sub-picture pan/tilt is rotated in the horizontal direction, the corresponding sub-picture wireframe is controlled to move from left to right or from right to left in the panoramic picture displayed on the back-end device side; the sub-picture pan/tilt moves in the vertical direction. When turning up, control the corresponding sub-picture wireframe to move from top to bottom or from bottom to top in the panoramic picture displayed on the back-end device side.

作为一种可选的实施方式，在本发明实施例中，确定子画面平台在水平方向上的第一转动速度和竖直方向上的第二转动速度，可以包括：As an optional implementation manner, in this embodiment of the present invention, determining the first rotation speed of the sprite platform in the horizontal direction and the second rotation speed in the vertical direction may include:

通过以下公式确定第一转动速度和第二转动速度：The first rotational speed and the second rotational speed are determined by the following formulas:

v1＝α1/t1 v 1 =α 1 /t 1

v2＝α2/t2 v 2 =α 2 /t 2

α1＝β-λ1 α 1 =β-λ 1

α2＝β-λ2 α 2 =β-λ 2

其中，v1为第一转动速度，α1为子画面线框在水平方向的最大转动角度，α2为子画面线框在竖直方向的最大转动角度，t1为子画面线框从全景画面的最右侧移动到最左侧或从全景画面最左侧移动到最右侧所需的时间，t2为子画面线框从全景画面的最上侧移动到最下侧或从全景画面最下侧移动到最上侧所需的时间；β为全景相机的最大视角，λ1为子画面的水平宽度，λ2为子画面的竖直宽度。Among them, v 1 is the first rotation speed, α 1 is the maximum rotation angle of the sprite wire frame in the horizontal direction, α 2 is the maximum rotation angle of the sprite wire frame in the vertical direction, and t 1 is the panoramic view of the sprite wire frame. The time required to move the far right of the picture to the far left or from the far left to the right of the panorama picture, t 2 is the time required for the sub-picture wire frame to move from the top to the bottom of the panorama picture or from the farthest to the bottom of the panorama picture. The time required for the lower side to move to the uppermost side; β is the maximum angle of view of the panoramic camera, λ 1 is the horizontal width of the sub-picture, and λ 2 is the vertical width of the sub-picture.

在该实施方式中，后端设备可以根据子画面线框在全景画面中的最大转动角度(水平方向或竖直方向)以及子画面线框在全景画面的一侧移动到另一侧(如最右侧移动到最左侧或最上侧移动到最下侧等)所需的时间确定子画面云台的转动速度。In this embodiment, the back-end device can move the sub-picture wireframe from one side of the panorama to the other according to the maximum rotation angle (horizontal or vertical) of the sub-picture wireframe in the panorama picture (for example, the maximum rotation angle of the sub-picture wireframe in the panoramic picture). The time required to move the right side to the leftmost side or the uppermost side to the lowermost side, etc.) determines the rotation speed of the sub-picture head.

为便于理解，以下以子画面线框在水平方向上的移动为例进行说明，竖直方向上的移动的实现同理可得。For ease of understanding, the following takes the movement of the sprite wire frame in the horizontal direction as an example for description, and the implementation of the movement in the vertical direction can be obtained in the same way.

在该实施方式中，为了确定子画面云台在水平方向的转动速度，可以先确定子画面线框在全景画面中水平方向上的最大转动角度(本文中称为α1)，即子画面线框在全景画面的最左侧移动到最右侧，或最右侧移动到最左侧对应的转动角度。In this implementation manner, in order to determine the rotation speed of the sub-picture pan/tilt in the horizontal direction, the maximum rotation angle (herein referred to as α 1 ) of the sub-picture wire frame in the horizontal direction in the panoramic picture may be determined first, that is, the sub-picture line The frame moves from the far left of the panorama to the far right, or from the far right to the corresponding rotation angle to the far left.

在该实施方式中，子画面线框在水平方向上的最大转动角度可以为全景相机的最大视角(本文中称为β)和子画面线框的水平宽度(即子画面线框的水平宽度对应的视角，本文中称为λ1)的差值，即α1＝β-λ1；其中，子画面线框转动角度示意图可以如图2A所示，其中，虚线覆盖区域为子画面显示区域。In this embodiment, the maximum rotation angle of the sprite wire frame in the horizontal direction may be the maximum angle of view of the panoramic camera (referred to as β herein) and the horizontal width of the sprite wire frame (that is, the horizontal width of the sprite wire frame corresponds to the The angle of view, referred to herein as the difference of λ 1 ), ie α 1 =β-λ 1 ; the schematic diagram of the rotation angle of the sprite wire frame can be shown in FIG. 2A , where the dotted line coverage area is the sprite display area.

其中，全景相机的最大视角通常可以从相机的规格里获取，若不能直接获取，则可以缺省为180度；子画面线框的水平宽度可以在支持配置的情况下预先配置，若不支持配置或支持配置但未预先配置，则可以计算得到。Among them, the maximum angle of view of the panoramic camera can usually be obtained from the camera's specifications. If it cannot be obtained directly, it can default to 180 degrees; the horizontal width of the sub-picture wireframe can be pre-configured if it supports configuration. Or if configuration is supported but not preconfigured, it can be calculated.

举例来说，子画面线框的水平宽度可以通过以下方式计算得到：For example, the horizontal width of the sprite wireframe can be calculated as follows:

先将子画面视图定位在全景画面的中心位置(此时子画面的形变最小)，并控制子画面视图在水平方向移动，通过图像的模式匹配到全景画面中心移动到子画面视图边界，统计该过程所耗费的时间t0，则可以确定子画面线框的水平宽度λ1、第一转动速度v1和t0满足以下公式：First position the sub-picture view at the center of the panorama picture (the deformation of the sub-picture is the smallest at this time), and control the sub-picture view to move in the horizontal direction, and move the center of the panorama picture to the border of the sub-picture view through the pattern matching of the image. The time t 0 spent in the process can be determined to satisfy the following formulas :

λ1/2＝v1*t0 λ 1 /2=v1*t 0

即λ1＝2*v1*t0 That is, λ 1 =2*v 1 *t 0

进一步地，在确定了子画面线框的水平宽度之后，由α1＝β-λ1可得，α1＝β-2*v1*t0；又由v1＝α1/t1可得：Further, after the horizontal width of the sub-picture wire frame is determined, it can be obtained by α 1 =β-λ 1 , α 1 =β-2*v 1 *t 0 ; and by v 1 =α 1 /t 1 have to:

v1＝(β-2*v1*t0)/t1 v 1 =(β-2*v 1 *t 0 )/t 1

即v1＝β/(2t0+t1)That is, v 1 =β/(2t 0 +t 1 )

步骤102、根据子画面云台相对全景画面中心的水平方向上的第一转动时间、第一转动方向以及第一转动速度确定子画面线框在水平方向上的边界位置，并根据子画面云台相对全景画面中心的竖直方向上的第二转动时间、第二转动方向以及第二转动速度确定子画面线框在竖直方向上的边界位置。Step 102: Determine the boundary position of the sub-picture wire frame in the horizontal direction according to the first rotation time, the first rotation direction and the first rotation speed of the sub-picture pan/tilt in the horizontal direction relative to the center of the panorama image, and according to the sub-picture pan/tilt The second rotation time, the second rotation direction, and the second rotation speed in the vertical direction relative to the center of the panoramic picture determine the boundary position of the sub-picture wire frame in the vertical direction.

本发明实施例中，后端设备确定了子画面云台在水平方向上的第一转动速度以及竖直方向上的第二转动速度之后，后端设备可以以子画面视图位于全景画面中心位置时子画面云台的位置为起始位置，统计子画面云台相对全景画面中心的水平方向上的转动时间(本文中称为第一转动时间)和转动方向(本文中称为第一转动方向，包括向左或向右)，以及子云台相对全景画面中心的竖直方向上的转动时间(本文中称为第二转动时间)和转动方向(本文中称为第二转动方向，包括向上或向下)，进而，后端设备可以根据第一转动时间、第一转动方向以及第一转动速度确定子画面线框在水平方向上的边界位置，并根据第二转动时间、第二转动方向以及第二转动速度确定子画面线框在竖直方向上的边界位置。In this embodiment of the present invention, after the back-end device determines the first rotational speed of the sub-picture pan/tilt in the horizontal direction and the second rotational speed in the vertical direction, the back-end device can take the sub-picture view at the center of the panorama image The position of the sub-picture pan/tilt is the starting position, and the rotation time of the sub-picture pan/tilt in the horizontal direction relative to the center of the panorama image (herein referred to as the first rotation time) and the rotation direction (herein referred to as the first rotation direction) are counted. Including left or right), and the rotation time (herein referred to as the second rotation time) and rotation direction (herein referred to as the second rotation direction, including upward or downward), and further, the back-end device can determine the boundary position of the sprite wire frame in the horizontal direction according to the first rotation time, the first rotation direction and the first rotation speed, and according to the second rotation time, the second rotation direction and the The second rotation speed determines the boundary position of the sprite wire frame in the vertical direction.

举例来说，假设全景相机的最大视角为180度，子画面云台的第一转动速度为10度/毫秒，子画面线框水平宽度为20度，则子画面云台从起始位置向左(或向右)转动8毫秒，则到达全景画面的最左侧(或最右侧)；若子画面云台从起始位置开始，向左转动5毫秒，然后向右转动2毫秒，则可以认为子画面云台相对起始位置(即全景画面中心位置)向左(即第一转动方向为向左)转动了3毫秒(即第一转动时间为3毫秒)。For example, assuming that the maximum viewing angle of the panoramic camera is 180 degrees, the first rotation speed of the sub-picture gimbal is 10 degrees/ms, and the horizontal width of the sub-picture wire frame is 20 degrees, then the sub-picture gimbal turns left from the starting position. (or right) for 8 milliseconds, it will reach the far left (or right) of the panorama screen; if the sub-picture pan/tilt starts from the starting position, turns left for 5 milliseconds, and then turns right for 2 milliseconds, then It can be considered that the sub-picture pan/tilt rotates to the left (that is, the first rotation direction is leftward) relative to the starting position (that is, the center position of the panoramic image) for 3 milliseconds (that is, the first rotation time is 3 milliseconds).

作为一种可选的实施方式，在本发明实施例中，上述根据子画面云台相对全景画面中心的水平方向上的第一转动时间、第一转动方向以及第一转动速度确定子画面线框在水平方向上的边界位置，包括：As an optional implementation manner, in this embodiment of the present invention, the above-mentioned first rotation time, first rotation direction, and first rotation speed of the sub-picture pan/tilt in the horizontal direction relative to the center of the panoramic image are used to determine the sub-picture wireframe Boundary positions in the horizontal direction, including:

通过以下公式确定子画面线框在水平方向上的边界位置相对全景画面中心位置的比例：Determine the ratio of the horizontal border position of the sub-picture wireframe to the center position of the panoramic picture by the following formula:

R11＝sin(v1*△t1+(1/2*λ1))R 11 =sin(v 1 *Δt 1 +(1/2*λ 1 ))

R12＝sin(v1*△t1-(1/2*λ1))R 12 =sin(v1*Δt 1 -(1/2*λ 1 ))

其中，R11为子画面线框在水平方向上外侧的边界位置相对全景画面中心位置的比例，R12为子画面线框在水平方向上内侧的边界位置相对全景画面中心位置的比例；v1为第一转动速度，△t1为第一转动时间，λ1为子画面的水平宽度；Wherein, R 11 is the ratio of the outer boundary position of the sub-picture wire frame in the horizontal direction to the center position of the panoramic picture, and R 12 is the ratio of the inner boundary position of the sub-picture wire frame in the horizontal direction to the central position of the panoramic picture; v 1 is the first rotation speed, Δt 1 is the first rotation time, and λ 1 is the horizontal width of the sub-picture;

根据子画面线框在水平方向上的边界位置相对全景画面中心位置的比例以及第一转动方向确定子画面线框在水平方向上的边界位置；Determine the border position of the sub-picture wire frame in the horizontal direction according to the ratio of the horizontal boundary position of the sub-picture wire frame to the center position of the panoramic picture and the first rotation direction;

上述根据子画面云台相对全景画面中心的竖直方向上的第二转动时间、第二转动方向以及第二转动速度确定子画面线框在竖直方向上的边界位置，包括：The above-mentioned determination of the boundary position of the sub-picture wire frame in the vertical direction according to the second rotation time, the second rotation direction and the second rotation speed of the sub-picture pan/tilt in the vertical direction relative to the center of the panoramic picture includes:

通过以下公式确定子画面线框在竖直方向上的边界位置相对全景画面中心位置的比例：Determine the ratio of the vertical boundary position of the sub-picture wire frame to the center position of the panoramic picture by the following formula:

R21＝sin(v2*△t2+(1/2*λ2))R 21 =sin(v 2 *Δt 2 +(1/2*λ 2 ))

R22＝sin(v2*△t2-(1/2*λ2))R 22 =sin(v 2 *Δt 2 -(1/2*λ 2 ))

其中，R21为子画面线框在竖直方向上外侧的边界位置相对全景画面中心位置的比例，R22为子画面线框在竖直方向上内侧的边界位置相对全景画面中心位置的比例；v2为第二转动速度，△t1为第二转动时间，λ2为子画面的竖直宽度；Wherein, R 21 is the ratio of the outer boundary position of the sub-picture wire frame in the vertical direction to the center position of the panoramic picture, and R 22 is the ratio of the inner boundary position of the sub-picture wire frame in the vertical direction to the central position of the panoramic picture; v 2 is the second rotation speed, Δt 1 is the second rotation time, and λ 2 is the vertical width of the sub-picture;

根据子画面线框在竖直方向上的边界位置相对全景画面中心位置的比例以及第二转动方向确定子画面线框在竖直方向上的边界位置。The vertical boundary position of the sub-picture wire frame is determined according to the ratio of the vertical boundary position of the sub-picture wire frame to the center position of the panoramic picture and the second rotation direction.

为便于理解，以下以子画面线框在水平方向上的边界位置的确定为例进行说明，竖直方向上的边界位置的确定同理可得。For ease of understanding, the following takes the determination of the boundary position of the sub-picture wire frame in the horizontal direction as an example for description, and the determination of the boundary position in the vertical direction can be obtained in the same way.

在该实施方式中，后端设备可以根据自身统计的子画面云台相对全景画面中心的水平方向上的第一转动时间以及第一转动速度确定子画面线框在水平方向上的边界位置相对全景画面中心位置的比例。In this embodiment, the back-end device can determine the relative panorama position of the border position of the sub-picture wire frame in the horizontal direction according to the first rotation time and first rotation speed of the sub-picture pan/tilt in the horizontal direction relative to the center of the panorama picture based on its own statistics The ratio of the center position of the screen.

举例来说，请参见图2B，当子画面云台相对全景中心的水平方向上的第一转动时间为△t1，第一转动速度为v1时，子画面线框在水平方向上外侧的边界位置相对全景画面中心位置的比例为：R11＝sin(v1*△t1+(1/2*λ1))；子画面线框在水平方向上内侧的边界位置相对全景画面中心位置的比例为：sin(v1*△t1-(1/2*λ1))。For example, referring to FIG. 2B , when the first rotation time of the sub-picture pan/tilt in the horizontal direction relative to the panorama center is Δt 1 and the first rotation speed is v 1 , the outer side of the sub-picture wire frame in the horizontal direction is Δt 1 . The ratio of the border position to the center position of the panoramic screen is: R 11 =sin(v 1 *Δt 1 +(1/2*λ 1 )); the inner border position of the sub-picture wire frame in the horizontal direction is relative to the center position of the panoramic screen The ratio is: sin(v1*Δt 1 -(1/2*λ 1 )).

值得说明的是，在本发明实施例中，子画面线框在水平方向上外侧的边界是指在水平方向上与全景画面中心距离较远的边界，子画面线框在水平方向上内侧的边界是指在水平方向上与全景画面距离较远的边界。竖直方向上同理可得。It is worth noting that, in this embodiment of the present invention, the outer boundary of the sub-picture wireframe in the horizontal direction refers to the boundary that is farther away from the center of the panoramic picture in the horizontal direction, and the inner boundary of the sub-picture wireframe in the horizontal direction. It refers to the boundary farther away from the panorama screen in the horizontal direction. The same can be obtained in the vertical direction.

此外，在本发明实施例中，若通过上述公式计算得到的比例为正值，则表明对应的边界位置在全景画面中心与转动方向一致的一侧；若通过上述公式计算得到的比例为负值，则表明对应的边界位置在全景画面中心与转动方向相反的一侧。In addition, in the embodiment of the present invention, if the ratio calculated by the above formula is a positive value, it means that the corresponding boundary position is on the side where the center of the panoramic image is consistent with the rotation direction; if the ratio calculated by the above formula is a negative value , it indicates that the corresponding boundary position is on the opposite side of the panorama image center and the rotation direction.

举例来说，假设子画面云台相对全景画面中心的水平方向上的第一转动方向为向右，若根据上述公式计算得到，R11为正值，R12为负值，则表明R11对应的子画面线框在水平方向上的外侧边界在全景画面中心的右侧，R12对应的子画面线框在水平方向上的内侧边界在全景画面中心的左侧。For example, assuming that the first rotation direction of the sub-picture pan/tilt in the horizontal direction relative to the center of the panoramic picture is rightward, if calculated according to the above formula, R 11 is a positive value and R 12 is a negative value, indicating that R 11 corresponds to The horizontal outer boundary of the sub-picture wire frame of R 12 is on the right side of the center of the panorama picture, and the inner boundary in the horizontal direction of the sub-picture wire frame corresponding to R 12 is on the left side of the panorama picture center.

本发明实施例中，后端设备确定了子画面线框在水平方向上的边界位置相对全景画面中心位置的比例以及第一转动方向确定子画面线框在水平方向的边界位置。In the embodiment of the present invention, the back-end device determines the ratio of the horizontal boundary position of the sub-picture wireframe to the center position of the panoramic picture and the first rotation direction determines the horizontal boundary position of the sub-picture wireframe.

同理，后端设备也可以确定子画面线框在竖直方向上的边界位置。Similarly, the back-end device can also determine the vertical boundary position of the sub-picture wireframe.

步骤103、根据子画面线框在水平方向上的边界位置以及在竖直方向上的边界位置确定子画面线框在全景画面中的位置。Step 103: Determine the position of the sub-picture wire frame in the panoramic picture according to the boundary position of the sub-picture wire frame in the horizontal direction and the boundary position in the vertical direction.

本发明实施例中，后端设备确定了子画面线框在水平方向上的边界位置以及在竖直方向上的边界位置之后，可以根据子画面线框在水平方向上的边界位置以及在竖直方向上的边界位置确定子画面线框在全景画面中的位置。In this embodiment of the present invention, after the back-end device determines the horizontal boundary position and the vertical boundary position of the sub-picture wireframe, it can The position of the boundary in the direction determines the position of the sprite wireframe in the panorama.

可见，在图1所示的方法流程中，通过确定子画面云台转动速度，并根据子画面云台相对全景画面中心的转动时间和转动方向，确定子画面线框在全景画面中的位置，在不需要前端设备支持线框信息输出的情况下，实现了子画面线框的显示，提高了方案的通用性。It can be seen that, in the method flow shown in FIG. 1, by determining the rotation speed of the sub-picture pan/tilt, and according to the rotation time and rotation direction of the sub-picture pan/tilt relative to the center of the panoramic picture, the position of the sub-picture wire frame in the panoramic picture is determined, Under the condition that the front-end equipment does not need to support the output of wireframe information, the display of the wireframe of the sub-picture is realized, and the generality of the scheme is improved.

进一步地，在本发明实施例中，用户(如管理员、监控人员等)可以通过在监控客户端中拖动全景画面上的子画面线框，来反向控制子画面云台转动到相应位置。Further, in this embodiment of the present invention, a user (such as an administrator, monitoring personnel, etc.) can reversely control the sub-picture pan/tilt to rotate to a corresponding position by dragging the sub-picture wireframe on the panoramic picture in the monitoring client .

相应地，本发明实施例提供的全景相机子画面显示区域的定位方案还可以包括：Correspondingly, the positioning solution for the sub-picture display area of the panoramic camera provided by the embodiment of the present invention may further include:

当检测到针对全景画面中的子画面线框的移动操作时，根据移动后的子画面线框在全景画面中的位置确定子画面云台需要分别相对全景画面中心在水平方向和竖直方向上的转动时间和转动方向，并控制子画面云台进行相应地转动。When a moving operation for the sub-picture wireframe in the panoramic picture is detected, it is determined according to the position of the moved sub-picture wireframe in the panoramic picture that the sub-picture pan/tilt needs to be in the horizontal and vertical directions relative to the center of the panoramic picture, respectively. the rotation time and rotation direction, and control the sub-picture pan/tilt to rotate accordingly.

具体地，在本发明实施例中，当后端设备检测到针对全景画面中的子画面线框的移动操作(如用户通过鼠标拖动全景画面中的子画面线框)时，后端设备可以根据移动后的子画面线框在全景画面中的位置确定子画面云台需要分别相对全景画面中心在水平方向上和竖直方向上的转动时间和转动方向，并控制子画面云台进行相应地转动。Specifically, in this embodiment of the present invention, when the back-end device detects a movement operation on the sub-picture wireframe in the panorama picture (for example, the user drags the sub-picture wireframe in the panorama picture with a mouse), the back-end device may Determine the rotation time and rotation direction of the sub-picture pan/tilt in the horizontal and vertical directions relative to the center of the panorama picture according to the position of the moved sub-picture wireframe in the panorama picture, and control the sub-picture pan/tilt to perform corresponding actions. turn.

举例来说，假设后端设备检测到针对全景画面中子画面线框的移动操作，且根据移动后的子画面线框在全景画面中的位置确定子画面云台需要相对全景画面中心在水平方向上的转动时间为3毫秒，转动方向为向右，在竖直方向上的转动时间为2毫秒，转动方向为向上，则若当前子画面云台的位置为子画面线框处于前景画面中心位置时对应的位置，则后端设备可以控制子画面云台向右转动3毫秒，并向上转动2毫秒。For example, it is assumed that the back-end device detects a movement operation for the sub-picture wireframe in the panorama picture, and the sub-picture pan/tilt needs to be horizontally relative to the center of the panorama picture to determine the position of the sub-picture wireframe after the movement in the panorama picture. The rotation time is 3 milliseconds in the upper direction, the rotation direction is right, the rotation time in the vertical direction is 2 milliseconds, and the rotation direction is upward, then if the current position of the sub-picture pan/tilt is that the sub-picture wire frame is in the center of the foreground picture At the corresponding position, the back-end device can control the sub-screen pan/tilt to rotate to the right for 3 milliseconds and upward for 2 milliseconds.

作为一种可选的实施方式，在本发明实施例中，上述根据移动后的子画面线框在全景画面中的位置确定子画面云台需要分别相对全景画面中心在水平方向和竖直方向上的转动时间和转动方向，包括：As an optional implementation manner, in this embodiment of the present invention, the above-mentioned determination of the sub-picture pan/tilt according to the position of the moved sub-picture wireframe in the panoramic picture needs to be in the horizontal direction and the vertical direction with respect to the center of the panoramic picture, respectively. Rotation time and direction of rotation, including:

通过以下公式确定子画面线框需要相对全景画面中心在水平方向上的转动时间△t3：Determine the rotation time Δt 3 of the sub-picture wireframe in the horizontal direction relative to the center of the panorama picture by the following formula:

△t3＝(arcsin(a1+θ1)-(1/2*λ1))/v1，或，Δt 3 =(arcsin(a 1 +θ 1 )-(1/2*λ 1 ))/v 1 , or,

△t3＝(arcsin(a1-θ1)+(1/2*λ1))/v1 Δt 3 =(arcsin(a 1 -θ 1 )+(1/2*λ 1 ))/v 1

其中，a1+θ1为子画面线框在水平方向上外侧的边界位置相对全景画面中心位置的比例，a1-θ1为子画面线框在水平方向上内侧的边界位置相对全景画面中心位置的比例，v1为第一转动速度，λ1为子画面的水平宽度，转动方向为内侧向外侧；Among them, a 1 + θ 1 is the ratio of the outer border position of the sprite wire frame in the horizontal direction to the center position of the panoramic image, and a 1 -θ 1 is the horizontal inner boundary position of the sprite wire frame relative to the center of the panoramic image. The ratio of the position, v 1 is the first rotation speed, λ 1 is the horizontal width of the sub-picture, and the rotation direction is from the inside to the outside;

通过以下公式确定子画面线框需要相对全景画面中心在竖直方向上的转动时间△t4：Determine the rotation time Δt 4 of the sub-picture wireframe in the vertical direction relative to the center of the panorama picture by the following formula:

△t4＝(arcsin(a2+θ2)-(1/2*λ2))/v2，或，Δt 4 =(arcsin(a 2 +θ 2 )-(1/2*λ 2 ))/v 2 , or,

△t4＝(arcsin(a2-θ2)+(1/2*λ2))/v2 Δt 4 =(arcsin(a 2 -θ 2 )+(1/2*λ 2 ))/v 2

其中，a2+θ2为子画面线框在竖直方向上外侧的边界位置相对全景画面中心位置的比例，a2-θ2为子画面线框在竖直方向上内侧的边界位置相对全景画面中心位置的比例，v2为第二转动速度，λ2为子画面的竖直宽度，转动方向为内侧向外侧。Among them, a 2 +θ 2 is the ratio of the outer boundary position of the sprite wire frame in the vertical direction to the center position of the panoramic screen, and a 2 -θ 2 is the vertical inner boundary position of the sprite wire frame relative to the panorama The ratio of the center position of the screen, v 2 is the second rotation speed, λ 2 is the vertical width of the sub-screen, and the rotation direction is from the inside to the outside.

为便于说明，以在水平方向上移动子画面线框反向控制子画面云台在水平方向上转动为例，竖直方向上移动子画面线框反向控制子画面云台在竖直方向上转动的实现同理可得。For the convenience of description, take moving the sub-picture wireframe in the horizontal direction to reversely control the sub-picture pan/tilt to rotate in the horizontal direction as an example, and move the sub-picture wire frame in the vertical direction to reversely control the sub-picture pan/tilt in the vertical direction. The realization of rotation can be obtained in the same way.

在该实施方式中，后端设备可以根据移动后的子画面线框在全景画面中的位置，确定子画面线框需要相对全景画面中心在水平方向上的转动角度和转动方向，进而可以根据子画面云台在水平方向上的第一转动速度，确定子画面云台需要相对起始位置的转动方向和转动时间。In this embodiment, the back-end device can determine the horizontal rotation angle and rotation direction of the sub-picture wireframe relative to the center of the panorama picture according to the position of the moved sub-picture wireframe in the panoramic picture, and then can determine the rotation angle and rotation direction of the sub-picture wireframe in the horizontal direction relative to the center of the panoramic picture, and then can The first rotation speed of the screen pan/tilt in the horizontal direction determines the rotation direction and rotation time of the sub-screen pan/tilt relative to the starting position.

举例来说，请参见图2C，当子画面线框在水平方向上的边界位置相对全景画面中心位置的比例分别为a1±θ1时，则假设子画面云台相对起始位置在水平方向转动的时间为△t3，则a1±θ1、△t3、v1(第一转动速度)以及λ1(子画面线框的水平宽度)满足以下条件：For example, referring to FIG. 2C , when the ratio of the border position of the sub-picture wire frame in the horizontal direction to the center position of the panoramic picture is a 1 ±θ 1 , it is assumed that the relative starting position of the sub-picture pan/tilt is in the horizontal direction. The rotation time is Δt3, then a 1 ±θ 1 , Δt 3 , v 1 (the first rotation speed) and λ 1 (the horizontal width of the sprite frame) satisfy the following conditions:

a1+θ1＝sin(v1*△t3+(1/2*λ1))a 1 +θ 1 =sin(v 1 *Δt 3 +(1/2*λ 1 ))

a1-θ1＝sin(v1*△t3-(1/2*λ1))a 1 -θ 1 =sin(v 1 *Δt 3 -(1/2*λ 1 ))

根据上述公式可以得出：According to the above formula, it can be obtained:

△t3＝(arcsin(a1+θ1)-(1/2*λ1))/v1，或，Δt 3 =(arcsin(a 1 +θ 1 )-(1/2*λ 1 ))/v 1 , or,

△t3＝(arcsin(a1-θ1)+(1/2*λ1))/v1 Δt 3 =(arcsin(a 1 -θ 1 )+(1/2*λ 1 ))/v 1

后端设备根据上述公式确定△t3之后，可以控制子画面云台从起始位置转动△t3时间，转动方向为由内侧向外侧，即沿水平方向上靠近全景画面中心的位置向远离全景画面中心的位置转动。After the back-end device determines Δt 3 according to the above formula, it can control the sub-picture pan/tilt to rotate from the starting position for Δt 3 time. The position of the center of the screen rotates.

可见，在本发明实施例提供的技术方案中，还可以实现通过在全景画面中移动子画面线框反向控制子画面云台的转动。It can be seen that, in the technical solution provided by the embodiment of the present invention, it is also possible to reversely control the rotation of the sub-picture pan/tilt by moving the sub-picture wire frame in the panoramic picture.

值得说明的是，在本发明实施例中，全景画面中可以存在一个或多个子画面线框，上述实施例中描述的子画面线框可以为全景画面中的任一子画面线框，子画面云台为用于控制该任一子画面线框转动的子画面云台。It is worth noting that, in this embodiment of the present invention, there may be one or more sub-picture wireframes in the panorama picture, and the sub-picture wireframe described in the above embodiment may be any sub-picture wireframe in the panoramic picture. The pan/tilt is the sub-picture pan/tilt used to control the rotation of the wire frame of any sub-picture.

通过以上描述可以看出，在本发明实施例提供的技术方案中，通过确定子画面云台在水平方向上的第一转动速度和竖直方向上的第二转动速度，并根据子画面云台相对全景画面中心的水平方向上的第一转动时间、第一转动方向以及第一转动速度确定子画面线框在水平方向上的边界位置，根据子画面云台相对全景画面中心的竖直方向上的第二转动时间、第二转动方向以及第二转动速度确定子画面线框在竖直方向上的边界位置，进而，根据子画面线框在水平方向上的边界位置以及在竖直方向上的边界位置确定子画面线框在全景画面中的位置，在不需要前端设备支持线框信息输出的情况下，实现了子画面线框的显示，提高了方案的通用性。It can be seen from the above description that in the technical solution provided by the embodiment of the present invention, the first rotation speed of the sub-picture pan/tilt in the horizontal direction and the second rotational speed in the vertical direction of the sub-picture pan/tilt are determined, and according to the sub-picture pan/tilt The first rotation time, the first rotation direction, and the first rotation speed in the horizontal direction relative to the center of the panorama screen determine the boundary position of the sub-screen wireframe in the horizontal direction, according to the vertical direction of the sub-screen pan/tilt relative to the center of the panorama screen. The second rotation time, the second rotation direction, and the second rotation speed determine the boundary position of the sprite wire frame in the vertical direction. The boundary position determines the position of the sub-picture wireframe in the panorama picture, and the display of the sub-picture wireframe is realized without the need for front-end equipment to support the output of wireframe information, which improves the generality of the solution.

请参见图3，为本发明实施例提供的一种定位全景相机子画面显示区域的装置的结构示意图，其中，该定位全景相机子画面显示区域的装置可以应用于上述方法实施例中的后端设备，如图3所示，该定位全景相机子画面显示区域的装置可以包括：Please refer to FIG. 3 , which is a schematic structural diagram of an apparatus for locating a sub-picture display area of a panoramic camera according to an embodiment of the present invention, wherein the apparatus for locating a sub-picture display area of a panoramic camera can be applied to the back end in the above method embodiments equipment, as shown in Figure 3, the device for locating the sub-picture display area of the panoramic camera may include:

第一确定单元310，用于确定子画面云台在水平方向上的第一转动速度和竖直方向上的第二转动速度；a first determining unit 310, configured to determine the first rotation speed of the sub-picture pan/tilt in the horizontal direction and the second rotation speed in the vertical direction;

第二确定单元320，用于根据所述子画面云台相对全景画面中心的水平方向上的第一转动时间、第一转动方向以及所述第一转动速度确定子画面线框在水平方向上的边界位置，并根据所述子画面云台相对全景画面中心的竖直方向上的第二转动时间、第二转动方向以及所述第二转动速度确定子画面线框在竖直方向上的边界位置；The second determining unit 320 is configured to determine, according to the first rotation time, the first rotation direction and the first rotation speed of the sub-picture pan/tilt in the horizontal direction relative to the center of the panorama picture, the horizontal direction of the sub-picture wire frame The boundary position of the sub-picture frame in the vertical direction is determined according to the second rotation time, the second rotation direction and the second rotation speed of the sub-picture pan/tilt in the vertical direction relative to the center of the panoramic picture ;

第三确定单元330，用于根据所述子画面线框在水平方向上的边界位置以及在竖直方向上的边界位置确定所述子画面线框在全景画面中的位置。The third determining unit 330 is configured to determine the position of the sub-picture wire frame in the panoramic picture according to the boundary position of the sub-picture wire frame in the horizontal direction and the boundary position in the vertical direction.

在可选实施例中，所述第一确定单元310，具体用于：In an optional embodiment, the first determining unit 310 is specifically configured to:

通过以下公式确定所述第一转动速度和第二转动速度：The first rotational speed and the second rotational speed are determined by the following formulas:

v1＝α1/t1 v 1 =α 1 /t 1

v2＝α2/t2 v 2 =α 2 /t 2

α1＝β-λ1 α 1 =β-λ 1

α2＝β-λ2 α 2 =β-λ 2

其中，v1为所述第一转动速度，α1为子画面线框在水平方向的最大转动角度，α2为子画面线框在竖直方向的最大转动角度，t1为子画面线框从全景画面的最右侧移动到最左侧或从全景画面最左侧移动到最右侧所需的时间，t2为子画面线框从全景画面的最上侧移动到最下侧或从全景画面最下侧移动到最上侧所需的时间；β为全景相机的最大视角，λ1为子画面的水平宽度，λ2为子画面的竖直宽度。Wherein, v 1 is the first rotation speed, α 1 is the maximum rotation angle of the sprite wire frame in the horizontal direction, α 2 is the maximum rotation angle of the sprite wire frame in the vertical direction, and t 1 is the sprite wire frame The time required to move from the far right to the far left of the panorama picture or from the far left to the far right of the panorama picture, t 2 is the time required for the sub-picture wireframe to move from the top to the bottom of the panorama picture or from the panorama picture The time required for the bottom of the screen to move to the top; β is the maximum angle of view of the panoramic camera, λ 1 is the horizontal width of the sub-picture, and λ 2 is the vertical width of the sub-picture.

在可选实施例中，所述第二确定单元320，具体用于：In an optional embodiment, the second determining unit 320 is specifically configured to:

通过以下公式确定子画面线框在水平方向上的边界位置相对全景画面中心位置的比例：Determine the ratio of the horizontal border position of the sub-picture wireframe to the center position of the panoramic picture by the following formula:

R11＝sin(v1*△t1+(1/2*λ1))R 11 =sin(v 1 *Δt 1 +(1/2*λ 1 ))

R12＝sin(v1*△t1-(1/2*λ1))R 12 =sin(v 1 *Δt 1 -(1/2*λ 1 ))

其中，R11为所述子画面线框在水平方向上外侧的边界位置相对全景画面中心位置的比例，R12为所述子画面线框在水平方向上内侧的边界位置相对全景画面中心位置的比例；v1为所述第一转动速度，△t1为所述第一转动时间，λ1为子画面的水平宽度；Wherein, R 11 is the ratio of the outer boundary position of the sub-picture wire frame in the horizontal direction to the center position of the panoramic picture, and R 12 is the ratio of the inner boundary position of the sub-picture wire frame in the horizontal direction to the central position of the panoramic picture. ratio; v 1 is the first rotation speed, Δt 1 is the first rotation time, and λ 1 is the horizontal width of the sub-picture;

根据所述子画面线框在水平方向上的边界位置相对全景画面中心位置的比例以及所述第一转动方向确定所述子画面线框在水平方向上的边界位置；Determine the border position of the sub-picture wire frame in the horizontal direction according to the ratio of the border position of the sub-picture wire frame in the horizontal direction to the center position of the panoramic picture and the first rotation direction;

通过以下公式确定子画面线框在竖直方向上的边界位置相对全景画面中心位置的比例：Determine the ratio of the vertical boundary position of the sub-picture wire frame to the center position of the panoramic picture by the following formula:

R21＝sin(v2*△t2+(1/2*λ2))R 21 =sin(v 2 *Δt 2 +(1/2*λ 2 ))

R22＝sin(v2*△t2-(1/2*λ2))R 22 =sin(v 2 *Δt 2 -(1/2*λ 2 ))

其中，R21为所述子画面线框在竖直方向上外侧的边界位置相对全景画面中心位置的比例，R22为所述子画面线框在竖直方向上内侧的边界位置相对全景画面中心位置的比例；v2为所述第二转动速度，△t1为所述第二转动时间，λ2为子画面的竖直宽度；Wherein, R 21 is the ratio of the outer boundary position of the sub-picture wire frame in the vertical direction relative to the center position of the panoramic picture, and R 22 is the vertical inner boundary position of the sub-picture wire frame relative to the center of the panoramic picture. The ratio of the position; v 2 is the second rotation speed, Δt 1 is the second rotation time, and λ 2 is the vertical width of the sub-picture;

根据所述子画面线框在竖直方向上的边界位置相对全景画面中心位置的比例以及所述第二转动方向确定所述子画面线框在竖直方向上的边界位置。The vertical boundary position of the sub-picture wire frame is determined according to the ratio of the vertical boundary position of the sub-picture wire frame to the center position of the panoramic picture and the second rotation direction.

请一并参见图4，为本发明实施例提供的另一种定位全景相机子画面显示区域的装置的结构示意图，如图4所示，在图3所示定位全景相机子画面显示区域的装置的基础上，图4所示定位全景相机子画面显示区域的装置还可以包括：Please also refer to FIG. 4 , which is a schematic structural diagram of another apparatus for locating the sub-picture display area of a panoramic camera provided by an embodiment of the present invention. As shown in FIG. 4 , the apparatus for locating the sub-picture display area of a panoramic camera shown in FIG. 3 On the basis of , the device for locating the sub-picture display area of the panoramic camera shown in FIG. 4 may also include:

第四确定单元340，用于当检测到针对全景画面中的子画面线框的移动操作时，根据移动后的子画面线框在所述全景画面中的位置确定子画面云台需要分别相对全景画面中心在水平方向和竖直方向上的转动时间和转动方向；The fourth determining unit 340 is configured to, when a moving operation for the sub-picture wireframe in the panoramic picture is detected, determine that the sub-picture pan/tilt needs to be relative to the panorama according to the position of the moved sub-picture wireframe in the panoramic picture. The rotation time and rotation direction of the center of the screen in the horizontal and vertical directions;

控制单元350，用于控制所述子画面云台进行相应地转动。The control unit 350 is configured to control the sub-picture pan/tilt to rotate accordingly.

在可选实施例中，所述第四确定单元340，具体用于：In an optional embodiment, the fourth determining unit 340 is specifically configured to:

通过以下公式确定子画面线框需要相对全景画面中心在水平方向上的转动时间△t3：Determine the rotation time Δt 3 of the sub-picture wireframe in the horizontal direction relative to the center of the panorama picture by the following formula:

△t3＝(arcsin(a1+θ1)-(1/2*λ1))/v1，或，Δt 3 =(arcsin(a 1 +θ 1 )-(1/2*λ 1 ))/v 1 , or,

△t3＝(arcsin(a1-θ1)+(1/2*λ1))/v1 Δt 3 =(arcsin(a 1 -θ 1 )+(1/2*λ 1 ))/v 1

其中，a1+θ1为所述子画面线框在水平方向上外侧的边界位置相对全景画面中心位置的比例，a1-θ1为所述子画面线框在水平方向上内侧的边界位置相对全景画面中心位置的比例，v1为所述第一转动速度，λ1为子画面的水平宽度，转动方向为内侧向外侧；Wherein, a 1 +θ 1 is the ratio of the outer boundary position of the sprite wire frame in the horizontal direction to the center position of the panoramic screen, and a 1 -θ 1 is the inner boundary position of the sprite wire frame in the horizontal direction Relative to the ratio of the center position of the panoramic picture, v 1 is the first rotation speed, λ 1 is the horizontal width of the sub-picture, and the rotation direction is from the inside to the outside;

通过以下公式确定子画面线框需要相对全景画面中心在竖直方向上的转动时间△t4：Determine the rotation time Δt 4 of the sub-picture wireframe in the vertical direction relative to the center of the panorama picture by the following formula:

△t4＝(arcsin(a2+θ2)-(1/2*λ2))/v2，或，Δt 4 =(arcsin(a 2 +θ 2 )-(1/2*λ 2 ))/v 2 , or,

△t4＝(arcsin(a2-θ2)+(1/2*λ2))/v2 Δt 4 =(arcsin(a 2 -θ 2 )+(1/2*λ 2 ))/v 2

其中，a2+θ2为所述子画面线框在竖直方向上外侧的边界位置相对全景画面中心位置的比例，a2-θ2为所述子画面线框在竖直方向上内侧的边界位置相对全景画面中心位置的比例，v2为所述第二转动速度，λ2为子画面的竖直宽度，转动方向为内侧向外侧。Wherein, a 2 +θ 2 is the ratio of the outer border position of the sub-picture wire frame in the vertical direction to the center position of the panoramic picture, and a 2 -θ 2 is the inner side of the sub-picture wire frame in the vertical direction. The ratio of the boundary position to the center position of the panoramic picture, v 2 is the second rotation speed, λ 2 is the vertical width of the sub-picture, and the rotation direction is from the inside to the outside.

上述装置中各个单元的功能和作用的实现过程具体详见上述方法中对应步骤的实现过程，在此不再赘述。For details of the implementation process of the functions and functions of each unit in the above device, please refer to the implementation process of the corresponding steps in the above method, which will not be repeated here.

对于装置实施例而言，由于其基本对应于方法实施例，所以相关之处参见方法实施例的部分说明即可。以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本发明方案的目的。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。For the apparatus embodiments, since they basically correspond to the method embodiments, reference may be made to the partial descriptions of the method embodiments for related parts. The device embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed over multiple network elements. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of the present invention. Those of ordinary skill in the art can understand and implement it without creative effort.

由上述实施例可见，通过确定子画面云台在水平方向上的第一转动速度和竖直方向上的第二转动速度，并根据子画面云台相对全景画面中心的水平方向上的第一转动时间、第一转动方向以及第一转动速度确定子画面线框在水平方向上的边界位置，根据子画面云台相对全景画面中心的竖直方向上的第二转动时间、第二转动方向以及第二转动速度确定子画面线框在竖直方向上的边界位置，进而，根据子画面线框在水平方向上的边界位置以及在竖直方向上的边界位置确定子画面线框在全景画面中的位置，在不需要前端设备支持线框信息输出的情况下，实现了子画面线框的显示，提高了方案的通用性。It can be seen from the above embodiment that by determining the first rotation speed of the sub-picture pan/tilt in the horizontal direction and the second rotational speed in the vertical direction, and according to the first rotation of the sub-picture pan/tilt in the horizontal direction relative to the center of the panoramic picture, The time, the first rotation direction and the first rotation speed determine the horizontal boundary position of the sub-picture wire frame, according to the second rotation time, the second rotation direction and the first vertical direction of the sub-picture pan/tilt relative to the center of the panoramic picture. 2. The rotation speed determines the boundary position of the sub-picture wire frame in the vertical direction, and further, according to the boundary position of the sub-picture wire frame in the horizontal direction and the boundary position in the vertical direction, determines the position of the sub-picture wire frame in the panoramic picture. Position, without the need for front-end equipment to support the output of wireframe information, the display of the wireframe of the sub-picture is realized, and the versatility of the scheme is improved.

本领域技术人员在考虑说明书及实践这里公开的发明后，将容易想到本发明的其它实施方案。本申请旨在涵盖本发明的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本发明的一般性原理并包括本发明未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本发明的真正范围和精神由下面的权利要求指出。Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses or adaptations of the invention which follow the general principles of the invention and which include common knowledge or conventional techniques in the art not disclosed by the invention . The specification and examples are to be regarded as exemplary only, with the true scope and spirit of the invention being indicated by the following claims.

应当理解的是，本发明并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本发明的范围仅由所附的权利要求来限制。It should be understood that the present invention is not limited to the precise structures described above and illustrated in the accompanying drawings, and that various modifications and changes may be made without departing from its scope. The scope of the present invention is limited only by the appended claims.

Claims (10)

1. A method for positioning sub-picture display area of a panoramic camera is applied to a back-end device in a video monitoring system, the video monitoring system supports the sub-picture frame to move in the panoramic picture through the rotation control of a sub-picture holder, and the method is characterized by comprising the following steps:
determining a first rotating speed of the sub-picture holder in the horizontal direction and a second rotating speed of the sub-picture holder in the vertical direction;
determining the boundary position of the sub-picture wireframe in the horizontal direction according to the first rotation time, the first rotation direction and the first rotation speed of the sub-picture holder in the horizontal direction relative to the center of the panoramic picture, and determining the boundary position of the sub-picture wireframe in the vertical direction according to the second rotation time, the second rotation direction and the second rotation speed of the sub-picture holder in the vertical direction relative to the center of the panoramic picture;
determining the position of the sub-picture wire frame in the panoramic picture according to the boundary position of the sub-picture wire frame in the horizontal direction and the boundary position of the sub-picture wire frame in the vertical direction;
the determining a boundary position of a sub-picture wireframe in the horizontal direction according to the first rotation time, the first rotation direction and the first rotation speed of the sub-picture holder in the horizontal direction relative to the center of the panoramic picture comprises:
determining the proportion of the boundary position of the sub-picture wireframe in the horizontal direction relative to the center position of the panoramic picture according to the first rotation time and the first rotation speed, and determining the boundary position of the sub-picture wireframe in the horizontal direction according to the proportion of the boundary position of the sub-picture wireframe in the horizontal direction relative to the center position of the panoramic picture and the first rotation direction;
the determining the boundary position of the sub-picture wireframe in the vertical direction according to the second rotation time, the second rotation direction and the second rotation speed of the sub-picture holder in the vertical direction relative to the center of the panoramic picture comprises:
and determining the proportion of the boundary position of the sub-picture wire frame in the vertical direction relative to the center position of the panoramic picture according to the second rotation time and the second rotation speed, and determining the boundary position of the sub-picture wire frame in the vertical direction according to the proportion of the boundary position of the sub-picture wire frame in the vertical direction relative to the center position of the panoramic picture and the second rotation direction.
2. The method of claim 1, wherein determining a first rotational speed of the sprite platform in the horizontal direction and a second rotational speed of the sprite platform in the vertical direction comprises:
determining the first and second rotational speeds by:
v1＝α1/t1
v2＝α2/t2
α1＝β-λ1
α2＝β-λ2
wherein v is1Is said first rotational speed, v2Is said second rotational speed, α1For the maximum angle of rotation, alpha, of the sprite line frame in the horizontal direction2Is the maximum rotation angle, t, of the sub-picture line frame in the vertical direction1Time required for the sub-picture wireframe to move from the rightmost side to the leftmost side of the panorama picture or from the leftmost side to the rightmost side of the panorama picture, t2Time required for the sub-picture wireframe to move from the uppermost side to the lowermost side of the panorama picture or from the lowermost side to the uppermost side of the panorama picture; beta is the maximum viewing angle, lambda, of the panoramic camera1For viewing angle, λ, corresponding to horizontal width of the sprite2The angle of view is corresponding to the vertical width of the sub-picture.
3. The method according to claim 1, wherein determining the boundary position of the sub-picture wireframe in the horizontal direction according to the first rotation time, the first rotation direction and the first rotation speed of the sub-picture pan-tilt head in the horizontal direction with respect to the center of the panorama picture comprises:
the ratio of the boundary position of the sub-picture wireframe in the horizontal direction to the center position of the panorama picture is determined by the following formula:
R11＝sin(v1*△t1+(1/2*λ1))
R12＝sin(v1*△t1-(1/2*λ1))
wherein R is11The ratio of the boundary position of the outer side of the sub-picture wireframe in the horizontal direction to the center position of the panoramic picture, R12The proportion of the boundary position of the inner side of the sub-picture wire frame in the horizontal direction relative to the center position of the panoramic picture is obtained; v. of1At said first rotational speed, △ t1Is a stand forThe first rotation time λ1The viewing angle corresponding to the horizontal width of the sub-picture;
determining the boundary position of the sub-picture wire frame in the horizontal direction according to the proportion of the boundary position of the sub-picture wire frame in the horizontal direction to the center position of the panoramic picture and the first rotating direction;
the determining the boundary position of the sub-picture wireframe in the vertical direction according to the second rotation time, the second rotation direction and the second rotation speed of the sub-picture holder in the vertical direction relative to the center of the panoramic picture comprises:
the proportion of the boundary position of the sub-picture wireframe in the vertical direction to the center position of the panoramic picture is determined by the following formula:
R21＝sin(v2*△t2+(1/2*λ2))
R22＝sin(v2*△t2-(1/2*λ2))
wherein R is21The proportion of the boundary position of the outer side of the sub-picture wire frame in the vertical direction relative to the center position of the panoramic picture, R22The proportion of the boundary position of the inner side of the sub-picture wire frame in the vertical direction relative to the center position of the panoramic picture is obtained; v. of2At said second rotational speed, △ t1For said second rotation time, λ2The viewing angle corresponding to the vertical width of the sub-picture;
and determining the boundary position of the sub-picture wire frame in the vertical direction according to the proportion of the boundary position of the sub-picture wire frame in the vertical direction to the center position of the panoramic picture and the second rotating direction.
4. The method of claim 1, further comprising:
when the moving operation aiming at the sub-picture wire frame in the panoramic picture is detected, the rotating time and the rotating direction of the sub-picture cloud platform relative to the center of the panoramic picture in the horizontal direction and the vertical direction are determined according to the position of the moved sub-picture wire frame in the panoramic picture, and the sub-picture cloud platform is controlled to rotate correspondingly.
5. The method of claim 4, wherein determining the position of the sub-picture wireframe in the panoramic picture according to the moved sub-picture wireframe requires a rotation time and a rotation direction of the sub-picture pan-tilt in a horizontal direction and a vertical direction, respectively, with respect to the center of the panoramic picture comprises:
determining the required horizontal rotation time △ t of the sprite wireframe relative to the panorama center by the following formula3：
△t3＝(arcsin(a1+θ1)-(1/2*λ1))/v1Either, or,
△t3＝(arcsin(a1-θ1)+(1/2*λ1))/v1
wherein, a1+θ1The ratio of the boundary position of the outer side of the sub-picture wireframe in the horizontal direction to the center position of the panoramic picture, a1-θ1The ratio of the boundary position of the sub-picture wireframe at the inner side in the horizontal direction to the center position of the panoramic picture, v1For said first rotational speed, λ1The rotating direction is from the inner side to the outer side;
determining the required vertical rotation time △ t of the sprite wireframe relative to the panorama center by the following formula4：
△t4＝(arcsin(a2+θ2)-(1/2*λ2))/v2Either, or,
△t4＝(arcsin(a2-θ2)+(1/2*λ2))/v2
wherein, a2+θ2The proportion of the boundary position of the outer side of the sub-picture wireframe in the vertical direction to the center position of the panoramic picture, a2-θ2The ratio of the boundary position of the inner side of the sub-picture wireframe in the vertical direction to the center position of the panoramic picture, v2Is said second rotational speed, λ2Is the vertical of a sub-pictureThe rotating direction is from the inner side to the outer side at the view angle corresponding to the width.
6. The utility model provides a device of location panorama camera sprite display area, is applied to the rear end equipment among the video monitor system, the video monitor system supports to rotate the control sprite wireframe through the sprite cloud platform and removes in the panorama picture, its characterized in that, the device includes:
the first determining unit is used for determining a first rotating speed of the sub-picture holder in the horizontal direction and a second rotating speed of the sub-picture holder in the vertical direction;
a second determining unit, configured to determine a boundary position of the sub-picture wireframe in the horizontal direction according to a first rotation time, a first rotation direction, and the first rotation speed of the sub-picture pan-tilt head in the horizontal direction with respect to the center of the panoramic picture, and determine a boundary position of the sub-picture wireframe in the vertical direction according to a second rotation time, a second rotation direction, and the second rotation speed of the sub-picture pan-tilt head in the vertical direction with respect to the center of the panoramic picture;
a third determination unit configured to determine a position of the sub-picture wireframe in the panorama picture based on a boundary position of the sub-picture wireframe in a horizontal direction and a boundary position in a vertical direction;
the determining a boundary position of a sub-picture wireframe in the horizontal direction according to the first rotation time, the first rotation direction and the first rotation speed of the sub-picture holder in the horizontal direction relative to the center of the panoramic picture comprises:
determining the proportion of the boundary position of the sub-picture wireframe in the horizontal direction relative to the center position of the panoramic picture according to the first rotation time and the first rotation speed, and determining the boundary position of the sub-picture wireframe in the horizontal direction according to the proportion of the boundary position of the sub-picture wireframe in the horizontal direction relative to the center position of the panoramic picture and the first rotation direction;
the determining the boundary position of the sub-picture wireframe in the vertical direction according to the second rotation time, the second rotation direction and the second rotation speed of the sub-picture holder in the vertical direction relative to the center of the panoramic picture comprises:
and determining the proportion of the boundary position of the sub-picture wire frame in the vertical direction relative to the center position of the panoramic picture according to the second rotation time and the second rotation speed, and determining the boundary position of the sub-picture wire frame in the vertical direction according to the proportion of the boundary position of the sub-picture wire frame in the vertical direction relative to the center position of the panoramic picture and the second rotation direction.
7. The apparatus according to claim 6, wherein the first determining unit is specifically configured to:
determining the first and second rotational speeds by:
v1＝α1/t1
v2＝α2/t2
α1＝β-λ1
α2＝β-λ2
wherein v is1Is said first rotational speed, v2Is said second rotational speed, α1For the maximum angle of rotation, alpha, of the sprite line frame in the horizontal direction2Is the maximum rotation angle, t, of the sub-picture line frame in the vertical direction1Time required for the sub-picture wireframe to move from the rightmost side to the leftmost side of the panorama picture or from the leftmost side to the rightmost side of the panorama picture, t2Time required for the sub-picture wireframe to move from the uppermost side to the lowermost side of the panorama picture or from the lowermost side to the uppermost side of the panorama picture; beta is the maximum viewing angle, lambda, of the panoramic camera1For viewing angle, λ, corresponding to horizontal width of the sprite2The angle of view is corresponding to the vertical width of the sub-picture.
8. The apparatus according to claim 6, wherein the second determining unit is specifically configured to:
the ratio of the boundary position of the sub-picture wireframe in the horizontal direction to the center position of the panorama picture is determined by the following formula:
R11＝sin(v1*△t1+(1/2*λ1))
R12＝sin(v1*△t1-(1/2*λ1))
wherein R is11The ratio of the boundary position of the outer side of the sub-picture wireframe in the horizontal direction to the center position of the panoramic picture, R12The proportion of the boundary position of the inner side of the sub-picture wire frame in the horizontal direction relative to the center position of the panoramic picture is obtained; v. of1At said first rotational speed, △ t1For said first rotation time, λ1The viewing angle corresponding to the horizontal width of the sub-picture;
determining the boundary position of the sub-picture wire frame in the horizontal direction according to the proportion of the boundary position of the sub-picture wire frame in the horizontal direction to the center position of the panoramic picture and the first rotating direction;
the proportion of the boundary position of the sub-picture wireframe in the vertical direction to the center position of the panoramic picture is determined by the following formula:
R21＝sin(v2*△t2+(1/2*λ2))
R22＝sin(v2*△t2-(1/2*λ2))
wherein R is21The proportion of the boundary position of the outer side of the sub-picture wire frame in the vertical direction relative to the center position of the panoramic picture, R22The proportion of the boundary position of the inner side of the sub-picture wire frame in the vertical direction relative to the center position of the panoramic picture is obtained; v. of2At said second rotational speed, △ t1For said second rotation time, λ2The viewing angle corresponding to the vertical width of the sub-picture;
and determining the boundary position of the sub-picture wire frame in the vertical direction according to the proportion of the boundary position of the sub-picture wire frame in the vertical direction to the center position of the panoramic picture and the second rotating direction.
9. The apparatus of claim 6, further comprising:
a fourth determining unit, configured to determine, when a moving operation for a sub-picture wireframe in the panoramic picture is detected, a rotation time and a rotation direction of the sub-picture pan-tilt head in a horizontal direction and a vertical direction, respectively, with respect to a center of the panoramic picture, according to a position of the moved sub-picture wireframe in the panoramic picture;
and the control unit is used for controlling the sub-picture holder to correspondingly rotate.
10. The apparatus according to claim 9, wherein the fourth determining unit is specifically configured to:
determining the required horizontal rotation time △ t of the sprite wireframe relative to the panorama center by the following formula3：
△t3＝(arcsin(a1+θ1)-(1/2*λ1))/v1Either, or,
△t3＝(arcsin(a1-θ1)+(1/2*λ1))/v1
wherein, a1+θ1The ratio of the boundary position of the outer side of the sub-picture wireframe in the horizontal direction to the center position of the panoramic picture, a1-θ1The ratio of the boundary position of the sub-picture wireframe at the inner side in the horizontal direction to the center position of the panoramic picture, v1For said first rotational speed, λ1The rotating direction is from the inner side to the outer side;
determining the required vertical rotation time △ t of the sprite wireframe relative to the panorama center by the following formula4：
△t4＝(arcsin(a2+θ2)-(1/2*λ2))/v2Either, or,
△t4＝(arcsin(a2-θ2)+(1/2*λ2))/v2
wherein, a2+θ2The boundary position of the sub-picture line frame at the outer side in the vertical direction is relatively fullRatio of center position of scene a2-θ2The ratio of the boundary position of the inner side of the sub-picture wireframe in the vertical direction to the center position of the panoramic picture, v2Is said second rotational speed, λ2The angle of view corresponding to the vertical width of the sprite is the direction of rotation from the inside to the outside.
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