WO2016000572A1 - 一种图像处理方法和摄像机 - Google Patents

一种图像处理方法和摄像机 Download PDF

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Publication number
WO2016000572A1
WO2016000572A1 PCT/CN2015/082535 CN2015082535W WO2016000572A1 WO 2016000572 A1 WO2016000572 A1 WO 2016000572A1 CN 2015082535 W CN2015082535 W CN 2015082535W WO 2016000572 A1 WO2016000572 A1 WO 2016000572A1
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WO
WIPO (PCT)
Prior art keywords
rule
coordinates
image
reference point
calculating
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2015/082535
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English (en)
French (fr)
Inventor
周波
蔡永锦
许锡雷
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Huawei Technologies Co Ltd
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Huawei Technologies Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Huawei Technologies Co Ltd filed Critical Huawei Technologies Co Ltd
Priority to EP15815512.7A priority Critical patent/EP3148180B1/en
Priority to KR1020177001139A priority patent/KR101932670B1/ko
Priority to JP2017519769A priority patent/JP6608920B2/ja
Publication of WO2016000572A1 publication Critical patent/WO2016000572A1/zh
Priority to US15/392,636 priority patent/US10425608B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/44—Receiver circuitry for the reception of television signals according to analogue transmission standards
    • H04N5/445—Receiver circuitry for the reception of television signals according to analogue transmission standards for displaying additional information
    • H04N5/44504—Circuit details of the additional information generator, e.g. details of the character or graphics signal generator, overlay mixing circuits
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/60—Rotation of whole images or parts thereof
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G08B13/19617—Surveillance camera constructional details
    • G08B13/1963—Arrangements allowing camera rotation to change view, e.g. pivoting camera, pan-tilt and zoom [PTZ]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/63—Control of cameras or camera modules by using electronic viewfinders
    • H04N23/633—Control of cameras or camera modules by using electronic viewfinders for displaying additional information relating to control or operation of the camera
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/69—Control of means for changing angle of the field of view, e.g. optical zoom objectives or electronic zooming
    • 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
    • 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

Definitions

  • the present invention relates to the field of video surveillance, and in particular, to an image processing method and a video camera.
  • Intelligent analysis is generally applied to fixed digital cameras, that is, the rules of relevant intelligent analysis are set in fixed digital cameras, and then the intelligent analysis function is normally used.
  • PTZ Pan Tilt Zoom, pan/tilt (up and down, left and right) movement and lens zoom, zoom control
  • Intelligent analysis capabilities but this is obviously a waste of resources. If such a digital camera is not fixed, then when such a camera is rotated or zoomed, the previously set intelligent analysis rule will be invalid and will not work.
  • Embodiments of the present invention provide a method and a camera for image processing, which are capable of maintaining a relative position of an intelligent analysis rule and a corresponding reference object when a camera having a PTZ function is rotated and/or zoomed.
  • an image processing method comprising:
  • the image operation instruction including performing at least one of a rotation operation and a magnification operation
  • the rule is displayed on the image after the operation such that the relative position of the rule to the reference remains unchanged before and after the operation.
  • the displaying the rule on the processed image such that the relative position of the rule and the reference object remains unchanged before and after the operation includes:
  • the rule is displayed on the image after the operation according to the coordinates of the rule after the operation, so that the relative position of the rule and the reference remains unchanged before and after the operation.
  • the calculating, after the operation, the coordinates of the rule include:
  • the operation parameter including at least one of a rotation angle and a variable magnification
  • the image operation instruction is a rotation operation
  • the calculating operation parameters include: calculating a rotation angle
  • calculating, according to the operation parameter, the coordinates of the rule after the operation comprises: calculating coordinates of the rule after the operation according to the calculated rotation angle.
  • the determining, according to the calculated rotation angle, the coordinates of the rule after the operation comprises:
  • the coordinates of the rule after the operation is determined according to the coordinates of the reference point after the operation.
  • the image operation instruction is performing a zoom operation
  • the calculating operation parameters include: calculating a variable multiple;
  • calculating, according to the operation parameter, the coordinates of the rule after the operation comprises: calculating coordinates of the rule after the operation according to the calculated variable multiple.
  • the image operation instruction is performing a rotation operation and a zoom operation
  • the calculating operation parameters include: calculating a rotation angle and a variable multiple;
  • calculating, according to the operation parameter, the coordinates of the rule after the operation comprises: calculating coordinates of the rule after the operation according to the calculated rotation angle and the variable multiple.
  • the determining, according to the calculated rotation angle and the variable multiple, the coordinates of the rule after the operation comprises:
  • the coordinates of the rule after the operation is determined according to the coordinates of the reference point after the operation.
  • the method further includes:
  • the method further includes:
  • the effective condition includes an effective time.
  • a camera comprising:
  • a central processing unit configured to receive an image operation instruction, where the image operation instruction includes at least one of performing a rotation operation and a zoom operation;
  • the central processing unit is further configured to operate an image according to the image operation instruction, wherein a rule of a line or a geometric area is superimposed on the image and has a reference object for the rule;
  • An encoding processor for displaying the rule on an image after operation of the central processor, such that The relative position of the rule to the reference remains unchanged before and after the operation.
  • the central processing unit is further configured to: calculate coordinates of the rule in a pre-established coordinate system after the operation is performed;
  • the encoding processor is specifically configured to display the rule on the image after the operation according to the coordinates of the rule after the operation, so that the relative position of the rule and the reference object remains unchanged before and after the operation.
  • the central processing unit is specifically configured to:
  • an operation parameter including at least one of a rotation angle and a variable magnification
  • the camera further includes an electromechanical board.
  • the electromechanical board is configured to: calculate a rotation angle, and notify the central processing unit of the calculated rotation angle;
  • the central processor is specifically configured to: calculate coordinates of the rule in a pre-established coordinate system after the operation according to the rotation angle notified by the electromechanical board.
  • the central processing unit is specifically configured to:
  • the coordinates of the rule after the operation is determined according to the coordinates of the reference point after the operation.
  • the encoding processor is further configured to:
  • the central processor is specifically configured to: calculate coordinates of the rule after the operation according to the variable multiple calculated by the encoding processor.
  • the camera further includes an electromechanical board
  • the electromechanical board is configured to: calculate a rotation angle when the image operation instruction is a rotation operation plus a zoom operation;
  • the encoding processor is further configured to: calculate a variable multiple when the image operation instruction is a rotation operation plus a zoom operation;
  • the central processor is specifically configured to calculate coordinates of the rule after the operation according to the rotation angle calculated by the electromechanical board and the variable multiple calculated by the encoding processor.
  • the central processing unit is specifically configured to:
  • the coordinates of the rule after the operation is determined according to the coordinates of the reference point after the operation.
  • the central processing unit is further configured to:
  • the image processing method and the camera when receiving an image operation instruction to perform corresponding operations on the image, adjust the rules on the image to make the rule displayed on the image after operation relative to the reference.
  • the position of the object remains unchanged before and after the operation
  • FIG. 1 is a flowchart of an image processing method according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of an effect of applying an image processing method according to an embodiment of the present invention.
  • Figure 3 is a schematic diagram of the effect when the effective condition is set
  • FIG. 4 is a control logic flow chart of an image processing method according to an embodiment of the present invention.
  • Figure 5 is an optical imaging diagram
  • FIG. 6 is a structural block diagram of a camera according to an embodiment of the present invention.
  • 6B is a structural block diagram of another camera according to an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of a hardware logical architecture of a camera according to an embodiment of the present invention.
  • FIG. 1 is a flowchart of an image processing method according to an embodiment of the present invention.
  • an embodiment of the present invention provides an image processing method, which is described based on a camera, and the method includes:
  • Step 11 Receive an image operation instruction, where the image operation instruction includes performing at least one of a rotation operation and a zoom operation.
  • the image manipulation instructions are for instructing operation of an image in a camera lens.
  • the image operation instruction may be a rotation operation instruction for performing a rotation operation on the image and a magnification operation instruction for performing a magnification operation on the image.
  • the rotating operation of the image refers to rotating the camera lens to drive the image to rotate.
  • the image operation instruction may be issued by the user according to actual needs.
  • Step 12 The image is operated according to the image operation instruction, wherein a rule of a line or a geometric area is superimposed on the image and has a reference object for the rule.
  • the camera When the user instructs the camera to perform the turning operation, the camera performs a corresponding turning operation on the image after receiving the rotating operation command.
  • the rotation operation may be, for example, a leftward rotation, a rightward rotation, a downward rotation, or an upward rotation.
  • the leftward rotation when the user instructs the camera to rotate to the left, the camera controls the lens to rotate to the left accordingly, and the image displayed in the lens also changes accordingly.
  • the image displayed in the camera lens also changes, that is, the image undergoes corresponding zoom adjustment.
  • an intelligent analysis rule (hereinafter referred to as "rules") is superimposed on an image displayed in a camera lens, and the intelligent analysis rule may be a line rule or a geometric area rule.
  • the "reference object” in the embodiment of the present invention is relative to the rule, and refers to a person or object on the image captured by the camera lens, that is, a person who follows a certain image on the captured image. Or as a reference.
  • the reference object is associated with an intelligent analysis rule superimposed on the image for the reference object. At the same time, different intelligent analysis rules can be set separately for different reference objects on the image.
  • Step 13 Display the rule on the image after the operation such that the relative position of the rule and the reference object remains unchanged before and after the operation.
  • the reference object and the rule related to the reference object still exist in the image after the operation after the operation, the reference object and the object are displayed in the image after the operation.
  • the reference-related rules are such that the relative position of the rule to the reference remains unchanged before and after the operation.
  • FIG. 2 is a schematic diagram of the effect of the image processing method provided by the embodiment of the present invention.
  • the rule is taken as an example.
  • the reference objects in FIG. 2 are 101 and 102, and the line rule for the reference objects 101 and 102 is 103.
  • the relative position of the line rule 103 with respect to the reference objects 101 and 102 can be kept unchanged.
  • Fig. 2-(1) shows an original image including a line rule before the start of the turning operation
  • the pre-rotation line rule 103 is disposed between the reference objects 101 and 102.
  • Fig. 2-(2) shows an image after the original image is rotated to the left by a certain angle (assuming 30 degrees) without using the technical solution of the present invention.
  • the line rule 103 is not located between the reference objects 101 and 102, i.e., the relative positions of the line rule 103 and the reference objects 101 and 102 have changed.
  • Fig. 2-(2) shows an original image including a line rule before the start of the turning operation
  • the pre-rotation line rule 103 is disposed between the reference objects 101 and 102.
  • Fig. 2-(2) shows an image after the original image is rotated to the left by a certain angle (assuming 30 degrees) without using the technical solution of the present invention.
  • the line rule 103 is not located between the reference objects 101 and 102, i.e., the relative positions of the line rule 103 and the reference objects 101
  • FIG. 2-(3) shows an image after the original image is rotated to the left by a certain angle (assuming 30 degrees) by the technical solution of the present invention.
  • the line rule 103 is still located between the reference objects 101 and 102, that is, the relative position of the line rule 103 and the reference objects 101 and 102 is maintained before and after the operation. constant.
  • the rule corresponding to the reference object may be adjusted first.
  • the adjusting may be, for example, clearing a rule corresponding to the reference object before the operation, and calculating a rule of the reference object after the operation, and displaying the calculated rule of the reference object on the operated image, so that the calculated The relative position of the rule of the reference object and the reference object remains unchanged before and after the operation; or The rule corresponding to the reference object before the operation is not cleared, but the rule corresponding to the reference object before the operation is moved to an appropriate position on the image after the operation, so that the relative position of the reference object before and after the operation is before and after the operation. constant.
  • the image processing method provided by the embodiment of the invention maintains the rules on the image by adjusting the rules on the image when the image operation instruction receives the corresponding operation on the image, so that the position of the rule displayed on the image after the operation remains unchanged before and after the operation. .
  • the step of displaying the rule on the processed image in step 13 such that the relative position of the rule and the reference object remains unchanged before and after the operation may include:
  • the rule is displayed on the image after the operation according to the coordinates of the rule after the operation, so that the relative position of the rule and the reference remains unchanged before and after the operation.
  • the coordinate system may be a two-dimensional coordinate system, and the two dimensions may be a horizontal direction and a vertical direction, respectively.
  • the sensor center ie, the center of the screen
  • the origin in the two-dimensional coordinate system may be used as the origin in the two-dimensional coordinate system.
  • only some representative points on the rule may be selected instead of the rule.
  • the coordinates of the two end points of the line may be selected instead of selecting all points on the entire line. coordinate of.
  • geometric region rules such as rectangular rules
  • only the coordinates of the four endpoints of the rectangle can be selected
  • for example, for a triangle rule only the coordinates of the three endpoints of the triangle can be selected.
  • Other geometric region rule coordinate points are selected in a manner similar to that described above, and are not described herein again.
  • the rules before and after the operation and the coordinates of each point on the image can be uniquely determined, so that the rule can be displayed on the image after the operation, so that the relative position of the rule and its related reference object is operated. Stays the same before and after.
  • the calculating the coordinates of the rule after the operation may include:
  • the operation parameter including at least one of a rotation angle and a variable magnification
  • the image operation instructions are different, and the corresponding operation parameters are also different, that is, the operation parameters are correspondingly changed according to the image operation instructions.
  • the image operation instruction may include the following three types: a rotation operation instruction, a zoom operation instruction, and a rotation operation plus a magnification operation instruction. The following three cases are described separately.
  • the image operation instruction is a rotation operation.
  • the calculating the operation parameter includes: calculating a rotation angle
  • calculating, according to the operation parameter, the coordinates of the rule after the operation comprises: calculating coordinates of the rule after the operation according to the calculated rotation angle.
  • the image operation instruction is to perform a zoom operation.
  • the calculating operation parameters include: calculating a variable multiple;
  • calculating, according to the operation parameter, the coordinates of the rule after the operation comprises: calculating coordinates of the rule after the operation according to the calculated variable multiple.
  • the image operation instruction is a rotation operation and a zoom operation.
  • the calculating operation parameters include: calculating a rotation angle and a variable multiple;
  • calculating, according to the operation parameter, the coordinates of the rule after the operation comprises: calculating coordinates of the rule after the operation according to the calculated rotation angle and the variable multiple.
  • the specific operation parameters are calculated by the above manner, and then the coordinates of the rule in the coordinate system can be calculated according to the specific operation parameters, and finally the relative position of the rule and the reference object is kept unchanged before and after the operation.
  • an effective condition may be set for the image displayed after the operation after each operation, and the image is displayed again when the effective condition is reached.
  • the image after the operation may be referred to as a first image
  • the image after the operation of the first image may be referred to as a second image
  • the operation of the second image The image is called the third image, and so on.
  • the method for image processing provided by the embodiment of the present invention may include, in addition to steps 11 to 13, a method:
  • an effective condition may also be set, and when the effective condition is satisfied, the second image or the third image may be redisplayed.
  • an image corresponding to the subsequent operation is displayed. Specifically, if an effective condition is set for the first image, when the first image does not reach the effective condition, and the first image is operated according to the image operation instruction, the image corresponding to the current operation is directly displayed. When the operation is subsequently performed according to the image operation instruction, once the effective condition of the first image is satisfied, the first image is directly returned.
  • FIG. 3-(1) shows the original image and the rule of the line superimposed on the image, and the effective condition 1 for the image to be displayed again is set in FIG. 3-(1).
  • Fig. 3-(2) shows the image after the rotation of the image of Fig. 3-(1), and the effective condition 2 for the image to be displayed again is also set in Fig. 3-(2).
  • Figure 3-(3) shows that when the effective condition 1 set in Figure 3-(1) is satisfied, the image of Figure 3-(1) is displayed again, and the relative position of the rule superimposed on the image and the reference object is not maintained. Change (ie, Figure 3-(3) is identical to Figure 3-(1)).
  • Figure 3-(4) shows that when the effective condition 2 set in Figure 3-(2) is satisfied, the image of Figure 3-(2) is displayed again, and the relative position of the rule superimposed on the image and the reference object is not maintained. Change (ie, Figure 3-(4) is the same as Figure 3-(2)).
  • the effective conditions include, but are not limited to, an effective time.
  • the effective time may be a duration from the current time, a display current image exceeding a preset duration, and the like.
  • an effective time may be set for each image after operation (for example, FIG. 3-(1), FIG. 3-(2)), and each image is correspondingly displayed when the effective time is satisfied, and the image is superimposed on the image.
  • the relative position of the upper rule and the reference object remains unchanged (Fig. 3-(3), Fig. 3-(4)). In this way, different rules can be used under different conditions.
  • Embodiments of the present invention provide a method for image processing based on a camera having a PTZ function.
  • the camera may include a lens, a sensor, an encoding processor, a central processing unit, an electromechanical board, and a control motor.
  • the control motor includes at least one of left, right, up, and down control motors.
  • the electromechanical board controls (or is directly controlled by the central processing unit) to control the motor, the relevant coordinates are recorded and calculated by the electromechanical board (or the central processing unit), and are fed back to the processor in time; and the encoding processor can obtain the variable magnification of the control lens. , can be timely feedback to the central processor.
  • the encoding processor shown in the flowchart of the embodiment includes a lens, a sensor, and an encoding processor, that is, the zoom can be uniformly processed.
  • Embodiments of the present invention provide a flowchart of a method for image processing. Referring to Figure 4, the method includes:
  • Step 21 The user sets a line or a geometric rule to a central processing unit (CPU) through a client of the management server or a client of the digital camera.
  • CPU central processing unit
  • Step 22 The CPU stores the corresponding rule on the memory and sets it into the encoding processor.
  • Step 23 The encoding processor superimposes the rule on the image and returns a setting success message to the processor.
  • the rule superimposed on the image is relative to the reference object.
  • the image has a reference associated with the rule.
  • Step 24 The user issues an image operation instruction for rotating and adding an image by using a client of the management server or a client of the digital camera.
  • an image operation instruction that rotates and multiplies is taken as an example for description.
  • it may also be only a rotating operation or just a zooming operation.
  • the coordinate system may be established in advance, that is, the sensor center is used as the origin in the two-dimensional coordinate system to establish two-dimensional coordinates, and the variable magnification and the initial angle of the camera are simultaneously recorded and determined.
  • the initial angle and the variable are notified to the CPU storage process by the electromechanical board and the encoding processor, respectively.
  • Step 25 After receiving the corresponding command, the processor separately notifies the electromechanical board and the encoding processor.
  • Step 26 The electromechanical board controls the motor to rotate at a certain scale, and calculates a new coordinate of the rule on the image while controlling the motor to rotate at a certain scale, and feeds back to the processor in real time.
  • the coordinates of the rules are relative to the pre-established two-dimensional coordinates.
  • the manner in which the coordinate system is established includes, but is not limited to, the spherical center point in the spherical shape formed by the rotation of the camera as the origin in the two-dimensional coordinate system.
  • Step 27 The encoding processor performs a zooming process, and simultaneously calculates a variable multiple, and feeds back to the processor in real time.
  • Step 28 After acquiring the coordinates and the variable of the rule, the processor calculates the final coordinate of the rule after the operation is performed according to the coordinate and the variable, and notifies the setting to the encoding processor.
  • Step 29 The encoding processor displays the rule on the processed image such that the relative position of the rule and the reference object remains unchanged before and after the operation.
  • the coordinates of the dome camera are the concept of relative coordinates, and specifically, the spherical center point in the shape of the ball formed by the rotation of the camera is taken as the origin, and the ball machine is used.
  • the coordinates of the reference point refer to the two-dimensional coordinates established with the center of the screen as the origin.
  • the detailed algorithm for keeping the rule (including lines, regions) and the relative position of the reference object for the rule can be considered in two parts, that is, the case of the turning operation and the case of the zooming operation.
  • some specific reference points on the rule may be selected instead of the entire rule, and the coordinates of the rule may be determined by determining the coordinates of the reference point.
  • the algorithm in the case of the rotational operation includes a detailed algorithm for moving the reference point to the center of the screen (sensor center) and a detailed algorithm for the coordinates after the reference point is moved after rotating the dome.
  • the movement can be divided into vertical and horizontal parts. We can process the vertical part first.
  • the horizontal part processing method is similar to the vertical part processing method. When the angle that needs to be rotated is obtained, the movement is notified to the corresponding angle.
  • h k1*W, where W represents the physical width of the sensor (sensor_width), and k1 represents the ratio of the distance of the reference point from the center of the screen in the horizontal direction to the width of the picture.
  • H is the physical height of the sensor
  • k2 is the ratio of the distance of the reference point from the center of the screen in the vertical direction to the height of the picture.
  • the detailed algorithm for the position after the reference point is moved after rotating the ball machine includes: calculating the coordinates of the ball machine when the reference point is rotated to the center of the sensor; and calculating the reference point according to the coordinates of the ball machine when the reference point is rotated to the center of the sensor The coordinates on the sensor after rotation.
  • p1 in the above is a horizontal angle coordinate
  • q1 is a vertical angle coordinate
  • a focal length corresponding to the coordinate (p1, q1) is f1
  • a focal length corresponding to (p2, q2) is f2.
  • the reference point (x1, y1) can be first considered to be transferred to the sensor center.
  • the coordinate of the sensor center is (x0, y0), and when the reference point is turned to the sensor center, When the horizontal angle of the dome is (p0, q0), the detailed algorithm from the above reference point to the center of the sensor can be:
  • the (x1-x0)/ picture horizontal total pixel is the above mentioned k1.
  • the focal length f1 corresponding to the coordinates (p1, q1) can be determined according to the magnification, the coordinates (p0, q0) of the dome can be calculated.
  • the focal length f2 corresponding to the coordinates (p2, q2) can be determined according to the variable magnification.
  • (x2, y2) can be calculated, that is, the coordinate position of the reference point on the sensor after being rotated.
  • the coordinates of the reference point after the operation can be directly determined by the above algorithm.
  • the image manipulation instruction is only a zoom operation, it is only necessary to multiply the corresponding multiple difference when calculating the area or the vertex of the line.
  • the rule is a square area: the calculated (x2, y2) is (50, 50), the original multiple is 1 time, the long width is 10, and the original four vertex coordinates are (45, 45), ( 45, 55), (55, 45), (55, 55), now the multiple is 2 times, then the coordinates of the four vertices are now (40, 40), (40, 60), (60, 40) , (60, 60). That is, the length and width are twice the original.
  • the coordinates of the reference point after the operation can be determined, and then the coordinates of the rule are determined and displayed on the image after the operation, so that the relative position of the rule and the reference object is maintained before and after the operation. constant.
  • FIG. 6A is a structural block diagram of a camera according to an embodiment of the present invention.
  • the camera includes a central processing unit 61 and an encoding processor 62. among them:
  • the central processing unit 61 is configured to receive an image operation instruction, where the image operation instruction includes at least one of performing a rotation operation and a zoom operation;
  • the central processing unit 61 is further configured to operate an image according to the image operation instruction, wherein a rule of a line or a geometric area is superimposed on the image and has a reference object for the rule;
  • the encoding processor 62 is configured to display the rule on the image after the operation of the central processor 61 such that the relative position of the rule and the reference object remains unchanged before and after the operation.
  • the central processing unit 61 is further configured to: calculate coordinates of the rule in a pre-established coordinate system after the operation;
  • the encoding processor 62 is specifically configured to display the rule on the processed image according to the coordinates of the rule after the operation, so that the relative position of the rule and the reference object remains unchanged before and after the operation. .
  • the central processing unit 61 may be specifically configured to:
  • an operation parameter including at least one of a rotation angle and a variable magnification
  • the camera further includes an electromechanical board 63.
  • the electromechanical board 63 is configured to: calculate a rotation angle, and notify the central processing unit of the calculated rotation angle;
  • the central processing unit 61 is specifically configured to calculate coordinates of the rule in a pre-established coordinate system after the operation according to the rotation angle notified by the electromechanical board 63.
  • the central processing unit 61 may be specifically configured to:
  • the coordinates of the rule after the operation is determined according to the coordinates of the reference point after the operation.
  • the encoding processor 62 is further configured to:
  • the central processing unit 61 may be specifically configured to: calculate coordinates of the rule after the operation according to the variable multiple calculated by the encoding processor 62.
  • the camera further includes an electromechanical board 63.
  • the electromechanical board 63 is configured to: calculate a rotation angle
  • the encoding processor 62 is further configured to: calculate a variable multiple when the image operation instruction is a rotation operation plus a zoom operation;
  • the central processing unit 61 is specifically configured to calculate coordinates of the rule after the operation according to the rotation angle calculated by the electromechanical board 63 and the variable multiple calculated by the encoding processor 62.
  • the central processing unit 61 may be specifically configured to:
  • the coordinates of the rule after the operation is determined according to the coordinates of the reference point after the operation.
  • the central processing unit 61 is further configured to:
  • FIG. 6A and FIG. 6B only some key components of the present invention, which are mainly related to the present invention, are shown.
  • the display is for better highlighting the focus of the present invention, and does not represent that only the camera has a map. Those components shown in .
  • the camera 70 may include a central processing unit 71, an encoding processor 72, an electromechanical board 73, and a motor 74.
  • the central processing unit 71 receives the image operation instructions and notifies the encoding processor 72 and/or the electromechanical board 73 to perform corresponding operations in accordance with the image operation instructions. For example, when the image operation command is to perform the rotation plus magnification operation, the central processing unit 71 notifies the electromechanical board 73 of the rotation instruction, and notifies the coding processor 72 of the variable magnification instruction.
  • the electromechanical board 73 controls the motor 74 to rotate; the motor 74 may include at least one of the left, right, upper, and lower control motors for controlling the rotation of the camera lens to achieve the lens image. Transfer.
  • the encoding processor 72 controls the lens to perform a magnification process.
  • the electromechanical board 73 controls (or is directly controlled by the central processing unit 71) to control the motor 74, and the relevant coordinates are recorded and calculated by the electromechanical board 73 (or the central processing unit 71), and are fed back to the central processing in time.
  • the encoding processor 72 can acquire the variable of the control lens and can feed back to the central processing unit 71 in time.
  • the central processor 71 is configured to calculate the coordinates of the post-operation rule according to the coordinates fed back by the electromechanical board 73 and the variable multiple fed back by the encoding processor 72, and notify the encoding processor 72 to display the rule after the operation on the lens.
  • the camera in the embodiment of the present invention may further include other components, such as a lens and a sensor. Since these other components play their normal role, they will not be described here.
  • a person skilled in the art may understand that all or part of the steps of implementing the above embodiments may be completed by hardware, or may be instructed by a program to execute related hardware, and the program may be stored in a computer readable storage medium.
  • the storage medium mentioned may be a read only memory, a magnetic disk or an optical disk or the like.

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Abstract

一种图像处理方法，涉及视频监控领域，能够在具有PTZ功能的摄像机被转动和/或发生变倍时保持智能分析规则与相应的参照物的相对位置不变。所述方法包括：接收图像操作指令，所述图像操作指令包括进行转动操作和变倍操作中的至少一者；根据所述图像操作指令，对图像进行操作，其中，所述图像上叠加有为线条或几何区域的规则且具有参照物；在操作后的图像上显示所述规则，使得所述规则与所述参照物的相对位置在操作前后保持不变。

Description

一种图像处理方法和摄像机
本申请要求于2014年6月30日提交中国专利局、申请号为201410305120.2、发明名称为“一种图像处理方法和摄像机”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及视频监控领域，特别涉及一种图像处理方法和摄像机。
背景技术
在视频监控领域中，由于人工监控带来的不便和智能分析算法越来越成熟，智能分析已经越来越广泛地得到应用。
智能分析一般应用于固定的数字摄像机，也即在固定数字摄像机中设置好相关智能分析的规则，然后正常使用智能分析功能。在具有PTZ(Pan Tilt Zoom，云台全方位(上下、左右)移动及镜头变倍、变焦控制)功能的数字摄像机上使用智能分析时，需要将此类数字摄像机固定住，以保证能够正常使用智能分析功能，但这明显是一种资源浪费。而如果不固定此类数字摄像机，那么在此类摄像机被转动或发生变倍时，之前所设置的智能分析规则就会失效，无法发挥作用。
发明内容
本发明实施例提供了一种图像处理的方法和摄像机，能够在具有PTZ功能的摄像机被转动和/或发生变倍时保持智能分析规则与相应的参照物的相对位置不变。
第一方面，提供一种图像处理方法，所述方法包括：
接收图像操作指令，所述图像操作指令包括进行转动操作和变倍操作中的至少一者；
根据所述图像操作指令，对图像进行操作，其中，所述图像上叠加有为线条或几何区域的规则且具有针对所述规则的参照物；
在操作后的图像上显示所述规则，使得所述规则与所述参照物的相对位置在操作前后保持不变。
结合第一方面，在第一方面的第一种实现方式中，所述在操作后的图像上显示所述规则，使得所述规则与所述参照物的相对位置在操作前后保持不变包括：
建立坐标系，计算在经过操作后所述规则在所述坐标系中的坐标；
根据在经过操作后所述规则的坐标，在操作后的图像上显示所述规则，使得所述规则与所述参照物的相对位置在操作前后保持不变。
结合第一方面的第一种实现方式，在第一方面的第二种实现方式中，所述计算在经过操作后所述规则的坐标包括：
计算操作参数，所述操作参数包括转动角度和变倍数中的至少一个；
根据所述操作参数，计算经过操作后所述规则的坐标。
结合第一方面的第二种实现方式，在第一方面的第三种实现方式中，所述图像操作指令为进行转动操作，
所述计算操作参数包括：计算转动角度；
所述根据所述操作参数，计算经过操作后所述规则的坐标包括：根据计算的所述转动角度，计算经过操作后所述规则的坐标。
结合第一方面的第三种实现方式，在第一方面的第四种实现方式中，所述根据计算的所述转动角度，计算经过操作后所述规则的坐标包括:
在所述规则中选取参考点，并确定所述参考点在操作前的坐标；
根据计算的所述转动角度以及所述参考点在操作前的坐标，计算所述参考点转到画面中心时，球机在当前画面下的坐标；
根据所述参考点转到画面中心时所述球机在当前画面下的坐标，计算经过操作后所述参考点的坐标；
根据经过操作后所述参考点的坐标，确定经过操作后所述规则的坐标。
结合第一方面的第二种实现方式，在第一方面的第五种实现方式中，所述图像操作指令为进行变倍操作，
所述计算操作参数包括：计算变倍数；
所述根据所述操作参数，计算经过操作后所述规则的坐标包括：根据计算的所述变倍数，计算经过操作后所述规则的坐标。
结合第一方面的第二种实现方式，在第一方面的第六种实现方式中，所述图像操作指令为进行转动操作和变倍操作，
所述计算操作参数包括：计算转动角度和变倍数；
所述根据所述操作参数，计算经过操作后所述规则的坐标包括：根据计算的所述转动角度和所述变倍数，计算经过操作后所述规则的坐标。
结合第一方面的第六种实现方式，在第一方面的第七种实现方式中，所述根据计算的所述转动角度和所述变倍数，计算经过操作后所述规则的坐标包括：
在所述规则中选取参考点，并确定所述参考点在操作前的坐标；
根据计算的所述转动角度和所述变倍数以及所述参考点在操作前的坐标，计算所述参考点转到画面中心时，球机在当前画面下的坐标；
根据所述参考点转到画面中心时所述球机在当前画面下的坐标，计算经过操作后所述参考点的坐标；
根据经过操作后所述参考点的坐标，确定经过操作后所述规则的坐标。
结合第一方面，在第一方面的第八种实现方式中，所述操作后的图像为第一图像，所述方法还包括：
为所述第一图像设置生效条件；
在达到所述生效条件时，重新显示所述第一图像。
结合第一方面的第八种实现方式，在第一方面的第九种实现方式中，所述方法还包括：
在未达到所述生效条件，且后续又对图像进行操作时，显示与后续操作对应的图像。
结合第一方面的第八种或第九种实现方式，在第一方面的第十种实现方式中，所述生效条件包括生效时间。
第二方面，提供一种摄像机，所述摄像机包括：
中央处理器，用于接收图像操作指令，所述图像操作指令包括进行转动操作和变倍操作中的至少一者；
所述中央处理器，还用于根据所述图像操作指令，对图像进行操作，其中，所述图像上叠加有为线条或几何区域的规则且具有针对所述规则的参照物；
编码处理器，用于在所述中央处理器操作后的图像上显示所述规则，使得 所述规则与所述参照物的相对位置在操作前后保持不变。
结合第二方面，在第二方面的第一种可能实现方式中，所述中央处理器还用于：计算在经过操作后所述规则在预先建立的坐标系中的坐标；
所述编码处理器具体用于：根据在经过操作后所述规则的坐标，在操作后的图像上显示所述规则，使得所述规则与所述参照物的相对位置在操作前后保持不变。
结合第二方面的第一种可能实现方式，在第二方面的第二种可能实现方式中，所述中央处理器具体用于：
获取操作参数，所述操作参数包括转动角度和变倍数中的至少一个；
根据所述操作参数，计算经过操作后所述规则在预先建立的坐标系中的坐标。
结合第二方面的第二种可能实现方式，在第二方面的第三种可能实现方式中，所述摄像机还包括机电板，
在所述图像操作指令为进行转动操作时，所述机电板用于：计算转动角度，并将计算的所述转动角度通知给所述中央处理器；
所述中央处理器具体用于：根据所述机电板通知的所述转动角度，计算经过操作后所述规则在预先建立的坐标系中的坐标。
结合第二方面的第三种可能实现方式，在第二方面的第四种可能实现方式中，所述中央处理器具体用于:
确定在所述规则中预先选取的参考点在操作前的坐标；
根据计算的所述转动角度以及所述参考点在操作前的坐标，计算所述参考点转到画面中心时，球机在当前画面下的坐标；
根据所述参考点转到画面中心时所述球机在当前画面下的坐标，计算经过操作后所述参考点的坐标；
根据经过操作后所述参考点的坐标，确定经过操作后所述规则的坐标。
结合第二方面的第二种可能实现方式，在第二方面的第五种可能实现方式中，所述编码处理器还用于：
计算变倍数；
所述中央处理器具体用于：根据所述编码处理器计算的所述变倍数，计算经过操作后所述规则的坐标。
结合第二方面的第二种可能实现方式，在第二方面的第六种可能实现方式中，所述摄像机还包括机电板，
在所述图像操作指令为进行转动操作加变倍操作时，所述机电板用于：计算转动角度；
在所述图像操作指令为进行转动操作加变倍操作时，所述编码处理器还用于：计算变倍数；
所述中央处理器具体用于：根据所述机电板计算的所述转动角度和所述编码处理器计算的所述变倍数，计算经过操作后所述规则的坐标。
结合第二方面的第六种可能实现方式，在第二方面的第七种可能实现方式中，所述中央处理器具体用于：
在所述规则中选取参考点，并确定所述参考点在操作前的坐标；
根据计算的所述转动角度和所述变倍数以及所述参考点在操作前的坐标，计算所述参考点转到画面中心时，球机在当前画面下的坐标；
根据所述参考点转到画面中心时所述球机在当前画面下的坐标，计算经过操作后所述参考点的坐标；
根据经过操作后所述参考点的坐标，确定经过操作后所述规则的坐标。
结合第二方面，在第二方面的第八种可能实现方式中，所述中央处理器还用于：
为操作后的图像设置生效条件；
在达到所述生效条件时，重新显示所述第一图像。
采用上述技术方案后，本发明实施例提供的图像处理的方法和摄像机，在接收到图像操作指令对图像进行相应操作时，通过调整图像上的规则，使操作后图像上显示的规则相对于参照物的位置在操作前后保持不变
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例提供的图像处理方法的流程图；
图2是应用本发明实施例提供的图像处理方法的效果示意图；
图3是在设置生效条件时的效果示意图；
图4是本发明实施例提供的图像处理方法的控制逻辑流程图；
图5是一种光学成像图；
图6A是本发明实施例提供的一种摄像机的结构框图；
图6B是本发明实施例提供的另一种摄像机的结构框图；
图7是本发明实施例提供的摄像机的硬件逻辑架构示意图。
具体实施方式
为使本发明的目的、技术方案和优点更加清楚，下面将结合附图对本发明实施方式作进一步地详细描述。
图1是本发明实施例提供的图像处理方法的流程图。参照图1，本发明实施例提供一种图像处理方法，基于摄像机而描述，所述方法包括：
步骤11、接收图像操作指令，所述图像操作指令包括进行转动操作和变倍操作中的至少一者。
所述图像操作指令用于指示对摄像机镜头中的图像进行操作。所述图像操作指令可以为，用于对图像进行转动操作的转动操作指令和用于对图像进行变倍操作的变倍操作指令。在本发明实施例中，对图像进行转动操作是指，对摄像机镜头进行转动，从而带动对图像进行转动。
其中，所述图像操作指令可以由用户根据实际需求而发出。
步骤12、根据所述图像操作指令，对图像进行操作，其中，所述图像上叠加有为线条或几何区域的规则且具有针对所述规则的参照物。
当用户指令摄像机进行转动操作时，摄像机在接收到所述转动操作指令后，对图像进行相应转动操作。其中，所述转动操作例如可以为向左转动、向右转动、向下转动或向上转动。以向左转动为例，当用户指令摄像机向左转动时，所述摄像机便相应地控制镜头向左转动，此时，镜头中显示的图像也相应发生变化。
类似地，当用户指令摄像机进行变倍时，摄像机镜头中显示的图像也要发生变化，即图像进行相应的变倍调整。
在本发明实施例中，摄像机镜头中显示的图像上叠加有智能分析规则(后文中简称“规则”)，所述智能分析规则可以为线条规则或几何区域规则。
本发明实施例中的“参照物”是相对于规则而言的，其是指摄像机镜头所拍摄的图像上受到关注的人或物，也即，选取所拍摄到的图像上某一关注的人或物作为参照物。所述参照物与叠加在图像上、针对该参照物的智能分析规则相关。同时，针对图像上各个不同的参照物可以分别设置不同的智能分析规则。
步骤13、在操作后的图像上显示所述规则，使得所述规则与所述参照物的相对位置在操作前后保持不变。
具体地，本步骤中，若在经过操作后，所述参照物以及与所述参照物相关的规则仍存在于操作后的图像中，则在操作后的图像中显示所述参照物以及与所述参照物相关的规则，使得所述规则与所述参照物的相对位置在操作前后保持不变。
图2是本发明实施例提供的图像处理的方法的效果示意图。图2中以规则为线条为例进行说明，请参照图2，图2中的参照物为101、102，针对参照物101和102的线条规则为103。在本发明实施例中，在对图像进行转动或变倍操作后，可以保证线条规则103相对于参照物101和102的相对位置保持不变。
具体地，图2-(1)显示转动操作开始前包含线条规则的原始图像，参照图2-(1)，转动前线条规则103设置在参照物101和102之间。图2-(2)显示若不采用本发明的技术方案原始图像在向左转动一定角度(假设30度)后的图像。由图2-(2)可知，在对原始图像进行转动后，线条规则103并不位于参照物101和102之间，即，线条规则103与参照物101和102的相对位置已经发生了变化。图2-(3)显示采用本发明的技术方案后原始图像在向左转动一定角度(假设30度)后的图像。由图2-(3)可知，在对原始图像进行转动后，线条规则103仍位于参照物101和102之间，即，保证了线条规则103与参照物101和102的相对位置在操作前后保持不变。
在本发明实施例中，在步骤13显示规则之前，为了保证所述规则与所述参照物的相对位置在操作前后保持不变，可先对所述参照物对应的规则进行调整。所述调整例如可以为，清除操作前所述参照物对应的规则，并计算操作后所述参照物的规则，在操作后的图像上显示所计算的所述参照物的规则，使得所计算的所述参照物的规则与所述参照物的相对位置在操作前后保持不变；或 者，不清除操作前所述参照物对应的规则，而是将操作前所述参照物对应的规则移动至操作后的图像上的适当位置，使得其与所述参照物的相对位置在操作前后保持不变。
本发明实施例提供的图像处理方法，在接收到图像操作指令对图像进行相应操作时，通过调整图像上的规则，使操作后图像上显示的规则相对于参照物的位置在操作前后保持不变。
可选地，在本发明的一个实施例中，步骤13中所述在操作后的图像上显示所述规则，使得所述规则与所述参照物的相对位置在操作前后保持不变可包括：
建立坐标系，计算在经过操作后所述规则在所述坐标系中的坐标；
根据在经过操作后所述规则的坐标，在操作后的图像上显示所述规则，使得所述规则与所述参照物的相对位置在操作前后保持不变。
其中，所述坐标系可以为二维坐标系，其二个维度可以分别为水平方向和垂直方向。在本发明实施例中，可以以传感器中心(即，画面中心)作为二维坐标系中的原点。如此，操作前后摄像机图像中的各个点以及规则的坐标都可以记录下来。
在本发明实施例中，可以只选取规则上的一些有代表性的点来代替该规则，例如，对于线条规则，可以选取所述线条的两个端点的坐标，而不用选取整个线条上所有点的坐标。同样地，对于几何区域规则，例如矩形规则，可以只选取矩形的四个端点的坐标，又例如，对于三角形规则，可以只选取三角形的三个端点的坐标。其他几何区域规则坐标点的选取方式与上面描述的方式类似，在此不再赘述。
本发明实施例通过建立坐标系，操作前后规则和图像上的各个点的坐标都可以唯一地确定出来，从而可以在操作后的图像上显示规则，使得规则与其相关的参照物的相对位置在操作前后保持不变。
在本发明实施例中，由于在对图像进行相应操作后，图像上的参照物的坐标以及叠加在图像上、与参照物相关的规则的坐标都会随着操作而发生变化，因而，在进行转动操作和/或变倍操作时，需要获取转动操作所转动的角度和/或变倍操作所进行的变倍数，进而相应调整与参照物相关的规则。可选地，在一个实施例中，所述计算在经过操作后所述规则的坐标可包括：
计算操作参数，所述操作参数包括转动角度和变倍数中的至少一个；
根据所述操作参数，计算经过操作后所述规则的坐标。
在本发明实施例中，图像操作指令不同，相应的操作参数也不同，即，操作参数随着图像操作指令相应变化。
在本发明实施例中，图像操作指令可以包括以下三种：转动操作指令、变倍操作指令以及转动操作加变倍操作指令。下面针对这三种情况分别进行说明。
第一种情况，所述图像操作指令为进行转动操作。
此时，所述计算操作参数包括：计算转动角度；
所述根据所述操作参数，计算经过操作后所述规则的坐标包括：根据计算的所述转动角度，计算经过操作后所述规则的坐标。
第二种情况，所述图像操作指令为进行变倍操作，
所述计算操作参数包括：计算变倍数；
所述根据所述操作参数，计算经过操作后所述规则的坐标包括：根据计算的所述变倍数，计算经过操作后所述规则的坐标。
第三种情况，所述图像操作指令为进行转动操作和变倍操作，
所述计算操作参数包括：计算转动角度和变倍数；
所述根据所述操作参数，计算经过操作后所述规则的坐标包括：根据计算的所述转动角度和所述变倍数，计算经过操作后所述规则的坐标。
通过以上方式计算具体的操作参数，然后就可以根据具体的操作参数，计算操作后规则在所述坐标系中的坐标，最终保证该规则与所述参照物的相对位置在操作前后保持不变。
可选地，在本发明的另一个实施例中，可以在每次操作后，为操作后显示的图像设置一个生效条件，在达到生效条件时，再次显示该图像。具体地，在本发明实施例中，可以将所述操作后的图像称为第一图像，将对所述第一图像操作后的图像称为第二图像，将对所述第二图像操作后的图像称为第三图像，依此类推。本发明实施例提供的图像处理的方法除了包括步骤11～13外，还可包括：
为所述第一图像设置生效条件；
在达到所述生效条件时，重新显示所述第一图像。
当然，对于后续操作而显示的图像，例如，第二图像，第三图像等，也可以设置生效条件，当生效条件满足时，也可以重新显示所述第二图像或第三图像。
而在所述第一图像未达到所述生效条件，且后续又对图像进行操作时，显示与后续操作对应的图像。具体而言，若对第一图像设置了生效条件，当第一图像未达到生效条件，而此时又根据图像操作指令对第一图像进行了操作后，直接显示与本次操作相应的图像。后续根据图像操作指令进行操作时，一旦第一图像的生效条件满足，则直接返回显示第一图像。
请参照图3，图3-(1)显示原始图像以及叠加在图像上的线条规则，在图3-(1)中设置了该图像再次显示的生效条件1。图3-(2)显示图3-(1)的图像在经过转动后的图像，在图3-(2)中也设置了该图像再次显示的生效条件2。图3-(3)显示在图3-(1)中设置的生效条件1满足时，再次显示图3-(1)的图像，并保证叠加在图像上的规则与参照物的相对位置保持不变(即，图3-(3)与图3-(1)完全相同)。图3-(4)显示在图3-(2)中设置的生效条件2满足时，再次显示图3-(2)的图像，并保证叠加在图像上的规则与参照物的相对位置保持不变(即，图3-(4)与图3-(2)相同)。
在本发明实施例中，所述生效条件包括但不限于，生效时间。所述生效时间可以为距离当前时刻的时长、显示当前图像超过预设时长等。
在本发明实施例中可以为操作后的各个图像(例如，图3-(1)、图3-(2))设置生效时间，并在满足生效时间时相应显示各个图像，并保证叠加在图像上的规则与参照物的相对位置保持不变(图3-(3)、图3-(4)……)。如此，可以在不同的条件下使用不同的规则。
为了更好地理解本发明的技术方案，现在通过具体实施例对本发明进行进一步描述。
本发明实施例提供一种图像处理的方法，基于具有PTZ功能的摄像机。其中，所述摄像机可包括镜头、传感器(sensor)、编码处理器、中央处理器、机电板和控制马达。所述控制马达包括左、右、上、下控制马达中的至少一个。所述机电板控制(或者通过中央处理器直接控制)控制马达，相关坐标由机电板(或者中央处理器)记录计算，并及时地反馈给处理器；而编码处理器可以获取控制镜头的变倍数，可以及时反馈给中央处理器。需要指出的是，本发明 实施例流程图中示出的编码处理器包括镜头、传感器及编码处理器，也即可以统一处理变倍。
本发明实施例提供一种图像处理的方法的流程图。参照图4，所述方法包括：
步骤21、用户通过管理服务器的客户端或数字摄像机的客户端设置线条或几何规则到中央处理器(CPU)。
步骤22、CPU将相应规则存储到存储器上，并设置到编码处理器中。
步骤23、所述编码处理器将规则叠加在图像上，并返回设置成功消息给处理器。
其中，在本发明实施例中，图像上叠加的规则是相对于参照物而言的。对于图像上的每一个规则，所述图像上具有与该规则相关的参照物。
步骤24、用户通过管理服务器的客户端或数字摄像机的客户端下达对图像进行转动加变倍的图像操作指令。
需要指出的是，本实施例中是以转动加变倍的图像操作指令为例进行说明。当然，在本发明实施例中，也可以只是转动操作或只是变倍操作。
另外，需要说明的是：摄像机初始启动之前，可预先建立坐标系，即，以传感器中心作为二维坐标系中的原点建立二维坐标，同时记录并确定变倍数和摄像机的初始角度，所述初始角度和所述变倍数分别通过机电板和编码处理器通知CPU存储处理。
步骤25、处理器收到相应的命令后，分别通知机电板和编码处理器。
步骤26、所述机电板控制马达以一定的刻度转动，并在控制马达以一定的刻度转动的同时，计算图像上的规则的新的坐标，实时反馈给处理器。
在本发明实施例中，规则的坐标是相对于预先建立的二维坐标而言的。其中，建立坐标系的方式包括但不限于，以摄像机转动形成的球形状中的球心点作为二维坐标系中的原点。
步骤27、所述编码处理器进行变倍处理，同时计算变倍数，实时反馈给处理器。
步骤28、处理器获取到所述规则的坐标与变倍数后，根据所述坐标和所述变倍数，计算在经过操作后所述规则最终的坐标，并通知设置到编码处理器中。
步骤29、所述编码处理器在操作后的图像上显示所述规则，使得所述规则与所述参照物的相对位置在操作前后保持不变。
下面结合附图对操作后，将规则与所述参照物的相对位置在操作前后保持不变的算法进行详细说明。
需要指出的是，在本发明实施例中，球机(或摄像机)的坐标是相对坐标的概念，具体可以是以摄像机转动所形成的球形状中的球心点为原点，并以球机的某一方向为基准建立起来的角度坐标。而参考点的坐标是指以画面中心为原点建立起来的二维坐标。
在本发明实施例中，保持规则(包括线条、区域)与针对该规则的参照物的相对位置不变的详细算法可以分成两部分来考虑，即，转动操作的情形和变倍操作的情形。
在本发明实施例中，可以选取规则上的一些特定参考点来代替整个规则，通过确定所述参考点的坐标即可确定规则的坐标。
下面首先描述转动操作的情形。在本发明实施例中，转动操作情形下的算法包括，将参考点移到画面中心(传感器中心)的详细算法和在转动球机后参考点移动后的坐标的详细算法。
把参考点移到传感器中心的详细算法：
可以把机芯转动分成垂直和水平两部分，我们可以先处理垂直部分，水平部分处理方法与垂直部分处理方法相类似。当得到需要转动的角度时，通知机芯转动对应角度即可。
水平方向：如图5光学成像图所示，我们从规则中选取参考点A’，假设参考点A’实际对应于真实物体A(即，A’为真实物体A在传感器上的成像)，物体A离理论光学透镜的距离为L,偏离光学系统中心线的距离为D,则镜头把上述点A移动到传感器中心位置,水平需要转动的角度为arctg(D/L)。
为了确定水平转动的角度，需要首先计算D/L。根据相关数学理论，可以得出D/L＝h/f，其中h指点A在传感器上的成像点，离传感器的中心点的距离；f指镜头的焦距。
h＝k1*W，其中W表示传感器的物理宽度(sensor_width)，k1表示参考点在水平方向上离画面中心的距离与画面宽度的比值。
因此可以算出水平需要转动的角度arctg(D/L)＝arctg(k1*W/f)。
同理可以得出垂直方向需要转动的角度：arctg(k2*H/f)。H是传感器的物理高度，k2表示参考点在垂直方向上离画面中心的距离与画面高度的比值。
在计算出机芯在水平和垂直方向需要转动的角度后，我们再来计算转动球机后参考点移动后的位置。
转动球机后参考点移动后的位置的详细算法包括：计算将参考点转动到传感器中心时，球机的坐标；根据将参考点转动到传感器中心时所述球机的坐标，计算参考点在经过转动后在传感器上的坐标。
下面对上述过程逐一进行详细说明。
我们仍然从区域或者线条中选取参考点，设参考点在转动前的初始坐标为(x1,y1)，并且可以知道此时球机的PTZ坐标(p1,q1)。当球机转动到新的坐标(p2,q2)时，我们要重新计算出参考点的坐标。
其中，上文中的p1为水平角度坐标，q1为垂直角度坐标,坐标(p1,q1)对应的焦距为f1，(p2,q2)对应的焦距为f2。
一)计算将参考点转动到传感器中心时，球机的坐标：
在本发明实施例中，可以先考虑把参考点(x1,y1)转到传感器中心，为叙述方便，设传感器中心的坐标为(x0,y0),当参考点转到传感器中心时，设此时的球机水平垂直角度为(p0,q0),从上文参考点移到传感器中心的详细算法可以得出：
p1-p0＝arctg((x1-x0)/画面横向总像素点*W/f1)
q1-q0＝arctg((y1-y0)/画面纵向总像素点*H/f1)
其中，(x1-x0)/画面横向总像素点即为上文提到的k1。
由于坐标(p1,q1)对应的焦距f1可根据变倍数确定，由此可以算出球机的坐标(p0,q0)。
二)根据将参考点转动到传感器中心时所述球机的坐标，计算参考点在经过转动后在传感器上的坐标：
当球机转到(p2，q2)时，将参考点在传感器板上具体的成像位置设为(x2,y2)，那么由上可以得出：
(x2-x0)/画面横向总像素点*W/f2＝tg(p2-p0)
(y2-y0)/画面纵向总像素点*H/f2＝tg(q2-q0)
其中，可根据变倍数确定坐标(p2,q2)对应的焦距f2。
由上式，可以计算出(x2,y2)，即参考点在经过转动后在传感器上的坐标位置。
在图像操作指令为转动操作加变倍操作时，可通过上述算法直接确定经过操作后参考点的坐标。
在图像操作指令仅为转动操作时，由于不涉及到变倍，此时上述公式中的f1＝f2,同样可通过上述算法直接确定经过操作后参考点的坐标。
当图像操作指令仅为变倍操作时，只需在计算区域或者线条顶点时，乘以相应的倍数差即可。举例而言，假设规则为正方型区域：计算出的(x2,y2)为(50,50)，原来倍数为1倍，长宽度为10，原来四个顶点坐标为(45,45),(45,55),(55,45),(55,55)，现在倍数为2倍，那么计算后四个顶点现在的坐标为(40,40)，(40,60)，(60,40)，(60,60)。即长宽都是原来的两倍。
通过上面的详细算法，即可确定经过操作后参考点的坐标，进而确定所述规则的坐标，并显示在操作后的图像上，使得所述规则与所述参照物的相对位置在操作前后保持不变。
图6A是本发明实施例提供的一种摄像机的结构框图，参照图6A，所述摄像机包括中央处理器61和编码处理器62。其中：
所述中央处理器61，用于接收图像操作指令，所述图像操作指令包括进行转动操作和变倍操作中的至少一者；
所述中央处理器61，还用于根据所述图像操作指令，对图像进行操作，其中，所述图像上叠加有为线条或几何区域的规则且具有针对所述规则的参照物；
编码处理器62，用于在所述中央处理器61操作后的图像上显示所述规则，使得所述规则与所述参照物的相对位置在操作前后保持不变。
在一个实施例中，所述中央处理器61还用于：计算在经过操作后所述规则在预先建立的坐标系中的坐标；
所述编码处理器62具体用于：根据在经过操作后所述规则的坐标，在操作后的图像上显示所述规则，使得所述规则与所述参照物的相对位置在操作前后保持不变。
在一个实施例中，所述中央处理器61可具体用于：
获取操作参数，所述操作参数包括转动角度和变倍数中的至少一个；
根据所述操作参数，计算经过操作后所述规则在预先建立的坐标系中的坐标。
可选地，在另一个实施例中，参照图6B，所述摄像机还包括机电板63，
在所述图像操作指令为进行转动操作时，所述机电板63用于：计算转动角度，并将计算的所述转动角度通知给所述中央处理器；
所述中央处理器61具体用于：根据所述机电板63通知的所述转动角度，计算经过操作后所述规则在预先建立的坐标系中的坐标。
可选地，所述中央处理器61可具体用于:
确定在所述规则中预先选取的参考点在操作前的坐标；
根据计算的所述转动角度以及所述参考点在操作前的坐标，计算所述参考点转到画面中心时，球机在当前画面下的坐标；
根据所述参考点转到画面中心时所述球机在当前画面下的坐标，计算经过操作后所述参考点的坐标；
根据经过操作后所述参考点的坐标，确定经过操作后所述规则的坐标。
可选地，在另一个实施例中，所述编码处理器62还用于：
计算变倍数；
所述中央处理器61可具体用于：根据所述编码处理器62计算的所述变倍数，计算经过操作后所述规则的坐标。
可选地，在另一个实施例中，所述摄像机还包括机电板63，
在所述图像操作指令为进行转动操作加变倍操作时，所述机电板63用于：计算转动角度；
在所述图像操作指令为进行转动操作加变倍操作时，所述编码处理器62还用于：计算变倍数；
所述中央处理器61具体用于：根据所述机电板63计算的所述转动角度和所述编码处理器62计算的所述变倍数，计算经过操作后所述规则的坐标。
可选地，所述中央处理器61可具体用于：
在所述规则中选取参考点，并确定所述参考点在操作前的坐标；
根据计算的所述转动角度和所述变倍数以及所述参考点在操作前的坐标， 计算所述参考点转到画面中心时，球机在当前画面下的坐标；
根据所述参考点转到画面中心时所述球机在当前画面下的坐标，计算经过操作后所述参考点的坐标；
根据经过操作后所述参考点的坐标，确定经过操作后所述规则的坐标。
在一个实施例中，可选地，所述中央处理器61还可用于：
为操作后的图像设置生效条件；
在达到所述生效条件时，重新显示所述第一图像。
需要说明的是，图6A、图6B中仅示出了摄像机中的、本发明主要涉及到的一些关键组件，这样显示是为了更好的突出本发明的侧重点，并不代表摄像机中只有图中所示出的那些组件。
为更好地理解本发明实施例提供的摄像机，下面对其硬件逻辑架构进行详细描述。
参照图7，所述摄像机70可包括中央处理器71、编码处理器72、机电板73和马达74。中央处理器71接收图像操作指令，并根据所述图像操作指令通知编码处理器72和/或机电板73进行相应操作。例如，图像操作指令为进行转动加变倍操作时，中央处理器71将转动指令通知给机电板73，并将变倍指令通知给编码处理器72。机电板73接收到中央处理器71的指令后，控制马达74进行转动；所述马达74可包括左、右、上、下控制马达中的至少一个，用于控制摄像机镜头转动，达到镜头图像的转移。编码处理器72接收到中央处理器71的指令后，控制镜头进行变倍处理。
在本发明实施例中，所述机电板73控制(或者通过中央处理器71直接控制)控制马达74，相关坐标由机电板73(或者中央处理器71)记录计算，并及时地反馈给中央处理器71；而编码处理器72可以获取控制镜头的变倍数，可以及时反馈给中央处理器71。所述中央处理器71用于根据机电板73反馈的坐标以及所述编码处理器72反馈的变倍数计算操作后规则的坐标，并通知编码处理器72在镜头上显示操作后的规则。
当然，需要指出的是，本发明实施例中的摄像机还可包括其他组件，所述其他组件例如可以为镜头和传感器。由于这些其他组件均发挥自身常规的作用，在此不做赘述。
需要说明的是：上述实施例提供的摄像机与图像处理方法实施例属于同一 构思，其具体实现过程详见方法实施例，这里不再赘述。
本领域普通技术人员可以理解实现上述实施例的全部或部分步骤可以通过硬件来完成，也可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，上述提到的存储介质可以是只读存储器，磁盘或光盘等。
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应所述以权利要求的保护范围为准。

Claims (20)

  1. 一种图像处理方法，其特征在于，所述方法包括：
    接收图像操作指令，所述图像操作指令包括进行转动操作和变倍操作中的至少一者；
    根据所述图像操作指令，对图像进行操作，其中，所述图像上叠加有为线条或几何区域的规则且具有针对所述规则的参照物；
    在操作后的图像上显示所述规则，使得所述规则与所述参照物的相对位置在操作前后保持不变。
  2. 根据权利要求1所述的方法，其特征在于，所述在操作后的图像上显示所述规则，使得所述规则与所述参照物的相对位置在操作前后保持不变包括：
    建立坐标系，计算在经过操作后所述规则在所述坐标系中的坐标；
    根据在经过操作后所述规则的坐标，在操作后的图像上显示所述规则，使得所述规则与所述参照物的相对位置在操作前后保持不变。
  3. 根据权利要求2所述的方法，其特征在于，所述计算在经过操作后所述规则的坐标包括：
    计算操作参数，所述操作参数包括转动角度和变倍数中的至少一个；
    根据所述操作参数，计算经过操作后所述规则的坐标。
  4. 根据权利要求3所述的方法，其特征在于，所述图像操作指令为进行转动操作，
    所述计算操作参数包括：计算转动角度；
    所述根据所述操作参数，计算经过操作后所述规则的坐标包括：根据计算的所述转动角度，计算经过操作后所述规则的坐标。
  5. 根据权利要求4所述的方法，其特征在于，所述根据计算的所述转动角度，计算经过操作后所述规则的坐标包括:
    在所述规则中选取参考点，并确定所述参考点在操作前的坐标；
    根据计算的所述转动角度以及所述参考点在操作前的坐标，计算所述参考点转到画面中心时，球机在当前画面下的坐标；
    根据所述参考点转到画面中心时所述球机在当前画面下的坐标，计算经过 操作后所述参考点的坐标；
    根据经过操作后所述参考点的坐标，确定经过操作后所述规则的坐标。
  6. 根据权利要求3所述的方法，其特征在于，所述图像操作指令为进行变倍操作，
    所述计算操作参数包括：计算变倍数；
    所述根据所述操作参数，计算经过操作后所述规则的坐标包括：根据计算的所述变倍数，计算经过操作后所述规则的坐标。
  7. 根据权利要求3所述的方法，其特征在于，所述图像操作指令为进行转动操作和变倍操作，
    所述计算操作参数包括：计算转动角度和变倍数；
    所述根据所述操作参数，计算经过操作后所述规则的坐标包括：根据计算的所述转动角度和所述变倍数，计算经过操作后所述规则的坐标。
  8. 根据权利要求7所述的方法，其特征在于，所述根据计算的所述转动角度和所述变倍数，计算经过操作后所述规则的坐标包括：
    在所述规则中选取参考点，并确定所述参考点在操作前的坐标；
    根据计算的所述转动角度和所述变倍数以及所述参考点在操作前的坐标，计算所述参考点转到画面中心时，球机在当前画面下的坐标；
    根据所述参考点转到画面中心时所述球机在当前画面下的坐标，计算经过操作后所述参考点的坐标；
    根据经过操作后所述参考点的坐标，确定经过操作后所述规则的坐标。
  9. 根据权利要求1所述的方法，其特征在于，所述操作后的图像为第一图像，所述方法还包括：
    为所述第一图像设置生效条件；
    在达到所述生效条件时，重新显示所述第一图像。
  10. 根据权利要求9所述的方法，其特征在于，所述方法还包括：
    在未达到所述生效条件，且后续又对图像进行操作时，显示与后续操作对应的图像。
  11. 根据权利要求9或10所述的方法，其特征在于，所述生效条件包括生效时间。
  12. 一种摄像机，其特征在于，所述摄像机包括：
    中央处理器，用于接收图像操作指令，所述图像操作指令包括进行转动操作和变倍操作中的至少一者；
    所述中央处理器，还用于根据所述图像操作指令，对图像进行操作，其中，所述图像上叠加有为线条或几何区域的规则且具有针对所述规则的参照物；
    编码处理器，用于在所述中央处理器操作后的图像上显示所述规则，使得所述规则与所述参照物的相对位置在操作前后保持不变。
  13. 根据权利要求12所述的摄像机，其特征在于，
    所述中央处理器还用于：计算在经过操作后所述规则在预先建立的坐标系中的坐标；
    所述编码处理器具体用于：根据在经过操作后所述规则的坐标，在操作后的图像上显示所述规则，使得所述规则与所述参照物的相对位置在操作前后保持不变。
  14. 根据权利要求13所述的摄像机，其特征在于，所述中央处理器具体用于：
    获取操作参数，所述操作参数包括转动角度和变倍数中的至少一个；
    根据所述操作参数，计算经过操作后所述规则在预先建立的坐标系中的坐标。
  15. 根据权利要求14所述的摄像机，其特征在于，所述摄像机还包括机电板，
    在所述图像操作指令为进行转动操作时，所述机电板用于：计算转动角度，并将计算的所述转动角度通知给所述中央处理器；
    所述中央处理器具体用于：根据所述机电板通知的所述转动角度，计算经过操作后所述规则在预先建立的坐标系中的坐标。
  16. 根据权利要求15所述的摄像机，其特征在于，所述中央处理器具体用于:
    确定在所述规则中预先选取的参考点在操作前的坐标；
    根据计算的所述转动角度以及所述参考点在操作前的坐标，计算所述参考点转到画面中心时，球机在当前画面下的坐标；
    根据所述参考点转到画面中心时所述球机在当前画面下的坐标，计算经过操作后所述参考点的坐标；
    根据经过操作后所述参考点的坐标，确定经过操作后所述规则的坐标。
  17. 根据权利要求14所述的摄像机，其特征在于，所述编码处理器还用于：
    计算变倍数；
    所述中央处理器具体用于：根据所述编码处理器计算的所述变倍数，计算经过操作后所述规则的坐标。
  18. 根据权利要求14所述的摄像机，其特征在于，所述摄像机还包括机电板，
    在所述图像操作指令为进行转动操作加变倍操作时，所述机电板用于：计算转动角度；
    在所述图像操作指令为进行转动操作加变倍操作时，所述编码处理器还用于：计算变倍数；
    所述中央处理器具体用于：根据所述机电板计算的所述转动角度和所述编码处理器计算的所述变倍数，计算经过操作后所述规则的坐标。
  19. 根据权利要求18所述的摄像机，其特征在于，所述中央处理器具体用于：
    在所述规则中选取参考点，并确定所述参考点在操作前的坐标；
    根据计算的所述转动角度和所述变倍数以及所述参考点在操作前的坐标，计算所述参考点转到画面中心时，球机在当前画面下的坐标；
    根据所述参考点转到画面中心时所述球机在当前画面下的坐标，计算经过操作后所述参考点的坐标；
    根据经过操作后所述参考点的坐标，确定经过操作后所述规则的坐标。
  20. 根据权利要求12所述的摄像机，其特征在于，所述中央处理器还用于：
    为操作后的图像设置生效条件；
    在达到所述生效条件时，重新显示所述第一图像。
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