CN102902884A - PTZ (pan/tilt/zoom) camera automatic positioning and angle calculating method - Google Patents

Abstract

The invention discloses a PTZ (pan/tilt/zoom) camera automatic positioning and angle calculating method which comprises the following steps of: calculating to obtain a model for the conversion between the coordinates of a point on an image of a long-focus camera and the coordinates of a rotation angle of a PTZ camera; and then, according to the coordinate information of a moving target on the image monitored and tracked by the long-focus camera, enabling the PTZ camera to quickly rotate to a corresponding optic axial angle so as to perform partial centralized video acquisition on the region of the moving target. According to the PTZ camera automatic positioning and angle calculating method, a multi-camera intelligent monitoring system in which the long-focus camera and the PTZ camera are matched with each other can be realized and can be widely used in the field of video monitoring.

Description

The automatic orientation angle computing method of monopod video camera

Technical field

The present invention relates to technical field of video image processing, especially a kind of angle computation method of monopod video camera being located automatically based on long focus video camera image.

Background technology

Increasingly mature along with the development of intelligent monitoring technology and image processing techniques, original employing manpower carries out the suspicious object monitoring and has not satisfied demand, and can remedy to a great extent the problem of shortage of manpower as main intelligent safety and defence system take technology such as artificial intelligence and video analysis.The intelligent safety and defence system advantage is and can round-the-clock monitoring scene be analyzed, and finds in real time the suspicious object in the scene, notifies the monitor staff to make a policy by forms such as warnings, and therefore wide development space and huge potential market are arranged.

The mode of using wide-angle imaging machine and monopod video camera to cooperate in the monitoring field can realize monitoring larger scene, adopt the intelligent image analytical approach that the video image that the wide-angle imaging machine collects is analyzed, moving target in the detection and tracking wide-angle imaging machine video image, although the visual angle of wide-angle imaging machine is larger, but the monitored picture distortion is larger, the sharpness of picture is also poor, and monopod video camera has adopted the integrated camera of large zoom, can bring very clearly monitored picture, thereby use monopod video camera further to observe tracking target, commander's monopod video camera rotates and zoom, monopod video camera carries out the concentration of local video acquisition to this tracking target zone, and the tracking target in the video image of wide-angle imaging machine is presented in the video image of monopod video camera clearly.The wide-angle imaging machine combines with monopod video camera during use, image by the wide-angle imaging machine detects the target of obtaining motion, and the monopod video camera of controlling again high-speed ball forwards the direction at moving target place to, target is carried out the monitoring of details, realize the monitoring of panorama intelligence

Yet in wide-angle imaging machine and supervisory system that monopod video camera combines, although wide-angle imaging machine visual angle is large, its observed range is far away not, if will adopt long focus video camera to replace the wide-angle imaging machine just can realize apart from farther monitoring.Although the field angle of long focus video camera is less, can use a plurality of long focus video cameras to match to realize larger field angle.Also long focus video camera and wide-angle imaging machine can be combined with, use the wide-angle imaging machine that in-plant moving target is in a big way carried out detection and tracking, use a plurality of long focus video cameras that remote moving target is monitored and followed the tracks of, so just can realize that this is an important development direction in monitoring field than single wide-angle imaging machine monitoring range widely.

The wide-angle imaging machine can adopt the fisheye projection rule to calculate the position corresponding relation of wide-angle imaging machine picture point and monopod video camera picture point.And adopt a plurality of long focus video cameras to realize that the difficult point of panorama intelligent-tracking is that the moving target that how to make monopod video camera that long focus video camera is monitored and traced into is located automatically.

Summary of the invention

The purpose of this invention is to provide a kind of in long focus video camera and supervisory system that monopod video camera matches, can be by coordinate and the phase transformation of monopod video camera anglec of rotation coordinate of the point on the long focus video camera image, the realization monopod video camera is monitored the angle computation method that the moving target that traces into is located automatically to long focus video camera.

For addressing the above problem, the automatic orientation angle computing method of a kind of monopod video camera of the present invention may further comprise the steps:

1) utilize geometric relationship to derive the coordinate figure of imaging point in long focus video camera photo coordinate system and the funtcional relationship of the coordinate figure of real point in the plane coordinate system of the captured regional road of long focus video camera, wherein imaging point is the point on the long focus video camera image, and real point is imaging point point on the captured regional road surface of long focus video camera;

2) choose on the long focus video camera image any picture point as the reference map picture point;

3) rotary platform video camera makes its picture centre, i.e. benchmark real point on this corresponding road surface of reference map picture point of monopod video camera optical axis alignment, and the anglec of rotation of the horizontal and vertical of record monopod video camera this moment in its spherical coordinate system is the benchmark anglec of rotation;

4) obtain any picture point on the long focus video camera image as the target image point, and according to the function calculation in target image point coordinate value and the step 1) draw target image point right should be on the road surface the coordinate figure of target real point;

5) coordinate figure by the target real point that draws in the step 4), utilize geometric relationship derive this target real point and benchmark real point the two to the horizontal sextant angle between the line of monopod video camera and target real point to the line of monopod video camera and the angle of vertical direction, and calculate accordingly the target anglec of rotation for its horizontal and vertical in spherical coordinate system when the monopod video camera picture centre aims at the mark real point.

In the described step 1), get a real point P, its coordinate in the plane coordinate system of road is (X _P, Y _P), the corresponding imaging point of real point P is p, its coordinate in photo coordinate system is (x _p, y _p), following funtcional relationship is then arranged:

$\left.\begin{array}{cc}{Y}_P=h\·k_1\·y_p\·\frac{1+k_2^2}{1-k_2\·k_1\·y_p}& ............\\ X_P=\frac{(\mathrm{UG}+Y_P)}{\mathrm{UG}}\·k_3\·x_p\·k_4& ............\\ y_p=\frac{Y_P}{k_1(h+h\·k_2^2+Y_P\·k_2)}& ............\\ x_p=\frac{\mathrm{UG}}{(\mathrm{UG}+Y_P)\·k_3\·k_4}\·X_P& ............\end{array}\right\}---\left(1\right)$

In the formula (1),

$\left.\begin{array}{cc}{k}_1=2\mathrm{tg}\left({\mathrm{\α}}_0\right)/H& ............\\ k_2=\mathrm{tg}\left({\mathrm{\γ}}_0\right)& ............\\ k_3=h/\cos \left({\mathrm{\γ}}_0\right)& ............\\ k_4=2\mathrm{tg}\left({\mathrm{\β}}_0\right)/W& ............\\ \mathrm{UG}=h\·[\mathrm{tg}\left({\mathrm{\γ}}_0\right)-\mathrm{tg}({\mathrm{\γ}}_0-{\mathrm{\α}}_0)]\·\cos ({\mathrm{\γ}}_0-{\mathrm{\α}}_0)/[\cos ({\mathrm{\γ}}_0-{\mathrm{\α}}_0)-\cos \left({\mathrm{\γ}}_0\right)]& ......\end{array}\right\}---\left(2\right)$

In the formula (2), H is the height of long focus video camera as the plane; W is wide as the plane of long focus video camera; H is the setting height(from bottom) of long focus video camera and monopod video camera; 2 β ₀Horizontal field of view angle for long focus video camera camera lens; 2 α ₀Vertical field of view angle for long focus video camera camera lens; γ ₀The angle of pitch for long focus video camera.

Adopt the automatic orientation angle computing method of monopod video camera of the present invention, can obtain the coordinate of the point on the long focus video camera image and the model of monopod video camera anglec of rotation coordinate phase transformation, thereby according to the coordinate information of moving target on image that long focus video camera is monitored and traced into, make monopod video camera carry out the concentration of local video acquisition to motion target area by fast rotational to this optical axis angle.The automatic orientation angle computing method of monopod video camera of the present invention, the multiple-camera intelligent monitor system that long focus video camera matches with monopod video camera just can be achieved, and is used widely in field of video monitoring.

Description of drawings

Fig. 1 is long focus video camera projection model figure.

Fig. 2 is that long focus video camera is as the plane projection illustraton of model.

Fig. 3 is the projection relation figure of benchmark real point on the plane vertical with the road surface at long focus video camera optical axis place.

Fig. 4 be among the present invention the reference map picture point at long focus video camera as the projection relation on the plane.

Fig. 5 is x direction of principal axis imaging model.

Fig. 6 is monopod video camera projection model figure.

Embodiment

In order to make those skilled in the art person understand better technical solution of the present invention, the present invention is described in further detail below in conjunction with drawings and embodiments.

A kind of angle computation method of monopod video camera being located automatically based on long focus video camera image of the present invention may further comprise the steps:

1) utilize geometric relationship to derive the coordinate figure of imaging point in long focus video camera photo coordinate system and the funtcional relationship of the coordinate figure of real point in the plane coordinate system of the captured regional road of long focus video camera, wherein imaging point is the point on the long focus video camera image, and real point is imaging point point on the captured regional road surface of long focus video camera;

2) choose on the long focus video camera image any picture point as the reference map picture point;

3) rotary platform video camera makes its picture centre, and namely the benchmark real point on this corresponding road surface of reference map picture point of monopod video camera optical axis alignment records the at this moment anglec of rotation of the horizontal and vertical of monopod video camera in its spherical coordinate system;

4) obtain any picture point on the long focus video camera image as the target image point, and according to the function calculation in target image point coordinate value and the step 1) draw target image point right should be on the road surface the coordinate figure of target real point;

5) coordinate figure by the target real point that draws in the step 4), utilize geometric relationship derive this target real point and benchmark real point the two to the horizontal sextant angle between the line of monopod video camera and target real point to the line of monopod video camera and the angle of vertical direction, and calculate accordingly the target anglec of rotation for its horizontal and vertical in spherical coordinate system when the monopod video camera picture centre aims at the mark real point.

Because each intelligent video monitoring system installation site that monopod video camera and long focus video camera make up and monitor the different of angle, so different long focus video cameras, the coordinate figure of the imaging point on its image in long focus video camera photo coordinate system is different from the funtcional relationship of the coordinate figure of real point in the plane coordinate system of the captured regional road of long focus video camera.In the step 1), before funtcional relationship is derived, at first need to obtain some known quantities, these known quantities comprise long focus video camera horizontal and vertical field angle, video camera hoisting height.

Under the telephoto lens video camera, according to the pinhole imaging system model, can be the video camera projection model with the guarded region system simplification with localization machine (detent mechanism in the supervising device is hereinafter to be referred as " localization machine ").As shown in the figure, Fig. 1 is long focus video camera projection model figure; Fig. 2 is that long focus video camera is as the plane projection illustraton of model.

Among Fig. 1, plane ABU represents the plane, road, trapezoid area on the plane, road that ABCD photographs for long focus video camera, the O point is long focus video camera optical center point, OG is long focus video camera optical axis, the G point is the intersection point (also being the trapezoidal diagonal line intersection point in the visual field simultaneously) on long focus video camera optical axis and plane, road, and the I point is the vertical projection of O point on the plane, road.In the plane coordinate system of road, the G point is defined as coordinate origin.As shown in Figure 2, G, A, B, C, corresponding point g, a, b, c, the d of D each point in the picture plane, wherein a, b, c, d are 4 end points of image rectangle, H and W are respectively the height and width of image.The mid point g of definition image rectangle is the true origin of photo coordinate system, and the y axle represents the moving target working direction.

Get a real point P on the plane, road, its coordinate at the road plane coordinate system is (X _P, Y _P), P point corresponding picture point in as the plane is p, its coordinate at photo coordinate system is (x _p, x _p), following funtcional relationship is then arranged:

$\left.\begin{array}{cc}{Y}_P=h\·k_1\·y_p\·\frac{1+k_2^2}{1-k_2\·k_1\·y_p}& ............\\ X_P=\frac{(\mathrm{UG}+Y_P)}{\mathrm{UG}}\·k_3\·x_p\·k_4& ............\\ y_p=\frac{Y_P}{k_1(h+h\·k_2^2+Y_P\·k_2)}& ............\\ x_p=\frac{\mathrm{UG}}{(\mathrm{UG}+Y_P)\·k_3\·k_4}\·X_P& ............\end{array}\right\}---\left(1\right)$

In the formula (1),

$\left.\begin{array}{cc}{k}_1=2\mathrm{tg}\left({\mathrm{\α}}_0\right)/H& ............\\ k_2=\mathrm{tg}\left({\mathrm{\γ}}_0\right)& ............\\ k_3=h/\cos \left({\mathrm{\γ}}_0\right)& ............\\ k_4=2\mathrm{tg}\left({\mathrm{\β}}_0\right)/W& ............\\ \mathrm{UG}=h\·[\mathrm{tg}\left({\mathrm{\γ}}_0\right)-\mathrm{tg}({\mathrm{\γ}}_0-{\mathrm{\α}}_0)]\·\cos ({\mathrm{\γ}}_0-{\mathrm{\α}}_0)/[\cos ({\mathrm{\γ}}_0-{\mathrm{\α}}_0)-\cos \left({\mathrm{\γ}}_0\right)]& ......\end{array}\right\}---\left(2\right)$

In the formula (2), H is the height of long focus video camera as the plane; W is wide as the plane of long focus video camera; H is the setting height(from bottom) of long focus video camera and monopod video camera; 2 β ₀Horizontal field of view angle for long focus video camera camera lens; 2 α ₀Vertical field of view angle for long focus video camera camera lens; γ ₀The angle of pitch for long focus video camera.

The derivation of formula (1), formula (2) is as follows:

The imaging model of the Y direction of at first deriving is the projection relation of real point P on the plane vertical with the road surface at camera optical axis place such as Fig. 3, and Fig. 4 is the projection relation of object on the picture plane.Among Fig. 3, the camera optical axis place with perpendicular plane, road surface be OEI, straight line ML is vertical with straight line OG, intersects at a L with the extended line of straight line fF.Point p _yExpression is as the projection of some p on straight line ef on the plane, P _yPoint is the projection of some P on the vertical line of symmetry in the visual field on the road surface, and Z is straight line p _yP _yIntersection point with straight line ML.

The below derives from the some p=(x on picture plane _p, y _p) to corresponding point P=(X _P, Y _P) between relational expression.

The horizontal field of view angle of supposing camera lens is 2 β ₀, the vertical field of view angle is 2 α ₀, the angle of pitch of video camera is γ ₀, can get thus:

$\mathrm{\α}=\mathrm{arctg}\left[\frac{2\·y_p\·\mathrm{tg}\left({\mathrm{\α}}_0\right)}{H}\right]............\left(10\right)$

Line segment $\mathrm{OG}=\left[\frac{h}{\cos {\mathrm{\γ}}_0}\right]............\left(11\right)$

Line segment IG=htg γ ₀(12)

Line segment IP _y=htg (γ ₀+ α) ... (13)

Line segment GP _y=IP _y-IG ... (14)

In the coordinate system of road surface, because line segment GP _yLength be exactly the coordinate Y of a P _PValue, therefore

Y _P＝h(tg(γ ₀+α)-tgγ ₀) …………（15）

According to trigonometric function, formula (15) deformable is

$Y_P=h\·\mathrm{tg\α}\left[\frac{1+{\mathrm{tg}}^2{\mathrm{\γ}}_0}{1-\mathrm{tg}{\mathrm{\γ}}_0\·\mathrm{tg\α}}\right]............\left(16\right)$

Formula (17) is the vertical mapping relations from the picture plane to the plane, road, and its inverse function is

$y_p=\frac{Y_P}{k_1(h+h\·k_2^2+Y_P\·k_2)}............\left(18\right)$

Formula (18) has namely represented from the plane, road to the inverse mapping relation on picture plane.

In addition, the mapping relations of derivation X coordinate will be utilized the mapping relations of the Y-axis coordinate of deriving above.On the plane, road, the X coordinate that P is ordered and Y coordinate concern that as shown in Figure 5 Fig. 5 is x direction of principal axis imaging model, and each symbol connotation is identical with Fig. 1.

The below derives the mapping relations as the X coordinate of corresponding point on plane and the plane, road:

In Δ IGO,

IG＝h·tgγ ₀，IF＝h·tg(γ ₀-α ₀)

Can get thus

GF＝h(tgγ ₀-tg(γ ₀-α ₀)) …………（19）

$\mathrm{OG}=\left[\frac{h}{\cos {\mathrm{\γ}}_0}\right],$ $\mathrm{OF}=\left[\frac{h}{\cos ({\mathrm{\γ}}_0-{\mathrm{\α}}_0)}\right]$

So have

$\mathrm{GJ}=\frac{h}{\cos {\mathrm{\γ}}_0}\·\mathrm{tg}{\mathrm{\β}}_0............\left(20\right)$

$\mathrm{FC}=\frac{h}{\cos ({\mathrm{\γ}}_0-{\mathrm{\α}}_0)}\·\mathrm{tg}{\mathrm{\β}}_0............\left(21\right)$

Can be got by similar Δ UFC and Δ UGJ

$\frac{\mathrm{FC}}{\mathrm{GJ}}=\frac{\mathrm{UF}}{\mathrm{UG}}............\left(22\right)$

With formula (19), formula (20), formula (21) substitution formula (22) and get final product

$\mathrm{UG}=\frac{\frac{h}{\cos {\mathrm{\γ}}_0}\·\mathrm{tg}{\mathrm{\β}}_0\·h[\mathrm{tg}{\mathrm{\γ}}_0-\mathrm{tg}({\mathrm{\γ}}_0-{\mathrm{\α}}_0)]}{\frac{h}{\cos {\mathrm{\γ}}_0}\·\mathrm{tg}{\mathrm{\β}}_0-\frac{h}{\cos ({\mathrm{\γ}}_0-{\mathrm{\α}}_0)}\·\mathrm{tg}{\mathrm{\β}}_0}............\left(23\right)$

Abbreviation formula (23),

$\mathrm{UG}=\frac{h[\mathrm{tg}{\mathrm{\γ}}_0-\mathrm{tg}({\mathrm{\γ}}_0-{\mathrm{\α}}_0)]\·\cos ({\mathrm{\γ}}_0-{\mathrm{\α}}_0)}{\cos ({\mathrm{\γ}}_0-{\mathrm{\α}}_0)-\cos {\mathrm{\γ}}_0}............\left(24\right)$

In Δ GOL

$\mathrm{GL}=\frac{h}{\cos {\mathrm{\γ}}_0}\·{\mathrm{tg\α}}_1............\left(25\right)$

By p=(xp, xp in the picture plane) position relationship of point, and utilize vertical angle relations to get

${\mathrm{\α}}_1=\mathrm{arctg}\left[\frac{2\·x_p\·\mathrm{tg}{\mathrm{\β}}_0}{W}\right]............\left(26\right)$

In the ABU of plane, road, utilize the triangle similarity relation to get

$\frac{\mathrm{GL}}{X_P}=\frac{\mathrm{UG}}{\mathrm{UG}+Y_P}............\left(27\right)$

Then have

$X_P=\frac{\mathrm{GL}\·(\mathrm{UG}+Y_P)}{\mathrm{UG}}$

$=\frac{(\mathrm{UG}+Y_P)}{\mathrm{UG}}\·\frac{h}{\cos {\mathrm{\γ}}_0}\·\mathrm{tg}{\mathrm{\α}}_1$

$=\frac{(\mathrm{UG}+Y_P)}{\mathrm{UG}}\·\frac{h}{\cos {\mathrm{\γ}}_0}\·\frac{2\·x_p\·\mathrm{tg}{\mathrm{\β}}_0}{W}$

Following formula can be reduced to

$X_P=\frac{(\mathrm{UG}+Y_P)}{\mathrm{UG}}\·\frac{h}{\cos {\mathrm{\γ}}_0}\·\frac{2\·x_p\·\mathrm{tg}{\mathrm{\β}}_0}{W}............\left(28\right)$

Order $\frac{h}{\cos {\mathrm{\γ}}_0}=k_3,$ $\frac{2\·\mathrm{tg}{\mathrm{\β}}_0}{W}=k_4,$ Then have

$X_P=\frac{(\mathrm{UG}+Y_P)}{\mathrm{UG}}\·k_3\·x_p\·k_4............\left(29\right)$

Formula (29) is the picture plane to the horizontal mapping relations on plane, road, and its inverse function has then represented the inverse mapping relation of plane, road to the picture plane, namely

$x_p=\frac{\mathrm{UG}}{(\mathrm{UG}+Y_P)\·k_3\·k_4}\·X_P............\left(30\right)$

Therefore, can represent with following one group of formula as the mapping relations between planimetric coordinates and the road planimetric coordinates:

$\left.\begin{array}{cc}{Y}_P=h\·k_1\·y_p\·\frac{1+k_2^2}{1-k_2\·k_1\·y_p}& ............\\ X_P=\frac{(\mathrm{UG}+Y_P)}{\mathrm{UG}}\·k_3\·x_p\·k_4& ............\\ y_p=\frac{Y_P}{k_1(h+h\·k_2^2+Y_P\·k_2)}& ............\\ x_p=\frac{\mathrm{UG}}{(\mathrm{UG}+Y_P)\·k_3\·k_4}\·X_P& ............\end{array}\right\}---\left(1\right)$

By above-mentioned derivation, can draw the coordinate figure of any one imaging point in photo coordinate system and the funtcional relationship of the coordinate figure of the corresponding real point of this picture point in the plane coordinate system of road in the long focus video camera image.

Because long focus video camera and monopod video camera are installed as intelligent monitor system integral body, spacing between the two can be ignored when carrying out computing, therefore, and as shown in Figure 6, the O point is the position of monopod video camera, and the I point is the vertical projection of O point on the plane, road.

By step 2) and step 3) determine benchmark real point N(X _N, Y _N) and the benchmark anglec of rotation of monopod video camera, wherein the angle δ of monopod video camera 0 ° of direction of level and IN in its spherical coordinate system ₀The datum-plane anglec of rotation for monopod video camera, and then calculate horizontal sextant angle between line MO, the NO be not difficult to draw target real point M and benchmark real point N the two and monopod video camera, i.e. MO, the NO angle δ between projection MI, the NI on the plane, road by geometric relationship ₂, and the angle δ of MO and vertical direction ₁, δ wherein ₁Its target vertical rotary angle in spherical coordinate system when being monopod video camera image alignment motion target; δ ₀With δ ₂And be the target level anglec of rotation of monopod video camera.

δ ₁With δ ₂Derivation as follows:

By formula (12) IG=htg γ as can be known ₀, M _YWith N _YBe M, the N subpoint to Y-axis, N _YThe length of N is X then _N, N _YThe length of G is Y _N, then

N _YI=N _YG+IG …………（31）

In like manner draw

M _YI=M _YG+IG …………（32）

Draw thus

${\mathrm{\δ}}_2=\mathrm{arctg}\frac{X_N}{N_{Y}I}+\mathrm{arctg}\frac{X_M}{M_{Y}I}............\left(33\right)$

Because Δ IM _YM is right-angle triangle, can draw according to Pythagorean theorem

$\mathrm{MI}=\sqrt{M_Y{I}^2+{X_M}^2}$

Then

${\mathrm{\δ}}_1=\mathrm{arctg}\frac{h}{\mathrm{MI}}............\left(34\right)$

When long focus video camera monitoring traces into moving target, can obtain the point of this moving target on long focus video camera image, this point is the target image point in the step 3), through the function calculation in the step 1) draw target image point right should be on the road surface the coordinate figure of target real point.

By formula (33) and formula (34), can draw the target anglec of rotation of monopod video camera, cloud platform control system can be controlled the The Cloud Terrace automatic rotation to the target rotary angle position, thereby moving target is carried out the concentration of local video acquisition.

The above only is preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.

Claims (2)

1. automatic orientation angle computing method of monopod video camera is characterized in that: may further comprise the steps:

1) utilize geometric relationship to derive the coordinate figure of imaging point in long focus video camera photo coordinate system and the funtcional relationship of the coordinate figure of real point in the plane coordinate system of the captured regional road of long focus video camera, wherein imaging point is the point on the long focus video camera image, and real point is imaging point point on the captured regional road surface of long focus video camera;

2) choose on the long focus video camera image any picture point as the reference map picture point;

3) rotary platform video camera makes its picture centre, i.e. benchmark real point on this corresponding road surface of reference map picture point of monopod video camera optical axis alignment, and the anglec of rotation of the horizontal and vertical of record monopod video camera this moment in its spherical coordinate system is the benchmark anglec of rotation;

4) obtain any picture point on the long focus video camera image as the target image point, and according to the function calculation in target image point coordinate value and the step 1) draw target image point right should be on the road surface the coordinate figure of target real point;

5) coordinate figure by the target real point that draws in the step 4), utilize geometric relationship to derive horizontal sextant angle between the line of this target real point and benchmark real point the two and monopod video camera and target real point to the line of monopod video camera and the angle of vertical direction, and calculate accordingly the target anglec of rotation for its horizontal and vertical in spherical coordinate system when the monopod video camera picture centre aims at the mark real point.

2. automatic orientation angle computing method of monopod video camera as claimed in claim 1, it is characterized in that: in the described step 1), get a real point P, its coordinate in the plane coordinate system of road is (X _P, Y _P), the corresponding imaging point of real point P is p, its coordinate in photo coordinate system is (x _p, y _p), following funtcional relationship is then arranged:

$\left.\begin{array}{cc}{Y}_P=h\·k_1\·y_p\·\frac{1+k_2^2}{1-k_2\·k_1\·y_p}& ............\\ X_P=\frac{(\mathrm{UG}+Y_P)}{\mathrm{UG}}\·k_3\·x_p\·k_4& ............\\ y_p=\frac{Y_P}{k_1(h+h\·k_2^2+Y_P\·k_2)}& ............\\ x_p=\frac{\mathrm{UG}}{(\mathrm{UG}+Y_P)\·k_3\·k_4}\·X_P& ............\end{array}\right\}---\left(1\right)$

In the formula (1),

$\left.\begin{array}{cc}{k}_1=2\mathrm{tg}\left({\mathrm{\α}}_0\right)/H& ............\\ k_2=\mathrm{tg}\left({\mathrm{\γ}}_0\right)& ............\\ k_3=h/\cos \left({\mathrm{\γ}}_0\right)& ............\\ k_4=2\mathrm{tg}\left({\mathrm{\β}}_0\right)/W& ............\\ \mathrm{UG}=h\·[\mathrm{tg}\left({\mathrm{\γ}}_0\right)-\mathrm{tg}({\mathrm{\γ}}_0-{\mathrm{\α}}_0)]\·\cos ({\mathrm{\γ}}_0-{\mathrm{\α}}_0)/[\cos ({\mathrm{\γ}}_0-{\mathrm{\α}}_0)-\cos \left({\mathrm{\γ}}_0\right)]& ......\end{array}\right\}---\left(2\right)$

In the formula (2), H is the height of long focus video camera as the plane; W is wide as the plane of long focus video camera; H is the setting height(from bottom) of long focus video camera and monopod video camera; 2 β ₀Horizontal field of view angle for long focus video camera camera lens; 2 α ₀Vertical field of view angle for long focus video camera camera lens; γ ₀The angle of pitch for long focus video camera.

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