CN108038871A - The pivot of rotating platform determines method, apparatus, server and storage medium - Google Patents
The pivot of rotating platform determines method, apparatus, server and storage medium Download PDFInfo
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- CN108038871A CN108038871A CN201711347169.4A CN201711347169A CN108038871A CN 108038871 A CN108038871 A CN 108038871A CN 201711347169 A CN201711347169 A CN 201711347169A CN 108038871 A CN108038871 A CN 108038871A
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- 230000006870 function Effects 0.000 description 7
- 238000012545 processing Methods 0.000 description 7
- 238000004891 communication Methods 0.000 description 5
- 230000005291 magnetic effect Effects 0.000 description 4
- 238000007405 data analysis Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
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- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/292—Multi-camera tracking
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
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Abstract
The embodiment of the invention discloses a kind of pivot of rotating platform to determine method, apparatus, server and storage medium.Method includes：The photo of the rotating platform with characteristic point of video camera shooting is obtained, wherein, the quantity of the video camera is one or two, correspondingly, the quantity of the characteristic point is one or two；The initial coordinate of the characteristic point is determined according to the photo；Obtain video camera shooting the rotated any angle of the rotating platform after photo, and determine the rotating platform on characteristic point it is rotated after coordinate；According to the initial coordinate with it is rotated after coordinate determine the pivot of the rotating platform.The embodiment of the present invention is solved in an only video camera, choose two characteristic point rotations once, the pivot for calculating rotating platform using trigonometric function has the problem of error, inaccurate, realizes the effect for the pivot for fast and accurately calculating rotating platform.
Description
Technical field
The present embodiments relate to e measurement technology, more particularly to a kind of pivot of rotating platform determine method, apparatus,
Server and storage medium.
Background technology
Optical table is being built, when being tested using optical component, it will usually be positioned over some optical components
On rotating platform, the movement of optical component is driven by the rotation of rotating platform, therefore, it is necessary to accurately measure rotating platform
Pivot, for calculating optical parameter.
At present, method is 2 characteristic points of selection on rotating platform used by calculating the pivot of rotating platform, right
Its coordinate is marked, and then rotating platform is rotated by a certain angle, and marks the coordinate of postrotational characteristic point, and then utilize three
Angle function calculates the pivot of rotating platform.But the result of calculation of this method can influence experiment knot there are error
Fruit.
The content of the invention
The embodiment of the present invention provides a kind of pivot for turning platform and determines method, apparatus, server and storage medium, with
Realize the pivot for fast and accurately determining rotating platform.
In a first aspect, an embodiment of the present invention provides a kind of pivot of rotating platform to determine method, this method includes：
The photo of the rotating platform with characteristic point of video camera shooting is obtained, wherein, the quantity of the video camera is one
It is a or two, correspondingly, the quantity of the characteristic point is one or two；
The initial coordinate of the characteristic point is determined according to the photo；
The photo after the rotated any angle of the rotating platform of video camera shooting is obtained, and determines the rotating platform
Coordinate after upper characteristic point is rotated, wherein, when the quantity of video camera is one, the rotating number of rotating platform for twice,
When the quantity of video camera is two, the rotating number of rotating platform is once；
According to the initial coordinate with it is rotated after coordinate determine the pivot of the rotating platform.
Second aspect, the embodiment of the present invention additionally provide a kind of pivot determining device of rotating platform, the device bag
Include：
Photo acquisition module, the photo of the rotating platform with characteristic point for obtaining video camera shooting, wherein, it is described
The quantity of video camera is one or two, correspondingly, the quantity of the characteristic point is one or two；It is additionally operable to obtain video camera
Photo after the rotated any angle of the rotating platform of shooting；
Coordinate determining module, for determining the initial coordinate of the characteristic point according to the photo of the video camera shooting got
With the postrotational coordinate of rotating platform, wherein, when the quantity of video camera is one, the rotating number of rotating platform for twice,
When the quantity of video camera is two, the rotating number of rotating platform is once；
Pivot computing module, for according to the initial coordinate with it is rotated after coordinate determine the rotating platform
Pivot.
The third aspect, the embodiment of the present invention additionally provide a kind of server, which includes：
One or more processors；
Storage device, for storing one or more programs；
When one or more of programs are performed by one or more of processors so that one or more of processing
Device realizes that the pivot of the rotating platform as described in any in the embodiment of the present invention determines method.
Fourth aspect, the embodiment of the present invention additionally provide a kind of computer-readable recording medium, are stored thereon with computer
Program, realizes that the pivot of the rotating platform as described in any in the embodiment of the present invention determines when which is executed by processor
Method.
The embodiment of the present invention on rotating platform by selecting and the corresponding characteristic point of number of cameras, shooting rotary flat
Platform before rotation with postrotational photo to determine the initial coordinate of characteristic point and postrotational coordinate, and then according to characteristic point
Coordinate determines the pivot of rotating platform after initial coordinate and rotation；Solve in an only video camera, choose two
Characteristic point rotates once, and the pivot for calculating rotating platform using trigonometric function has the problem of error, inaccurate, realizes fast
The effect of speed, the accurate pivot for calculating rotating platform.
Brief description of the drawings
Fig. 1 a are that the pivot of the rotating platform in the embodiment of the present invention one determines the flow chart of method；
Fig. 1 b are the pivot equipment of a definite rotating platform when video camera is provided with the embodiment of the present invention one
Schematic diagram；
Fig. 1 c are the pivot equipment of definite rotating platform when two video cameras are provided with the embodiment of the present invention one
Schematic diagram；
Fig. 2 is the structure diagram of the pivot determining device of the rotating platform in the embodiment of the present invention two；
Fig. 3 is the structure diagram of the server in the embodiment of the present invention three.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention, rather than limitation of the invention.It also should be noted that in order to just
It illustrate only part related to the present invention rather than entire infrastructure in description, attached drawing.
Embodiment one
Fig. 1 a are that the pivot for the rotating platform that the embodiment of the present invention one provides determines the flow chart of method, the present embodiment
Be applicable to determine rotating platform pivot situation, this method can by the pivot determining device of rotating platform Lai
Perform, which can be realized by the way of software and/or hardware.As shown in Figure 1a, this method specifically includes：
S110, the photo for obtaining the rotating platform with characteristic point that video camera is shot, wherein, the quantity of the video camera
For one or two, correspondingly, the quantity of the characteristic point is one or two.
Specifically, during the pivot of rotating platform is searched, first have to place one in the top of rotating platform
A camera platform, is fixedly installed one or two video camera in camera platform, can refer to the structure as shown in Fig. 1 b and Fig. 1 c,
Wherein, the schematic diagram of the pivot equipment of definite rotating platform when Fig. 1 b are provided with a video camera, Fig. 1 c are to set
The schematic diagram of the pivot equipment of definite rotating platform when having two video cameras.101 be rotating platform in Fig. 1 b and Fig. 1 c,
102 be camera platform, and 103 be the video camera being fixedly installed in camera platform.
Then, any feature points for selecting quantity identical with number of cameras on rotating platform surface, as long as feature
The position of point is in the coverage of video camera.When a video camera is shooting rotating platform photo with a characteristic point
Focus.
S120, the initial coordinate for determining according to the photo characteristic point.
After video camera shoots photo can by data processing equipments such as photo uploads to computer, to carry out data analysis,
The initial coordinate of characteristic point is determined by the analysis to photo Pixel Information.The process that data analysis is carried out to photo uses
General pattern processing method, does not limit the concrete mode of image procossing in the present embodiment.By shoot characteristic point photo into
Row data analysis determines its coordinate, the coordinate accuracy of pivot can be made to be quantified with pixel number, more accurately.
S130, obtain the photo after the rotated any angle of the rotating platform that video camera is shot, and determines the rotation
Turn the coordinate after characteristic point is rotated on platform, wherein, when the quantity of video camera is one, the rotating number of rotating platform is
Twice, when the quantity of video camera is two, the rotating number of rotating platform is once.
Specifically, after the initial coordinate information of characteristic point is determined, then by rotating platform any rotation, by taking the photograph
Camera shoots the photo of rotating platform again, obtains characteristic point corresponding coordinate after rotation.When the quantity of video camera is
At one, the rotating number of rotating platform is twice, after first time rotates, according to the photograph after the rotation of the first time of acquisition
Piece can determine selected first coordinate information of characteristic point, after a second rotation, according to second of acquisition rotation
Photo afterwards can determine selected second coordinate information of characteristic point.When the quantity of video camera is two, rotation
The rotating number of platform is once, after once rotating, according to selected by can determining the photo after the once rotation of acquisition
Two characteristic points rotation after coordinate information.
S140, according to the initial coordinate with it is rotated after coordinate determine the pivot of the rotating platform.
Specifically, when the quantity of the video camera is one, the quantity of characteristic point is one, the rotating number of rotating platform
For twice when, correspondingly, according to the initial coordinate with it is rotated after coordinate determine the pivot of the rotating platform, i.e.,
Determined according to initial coordinate, the first coordinate and the second coordinate of a selected characteristic point in the rotation of the rotating platform
The heart.Specifically, determine characteristic point before rotation between coordinate points after first time rotation according to the initial coordinate and the first coordinate
The first line segment, according to first coordinate and the second coordinate determine characteristic point rotated in first time after with second rotation recoil
Second line segment between punctuate, calculates the first line segment and the perpendicular bisector of second line segment respectively, determines the first line segment and second
The intersection point of the perpendicular bisector of line segment is the pivot of the rotating platform.
Further, when the quantity of video camera is two, the quantity of characteristic point is two, and the rotating number of rotating platform is
An at time, initial coordinate includes the initial coordinate information of two selected characteristic points, and postrotational coordinate includes selected two
Coordinate information after the rotation of characteristic point, according to initial coordinate with it is rotated after coordinate determine the pivot of the rotating platform
Specially：Determined respectively according to the initial coordinate of two characteristic points and postrotational coordinate two characteristic points before rotation with rotation
Line segment between coordinate points afterwards, calculates line segment vertical of two characteristic points before rotation between coordinate points after rotation and divides equally respectively
Line, the intersection point for determining two perpendicular bisectors are the pivot of the rotating platform.
The technical solution of the present embodiment, by being selected on rotating platform and the corresponding characteristic point of number of cameras, bat
Take the photograph rotating platform before rotation with postrotational photo, with determine characteristic point initial coordinate and postrotational coordinate, Jin Ergen
The pivot of rotating platform is determined according to coordinate after the initial coordinate of characteristic point and rotation, the essence of pivot calculating can be improved
Exactness, realizes the effect for the pivot for fast and accurately calculating rotating platform.
Embodiment two
Fig. 2 be rotating platform provided by Embodiment 2 of the present invention pivot determining device structure diagram, such as Fig. 2
Shown, the pivot determining device of rotating platform specifically includes：
Photo acquisition module 210, the photo of the rotating platform with characteristic point for obtaining video camera shooting, wherein,
The quantity of the video camera is one or two, correspondingly, the quantity of the characteristic point is one or two；Acquisition is additionally operable to take the photograph
Photo after the rotated any angle of the rotating platform of camera shooting；
Coordinate determining module 220, for determining the initial of the characteristic point according to the photo of the video camera shooting got
Coordinate and the postrotational coordinate of rotating platform, wherein, when the quantity of video camera is one, the rotating number of rotating platform is two
Secondary, when the quantity of video camera is two, the rotating number of rotating platform is once；
Pivot computing module 230, for according to the initial coordinate with it is rotated after coordinate determine the rotation
The pivot of platform.
The technical solution of the present embodiment, by being selected on rotating platform and the corresponding characteristic point of number of cameras, photograph
Piece acquisition module obtain camera shooting rotating platform before rotation with postrotational photo, to be determined by coordinate determining module
The initial coordinate of characteristic point and postrotational coordinate, and then initial coordinate and rotation of the pivot computing module according to characteristic point
Coordinate determines the pivot of rotating platform afterwards, can improve the accuracy of pivot calculating, and realization fast and accurately calculates
Go out the effect of the pivot of rotating platform.
Further, when the quantity of the video camera is one, the quantity of characteristic point is one, rotating time of rotating platform
When number is twice, the photo that the coordinate after characteristic point is rotated on the rotating platform includes shooting after being rotated according to first time is true
Characteristic point is through postrotational first coordinate for the first time, and the photo shot after being rotated according to second on the fixed rotating platform
Characteristic point is through second of postrotational second coordinate on the definite rotating platform；
Correspondingly, pivot computing module 230 is used to be determined according to the initial coordinate, the first coordinate and the second coordinate
The pivot of the rotating platform.
Further, pivot computing module 230, including：
First line segment determination unit, for determining characteristic point before rotation according to the initial coordinate and the first coordinate information
The first line segment after being rotated with first time between coordinate points；It is additionally operable to determine that characteristic point exists according to first coordinate and the second coordinate
Second line segment after rotating for the first time and after second of rotation between coordinate points
First perpendicular bisector determination unit, for calculating the perpendicular bisector of the first line segment and second line segment respectively；
First pivot computing unit, for determining that the intersection point of perpendicular bisector of the first line segment and second line segment is institute
State the pivot of rotating platform.
Further, when the quantity of the video camera is two, the quantity of characteristic point is two, rotating time of rotating platform
When number is one time, pivot computing module 230 further includes：Second line segment determination unit, for according to the initial coordinate with
Postrotational coordinate determines line segment of two characteristic points before rotation between coordinate points after rotation respectively；Second perpendicular bisector is true
Order member, for calculating the perpendicular bisector of line segment of two characteristic points before rotation between coordinate points after rotation respectively；The
Two pivot computing units, the intersection point for determining two perpendicular bisectors are the pivot of the rotating platform.
The pivot determining device of above-mentioned rotating platform can perform the rotating platform that any embodiment of the present invention is provided
Pivot determine method, possess the corresponding function module of execution method and beneficial effect.
Embodiment three
Fig. 3 is a kind of structure diagram for server that the embodiment of the present invention three provides.Fig. 3 is shown suitable for being used for realizing
The block diagram of the example server device 312 of embodiment of the present invention.The server 312 that Fig. 3 is shown is only an example, no
The function and use scope for tackling the embodiment of the present invention bring any restrictions.
As shown in figure 3, server 312 is showed in the form of universal computing device.The component of server 312 can include but
It is not limited to：One or more processor or processing unit 316, system storage 328, connection different system component (including
System storage 328 and processing unit 316) bus 318.
Bus 318 represents the one or more in a few class bus structures, including memory bus or Memory Controller,
Peripheral bus, graphics acceleration port, processor or the local bus using any bus structures in a variety of bus structures.Lift
For example, these architectures include but not limited to industry standard architecture (ISA) bus, microchannel architecture (MAC)
Bus, enhanced isa bus, Video Electronics Standards Association (VESA) local bus and periphery component interconnection (PCI) bus.
Server 312 typically comprises various computing systems computer-readable recording medium.These media can be it is any being capable of bedding and clothing
The usable medium that business device 312 accesses, including volatile and non-volatile medium, moveable and immovable medium.
System storage 328 can include the computer system readable media of form of volatile memory, such as deposit at random
Access to memory (RAM) 330 and/or cache memory 332.Server 312 may further include it is other it is removable/can not
Mobile, volatile/non-volatile computer system storage medium.Only as an example, storage system 334 can be used for read-write not
Movably, non-volatile magnetic media (Fig. 3 is not shown, is commonly referred to as " hard disk drive ").Although not shown in Fig. 3, can with
The disc driver being used for moving non-volatile magnetic disk (such as " floppy disk ") read-write is provided, and to removable non-volatile
The CD drive of CD (such as CD-ROM, DVD-ROM or other optical mediums) read-write.In these cases, each driving
Device can be connected by one or more data media interfaces with bus 318.Memory 328 can include at least one program
Product, the program product have one group of (for example, at least one) program module, these program modules are configured to perform the present invention
The function of each embodiment.
Program/utility 340 with one group of (at least one) program module 342, can be stored in such as memory
In 328, such program module 342 includes but not limited to operating system, one or more application program, other program modules
And routine data, the realization of network environment may be included in each or certain combination in these examples.Program module 342
Usually perform the function and/or method in embodiment described in the invention.
Server 312 can also be with one or more external equipments 314 (such as keyboard, sensing equipment, display 324 etc.)
Communication, can also enable a user to the equipment communication interacted with the computer equipment 312 with one or more, and/or with causing
Any equipment that the server 312 can communicate with one or more of the other computing device (such as network interface card, modem etc.
Deng) communication.This communication can be carried out by input/output (I/O) interface 322.Also, computer equipment 312 can also lead to
Cross network adapter 320 and one or more network (such as LAN (LAN), wide area network (WAN) and/or public network, example
Such as internet) communication.As shown in the figure, network adapter 320 is communicated by bus 318 with other modules of computer equipment 312.
It should be understood that although not shown in the drawings, can combine computer equipment 312 use other hardware and/or software module, including but
It is not limited to：Microcode, device driver, redundant processing unit, external disk drive array, RAID system, tape drive with
And data backup storage system etc..
Processing unit 316 is stored in program in system storage 328 by operation, thus perform various functions using with
And data processing, such as realize that the pivot for the rotating platform that the embodiment of the present invention is provided determines method, including：
The photo of the rotating platform with characteristic point of video camera shooting is obtained, wherein, the quantity of the video camera is one
It is a or two, correspondingly, the quantity of the characteristic point is one or two；
The initial coordinate of the characteristic point is determined according to the photo；
The photo after the rotated any angle of the rotating platform of video camera shooting is obtained, and determines the rotating platform
Coordinate after upper characteristic point is rotated, wherein, when the quantity of video camera is one, the rotating number of rotating platform for twice,
When the quantity of video camera is two, the rotating number of rotating platform is once；
According to the initial coordinate with it is rotated after coordinate determine the pivot of the rotating platform.
Example IV
The embodiment of the present invention four additionally provides a kind of computer-readable recording medium, is stored thereon with computer program, should
The realization such as pivot for the rotating platform that the embodiment of the present invention is provided determines method when program is executed by processor, including：
The photo of the rotating platform with characteristic point of video camera shooting is obtained, wherein, the quantity of the video camera is one
It is a or two, correspondingly, the quantity of the characteristic point is one or two；
The initial coordinate of the characteristic point is determined according to the photo；
The photo after the rotated any angle of the rotating platform of video camera shooting is obtained, and determines the rotating platform
Coordinate after upper characteristic point is rotated, wherein, when the quantity of video camera is one, the rotating number of rotating platform for twice,
When the quantity of video camera is two, the rotating number of rotating platform is once；
According to the initial coordinate with it is rotated after coordinate determine the pivot of the rotating platform.
The computer-readable storage medium of the embodiment of the present invention, can use any of one or more computer-readable media
Combination.Computer-readable medium can be computer-readable signal media or computer-readable recording medium.It is computer-readable
Storage medium for example may be-but not limited to-the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, device or
Device, or any combination above.The more specifically example (non exhaustive list) of computer-readable recording medium includes：Tool
There are the electrical connections of one or more conducting wires, portable computer diskette, hard disk, random access memory (RAM), read-only storage
(ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read-only storage (CD-
ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.In this document, computer-readable storage
Medium can be any includes or the tangible medium of storage program, the program can be commanded execution system, device or device
Using or it is in connection.
Computer-readable signal media can include in a base band or as carrier wave a part propagation data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but unlimited
In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can
Any computer-readable medium beyond storage medium is read, which, which can send, propagates or transmit, is used for
By instruction execution system, device either device use or program in connection.
The program code included on computer-readable medium can be transmitted with any appropriate medium, including --- but it is unlimited
In wireless, electric wire, optical cable, RF etc., or above-mentioned any appropriate combination.
It can be write with one or more programming languages or its combination for performing the computer that operates of the present invention
Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++,
Further include conventional procedural programming language-such as " such as " language or similar programming language.Program code can be with
Fully perform, partly perform on the user computer on the user computer, the software kit independent as one performs, portion
Divide and partly perform or performed completely on remote computer or server on the remote computer on the user computer.
Be related in the situation of remote computer, remote computer can pass through the network of any kind --- including LAN (LAN) or
Wide area network (WAN) domain is connected to subscriber computer, or, it may be connected to outer computer (such as carried using Internet service
Pass through Internet connection for business).
Note that it above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious changes,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although being carried out by above example to the present invention
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
It can include other more equivalent embodiments, and the scope of the present invention is determined by scope of the appended claims.
Claims (10)
1. a kind of pivot of rotating platform determines method, it is characterised in that including：
Obtain the photo of the rotating platform with characteristic point of video camera shooting, wherein, the quantity of the video camera be one or
Two, correspondingly, the quantity of the characteristic point is one or two；
The initial coordinate of the characteristic point is determined according to the photo；
The photo after the rotated any angle of the rotating platform of video camera shooting is obtained, and is determined special on the rotating platform
Coordinate after sign point is rotated, wherein, when the quantity of video camera is one, the rotating number of rotating platform is twice, when taking the photograph
When the quantity of camera is two, the rotating number of rotating platform is once；
According to the initial coordinate with it is rotated after coordinate determine the pivot of the rotating platform.
2. the pivot of rotating platform according to claim 1 determines method, it is characterised in that when the video camera
Quantity is one, and the quantity of characteristic point is one, when the rotating number of rotating platform is twice, characteristic point on the rotating platform
Characteristic point is through first on the rotating platform that the photo that coordinate after rotated includes shooting after being rotated according to first time determines
Characteristic point is through the on secondary postrotational first coordinate, and the rotating platform that determines of the photo shot after being rotated according to second
The second coordinate after secondary rotating；
Correspondingly, according to the initial coordinate with it is rotated after coordinate determine the pivot of the rotating platform, including：
The pivot of the rotating platform is determined according to the initial coordinate, the first coordinate and the second coordinate.
3. the pivot of rotating platform according to claim 2 determines method, it is characterised in that described according to described first
Beginning coordinate, the first coordinate and the second coordinate determine the pivot of the rotating platform, including：
First of characteristic point before rotation between coordinate points after first time rotation is determined according to the initial coordinate and the first coordinate
Line segment；
Determine characteristic point after first time rotation and after second of rotation between coordinate points according to first coordinate and the second coordinate
Second line segment；
The first line segment and the perpendicular bisector of second line segment are calculated respectively；
The intersection point for determining the first line segment and the perpendicular bisector of second line segment is the pivot of the rotating platform.
4. the pivot of rotating platform according to claim 1 determines method, it is characterised in that when the video camera
Quantity is two, and the quantity of characteristic point is two, described according to the initial coordinate when the rotating number of rotating platform is one time
Determine that the pivot of the rotating platform includes with the coordinate after rotated：
Determined two characteristic points before rotation between coordinate points after rotation respectively according to the initial coordinate and postrotational coordinate
Line segment；
The perpendicular bisector of line segment of two characteristic points before rotation between coordinate points after rotation is calculated respectively；
The intersection point for determining two perpendicular bisectors is the pivot of the rotating platform.
A kind of 5. pivot determining device of rotating platform, it is characterised in that including：
Photo acquisition module, the photo of the rotating platform with characteristic point for obtaining video camera shooting, wherein, the shooting
The quantity of machine is one or two, correspondingly, the quantity of the characteristic point is one or two；It is additionally operable to obtain video camera shooting
The rotated any angle of the rotating platform after photo；
Coordinate determining module, for determining initial coordinate and the rotation of the characteristic point according to the photo of the video camera shooting got
Turn the postrotational coordinate of platform, wherein, when the quantity of video camera is one, the rotating number of rotating platform is twice, when taking the photograph
When the quantity of camera is two, the rotating number of rotating platform is once；
Pivot computing module, for according to the initial coordinate with it is rotated after coordinate determine the rotation of the rotating platform
Turn center.
6. the pivot determining device of rotating platform according to claim 5, it is characterised in that when the video camera
Quantity is one, and the quantity of characteristic point is one, when the rotating number of rotating platform is twice, characteristic point on the rotating platform
Characteristic point is through first on the rotating platform that the photo that coordinate after rotated includes shooting after being rotated according to first time determines
Characteristic point is through the on secondary postrotational first coordinate, and the rotating platform that determines of the photo shot after being rotated according to second
The second coordinate after secondary rotating；
Correspondingly, pivot computing module is used to determine the rotation according to the initial coordinate, the first coordinate and the second coordinate
Turn the pivot of platform.
7. the pivot determining device of rotating platform according to claim 6, it is characterised in that the pivot meter
Module is calculated, including：
First line segment determination unit, for determining characteristic point before rotation with the according to the initial coordinate and the first coordinate information
The first line segment after once rotating between coordinate points；It is additionally operable to determine characteristic point first according to first coordinate and the second coordinate
Second line segment after secondary rotation and after second of rotation between coordinate points
First perpendicular bisector determination unit, for calculating the perpendicular bisector of the first line segment and second line segment respectively；
First pivot computing unit, for determining that the intersection point of perpendicular bisector of the first line segment and second line segment is the rotation
Turn the pivot of platform.
8. the pivot determining device of rotating platform according to claim 5, it is characterised in that when the video camera
Quantity is two, and the quantity of characteristic point is two, when the rotating number of rotating platform is one time, the pivot computing module
Including：
Second line segment determination unit, for determining that two characteristic points are being revolved respectively with postrotational coordinate according to the initial coordinate
Line segment before turning and after rotation between coordinate points；
Second perpendicular bisector determination unit, for calculating two characteristic points respectively before rotation between coordinate points after rotation
The perpendicular bisector of line segment；
Second pivot computing unit, the intersection point for determining two perpendicular bisectors are in the rotation of the rotating platform
The heart.
9. a kind of server, it is characterised in that the server includes：
One or more processors；
Storage device, for storing one or more programs；
When one or more of programs are performed by one or more of processors so that one or more of processors are real
Now the pivot of the rotating platform as described in any in claim 1-4 determines method.
10. a kind of computer-readable recording medium, is stored thereon with computer program, it is characterised in that the program is by processor
Realize that the pivot of the rotating platform as described in any in claim 1-4 determines method during execution.
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