A visual field deployment method, device, electronic equipment and storage medium

Abstract

A method, device, electronic equipment and storage medium for visual field deployment, which acquires position information of an actual monitoring device in a three-dimensional map, specifically: taking the latitude and longitude information of the actual monitoring device as the center, determining a search area with a preset height in the three-dimensional map; determining an area conforming to the image characteristics of the monitoring device from the search area; calculating the height information of the installation of the actual monitoring device according to the area conforming to the image characteristics of the monitoring device; further acquiring the horizontal angle of the visual field of the actual monitoring device, and acquiring the pitch angle of the visual field of the actual monitoring device according to the horizontal angle, the photographic image, the image shot by the actual monitoring device and the above position information, thereby finally completing the deployment of the visual field. The present application proposes a scheme for automatically deploying the visual field, which can greatly reduce the manual workload during the deployment of the visual field, and facilitate, quickly and accurately complete the deployment of the visual field.

Description

TECHNICAL FIELD

[0001] The present application relates to a video monitoring technology, and in particular to a visual field deployment method and device, electronic equipment and storage medium. BACKGROUND

[0002] The application of three-dimensional maps to the monitoring field is a rapidly developing technical direction. In a three-dimensional map, if the coordinates (such as latitude and longitude, installation height) and the specific orientation of a monitoring device are known, the installation location and orientation of the monitoring device can be optimized so that important locations are monitored in all directions, or the target area can be completely monitored from all angles using as few monitoring devices as possible. In addition, in a three-dimensional map, if the coordinates (such as latitude and longitude, installation height) and the specific orientation of a monitoring device are known, the algorithm can be used to automatically calculate whether there are other available monitoring device resources in a specific monitoring video image, to realize high-low point linkage video jumping and the like.

[0003] Currently, whether upgrading and switching of existing systems using two-dimensional maps or arrangement and use of new sites are often manually marked and configured by humans. SUMMARY

[0004] To solve the above problems, the present application provides a visual field deployment method, device, electronic equipment and storage medium, which are described in detail below.

[0005] According to a first aspect, an embodiment provides a visual field deployment method, comprising:

[0006] Obtaining position information of an actual monitoring device in a three-dimensional map, comprising: determining a search area with a preset height in the three-dimensional map with the latitude and longitude information of the actual monitoring device as the center; determining an area conforming to the image features of a monitoring device from the search area; and calculating the height information of the installation of the actual monitoring device according to the area conforming to the image features of the monitoring device.

[0007] Obtaining the horizontal angle of the visual field of the actual monitoring device according to the image taken by the actual monitoring device.

[0008] Obtaining the pitch angle of the visual field of the actual monitoring device according to the photographic image used to generate the three-dimensional map, the image taken by the actual monitoring device, the position information of the actual monitoring device in the three-dimensional map and the horizontal angle of the visual field of the actual monitoring device.

[0009] Calculating the visual field of the actual monitoring device in the three-dimensional map according to the horizontal angle and the pitch angle of the visual field of the actual monitoring device.

[0010] In an embodiment, the determining the region meeting the monitoring device image feature from the search region comprises:

[0011] analyzing the search region to find a plurality of continuous polyhedral surfaces;

[0012] performing rendering screenshot analysis on the plurality of continuous polyhedral surfaces to determine whether a feature of each continuous polyhedral surface meets a preset feature requirement;

[0013] when a feature of a continuous polyhedral surface meets the preset feature requirement, the continuous polyhedral surface meets the monitoring device image feature, and the continuous polyhedral surface is taken as the region meeting the monitoring device image feature.

[0014] In an embodiment, the acquiring the horizontal angle of the visual field of the actual monitoring device according to the image captured by the actual monitoring device comprises:

[0015] calculating, according to the image captured by the actual monitoring device, an included angle information formed between a direction of a road in the image and a horizontal orientation of the visual field of the actual monitoring device;

[0016] calculating, according to the included angle information and an actual direction of the road, the horizontal angle of the visual field of the actual monitoring device.

[0017] In an embodiment, the acquiring the pitch angle of the visual field of the actual monitoring device according to the photographic image for generating the three-dimensional map, the image captured by the actual monitoring device, the position information of the actual monitoring device in the three-dimensional map, and the horizontal angle of the visual field of the actual monitoring device comprises:

[0018] setting a virtual monitoring device in the three-dimensional map, and the position information and the horizontal angle of the visual field of the virtual monitoring device in the three-dimensional map are respectively the position information of the actual monitoring device and the horizontal angle of the visual field of the actual monitoring device;

[0019] acquiring the pitch angle of the visual field of the actual monitoring device according to the photographic image under the shooting angle of the virtual monitoring device and the image captured by the actual monitoring device.

[0020] In an embodiment, the acquiring the pitch angle of the visual field of the actual monitoring device according to the photographic image under the shooting angle of the virtual monitoring device and the image captured by the actual monitoring device comprises:

[0021] finding a feature point from the image captured by the actual monitoring device;

[0022] finding the feature point from the photographic image under the shooting angle of the virtual monitoring device;

[0023] finding a specific pitch angle, such that a proportional position of the feature point in a photographic image of the virtual monitoring device at the specific pitch angle is the same as a proportional position of the feature point in the image taken by the actual monitoring device;

[0024] taking the specific pitch angle as the pitch angle of the visual field of the actual monitoring device.

[0025] In an embodiment, the photographic image used to generate the three-dimensional map is a tilt photographic image.

[0026] According to a second aspect, an embodiment provides an apparatus for visual field deployment, comprising:

[0027] a position information obtaining module, configured to obtain position information of an actual monitoring device in a three-dimensional map; the position information obtaining module comprises a search area determining module, a monitoring device searching module and an installation height calculating module; the search area determining module is configured to determine a search area with a preset height in the three-dimensional map with the latitude and longitude information of the actual monitoring device as the center; the monitoring device searching module is configured to search for an area conforming to monitoring device image features from the search area; and the installation height calculating module is configured to calculate height information of installation of the actual monitoring device according to the area conforming to monitoring device image features.

[0028] a horizontal angle obtaining module, configured to obtain a horizontal angle of a visual field of the actual monitoring device according to an image taken by the actual monitoring device;

[0029] a pitch angle obtaining module, configured to obtain a pitch angle of the visual field of the actual monitoring device according to a photographic image used to generate the three-dimensional map, the image taken by the actual monitoring device, the position information of the actual monitoring device in the three-dimensional map and the horizontal angle of the visual field of the actual monitoring device;

[0030] a visual field calculating module, configured to calculate the visual field of the actual monitoring device in the three-dimensional map according to the horizontal angle and the pitch angle of the visual field of the actual monitoring device.

[0031] In an embodiment, the horizontal angle obtaining module comprises an included angle calculating module and a horizontal angle calculating module; the included angle calculating module is configured to calculate included angle information formed by a direction of a road in the image and a horizontal orientation of the visual field of the actual monitoring device according to the image taken by the actual monitoring device; and the horizontal angle calculating module is configured to calculate the horizontal angle of the visual field of the actual monitoring device according to the included angle information and an actual direction of the road.

[0032] According to a third aspect, an embodiment provides an electronic device, comprising:

[0033] a memory for storing a program;

[0034] a processor for implementing the method as described in any of the embodiments herein by executing the program stored in the memory.

[0035] According to a fourth aspect, one embodiment provides a computer readable storage medium comprising a program, the program being executable by a processor for implementing the method as described in any of the embodiments herein.

[0036] The method, device, electronic equipment and storage medium for visual field deployment according to the above embodiments propose a scheme for automatically deploying the visual field, which can greatly reduce the manual workload in visual field deployment and can facilitate, quickly and accurately complete the deployment of the visual field. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 a flowchart of the method for visual field deployment according to one embodiment;

[0038] Figure 2 a flowchart of acquiring the position information of the actual monitoring device in the three-dimensional map according to one embodiment;

[0039] Figure 3 a schematic diagram of the cylindrical region according to one embodiment;

[0040] Figure 4 a flowchart of acquiring the horizontal angle of the visual field of the actual monitoring device according to the image taken by the actual monitoring device according to one embodiment;

[0041] Figure 5 a schematic diagram of the image taken by the actual monitoring device according to one embodiment;

[0042] Figure 6 a schematic diagram of the road direction according to one embodiment;

[0043] Figure 7 a schematic diagram of the first candidate horizontal angle and the second candidate horizontal angle of the visual field of the actual monitoring device at the perspective angle of the two-dimensional plane according to one embodiment;

[0044] Figure 8 a schematic diagram for assisting in explaining the matching of the feature points according to one embodiment;

[0045] Figure 9 a flowchart of acquiring the pitch angle of the visual field of the actual monitoring device according to the photographic image for generating the three-dimensional map, the image taken by the actual monitoring device, the position information of the actual monitoring device in the three-dimensional map and the horizontal angle of the visual field of the actual monitoring device according to one embodiment;

[0046] Figure 10FIG. 1 is a flowchart illustrating a method for obtaining a pitch angle of a visual field of an actual monitoring device according to a photographing image of the virtual monitoring device and an image photographed by the actual monitoring device, according to an embodiment of the present disclosure;

[0047] Figure 11 FIG. 2 is a structural diagram of a device for deploying a visual field, according to an embodiment of the present disclosure;

[0048] Figure 12 FIG. 3 is a structural diagram of a position information obtaining module, according to an embodiment of the present disclosure;

[0049] Figure 13 FIG. 4 is a structural diagram of a horizontal angle obtaining module, according to an embodiment of the present disclosure;

[0050] Figure 14 FIG. 5 is a structural diagram of an electronic device, according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0051] The present application will be further described in detail with reference to the drawings. Like reference numerals can be used to refer to like elements throughout. In the following description, numerous specific details are discussed to provide a thorough understanding of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced without such specific details. In other instances, well-known methods have not been described in detail in order to avoid obscuring the present application. As used in the description herein and throughout the claims that follow, the meaning of "if" includes "when" and "upon the condition of."

[0052] In addition, features, operations, or functions described in the specification can be implemented as softwares, firmwares, or microcodes, which can be executed by various hardware devices, for example, a processor. The methods described herein can be implemented on the processor. The software codes can be stored in the memory. The computer software can be written in an appropriate software language, for example, Java, C++, or Visual Basic. However, the software can be implemented by a person with ordinary skill in the art based on the teachings of the present disclosure without using a specific programming language. The software codes can be stored in the computer-readable storage medium, for example, volatile or non-volatile memory, or a hard disk.

[0053] The terms "first", "second", and the like in the description do not mean any order or sequence, but are used to distinguish the objects.

[0054] To complete the visual range of the monitoring device in the three-dimensional map, the latitude and longitude information, the installation height information and the shooting orientation of the monitoring device need to be obtained. Currently, there are two kinds of scenes that need to configure the three-dimensional visual range: one is the scene that has used the two-dimensional electronic map, in which the latitude and longitude information of the monitoring device is generally obtained on the map, and the installation height and the shooting orientation of the monitoring device are missing after upgrading or switching to the three-dimensional map, and manual annotation is needed, so the visual range of the monitoring device cannot be automatically deployed; the other is the new local point, in which the latitude and longitude information, the installation height and the shooting orientation of the monitoring device need to be manually annotated to obtain the information when the visual range of the monitoring device needs to be configured in the three-dimensional map.

[0055] Analyzing the above scenarios, there are several ways to obtain the latitude and longitude information of the monitoring device: if it is a scene that has used the two-dimensional electronic map, the latitude and longitude information of the monitoring device is generally obtained on the map; in other cases, the monitoring device also has a positioning function and can report the GPS information; or it can also be manually annotated.

[0056] When deploying the visual range of the monitoring device, there are many difficulties: for example, how to obtain the installation height of the monitoring device; for another example, how to obtain the shooting orientation of the monitoring device. In the embodiment of the present application, a scheme for obtaining the installation height of the monitoring device through image analysis is proposed, and the shooting orientation of the monitoring device is divided into horizontal orientation (horizontal angle) and pitch orientation (pitch angle), and a scheme for obtaining the horizontal angle and the pitch angle of the monitoring device is proposed to finally complete the deployment of the visual range of the monitoring device.

[0057] The embodiment of the present application proposes a visual range deployment method, device, electronic equipment and storage medium, which can greatly reduce the manual workload of deployment, and some key steps such as automatic acquisition of installation height, horizontal angle and / or pitch angle, to facilitate, quickly and accurately complete the deployment of the visual range of the three-dimensional map.

[0058] Please refer to Figure 1 The visual range deployment method of some embodiments includes the following steps:

[0059] Step 100: obtaining the position information of the actual monitoring device in the three-dimensional map. In some embodiments, the position information includes the latitude and longitude information and the installation height information of the actual monitoring device.

[0060] The actual monitoring device referred to herein is a physical device capable of image shooting, such as a monitoring camera, etc. It can be understood that when image shooting is continuously performed, a video recording function can be realized, and thus the actual monitoring device referred to herein can shoot a single or multiple images or perform video recording.

[0061] The three-dimensional map referred to herein can be generated based on photographic images, for example, modeling based on photographic images and generating a three-dimensional map. The photographic images herein can be obtained by a tilt photography technology of a UAV, and thus in some embodiments, the three-dimensional map can be a tilt photography model.

[0062] The step 100 involves obtaining the installation height of the actual monitoring device in the three-dimensional map, which can be obtained by image analysis, and will be specifically described below.

[0063] In the three-dimensional map, the actual monitoring device outdoors mainly has two installation modes, one is wall-mounted, i.e., installed on a wall such as a corridor entrance, and the other is pole-mounted, i.e., installed by a vertical pole.

[0064] Please refer to Figure 2 In some embodiments, the step 100 obtains the position information of the actual monitoring device in the three-dimensional map, including the following steps:

[0065] The step 110 determines a search area with a preset height in the three-dimensional map with the latitude and longitude information of the actual monitoring device as the center. In some embodiments, the search area can be a cylindrical area with a preset radius and a preset height, for example Figure 3 is an example. It should be noted that the preset radius and the preset height can be set to any value according to specific conditions.

[0066] The step 110 involves the latitude and longitude information of the actual monitoring device in the three-dimensional map. In some embodiments, in a scenario where a two-dimensional electronic map has been used, since the system has stored the latitude and longitude information of the actual monitoring device, the step 110 can obtain the latitude and longitude information of the actual monitoring device by calling the related information; in other embodiments, the step 110 can also obtain the latitude and longitude information of the actual monitoring device by manual input.

[0067] By searching upward or downward from the position point of the latitude and longitude of the actual monitoring device on the three-dimensional map as the center to determine the search range, the probability of searching for the actual monitoring device from the photographic images for generating the three-dimensional map can be greatly improved, and the data processing amount is greatly reduced.

[0068] Step 120: determining the region that meets the image feature of the monitoring device from the search region. In some embodiments, step 120 analyzes the search region to find a plurality of continuous polygonal surfaces, renders a screenshot analysis on the plurality of continuous polygonal surfaces to determine whether the feature of each continuous polygonal surface meets the preset feature requirement; when the feature of a continuous polygonal surface meets the preset feature requirement, the continuous polygonal surface meets the image feature of the monitoring device, and the continuous polygonal surface is taken as the region that meets the image feature of the monitoring device.

[0069] In some embodiments, the continuous polygonal surface includes a continuous triangular surface and / or a continuous quadrilateral surface. In some embodiments, the continuous polygonal surface is only a continuous triangular surface.

[0070] In some embodiments, the feature of the continuous polygonal surface includes one or more of the size, shape and color of the continuous polygonal surface.

[0071] After finding the plurality of continuous polygonal surfaces, step 120 needs to eliminate interference factors, which can be achieved by analyzing the size, shape and color of the continuous polygonal surface; the color of the actual monitoring device is mainly white and black, the shape is mainly a cuboid and a sphere, and the size is also limited, so the image feature of the monitoring device (for example, whether the color is white or black, whether the shape is a cuboid or a sphere, and whether the size is within the preset range) can be analyzed at a certain angle and height; in order to further improve the accuracy, the analysis can be performed from multiple directions, for example, for the pole-mounted case, the 360 degrees can be divided into multiple directions for analysis, and for the wall-mounted case, the 180 degrees can be divided into multiple directions for analysis; when the analysis results of half of the directions determine that a continuous polygonal surface meets the image feature of the monitoring device, it can be determined that the actual monitoring device is most likely to exist in the continuous polygonal surface.

[0072] Step 130: calculating the height information of the installation of the actual monitoring device according to the region that meets the image feature of the monitoring device. For example, step 130 calculates the centroid of the continuous polygonal surface to obtain the specific height of the installation of the actual monitoring device; for another example, step 130 calculates the average value of the coordinates of all vertices of the continuous polygonal surface to obtain the specific height of the installation of the actual monitoring device.

[0073] The above is some description of how to obtain the height information of the installation of the actual monitoring device in the three-dimensional map. The following describes how to obtain the horizontal angle of the visual field of the actual monitoring device.

[0074] Step 200: obtaining the horizontal angle of the visual field of the actual monitoring device according to the image taken by the actual monitoring device. Please refer to Figure 4In some embodiments, step 200 obtains the horizontal angle of the visual field of the actual monitoring device according to an image captured by the actual monitoring device, including the following steps:

[0075] Step 210: calculating the angle information formed by the direction of the road in the image and the horizontal orientation of the visual field of the actual monitoring device according to the image captured by the actual monitoring device.

[0076] Step 220: calculating the horizontal angle of the visual field of the actual monitoring device according to the above-mentioned angle information and the actual direction of the road.

[0077] Steps 210 and 220 propose a scheme for obtaining the horizontal angle of the visual field of the actual monitoring device by taking the road as a reference, which can greatly reduce the amount of data calculation and processing.

[0078] In addition, some directions are involved in steps 210 and 220, which are explained as follows. The angle information calculated in step 210 refers to the angle formed by the direction of the road in the image captured by the actual monitoring device and the horizontal orientation of the visual field of the actual monitoring device; wherein the vertical direction in the image captured by the actual monitoring device can be regarded as the horizontal orientation of the visual field of the actual monitoring device. Figure 5 FIG. 1 is an example of a schematic diagram of an image captured by the actual monitoring device, in which the direction indicated by the P2 vector represents the direction of the road, and the direction indicated by the P1 vector represents the horizontal orientation of the visual field of the actual monitoring device.

[0079] In some specific embodiments, step 210 identifies the information of the driving direction of the vehicle on the road from the image captured by the actual monitoring device, and takes the driving direction of the vehicle on the road as the direction of the road, for example, by taking the driving direction of the head or tail of the vehicle as the driving direction of the vehicle on the road; step 210 further calculates the size of the angle formed by the direction of the road and the horizontal orientation of the visual field of the actual monitoring device as the angle information.

[0080] The actual direction of the road in step 220 refers to the direction of the road in the actual physical world.

[0081] In some embodiments, in step 210, if it is judged that the recognized road is a single lane, step 220 obtains the actual traffic direction of the road from the three-dimensional map as the actual direction of the road; in step 210, if it is judged that the recognized road is a double lane, step 220 judges which lane the vehicle corresponding to the information of the driving direction of the vehicle is located in, and obtains the actual traffic direction of the corresponding lane from the three-dimensional map as the actual direction of the road.

[0082] By recognizing the road and the driving direction of the road, the horizontal angle of most actual monitoring devices on the three-dimensional map can be calculated. In some special cases, it is possible that no vehicle can be recognized on the road, or even no road can be recognized in the image. In these cases, the following describes how step 200 obtains the horizontal angle of the visual field of the actual monitoring device according to the image captured by the actual monitoring device.

[0083] If step 200 recognizes the road from the image captured by the actual monitoring device but fails to recognize a vehicle from the road, step 200 takes the two directions of the straight line on which the road lies as the first direction and the second direction of the road, respectively.

[0084] Step 200 obtains first angle information formed by the first direction of the road and the horizontal orientation of the visual field of the actual monitoring device, and obtains second angle information formed by the second direction of the road and the horizontal orientation of the visual field of the actual monitoring device. For example Figure 6 For example, the direction indicated by the P1 vector in the figure represents the horizontal orientation of the visual field of the actual monitoring device, the direction indicated by the P2 vector in the figure represents the first direction of the road, and the direction indicated by the P3 vector in the figure represents the second direction of the road.

[0085] The actual directions of the road obtained by step 200 at this time include two, one is the actual direction corresponding to the first direction of the road, and the other is the actual direction corresponding to the second direction of the road.

[0086] When calculating the horizontal angle of the visual field of the actual monitoring device according to the actual direction of the road and the angle information, step 200 calculates a first candidate horizontal angle of the visual field of the actual monitoring device according to the actual direction corresponding to the first direction of the road and the first angle information, and step 200 calculates a second candidate horizontal angle of the visual field of the actual monitoring device according to the actual direction corresponding to the second direction of the road and the second angle information. In this case, please refer to Figure 7 , which is the angle of view from the top of the two-dimensional plane, and is used to represent a schematic diagram of the first candidate horizontal angle and the second candidate horizontal angle of the visual field of the actual monitoring device. Step 200 then selects one of the two candidate horizontal angles as the final horizontal angle. In some specific embodiments, step 200 matches the image captured by the actual monitoring device with the image of the photographic image at the position information of the actual monitoring device under the first candidate horizontal angle and the second candidate horizontal angle, respectively. If the successfully matched image is the image of the photographic image at the position information of the actual monitoring device under the first candidate horizontal angle, the first candidate horizontal angle is taken as the horizontal angle of the visual field of the actual monitoring device. If the successfully matched image is the image of the photographic image at the position information of the actual monitoring device under the second candidate horizontal angle, the second candidate horizontal angle is taken as the horizontal angle of the visual field of the actual monitoring device.

[0087] In some embodiments, in the specific matching process, step 200 can do the following: find a feature point in the image taken by the actual monitoring device; find the feature point in the image taken by the actual monitoring device at the first candidate horizontal angle and the second candidate horizontal angle respectively; when the proportional position of the feature point in the image taken by the actual monitoring device at the first candidate horizontal angle is the same as the proportional position of the feature point in the image taken by the actual monitoring device, then the matching is successful, and the first candidate horizontal angle is taken as the horizontal angle of the visual field of the actual monitoring device; when the proportional position of the feature point in the image taken by the actual monitoring device at the second candidate horizontal angle is the same as the proportional position of the feature point in the image taken by the actual monitoring device, then the matching is successful, and the second candidate horizontal angle is taken as the horizontal angle of the visual field of the actual monitoring device.

[0088] Figure 8 is an example of matching, taking a point of the white triangular mark on the road in the figure as a feature point, and the proportional position of the feature point in the figure refers to the proportion of the feature point to two adjacent edges of the image, that is, the ratio of X to Y in the figure or the proportion. The feature point in this paper can be a point taken from some key features in the image, which can be zebra crossing, no parking network line, parking space, etc. Road markings, or roadside signs or store billboards, etc.

[0089] The above describes how step 200 obtains the horizontal angle of the visual field of the actual monitoring device when the road is recognized in the image taken by the actual monitoring device, but the vehicle cannot be recognized from the road; the following describes how step 200 obtains the horizontal angle of the visual field of the actual monitoring device when the road cannot be recognized in the image taken by the actual monitoring device.

[0090] If step 200 cannot recognize the road in the image taken by the actual monitoring device, then step 200 sets a virtual monitoring device in the three-dimensional map, and the position information of the virtual monitoring device in the three-dimensional map is the position information of the actual monitoring device; step 200 finds a feature point in the image taken by the actual monitoring device, and also finds the feature point in the image taken by the virtual monitoring device from the shooting angle; step 200 further finds a specific horizontal angle, so that the proportional position of the feature point in the image taken by the virtual monitoring device at the specific horizontal angle is the same as the proportional position of the feature point in the image taken by the actual monitoring device; step 200 takes the specific horizontal angle as the horizontal angle of the visual field of the actual monitoring device.

[0091] In some specific embodiments, step 200 can find the specific horizontal angle as follows:

[0092] The horizontal angle of the virtual monitoring device is set from an initial horizontal angle, and it is determined whether the horizontal angle of the virtual monitoring device satisfies the matching condition of the feature point; if yes, the current horizontal angle is the specific horizontal angle, and the horizontal angle of the virtual monitoring device is taken as the horizontal angle of the visual field of the actual monitoring device; otherwise, the current horizontal angle of the virtual monitoring device is changed, the horizontal angle of the virtual monitoring device is reset, and it is determined again whether the horizontal angle of the virtual monitoring device satisfies the matching condition of the feature point; in some embodiments, the determination of whether the horizontal angle of the virtual monitoring device satisfies the matching condition of the feature point comprises: when the proportional position of the feature point in the photographic image under the current horizontal angle of the virtual monitoring device is the same as the proportional position of the feature point in the image captured by the actual monitoring device, it is determined that the horizontal angle of the virtual monitoring device satisfies the matching condition of the feature point.

[0093] The horizontal angle of the visual field of the actual monitoring device is obtained as described above, and the pitch angle of the visual field of the actual monitoring device is described below.

[0094] Step 300: obtaining the pitch angle of the visual field of the actual monitoring device according to the photographic image used for generating the three-dimensional map, the image captured by the actual monitoring device, the position information of the actual monitoring device in the three-dimensional map, and the horizontal angle of the visual field of the actual monitoring device.

[0095] Please refer to Figure 9 In some embodiments, step 300 obtains the pitch angle of the visual field of the actual monitoring device according to the photographic image used for generating the three-dimensional map, the image captured by the actual monitoring device, the position information of the actual monitoring device in the three-dimensional map, and the horizontal angle of the visual field of the actual monitoring device, comprising the following steps:

[0096] Step 310: setting the virtual monitoring device in the three-dimensional map, and the position information and the horizontal angle of the visual field of the virtual monitoring device in the three-dimensional map are the position information and the horizontal angle of the visual field of the actual monitoring device respectively.

[0097] Step 320: obtaining the pitch angle of the visual field of the actual monitoring device according to the photographic image under the shooting angle of the virtual monitoring device and the image captured by the actual monitoring device.

[0098] Please refer to Figure 10 In some embodiments, step 320 obtains the pitch angle of the visual field of the actual monitoring device according to the photographic image under the shooting angle of the virtual monitoring device and the image captured by the actual monitoring device, comprising the following steps:

[0099] Step 321: finding the feature point from the image captured by the actual monitoring device.

[0100] Step 323: searching the feature points from the photographic image under the shooting perspective of the virtual monitoring device.

[0101] Step 325: searching a specific pitch angle, so that the proportional position of the feature points in the photographic image under the specific pitch angle of the virtual monitoring device is the same as the proportional position of the feature points in the image shot by the actual monitoring device.

[0102] Step 327: taking the specific pitch angle as the pitch angle of the visual field of the actual monitoring device.

[0103] In some embodiments, the step 325 above can search the specific pitch angle as follows:

[0104] Starting from an initial pitch angle, setting the pitch angle of the virtual monitoring device, and judging whether the pitch angle of the virtual monitoring device meets the matching condition of the feature points; if yes, the current pitch angle is the specific pitch angle, and the pitch angle of the virtual monitoring device is taken as the pitch angle of the visual field of the actual monitoring device; otherwise, the current pitch angle of the virtual monitoring device is changed to reset the pitch angle of the virtual monitoring device, and the matching condition of the feature points is re-judged; in some embodiments, judging whether the pitch angle of the virtual monitoring device meets the matching condition of the feature points includes: when the proportional position of the feature points in the photographic image under the current pitch angle of the virtual monitoring device is the same as the proportional position of the feature points in the image shot by the actual monitoring device, it is judged that the pitch angle of the virtual monitoring device meets the matching condition of the feature points.

[0105] Step 400: calculating the visual field of the actual monitoring device in the three-dimensional map according to the horizontal angle and the pitch angle of the visual field of the actual monitoring device.

[0106] In some embodiments, the features of the photographic image for generating the three-dimensional map are analyzed to obtain the installation height of the actual monitoring device, and then the feature data of the image shot by the actual monitoring device is analyzed to compare the features of the photographic image for generating the three-dimensional map, so as to determine the horizontal angle and the pitch angle of the visual field of the actual monitoring device; therefore, in the specific implementation process, it can not only be used in newly arranged local points, but also be suitable for upgrading the configuration of the visual field of the monitoring device of the existing local point, which greatly reduces the manual workload of the visual field deployment, and can conveniently, quickly and accurately complete the deployment of the visual field.

[0107] As mentioned above, in some embodiments, the three-dimensional map can be a tilt photography model, or the photography data used to generate the three-dimensional map is a tilt photography image, in these embodiments, the application can take advantage of the tilt photography model itself, automatically obtain the height and visual field direction of the camera, especially for some users who have used two-dimensional maps, after upgrading to three-dimensional maps, they do not need to manually configure the visual field again, the application can automatically analyze, arrange the virtual monitoring device corresponding to the actual monitoring device on the corresponding position, and adjust the visual field angle of the virtual monitoring device; whether it is a newly configured local point or an upgraded local point, the application can be used to automatically deploy the visual field, so as to maximize the advantages of the tilt photography model.

[0108] The application also provides a device for deploying a visual field, which is described in detail below.

[0109] Please refer to Figure 11 The device for automatically deploying a visual field of a three-dimensional map in some embodiments includes a position information obtaining module 10, a horizontal angle obtaining module 20, a pitch angle obtaining module 30, and a visual field calculation module 40, which are described in detail below.

[0110] The position information obtaining module 10 is used to obtain the position information of the actual monitoring device in the three-dimensional map. In some embodiments, the position information includes the latitude and longitude information and the installation height information of the actual monitoring device.

[0111] In some embodiments, the three-dimensional map can be a tilt photography model, or the photography data used to generate the three-dimensional map is a tilt photography image.

[0112] Please refer to Figure 12 The position information obtaining module 10 in some embodiments includes a search area determining module 11, a monitoring device searching module 12, and an installation height calculation module 13, which are described in detail below.

[0113] The search area determining module 11 is used to determine a search area with a preset height in the three-dimensional map, with the latitude and longitude information of the actual monitoring device as the center. For example, the search area can be a cylindrical area with a preset radius and a preset height, for example, the above Figure 3 is an example. It should be noted that the preset radius and the preset height can be set to any value according to specific conditions.

[0114] The longitude and latitude information of the actual monitoring device in the three-dimensional map involved in the search area determination module 11 can be obtained as follows: in some embodiments, in the scenario where a two-dimensional electronic map has been used, since the system has stored the longitude and latitude information of the actual monitoring device, the search area determination module 11 can obtain the longitude and latitude information of the actual monitoring device by calling the relevant information; in other embodiments, the search area determination module 11 can also obtain the longitude and latitude information of the actual monitoring device by manual input.

[0115] By searching upwards or downwards from the position point of the longitude and latitude of the actual monitoring device on the three-dimensional map to determine the search range, the probability of searching for the actual monitoring device from the photographic image for generating the three-dimensional map can be greatly improved, and the data processing amount is greatly reduced.

[0116] The monitoring device search module 12 is used to determine the area that meets the monitoring device image characteristics from the search area. In some embodiments, the monitoring device search module 12 analyzes the search area to find a plurality of continuous polygonal surfaces, renders and analyzes screenshots of the plurality of continuous polygonal surfaces to determine whether the characteristics of each continuous polygonal surface meet the preset characteristic requirements; when the characteristics of a continuous polygonal surface meet the above-mentioned preset characteristic requirements, the continuous polygonal surface meets the monitoring device image characteristics, and the continuous polygonal surface is taken as an area that meets the monitoring device image characteristics.

[0117] In some embodiments, the continuous polygonal surface includes a continuous triangular surface and / or a continuous quadrangular surface. In some embodiments, the continuous polygonal surface is only a continuous triangular surface.

[0118] In some embodiments, the characteristics of the continuous polygonal surface include one or more of the size, shape and color of the continuous polygonal surface.

[0119] After finding a plurality of continuous polygonal surfaces, the monitoring device search module 12 needs to eliminate interference factors, which can be mainly achieved by analyzing the size, shape and color of the continuous polygonal surface; the color of the actual monitoring device is mainly white and black, the shape is mainly a cuboid and a sphere, and the size is also limited, so the monitoring device image characteristics (such as whether the color is white or black, whether the shape is a cuboid or a sphere, and whether the size is within the preset range) can be analyzed at a certain angle and height; in order to further improve the accuracy, the analysis can be performed from multiple directions, for example, for the pole-mounted case, the 360 degrees can be divided into multiple directions for analysis, and for the wall-mounted case, the 180 degrees can be divided into multiple directions for analysis; when the analysis results of half of the directions judge that a certain continuous polygonal surface meets the monitoring device image characteristics, it can be judged that the continuous polygonal surface has a high probability of containing an actual monitoring device.

[0120] The installation height calculating module 13 calculates the installation height information of the actual monitoring device according to the region conforming to the image feature of the monitoring device. For example, the installation height calculating module 13 calculates the installation height of the actual monitoring device by calculating the center of mass of the continuous multi-faceted surface. For another example, the installation height calculating module 13 calculates the installation height of the actual monitoring device by averaging the coordinates of the vertices of the continuous multi-faceted surface.

[0121] The horizontal angle obtaining module 20 is configured to obtain the horizontal angle of the visual field of the actual monitoring device according to the image captured by the actual monitoring device. The horizontal angle obtaining module 20 is described below.

[0122] The horizontal angle obtaining module 20 calculates the included angle information between the direction of the road in the image and the horizontal orientation of the visual field of the actual monitoring device according to the image captured by the actual monitoring device, and calculates the horizontal angle of the visual field of the actual monitoring device according to the included angle information and the actual direction of the road. Therefore, please refer to Figure 13 In some embodiments, the horizontal angle obtaining module 20 includes an included angle calculating module 21 and a horizontal angle calculating module 22. The included angle calculating module 21 is configured to calculate the included angle information between the direction of the road in the image and the horizontal orientation of the visual field of the actual monitoring device according to the image captured by the actual monitoring device. The horizontal angle calculating module 22 is configured to calculate the horizontal angle of the visual field of the actual monitoring device according to the included angle information and the actual direction of the road. In the above embodiment, the horizontal angle obtaining module 20 proposes a scheme for obtaining the horizontal angle of the visual field of the actual monitoring device by taking the road as a reference, which can greatly reduce the data calculation and processing amount.

[0123] In addition, some directions involved in the horizontal angle obtaining module 20 when obtaining the horizontal angle of the visual field of the actual monitoring device are explained below. The included angle information calculated in the horizontal angle obtaining module 20 refers to the included angle between the direction of the road in the image captured by the actual monitoring device and the horizontal orientation of the visual field of the actual monitoring device. The vertical direction in the image captured by the actual monitoring device can be regarded as the horizontal orientation of the visual field of the actual monitoring device. The above Figure 5 is an example of a schematic diagram of the image captured by the actual monitoring device, in which the direction indicated by the P2 vector represents the direction of the road, and the direction indicated by the PI vector represents the horizontal orientation of the visual field of the actual monitoring device.

[0124] In some embodiments, the horizontal angle obtaining module 20 identifies the information of the driving direction of the vehicle on the road from the image captured by the actual monitoring device, and takes the driving direction of the vehicle on the road as the direction of the road, for example, by taking the driving direction of the head or tail of the vehicle as the driving direction of the vehicle on the road; the horizontal angle obtaining module 20 then calculates the included angle between the direction of the road and the horizontal orientation of the visual field of the actual monitoring device, as the included angle information.

[0125] The actual direction of the road refers to the direction of the road in the actual physical world.

[0126] In some embodiments, if the identified road is a single lane, the horizontal angle obtaining module 20 obtains the actual traffic direction of the road from the three-dimensional map as the actual direction of the road; if the identified road is a double lane, the horizontal angle obtaining module 20 judges which lane the vehicle corresponding to the information of the driving direction of the vehicle is located in, and obtains the actual traffic direction of the corresponding lane from the three-dimensional map as the actual direction of the road.

[0127] By identifying the road and the driving direction of the road, the horizontal angle of most actual monitoring devices on the three-dimensional map can be calculated; in some special cases, it is possible that no vehicle can be identified on the road, or even no road can be identified in the image; for these cases, the following describes how the horizontal angle obtaining module 20 obtains the horizontal angle of the visual field of the actual monitoring device according to the image captured by the actual monitoring device.

[0128] If the horizontal angle obtaining module 20 identifies the road from the image captured by the actual monitoring device but cannot identify the vehicle from the road, the horizontal angle obtaining module 20 takes the two directions of the straight line on which the road is located as the first direction and the second direction of the road.

[0129] The horizontal angle obtaining module 20 obtains first included angle information formed by the first direction of the road and the horizontal orientation of the visual field of the actual monitoring device; and obtains second included angle information formed by the second direction of the road and the horizontal orientation of the visual field of the actual monitoring device. For example, the above Figure 6 is an example, the direction indicated by the P1 vector in the figure represents the horizontal orientation of the visual field of the actual monitoring device, the direction indicated by the P2 vector in the figure represents the first direction of the road, and the direction indicated by the P3 vector in the figure represents the second direction of the road.

[0130] The actual direction of the road obtained by the horizontal angle obtaining module 20 at this time includes two, one is the actual direction corresponding to the first direction of the road, and the other is the actual direction corresponding to the second direction of the road.

[0131] According to the actual direction and the included angle information of the road, the horizontal angle obtaining module 20 calculates a first candidate horizontal angle of the actual monitoring device according to the actual direction corresponding to the first direction of the road and the first included angle information; and calculates a second candidate horizontal angle of the actual monitoring device according to the actual direction corresponding to the second direction of the road and the second included angle information. In this case, please refer to the above Figure 7 , which is the angle of view in the two-dimensional plane, and is used to represent the first candidate horizontal angle and the second candidate horizontal angle of the actual monitoring device. The horizontal angle obtaining module 20 then selects one of the two candidate horizontal angles as the final horizontal angle. In some embodiments, the horizontal angle obtaining module 20 matches the image taken by the actual monitoring device with the images of the photographic image under the position information of the actual monitoring device at the first candidate horizontal angle and the second candidate horizontal angle respectively; if the successfully matched image is the image of the photographic image under the position information of the actual monitoring device at the first candidate horizontal angle, then the first candidate horizontal angle is taken as the horizontal angle of the actual monitoring device; if the successfully matched image is the image of the photographic image under the position information of the actual monitoring device at the second candidate horizontal angle, then the second candidate horizontal angle is taken as the horizontal angle of the actual monitoring device.

[0132] In some embodiments, in the specific matching process, the horizontal angle obtaining module 20 can do the following: find a feature point in the image taken by the actual monitoring device; find a feature point in the images of the photographic image under the position information of the actual monitoring device at the first candidate horizontal angle and the second candidate horizontal angle respectively; when the proportional position of the feature point in the image of the photographic image under the position information of the actual monitoring device at the first candidate horizontal angle is the same as the proportional position of the feature point in the image taken by the actual monitoring device, then the matching is successful, and the first candidate horizontal angle is taken as the horizontal angle of the actual monitoring device; when the proportional position of the feature point in the image of the photographic image under the position information of the actual monitoring device at the second candidate horizontal angle is the same as the proportional position of the feature point in the image taken by the actual monitoring device, then the matching is successful, and the second candidate horizontal angle is taken as the horizontal angle of the actual monitoring device.

[0133] The above Figure 8 is an example of matching, taking a point of the white triangular mark on the road surface in the figure as a feature point, and the proportional position of the feature point in the figure refers to the proportion of the feature point to two adjacent edges of the image, that is, the ratio or proportion between X and Y in the figure. The feature point in this paper can be a point taken from some key features in the image, and these key features can be zebra crossings, no-parking network lines, parking spaces, etc. road markings, or roadside signs or store billboards, etc.

[0134] The above describes how the horizontal angle obtaining module 20 obtains the horizontal angle of the visual field of the actual monitoring device when a road is recognized in the image taken by the actual monitoring device but a vehicle is not recognized on the road; the following describes how the horizontal angle obtaining module 20 obtains the horizontal angle of the visual field of the actual monitoring device when a road is not recognized in the image taken by the actual monitoring device.

[0135] If the horizontal angle obtaining module 20 fails to recognize a road in the image taken by the actual monitoring device, the horizontal angle obtaining module 20 sets a virtual monitoring device in the three-dimensional map, the position information of the virtual monitoring device in the three-dimensional map being the position information of the actual monitoring device; the step of finding a feature point in the image taken by the actual monitoring device and finding the feature point in the photographic image under the shooting angle of the virtual monitoring device; the horizontal angle obtaining module 20 further finds a specific horizontal angle such that the proportional position of the feature point in the photographic image under the specific horizontal angle of the virtual monitoring device is the same as the proportional position of the feature point in the image taken by the actual monitoring device; the horizontal angle obtaining module 20 takes the specific horizontal angle as the horizontal angle of the visual field of the actual monitoring device.

[0136] In some embodiments, the horizontal angle obtaining module 20 can find the specific horizontal angle as follows:

[0137] Starting from an initial horizontal angle, the horizontal angle of the virtual monitoring device is set, and it is determined whether the horizontal angle of the virtual monitoring device satisfies the matching condition of the feature point; if yes, the current horizontal angle is the specific horizontal angle, and the horizontal angle of the virtual monitoring device is taken as the horizontal angle of the visual field of the actual monitoring device; otherwise, the current horizontal angle of the virtual monitoring device is changed to reset the horizontal angle of the virtual monitoring device, and it is determined again whether the horizontal angle of the virtual monitoring device satisfies the matching condition of the feature point; in some embodiments, the determination of whether the horizontal angle of the virtual monitoring device satisfies the matching condition of the feature point includes: when the proportional position of the feature point in the photographic image under the current horizontal angle of the virtual monitoring device is the same as the proportional position of the feature point in the image taken by the actual monitoring device, it is determined that the horizontal angle of the virtual monitoring device satisfies the matching condition of the feature point.

[0138] The above is some description of the horizontal angle obtaining module 20.

[0139] The pitch angle obtaining module 30 is configured to obtain the pitch angle of the visual field of the actual monitoring device according to the photographic image used to generate the three-dimensional map, the image taken by the actual monitoring device, the position information of the actual monitoring device in the three-dimensional map, and the horizontal angle of the visual field of the actual monitoring device.

[0140] In some embodiments, the pitch angle obtaining module 30 sets a virtual monitoring device in the three-dimensional map, and the position information and the horizontal angle of the visual field of the virtual monitoring device in the three-dimensional map are the position information and the horizontal angle of the visual field of the actual monitoring device respectively; the pitch angle obtaining module 30 obtains the pitch angle of the visual field of the actual monitoring device according to the photographic image under the shooting angle of the virtual monitoring device and the image shot by the actual monitoring device.

[0141] In some embodiments, the pitch angle obtaining module 30 obtains the pitch angle of the visual field of the actual monitoring device according to the photographic image under the shooting angle of the virtual monitoring device and the image shot by the actual monitoring device, which can be implemented in the following way: the pitch angle obtaining module 30 finds a feature point from the image shot by the actual monitoring device, and finds the feature point from the photographic image under the shooting angle of the virtual monitoring device; the pitch angle obtaining module 30 further finds a specific pitch angle, so that the proportional position of the feature point in the photographic image under the specific pitch angle of the virtual monitoring device is the same as the proportional position of the feature point in the image shot by the actual monitoring device; the pitch angle obtaining module 30 takes the specific pitch angle as the pitch angle of the visual field of the actual monitoring device.

[0142] In some embodiments, the pitch angle obtaining module 30 can find the specific pitch angle in the following way:

[0143] Starting from an initial pitch angle, the pitch angle of the virtual monitoring device is set, and it is determined whether the pitch angle of the virtual monitoring device satisfies the matching condition of the feature point; if yes, the current pitch angle is the specific pitch angle, and the pitch angle of the virtual monitoring device is taken as the pitch angle of the visual field of the actual monitoring device; otherwise, the current pitch angle of the virtual monitoring device is changed to reset the pitch angle of the virtual monitoring device, and it is determined again whether the pitch angle of the virtual monitoring device satisfies the matching condition of the feature point; in some embodiments, the determination of whether the pitch angle of the virtual monitoring device satisfies the matching condition of the feature point includes: when the proportional position of the feature point in the photographic image under the current pitch angle of the virtual monitoring device is the same as the proportional position of the feature point in the image shot by the actual monitoring device, it is determined that the pitch angle of the virtual monitoring device satisfies the matching condition of the feature point.

[0144] The visual field calculating module 40 is configured to calculate the visual field of the actual monitoring device in the three-dimensional map according to the horizontal angle and the pitch angle of the visual field of the actual monitoring device.

[0145] Please refer to Figure 14The present disclosure also provides an electronic device, which can include a memory 90 and a processor 91; the memory 90 is configured to store a program, and the processor 91 is configured to implement a method as described in any one of the embodiments herein by executing the program stored in the memory 90, e.g., the method described above in the first embodiment. Figure 1 The described method of automatically deploying a field of view of a three-dimensional map.

[0146] The principles described herein are explained with reference to various exemplary embodiments. It is to be understood that the exemplarily embodiments can be varied and modified without departing from the scope of the principles described herein. For example, various operational steps and components for carrying out the operational steps can be implemented in different sequences and / or omitted, combined, or combined in various ways while still being encompassed by the principles described herein.

[0147] In the above-described embodiments, all or part of the embodiments can be realized by software, hardware, firmware, or any combination thereof. In addition, as understood by those skilled in the art, the principles herein can be reflected in a computer program product on a computer readable storage medium preloaded with computer readable program code. Any tangible, non-transitory computer readable storage medium can be used, including magnetic storage devices (hard disk, floppy disk, etc.), optical storage devices (CD-ROM, DVD, Blu Ray disc, etc.), flash memory, and / or the like. These computer program instructions can be loaded onto a general purpose computer, a special purpose computer, or other programmable data processing apparatus to form a machine, so that these instructions executed on the computer or other programmable data processing apparatus can generate a device that implements the specified functions. These computer program instructions can also be stored in a computer readable storage medium, which can instruct the computer or other programmable data processing apparatus to operate in a specific way, so that the instructions stored in the computer readable storage medium can form a manufactured item, including an implementation device that implements the specified functions. Computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, so as to execute a series of operational steps on the computer or other programmable data processing apparatus to generate a computer-implemented process, so that the instructions executed on the computer or other programmable data processing apparatus can provide steps for implementing the specified functions.

[0148] Although the principles herein have been shown in various embodiments, many modifications in structure, arrangement, proportions, elements, materials, and components specially adapted to specific environments and operational requirements can be used without departing from the principles and scope of the present disclosure. The above modifications and other changes or modifications will be included within the scope of the principles herein.

[0149] The foregoing detailed description has been presented for purposes of illustration and description. However, various modifications and changes are possible in the implementation of the disclosure. Accordingly, the disclosure is intended to embrace all modifications and alterations within the scope and spirit of the disclosure. Thus, the scope of the disclosure is not intended to be limited to the particular form set forth herein, but includes all features that might be provided within the scope and spirit of the disclosure. Likewise, the benefits and advantages of the various embodiments, other advantages, and solutions to problems have been presented in the foregoing detailed description. However, the scope of the disclosure should be determined, not with reference to the above description, but should instead be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. The claims are not intended to include only the disclosure of a preferred embodiment. This is in order to avoid rendering the following claims invalid; as well as to enable the patent to protect not only the preferred embodiment, but also modifications coming within the scope of the claims. It is the intent that each element of the method claims is to be interpreted to embrace the inclusive— and exclusive— equivalents of the elements specified. It is intended to cover several innovations of the present disclosure. As used herein the terms "comprises" and "comprising" or "includes" and / or "including" when used in this document signify the presence of the stated features, integers, steps, operations, objects, and / or components but do not preclude the presence or addition of one or more other features, integers, steps, operations, objects, components, and / or groups thereof. In addition, as used herein, the term "coupled" and / or "coupling" refers to physical connection, electrical connection, magnetic connection, optical connection, communicative connection, functional connection, and / or any other connection.

[0150] Those skilled in the art will recognize that many modifications might be made to the details of the above-described embodiments without departing from the underlying principles of the present application. The scope of the present application should, therefore, be determined only for the appended claims.

Claims

1. A method for deploying within a visible field of view, characterized in that, include: Obtaining the location information of the actual monitoring equipment in a 3D map includes: determining a search area with a preset height in the 3D map, centered on the latitude and longitude information of the actual monitoring equipment; determining an area that matches the image characteristics of the monitoring equipment from the search area; and calculating the installation height information of the actual monitoring equipment based on the area that matches the image characteristics of the monitoring equipment. Based on the images captured by the actual monitoring equipment, obtain the horizontal angle of the field of view of the actual monitoring equipment; Based on the photographic images used to generate the 3D map, the images captured by the actual monitoring equipment, the location information of the actual monitoring equipment in the 3D map, and the horizontal angle of the field of view of the actual monitoring equipment, the pitch angle of the field of view of the actual monitoring equipment is obtained. Calculate the visible area of ​​the actual monitoring device in the 3D map based on the horizontal and vertical angles of the visible area of ​​the actual monitoring device; The step of obtaining the horizontal angle of the field of view of the actual monitoring device based on the image captured by the actual monitoring device includes: Based on the images captured by the actual monitoring equipment, calculate the angle information between the direction of the road in the image and the horizontal orientation of the field of view of the actual monitoring equipment in the image; Based on the included angle information and the actual direction of the road, the horizontal angle of the field of view of the actual monitoring device is calculated; the vertical direction in the image captured by the actual monitoring device can be regarded as the horizontal orientation of the field of view of the actual monitoring device.

2. The method as described in claim 1, characterized in that, Determining the region from the search area that matches the image features of the monitoring device includes: The search area is analyzed to find multiple consecutive polygonal faces; Rendering and screenshotting analysis are performed on the multiple consecutive polygonal faces to determine whether the features of each consecutive polygonal face meet the preset feature requirements; When the features of a continuous polygonal facet meet the preset feature requirements, the continuous polygonal facet meets the image features of the monitoring device, and the continuous polygonal facet is taken as the region that meets the image features of the monitoring device.

3. The method as described in claim 1, characterized in that, The step of obtaining the pitch angle of the actual monitoring device's field of view based on the photographic images used to generate the 3D map, the images captured by the actual monitoring device, the location information of the actual monitoring device in the 3D map, and the horizontal angle of the actual monitoring device's field of view includes: A virtual monitoring device is set in the three-dimensional map. The location information and horizontal angle of the visible field of view of the virtual monitoring device in the three-dimensional map are respectively the location information and horizontal angle of the visible field of view of the actual monitoring device. Based on the photographic images taken from the shooting perspective of the virtual monitoring device and the images taken by the actual monitoring device, the pitch angle of the field of view of the actual monitoring device is obtained.

4. The method as described in claim 3, characterized in that, The step of obtaining the pitch angle of the field of view of the actual monitoring device based on the photographic image from the shooting perspective of the virtual monitoring device and the image captured by the actual monitoring device includes: Feature points are identified from the images captured by the actual monitoring equipment. The feature points are located in the photographic images taken from the shooting perspective of the virtual monitoring device. Find a specific pitch angle such that the proportional position of the feature point in the photographic image taken by the virtual monitoring device at that specific pitch angle is the same as the proportional position of the feature point in the image taken by the actual monitoring device. The specific pitch angle is taken as the pitch angle of the actual monitoring device's field of view.

5. The method according to any one of claims 1 to 4, characterized in that, The photographic images used to generate the three-dimensional map are oblique photographic images.

6. A field-of-view deployment device, characterized in that, include: The location information acquisition module is used to acquire the location information of the actual monitoring equipment in the 3D map; The location information acquisition module specifically includes: a search area determination module, a monitoring device search module, and an installation height calculation module; the search area determination module is used to determine a search area with a preset height in the three-dimensional map, centered on the latitude and longitude information of the actual monitoring device; the monitoring device search module is used to search for areas that conform to the image characteristics of the monitoring device from the search area; the installation height calculation module is used to calculate the installation height information of the actual monitoring device based on the areas that conform to the image characteristics of the monitoring device. The horizontal angle acquisition module is used to acquire the horizontal angle of the field of view of the actual monitoring device based on the image captured by the actual monitoring device. The pitch angle acquisition module is used to acquire the pitch angle of the actual monitoring device's field of view based on the photographic image used to generate the three-dimensional map, the image taken by the actual monitoring device, the location information of the actual monitoring device in the three-dimensional map, and the horizontal angle of the actual monitoring device's field of view. The visible field calculation module is used to calculate the visible field of the actual monitoring device in the three-dimensional map based on the horizontal angle and the pitch angle of the visible field of the actual monitoring device. The horizontal angle acquisition module includes an angle calculation module and a horizontal angle calculation module. The angle calculation module is used to calculate the angle information formed by the direction of the road in the image and the horizontal orientation of the field of view of the actual monitoring device in the image, based on the image captured by the actual monitoring device. The horizontal angle calculation module is used to calculate the horizontal angle of the field of view of the actual monitoring device based on the above angle information and the actual direction of the road. The vertical direction in the image captured by the actual monitoring device can be regarded as the horizontal orientation of the field of view of the actual monitoring device.

7. The apparatus as claimed in claim 6, characterized in that, The horizontal angle acquisition module includes an angle calculation module and a horizontal angle calculation module; the angle calculation module is used to calculate the angle information formed by the direction of the road in the image and the horizontal orientation of the field of view of the actual monitoring device based on the image captured by the actual monitoring device; the horizontal angle calculation module is used to calculate the horizontal angle of the field of view of the actual monitoring device based on the angle information and the actual direction of the road.

8. An electronic device, characterized in that, include: Memory, used to store programs; A processor for implementing the method as described in any one of claims 1 to 5 by executing a program stored in the memory.

9. A computer-readable storage medium, characterized in that, Includes a program that can be executed by a processor to implement the method as described in any one of claims 1 to 5.

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