Azimuth angle information generation method and apparatus, electronic device, and medium

Abstract

Embodiments of the present disclosure disclose a bearing angle information generation method and device, electronic equipment and a medium. A specific implementation of the method includes: obtaining each homonym point information in a target video captured by a target camera to obtain a homonym point information set; obtaining camera basic information of the target camera; establishing a plane coordinate system according to camera position information included in the camera basic information; for each homonym point information in the homonym point information set, the following processing steps are executed: generating a direction angle value based on the plane coordinate system and homonym point position information included in the homonym point information; generating a lateral angle value based on the camera basic information and the homonym point information; determining a difference value between the direction angle value and the lateral angle value as a bearing angle value; determining an average value of each bearing angle value determined as a plane bearing angle; and converting the plane bearing angle into bearing angle information based on the plane coordinate system. The implementation can correct the position of the camera.

Description

TECHNICAL FIELD

[0001] Embodiments of the present disclosure relate to the technical field of computer technology, and specifically to an azimuth angle information generation method and device, electronic equipment and medium. BACKGROUND

[0002] Obtaining the azimuth angle of the camera can obtain the pose of the camera, and then adjust the position of the camera. At present, the commonly used way to obtain the azimuth angle of the camera is to measure on site or extract the homonym point information on the axis in the video by artificial, and obtain the azimuth angle of the camera according to the homonym point information and the geographic position of the camera.

[0003] However, the above-mentioned way usually has the following technical problems:

[0004] First, the azimuth angle information obtained by the on-site measurement method has low accuracy, and it is difficult to accurately adjust the position of the camera.

[0005] Second, only the homonym point information on the axis is extracted, and it is difficult to extract the homonym point information in the range of the whole picture, resulting in low accuracy of the extracted azimuth angle information, and it is difficult to accurately adjust the position of the camera.

[0006] Third, the on-site measurement method is difficult to measure the horizontal angle value of the camera, resulting in low accuracy of the extracted azimuth angle information, and it is difficult to accurately adjust the position of the camera.

[0007] The above information disclosed in the background section of this document is only for the purpose of enhancing the understanding of the background of the inventive concepts, and therefore, it can include information that does not form the prior art known to those of ordinary skill in the art in the country. SUMMARY

[0008] The summary section of the present disclosure is used to introduce the concepts in a brief form, which will be described in detail in the specific embodiments section. The summary section of the present disclosure is not intended to identify key or essential features of the claimed technical solutions, nor is it intended to be used to limit the scope of the claimed technical solutions.

[0009] Some embodiments of the present disclosure propose an azimuth angle information generation method and device, electronic equipment, computer readable medium and program product to solve one or more of the technical problems mentioned in the background section.

[0010] In a first aspect, some embodiments of the present disclosure provide a method for generating azimuth angle information, the method comprising: obtaining each homonym point information in a target video captured by a target camera to obtain a homonym point information set, wherein the homonym point information in the homonym point information set comprises homonym point position information; obtaining camera basic information of the target camera, wherein the camera basic information comprises camera position information; establishing a plane coordinate system according to the camera position information included in the camera basic information; for each homonym point information in the homonym point information set, performing the following processing steps: generating a direction angle value based on the plane coordinate system and the homonym point position information included in the homonym point information; generating a horizontal angle value based on the camera basic information and the homonym point information; determining a difference between the direction angle value and the horizontal angle value as an azimuth angle value; determining an average value of each determined azimuth angle value as a plane azimuth angle; and converting the plane azimuth angle into azimuth angle information based on the plane coordinate system.

[0011] In a second aspect, some embodiments of the present disclosure provide an apparatus for generating azimuth angle information, the apparatus comprising: a first obtaining unit configured to obtain each homonym point information in a target video captured by a target camera to obtain a homonym point information set, wherein the homonym point information in the homonym point information set comprises homonym point position information; a second obtaining unit configured to obtain camera basic information of the target camera, wherein the camera basic information comprises camera position information; an establishing unit configured to establish a plane coordinate system according to the camera position information included in the camera basic information; a generating unit configured to, for each homonym point information in the homonym point information set, perform the following processing steps: generate a direction angle value based on the plane coordinate system and the homonym point position information included in the homonym point information; generate a horizontal angle value based on the camera basic information and the homonym point information; determine a difference between the direction angle value and the horizontal angle value as an azimuth angle value; a determining unit configured to determine an average value of each determined azimuth angle value as a plane azimuth angle; and a converting unit configured to convert the plane azimuth angle into azimuth angle information based on the plane coordinate system.

[0012] In a third aspect, some embodiments of the present disclosure provide an electronic device, comprising: one or more processors; and a storage having one or more programs stored thereon, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method described in any of the implementations of the first aspect.

[0013] In a fourth aspect, some embodiments of the present disclosure provide a computer-readable medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the method described in any of the implementations of the first aspect.

[0014] In a fifth aspect, some embodiments of the present disclosure provide a computer program product, comprising a computer program which, when executed by a processor, implements the method described in any implementation manner of the first aspect.

[0015] The above various embodiments of the present disclosure have the following beneficial effects: through the azimuth angle information generation method of some embodiments of the present disclosure, the position of the camera can be corrected. Specifically, the reason why it is difficult to accurately adjust the position of the camera is that the accuracy of the azimuth angle information obtained by using the on-site measurement method is low, and it is difficult to accurately adjust the position of the camera. Based on this, the azimuth angle information generation method of some embodiments of the present disclosure first obtains each homonym point information in a target video photographed by a target camera to obtain a homonym point information set. The homonym point information in the homonym point information set includes homonym point position information. Thus, the homonym point information set can be obtained more accurately. Second, camera basic information of the target camera is obtained. The camera basic information includes camera position information. Then, a plane coordinate system is established according to the camera position information included in the camera basic information. Thus, the plane coordinate system can be established to process the homonym point information. After that, for each homonym point information in the homonym point information set, the following processing steps are performed: based on the plane coordinate system and the homonym point position information included in the homonym point information, a direction angle value is generated; based on the camera basic information and the homonym point information, a horizontal angle value is generated; and a difference between the direction angle value and the horizontal angle value is determined as an azimuth angle value. Thus, the azimuth angle value corresponding to each homonym point information in the plane coordinate system can be obtained. Then, an average value of the determined azimuth angle values is determined as a plane azimuth angle. Thus, the average value of the azimuth angle values can be obtained, so that a more accurate plane azimuth angle in the plane coordinate system is obtained. Finally, the plane azimuth angle is converted into azimuth angle information based on the plane coordinate system. Thus, more accurate azimuth angle information is obtained. Therefore, the position of the camera can be corrected. BRIEF DESCRIPTION OF DRAWINGS

[0016] The above and other features, aspects, and advantages of the embodiments of the present disclosure will become more apparent from the following detailed description taken in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numerals indicate the same or similar elements. It should be understood that the drawings are schematic and elements and features are not necessarily to scale.

[0017] Figure 1 is a flowchart of some embodiments of the azimuth angle information generation method according to the present disclosure;

[0018] Figure 2 is a structural schematic diagram of some embodiments of the azimuth angle information generation apparatus according to the present disclosure;

[0019] Figure 3 is a structural schematic diagram of an electronic device suitable for implementing some embodiments of the present disclosure. DETAILED DESCRIPTION

[0020] Embodiments of the present disclosure will be described below in greater detail with reference to the accompanying drawings. Although some embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms, and should not be interpreted as being limited to the embodiments set forth herein. On the contrary, these embodiments are provided so as to more completely and comprehensively understand the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes, and are not intended to limit the scope of protection of the present disclosure.

[0021] It should be further noted that, for ease of description, only parts related to the present application are shown in the drawings. The embodiments in the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0022] It should be noted that the concepts of "first", "second", etc. mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not intended to limit the order or interdependence of the functions performed by these devices, modules or units.

[0023] It should be noted that the adjectives "one", "multiple" mentioned in the present disclosure are illustrative and not limiting, and those skilled in the art should understand that, unless otherwise explicitly indicated in the context, it should be understood as "one or more".

[0024] The names of the messages or information exchanged between the devices in the embodiments of the present disclosure are only for illustrative purposes, and are not intended to limit the scope of the messages or information.

[0025] The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0026] Reference Figure 1 , shows a flow 100 of some embodiments of the azimuth angle information generation method according to the present disclosure. The azimuth angle information generation method comprises the following steps:

[0027] Step 101, obtaining each homonym point information in the target video shot by the target camera to obtain a homonym point information set.

[0028] In some embodiments, the subject (e.g., a computing device) of the azimuth information generation method can obtain each homonym information in the target video captured by the target camera from the target camera through wired or wireless connection, to obtain a homonym information set. The homonym information in the homonym information set includes homonym position information. The target camera can be, but is not limited to, a professional camera, a CCD (Charge Coupled Device) camera, and a network camera. The homonym position information can be the position of the homonym information in a map coordinate system. The map coordinate system can be a WGS84 (World Geodetic System 1984) coordinate system without geographical encryption, or a CGC2000 (China Geodetic Coordinate System 2000) coordinate system.

[0029] In practice, the subject can obtain each homonym information in the target video captured by the target camera through the following steps:

[0030] First, obtain the target video information captured by the target camera. The target video information includes a target picture set. Each target picture in the target picture set corresponds to a picture of each frame of the target video. In practice, the subject can obtain the target video information captured by the target camera from the target camera through wired or wireless connection.

[0031] Second, select a target picture in the target picture set as a selected picture.

[0032] Third, take the target picture set excluding the selected picture as a to-be-determined picture set.

[0033] Fourth, mark a feature point on the selected picture to update the selected picture, to obtain an updated selected picture as a marked picture. The feature point corresponds to a point on the marked picture. The feature point can be, but is not limited to, a tree, a street lamp, or a car.

[0034] In the fifth step, the marked picture and the set of indefinite pictures are input into the pre-trained homonym point extraction model to obtain a set of homonym point information. The pre-trained homonym point extraction model can be a neural network model taking the marked picture and the set of indefinite pictures as input and outputting the set of homonym point information. For example, the pre-trained homonym point extraction model can be, but is not limited to, a CNN (Convolutional Neural Networks) model, an RNN (Recurrent Neural Network) model, and a DNN (Deep Neural Networks) model. Of course, the model can also be built according to actual needs.

[0035] In practice, the related content is an application point of the present disclosure, thereby solving the second technical problem mentioned in the background that "only extracting homonym point information on the central axis makes it difficult to extract homonym point information in the range of the entire picture, resulting in low accuracy of the extracted azimuth angle information and making it difficult to accurately adjust the position of the camera". The factors that make it difficult to accurately adjust the position of the camera are often as follows: only extracting homonym point information on the central axis makes it difficult to extract homonym point information in the range of the entire picture, resulting in low accuracy of the extracted azimuth angle information and making it difficult to accurately adjust the position of the camera. If the above factors are solved, the effect of correcting the position of the camera can be achieved. In order to achieve this effect, first, target video information photographed by a target camera is obtained. The target video information includes a set of target pictures. In this way, the target pictures corresponding to each frame of the target video can be obtained to facilitate subsequent extraction of homonym point information from the target pictures. Second, a target picture is selected from the set of target pictures as a selected picture. Then, the set of target pictures excluding the selected picture is taken as a set of indefinite pictures. After that, feature points are marked on the selected picture to update the selected picture, and the updated selected picture is taken as a marked picture. In this way, feature points can be marked in any range of the selected picture to facilitate subsequent extraction of homonym point information from the indefinite pictures in the set of indefinite pictures based on the feature points on the marked picture. Finally, the marked picture and the set of indefinite pictures are input into the pre-trained homonym point extraction model to obtain a set of homonym point information. In this way, the neural network model can accurately extract homonym point information in the range of the entire picture. Furthermore, high-accuracy azimuth angle information can be obtained. Thus, the position of the camera can be corrected.

[0036] In step 102, camera basic information of a target camera is obtained.

[0037] In some embodiments, the execution subject can obtain the camera basic information of the target camera from the target camera via wired connection or wireless connection. The camera basic information can include camera position information. The camera position information can be the position of the target camera in a map coordinate system.

[0038] At step 103, a plane coordinate system is established according to the camera position information included in the camera basic information.

[0039] In some embodiments, the execution subject can establish a plane coordinate system according to the camera position information included in the camera basic information. The plane coordinate system can be a Cartesian plane coordinate system with the position of the target camera as the origin, 0 degrees as the due east, and 90 degrees as the due north.

[0040] At step 104, for each homonym information in the homonym information set, the following processing steps are performed:

[0041] At step 1041, a direction angle value is generated based on the plane coordinate system and the homonym position information included in the homonym information.

[0042] In some embodiments, the execution subject can generate a direction angle value based on the plane coordinate system and the homonym position information included in the homonym information. The homonym position information can include a homonym horizontal coordinate value and a homonym vertical coordinate value. The camera position information can include a camera horizontal coordinate value and a camera vertical coordinate value.

[0043] In practice, the execution subject can generate a direction angle value based on the plane coordinate system and the homonym position information included in the homonym information by the following steps:

[0044] First, the homonym position information included in the homonym information is converted into homonym relative position information based on the plane coordinate system. In practice, first, the difference between the homonym horizontal coordinate value included in the homonym position information and the camera horizontal coordinate value included in the camera position information is determined as a horizontal coordinate difference. Second, the difference between the homonym vertical coordinate value included in the homonym position information and the camera vertical coordinate value included in the camera position information is determined as a vertical coordinate difference. Finally, the position corresponding to the homonym in the plane coordinate system is found according to the horizontal coordinate difference and the vertical coordinate difference, and the homonym relative position information is obtained.

[0045] Second, a direction angle value is generated based on the plane coordinate system and the homonym relative position information included in the homonym information. In practice, in the plane coordinate system, the angle between the straight line connecting the homonym relative position information and the origin and the due east direction is determined as the direction angle value.

[0046] At step 1042, based on the camera basic information and the homonym point information, a horizontal angle value is generated.

[0047] In some embodiments, based on the camera basic information and the homonym point information, the execution subject can generate a horizontal angle value. Wherein, the homonym point information in the homonym point information set further comprises a homonym point pixel horizontal coordinate value, and the camera basic information further comprises a video pixel width and a focal length value. Here, the homonym point pixel horizontal coordinate value can be the number of pixel points in the horizontal direction of the target video that the homonym point information is in. The video pixel width can be the number of pixel points in the horizontal direction of the target video.

[0048] In practice, based on the camera basic information and the homonym point information, the execution subject can generate a horizontal angle value by the following steps:

[0049] First, based on the camera basic information and the homonym point information, a horizontal offset value is generated.

[0050] In practice, based on the camera basic information and the homonym point information, the horizontal offset value can be generated by the following sub-steps:

[0051] First sub-step, the ratio of the homonym point pixel horizontal coordinate value included in the homonym point information to the video pixel width included in the camera basic information is determined as a homonym point pixel ratio.

[0052] Second sub-step, the difference between the preset horizontal coordinate value and the homonym point pixel ratio is determined as the horizontal offset value. Wherein, the preset horizontal coordinate value can be the horizontal pixel ratio of the video center position. For example, the preset horizontal coordinate value can be 0.5.

[0053] Second, the ratio of the focal length value included in the camera basic information to the horizontal offset value is determined as an angle tangent value.

[0054] Third, the inverse tangent value of the angle tangent value is determined as the horizontal angle value.

[0055] The related content of the first step-third step is an application point of the present disclosure, thereby solving the technical problem three mentioned in the background art that it is difficult to measure the lateral angle value of the camera in the way of field measurement, resulting in low accuracy of the extracted azimuth information and difficulty in accurately adjusting the position of the camera. The factors that make it difficult to accurately adjust the position of the camera are often as follows: it is difficult to measure the lateral angle value of the camera in the way of field measurement, resulting in low accuracy of the extracted azimuth information and difficulty in accurately adjusting the position of the camera. If the above factors are solved, the effect of correcting the position of the camera can be achieved. In order to achieve this effect, first, based on the above camera basic information and the same point information, the lateral offset value is generated. Thereby, the lateral offset can be obtained for subsequent calculation of the lateral angle value. Secondly, the ratio of the focal length value included in the above camera basic information and the above lateral offset value is determined as the angle tangent value. Thereby, the tangent value of the lateral angle can be obtained according to the principle of pinhole imaging. Finally, the inverse tangent value of the above angle tangent value is determined as the lateral angle value. Thereby, according to the tangent value and the inverse tangent value of the tangent function, the inverse tangent value of the angle tangent value is determined as the lateral angle value. Thus, more accurate azimuth information can be obtained. Further, the position of the camera can be corrected.

[0056] Step 1043, determining the difference between the above directional angle value and the above lateral angle value as the azimuth angle value.

[0057] In some embodiments, the above execution subject can determine the difference between the above directional angle value and the above lateral angle value as the azimuth angle value. Here, when the azimuth angle value is greater than or equal to 360 degrees or less than 0 degrees, the difference between the azimuth angle value and the preset angle value can be determined as the azimuth angle value. Wherein, the preset angle value can be the product of 360 and n. n can be an integer. For example, n can be but not limited to -2, -1, 1, 2, 3.

[0058] Step 105, determining the average value of the determined each azimuth angle value as the plane azimuth angle.

[0059] In some embodiments, the above execution subject can determine the average value of the determined each azimuth angle value as the plane azimuth angle.

[0060] Step 106, converting the above plane azimuth angle into azimuth information based on the above plane coordinate system.

[0061] In some embodiments, based on the above plane coordinate system, the above execution subject can convert the above plane azimuth angle into azimuth information. Wherein, the plane azimuth angle can be the corresponding angle value of the point corresponding to the plane azimuth angle in the coordinate system with 0 degrees at due east and 90 degrees at due north. The azimuth information can be the corresponding angle value of the point corresponding to the azimuth information in the coordinate system with 0 degrees at due north and 90 degrees at due east.

[0062] Optionally, the position of the target camera is adjusted according to the azimuth angle information.

[0063] In some embodiments, the position of the target camera is adjusted by the execution subject according to the azimuth angle information. In practice, the execution subject can adjust the angle of the target camera according to the azimuth angle information.

[0064] The above-mentioned various embodiments of the present disclosure have the following beneficial effects: through the azimuth angle information generation method of some embodiments of the present disclosure, the position of the camera can be corrected. Specifically, the reason why it is difficult to accurately adjust the position of the camera is that the accuracy of the azimuth angle information obtained by using the on-site measurement method is low, and it is difficult to accurately adjust the position of the camera. Based on this, the azimuth angle information generation method of some embodiments of the present disclosure first obtains each homonym point information in the target video photographed by the target camera to obtain a homonym point information set. The homonym point information in the homonym point information set includes homonym point position information. Thus, the homonym point information set can be obtained more accurately. Second, the camera basic information of the target camera is obtained. The camera basic information includes camera position information. Then, a plane coordinate system is established according to the camera position information included in the camera basic information. Thus, the plane coordinate system can be established to process the homonym point information. After that, for each homonym point information in the homonym point information set, the following processing steps are performed: based on the plane coordinate system and the homonym point position information included in the homonym point information, a direction angle value is generated; based on the camera basic information and the homonym point information, a horizontal angle value is generated; and the difference between the direction angle value and the horizontal angle value is determined as an azimuth angle value. Thus, the azimuth angle value corresponding to each homonym point information in the plane coordinate system can be obtained. Then, the average value of each determined azimuth angle value is determined as a plane azimuth angle. Thus, the average value of each azimuth angle value can be obtained, so that a more accurate plane azimuth angle in the plane coordinate system is obtained. Finally, the plane azimuth angle is converted into azimuth angle information based on the plane coordinate system. Thus, more accurate azimuth angle information is obtained. Therefore, the position of the camera can be corrected.

[0065] Further referring to Figure 2 , as an implementation of the method shown in the above-mentioned figures, the present disclosure provides some embodiments of azimuth angle information generation devices, which correspond to the method embodiments shown in Figure 1 , and the azimuth angle information generation devices can be applied in various electronic devices.

[0066] As Figure 2As shown, the azimuth information generation apparatus 200 of some embodiments comprises a first obtaining unit 201, a second obtaining unit 202, a establishing unit 203, a generating unit 204, a determining unit 205 and a converting unit 206. The first obtaining unit 201 is configured to obtain each homonym point information in a target video captured by a target camera, to obtain a homonym point information set, wherein the homonym point information in the homonym point information set comprises homonym point position information; the second obtaining unit 202 is configured to obtain camera basic information of the target camera, wherein the camera basic information comprises camera position information; the establishing unit 203 is configured to establish a plane coordinate system according to the camera position information comprised in the camera basic information; the generating unit 204 is configured to perform the following processing steps for each homonym point information in the homonym point information set: generate a direction angle value based on the plane coordinate system and the homonym point position information comprised in the homonym point information; generate a horizontal angle value based on the camera basic information and the homonym point information; determine the difference between the direction angle value and the horizontal angle value as an azimuth angle value; the determining unit 205 is configured to determine the average value of each determined azimuth angle value as a plane azimuth angle; the converting unit 206 is configured to convert the plane azimuth angle into azimuth information based on the plane coordinate system.

[0067] It can be understood that the units described in the azimuth information generation apparatus 200 correspond to the respective steps in the method described with reference to Figure 1 The operations, features and advantages described above in relation to the method also apply to the azimuth information generation apparatus 200 and the units comprised therein, and will not be described again.

[0068] Reference is made below to Figure 3 which shows a structural schematic diagram of an electronic device (e.g. a computing device) 300 suitable for use to implement some embodiments of the present disclosure. The electronic device in some embodiments of the present disclosure can include, but is not limited to, a mobile terminal such as a mobile phone, a notebook computer, a digital broadcast receiver, a PDA (Personal Digital Assistant), a PAD (Tablet Personal Computer), a PMP (Portable Multimedia Player), a car terminal (e.g. a car navigation terminal), and the like, as well as a fixed terminal such as a digital TV, a desktop computer, and the like. Figure 3 The electronic device shown is merely an example and should not impose any limitation on the function and scope of use of embodiments of the present disclosure.

[0069] As Figure 3As shown, the electronic device 300 can include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 301 that can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 302 or loaded into a random access memory (RAM) 303 from a storage device 308. Various programs and data required for the operation of the electronic device 300 are also stored in the RAM 303. The processing device 301, the ROM 302, and the RAM 303 are connected to each other through a bus 304. An input / output (I / O) interface 305 is also connected to the bus 304.

[0070] Generally, the following devices can be connected to the I / O interface 305: input devices 306 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; output devices 307 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 308 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 309. The communication devices 309 can allow the electronic device 300 to communicate wirelessly or wired with other devices to exchange data. Although Figure 3 The electronic device 300 is shown with various devices, but it should be understood that all of the illustrated devices are not required, and more or fewer devices can alternatively be implemented. Figure 3 Each block shown in the flowcharts can represent a device, or a plurality of devices, as needed.

[0071] In particular, processes described above with reference to the flowcharts can be implemented as a computer software program according to some embodiments of the present disclosure. For example, some embodiments of the present disclosure include a computer program product including a computer program carried on a computer readable medium, the computer program containing program codes for performing the methods shown in the flowcharts. In some such embodiments, the computer program can be downloaded and installed from a network through the communication devices 309, or installed from the storage devices 308, or installed from the ROM 302. When the computer program is executed by the processing device 301, the above-described functions defined in the methods of some embodiments of the present disclosure are performed.

[0072] Note that the computer readable medium in some embodiments of the present disclosure can be a computer readable signal medium or a computer readable storage medium or any combination thereof. The computer readable storage medium can be, for example but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any suitable combination of the foregoing. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the present disclosure, the computer readable storage medium can be any tangible medium that contains or stores a program used by an instruction execution system, apparatus or device, or that can be used by or in connection with an instruction execution system, apparatus or device. In some embodiments of the present disclosure, the computer readable signal medium can include a computer readable program code propagated in or on a carrier medium, in which the computer readable program code is embodied. Such propagated computer readable program code can take many forms, including but not limited to, an electromagnetic signal, an optical signal or any suitable combination of the foregoing. The computer readable signal medium can also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate or transport a program for use by or in connection with an instruction execution system, apparatus or device. Program code embodied on a computer readable medium can be transmitted using any suitable medium, including but not limited to, wire, cable, wireless, RF, infrared or any suitable combination of the foregoing.

[0073] In some embodiments, the client, server, or both can communicate using any current known or future developed network protocol, such as HTTP (HyperText Transfer Protocol), and can be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include local area networks ("LAN"), wide area networks ("WAN"), the Internet, and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any current known or future developed networks.

[0074] The computer readable medium can be included in the electronic device; or can exist independently of the electronic device. The computer readable medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to: obtain each homonym point information in a target video captured by a target camera, to obtain a homonym point information set, wherein the homonym point information in the homonym point information set comprises homonym point position information; obtain camera basic information of the target camera, wherein the camera basic information comprises camera position information; establish a plane coordinate system according to the camera position information included in the camera basic information; for each homonym point information in the homonym point information set, perform the following processing steps: generate a direction angle value based on the plane coordinate system and the homonym point position information included in the homonym point information; generate a horizontal angle value based on the camera basic information and the homonym point information; determine a difference between the direction angle value and the horizontal angle value as an azimuth angle value; determine an average value of each determined azimuth angle value as a plane azimuth; and convert the plane azimuth into azimuth information based on the plane coordinate system.

[0075] Computer program code for carrying out operations of some embodiments of the disclosure can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0076] The flow and block diagrams in the drawings represent possible architectural, functional, and operational architectures of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block can represent a module, a segment, or a portion of code that comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flowchart illustrations, and combinations thereof, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or combinations of hardware and software.

[0077] The units described in some embodiments of the present disclosure can be implemented by means of software, or can be implemented by hardware. The described units can also be arranged in a processor, for example, a processor can be described as including a first acquisition unit, a second acquisition unit, a establishing unit, a generating unit, a determining unit and a converting unit. In some cases, the names of these units do not constitute a limitation on the units themselves, for example, the first acquisition unit can also be described as "acquiring each homonym point information in the target video shot by the target camera to obtain a homonym point information set".

[0078] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, and without limitation, example types of hardware logic components that can be used include Field-programmable Gate Arrays (FPGAs), Application-specific Integrated Circuits (ASICs), Application-specific Standard Products (ASSPs), System-on-a-chip systems (SOCs), Complex Programmable Logic Devices (CPLDs), etc.

[0079] Some embodiments of the present disclosure also provide a computer program product comprising a computer program which, when executed by a processor, implements any of the above-mentioned azimuth angle information generation methods.

[0080] The above description is merely some of the preferred embodiments of the present disclosure and a description of the principles of the technology employed. Those skilled in the art will understand that the scope of the application involved in the embodiments of the present disclosure is not limited to the technical solutions formed by the specific combinations of the above technical features, and should also cover other technical solutions formed by any combinations of the above technical features or equivalent features without departing from the inventive concept. For example, the above technical features can be replaced with technical features disclosed in the embodiments of the present disclosure (but not limited to) having similar functions to form technical solutions.

Claims

1. A method for generating azimuth information, comprising: Obtain information on each corresponding point in the target video captured by the target camera to obtain a set of corresponding point information, wherein the corresponding point information in the set of corresponding point information includes: the location information of the corresponding point; Obtain basic camera information of the target camera, wherein the basic camera information includes: camera location information; A planar coordinate system is established based on the camera position information, which is included in the basic camera information. For each piece of information with the same name in the set of information with the same name, perform the following processing steps: Based on the planar coordinate system and the corresponding point information including the corresponding point position information, generating direction angle values ​​includes: converting the corresponding point position information including the corresponding point information into corresponding point relative position information based on the planar coordinate system, wherein the difference between the corresponding point x-coordinate value included in the corresponding point position information and the camera x-coordinate value included in the camera position information is determined as the x-coordinate difference; the difference between the corresponding point y-coordinate value included in the corresponding point position information and the camera y-coordinate value included in the camera position information is determined as the y-coordinate difference; based on the x-coordinate difference and the y-coordinate difference, finding the corresponding point's position in the planar coordinate system to obtain the corresponding point relative position information; and generating direction angle values ​​based on the planar coordinate system and the corresponding point information including the corresponding point relative position information, wherein the angle between the straight line connecting the corresponding point relative position information and the origin and the due east direction is determined as the direction angle value. Based on the camera's basic information and the corresponding point information, a lateral angle value is generated; The difference between the direction angle value and the lateral angle value is determined as the azimuth angle value; The average value of the determined azimuth angles is used as the plane azimuth angle. Based on the plane coordinate system, the plane azimuth is converted into azimuth information.

2. The method according to claim 1, wherein, The corresponding point information set also includes: the horizontal coordinate value of the corresponding point pixel, and the basic camera information also includes: the video pixel width and focal length value.

3. The method according to claim 1, wherein, The method further includes: The position of the target camera is adjusted based on the azimuth information.

4. An azimuth information generation device, comprising: The first acquisition unit is configured to acquire information of each corresponding point in the target video captured by the target camera, and obtain a set of corresponding point information, wherein the corresponding point information in the set of corresponding point information includes: corresponding point location information; The second acquisition unit is configured to acquire basic camera information of the target camera, wherein the basic camera information includes: camera position information; The unit is configured to establish a planar coordinate system based on the camera position information included in the basic camera information; The generation unit is configured to perform the following processing steps for each corresponding point information in the corresponding point information set: generating a direction angle value based on the planar coordinate system and the corresponding point position information included in the corresponding point information, including: converting the corresponding point position information included in the corresponding point information into corresponding point relative position information based on the planar coordinate system, wherein the difference between the corresponding point abscissa value included in the corresponding point position information and the camera abscissa value included in the camera position information is determined as the abscissa difference; and comparing the corresponding point ordinate value included in the corresponding point position information with the camera position information. The difference in the camera's ordinate values, including the information, is determined as the ordinate difference. Based on the ordinate difference and the abscissa difference, the corresponding positions of the corresponding points are found in the planar coordinate system to obtain the relative position information of the corresponding points. Based on the planar coordinate system and the relative position information of the corresponding points, a direction angle value is generated, wherein the angle between the straight line connecting the relative position information of the corresponding points and the origin and the due east direction is determined as the direction angle value. Based on the camera's basic information and the corresponding point information, a lateral angle value is generated. The difference between the direction angle value and the lateral angle value is determined as the azimuth angle value. The determining unit is configured to determine the average of the determined azimuth angle values ​​as the plane azimuth angle; The conversion unit is configured to convert the plane azimuth into azimuth information based on the plane coordinate system.

5. An electronic device, comprising: One or more processors; A storage device on which one or more programs are stored; When the one or more programs are executed by the one or more processors, the one or more processors implement the method as described in any one of claims 1-3.

6. A computer-readable medium having a computer program stored thereon, wherein, When the program is executed by the processor, it implements the method as described in any one of claims 1-3.

7. A computer program product comprising a computer program that, when executed by a processor, implements the method according to any one of claims 1-3.

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