Camera position adjustment method and apparatus, electronic device, and computer readable medium

Abstract

Embodiments of the present disclosure disclose a camera position adjustment method and device, electronic equipment and a computer readable medium. A specific embodiment of the method comprises: obtaining target video information and an initial pitch angle value; performing homonym point extraction on each target picture in a target picture set to generate target homonym point information, obtaining a target homonym point information set; in response to determining that the initial pitch angle value corresponding to a target camera is equal to a preset value, determining an average value of each target homonym point distance value in the target homonym point distance value set as an initial camera height value; generating a first target height value interval corresponding to the initial camera height value based on the initial camera height value; generating a shooting height value based on the first target height value interval and the target homonym point information set; and sending the shooting height value to a control terminal of the target camera to adjust the position of the target camera. This embodiment can timely adjust the camera position.

Description

Technical Field

[0001] Embodiments of this disclosure relate to the field of computer technology, and more particularly to camera position adjustment methods, apparatus, electronic devices, and computer-readable media. Background Technology

[0002] When adjusting the camera position, it is necessary to determine the camera's height. Currently, the common method for adjusting camera position is to determine the camera's height using personnel or a positioning chip.

[0003] However, the inventors discovered that when adjusting the camera position using the above method, the following technical problems often occur:

[0004] First, when staff manually measure the camera height and adjust its position, it is difficult to measure the camera height in a timely manner, which makes it impossible to adjust the camera position in a timely manner.

[0005] Second, the positioning chip cannot be installed in cameras that are already in use, which reduces the adaptability of measuring camera height values ​​and results in insufficient adaptability of camera position adjustment.

[0006] The information disclosed in this background section is only intended to enhance the understanding of the background of the inventive concept, and therefore may contain information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0007] The summary portion of this disclosure is intended to provide a brief overview of the concepts, which will be described in detail in the detailed description portion. This summary portion is not intended to identify key or essential features of the claimed technical solutions, nor is it intended to limit the scope of the claimed technical solutions.

[0008] Some embodiments of this disclosure provide camera position adjustment methods, apparatuses, electronic devices, and computer-readable media to address one or more of the technical problems mentioned in the background section above.

[0009] In a first aspect, some embodiments of this disclosure provide a camera position adjustment method, the method comprising: acquiring target video information captured by a target camera and an initial pitch angle value corresponding to the target camera, wherein the target video information includes a target image set; extracting corresponding points from each target image in the target image set to generate target corresponding point information, thereby obtaining a target corresponding point information set, wherein each target corresponding point information in the target corresponding point information set includes a target corresponding point distance value; in response to determining that the initial pitch angle value corresponding to the target camera is equal to a preset value, determining the average value of the distance values ​​of each target corresponding point in the target corresponding point distance value set as an initial camera height value; generating a first target height value interval corresponding to the initial camera height value based on the initial camera height value; generating a shooting height value based on the first target height value interval and the target corresponding point information set; and sending the shooting height value to the control terminal of the target camera to adjust the position of the target camera.

[0010] Secondly, some embodiments of this disclosure provide a camera position adjustment device, comprising: an acquisition unit configured to acquire target video information captured by a target camera and an initial pitch angle value corresponding to the target camera, wherein the target video information includes a target image set; an extraction unit configured to extract corresponding points from each target image in the target image set to generate target corresponding point information, thereby obtaining a target corresponding point information set, wherein each target corresponding point information in the target corresponding point information set includes a target corresponding point distance value; a determination unit configured to, in response to determining that the initial pitch angle value corresponding to the target camera is equal to a preset value, determine the average value of the distance values ​​of each target corresponding point in the target corresponding point distance value set as an initial camera height value; a first generation unit configured to generate a first target height value interval corresponding to the initial camera height value based on the initial camera height value; a second generation unit configured to generate a shooting height value based on the first target height value interval and the target corresponding point information set; and a sending unit configured to send the shooting height value to a control terminal of the target camera to adjust the position of the target camera.

[0011] Thirdly, some embodiments of this disclosure provide an electronic device, including: one or more processors; and a storage device having one or more programs stored thereon, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the method described in any implementation of the first or second aspect above.

[0012] Fourthly, some embodiments of this 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 or second aspect above.

[0013] Fifthly, some embodiments of this disclosure provide a computer program product, including a computer program that, when executed by a processor, implements the method described in any of the implementations of the first aspect above.

[0014] The above embodiments of this disclosure have the following beneficial effects: the camera position adjustment method of some embodiments of this disclosure can adjust the camera position in a timely manner. Specifically, the reason why the camera position cannot be adjusted in a timely manner is that when staff manually measure the camera height and adjust the camera position, it is difficult to measure the camera height in a timely manner. Based on this, the camera position adjustment method of some embodiments of this disclosure firstly obtains the target video information captured by the target camera and the initial pitch angle value corresponding to the target camera, wherein the target video information includes a target image set. Secondly, it extracts corresponding points from each target image in the target image set to generate target corresponding point information, thereby obtaining a target corresponding point information set, wherein each target corresponding point information in the target corresponding point information set includes a target corresponding point distance value. Thus, information on feature points with the same reference object in each target image in the target image set can be obtained. Then, in response to determining that the initial pitch angle value corresponding to the target camera is equal to a preset value, the average value of the distance values ​​of each target corresponding point in the target corresponding point distance value set is determined as the initial camera height value. Thus, the initial camera height value can be obtained to facilitate the generation of the range of the shooting height value of the target camera. Next, based on the initial camera height value, a first target height value interval corresponding to the initial camera height value is generated. This allows us to obtain the target height value interval where the shooting height value lies, thus determining the shooting height value of the target camera. Then, based on the first target height value interval and the target corresponding point information set, a shooting height value is generated. This allows us to determine the shooting height value of the target camera, enabling us to adjust the position of the target camera. Finally, the shooting height value is sent to the control terminal of the target camera to adjust its position. Thus, the position of the target camera can be adjusted in a timely manner through the control terminal. Therefore, some camera position adjustment methods disclosed herein can directly determine the camera's shooting height using only the video information captured by the target camera, thereby enabling timely determination of the camera's height and, consequently, timely adjustment of the camera's position. Attached Figure Description

[0015] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and elements are not necessarily drawn to scale.

[0016] Figure 1This is a flowchart of some embodiments of the camera position adjustment method according to the present disclosure;

[0017] Figure 2 These are schematic diagrams illustrating the structure of some embodiments of the camera position adjustment device according to the present disclosure;

[0018] Figure 3 This is a schematic diagram of the structure of an electronic device suitable for implementing some embodiments of the present disclosure. Detailed Implementation

[0019] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0020] It should also be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings. Unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other.

[0021] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are used only to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.

[0022] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0023] The names of messages or information exchanged between multiple devices in the embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.

[0024] This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0025] Figure 1 A flow 100 of some embodiments of a camera position adjustment method according to the present disclosure is shown. The camera position adjustment method includes the following steps:

[0026] Step 101: Obtain the target video information captured by the target camera and the initial pitch angle value corresponding to the target camera.

[0027] In some embodiments, the entity executing the camera position adjustment method can acquire target video information captured by the target camera and the initial pitch angle value corresponding to the target camera from the target camera via a wired or wireless connection. The target video information includes a set of target images. The target camera can be a camera currently in use. The initial pitch angle value can be the angle between the target camera and the horizontal plane.

[0028] As an example, the camera described above can be, but is not limited to, a dome camera, a hemispherical camera, or a bullet camera. The target camera can be fixed to a movable rail. The movable rail can be vertically fixed to the target camera.

[0029] Step 102: Extract corresponding points from each target image in the target image set to generate target corresponding point information, thus obtaining a target corresponding point information set.

[0030] In some embodiments, the execution entity may extract corresponding points from each target image in the target image set to generate target corresponding point information, thus obtaining a target corresponding point information set. Each target corresponding point in the target corresponding point information set includes a target corresponding point distance value and a target corresponding point pixel vertical coordinate value. The target corresponding point information can be generated by extracting corresponding points from each target image in the target image set using a neural network model. The target corresponding point information can represent feature points of the same reference object in each target image in the target image set. The target corresponding point distance value can be the distance from the feature point to the target camera. The target corresponding point pixel vertical coordinate value can represent the vertical coordinate value of the feature point in the target image's pixel coordinate system.

[0031] As an example, the neural network model mentioned above can be, but is not limited to, a convolutional neural network model. The reference object mentioned above can be, but is not limited to, trees, buildings, or lighthouses.

[0032] Step 103: In response to determining that the initial pitch angle value corresponding to the target camera is equal to the preset value, the average value of the distance values ​​of each target corresponding point in the target distance value set is determined as the initial camera height value.

[0033] In some embodiments, the execution entity may, in response to determining that the initial pitch angle value corresponding to the target camera is equal to a preset value, determine the average value of the distance values ​​of each target corresponding point in the target distance value set as the initial camera height value.

[0034] As an example, the above preset value could be 45 degrees.

[0035] Step 104: Based on the initial camera height value, generate the first target height value range corresponding to the initial camera height value.

[0036] In some embodiments, the execution entity may generate a first target height value interval corresponding to the initial camera height value based on the initial camera height value. Specifically, generating the first target height value interval may involve determining the upper limit of the first target height value interval by multiplying the initial camera height value by a preset value, and setting 0 as the lower limit of the first target height value interval.

[0037] As an example, the above preset value could be 2.

[0038] Step 105: Generate the shooting height value based on the first target height value range and the target corresponding point information set.

[0039] In some embodiments, the execution entity may generate a shooting height value based on the first target height value range and the target corresponding point information set.

[0040] In some optional implementations of certain embodiments, the execution entity generates a first target height value range corresponding to the initial camera height value based on the initial camera height value, which may include the following steps:

[0041] The first step is to divide the aforementioned first target height value interval into a second target height value interval set. The number of second target height value intervals in the second target height value interval set is a first preset number.

[0042] As an example, the first preset quantity mentioned above could be 10.

[0043] The second step involves selecting individual second target height values ​​from each of the aforementioned second target height value intervals within the set of second target height value intervals to generate a second target height value group, thus obtaining a set of second target height value groups. The number of second target height values ​​in each of these second target height value groups is a second preset quantity. This generation of second target height value groups can be achieved by randomly selecting individual second target height values ​​from each of the aforementioned second target height value intervals within the set of second target height value intervals.

[0044] As an example, the second preset quantity mentioned above could be 5.

[0045] The third step is to determine the second target error value corresponding to each second target height value in the second target height value set, based on the target corresponding point information set included above.

[0046] The fourth step is to determine the average value of each second target error value in each second target error value group in the above second target error value set as the second target average error value, thus obtaining the second target average error value set.

[0047] The fifth step is to determine the minimum average error value of the second target as the minimum average error value from the set of average error values ​​of the second target mentioned above.

[0048] Step 6: In response to determining that the minimum average error value meets a preset condition, the second target height value corresponding to the smallest second target error value in the set of second target height values ​​that corresponds to the minimum average error value in the set of second target error values ​​is determined as the shooting height value. The preset condition may be that the minimum average error value reaches a certain accuracy.

[0049] As an example, the aforementioned precision could be 0.01.

[0050] Optionally, the aforementioned implementing entity may also perform the following steps:

[0051] The first step is to determine the third target height value interval in response to the determination that the minimum average error value does not meet the preset conditions.

[0052] The second step is to determine the second target height value corresponding to the smallest second target error value in the second target error value group that corresponds to the second target height value group that corresponds to the third target height value interval, as the height median value.

[0053] The third step is to determine the difference between the above-mentioned intermediate height value and the upper limit of the above-mentioned third height value range as the range difference.

[0054] The fourth step is to determine the difference between the above-mentioned height median value and the above-mentioned interval difference value as the lower limit of the third height value interval.

[0055] The fifth step is to determine the third height value range mentioned above as the first target height value range, and to perform the operation of generating shooting height values ​​again.

[0056] In practice, performing the above-mentioned operation to generate the shooting height value again can improve the accuracy of the minimum average error value, thereby improving the accuracy of the shooting height value.

[0057] In some optional implementations of certain embodiments, the execution entity determines the second target error value corresponding to each second target height value in the second target height value set based on the target corresponding point distance value set included in the target corresponding point information set. This may include the following steps:

[0058] The first step is to perform the following sub-steps on every two target corresponding point distance values ​​in the above target corresponding point distance value set to generate a total error value, thus obtaining a total error value set:

[0059] The first sub-step involves determining the distance values ​​between the two target corresponding points as the distance value between the first target corresponding point and the distance value between the second target corresponding point, respectively.

[0060] The second sub-step involves determining the pitch angle difference between the distance values ​​of the first and second target corresponding points, based on the aforementioned target altitude values.

[0061] The third sub-step involves determining the difference in field of view angle between the distance value of the first target corresponding point and the distance value of the second target corresponding point, based on the aforementioned target height value.

[0062] The fourth sub-step is to determine the difference between the pitch angle difference and the field of view angle difference as the total error value.

[0063] The second step is to determine the minimum total error value in the above set of total error values ​​as the second target error value.

[0064] In practice, the execution entity determines the pitch angle difference between the distance value of the first target's corresponding point and the distance value of the second target's corresponding point based on the target altitude value. This can include the following steps:

[0065] The first step is to determine the ratio of the distance value of the first target's corresponding point to the height value of the second target as the tangent of the pitch angle of the first target's corresponding point.

[0066] The second step is to determine the ratio of the distance value of the corresponding point of the first target to the height value of the second target as the tangent of the pitch angle of the corresponding point of the second target.

[0067] The third step is to determine the arctangent value of the pitch angle tangent of the first target corresponding point as the pitch angle value of the first target corresponding point.

[0068] The fourth step is to determine the arctangent value of the pitch angle tangent of the second target corresponding point as the pitch angle value of the second target corresponding point.

[0069] The fifth step is to determine the difference between the pitch angle values ​​of the first target's corresponding point and the second target's corresponding point as the pitch angle difference.

[0070] In practice, the execution entity determines the field-of-view angle difference between the distance value of the first target's corresponding point and the distance value of the second target's corresponding point based on the target height value. This may include the following steps:

[0071] The first step is to obtain the camera parameter information of the target camera. This camera parameter information includes the camera focal length and video pixel height. The camera parameter information of the target camera can be obtained from the target camera itself.

[0072] The second step is to determine the ratio of the vertical coordinate value of the target corresponding point pixel to the height value of the video pixel, which is included in the target corresponding point information corresponding to the distance value of the first target corresponding point, as the first target corresponding point pixel ratio.

[0073] The third step is to determine the ratio of the vertical coordinate value of the target corresponding point pixel to the height value of the video pixel in the target corresponding point information corresponding to the distance value of the second target corresponding point as the second target corresponding point pixel ratio.

[0074] The fourth step is to determine the first vertical offset value as the difference between the preset vertical coordinate value and the pixel ratio of the corresponding point of the first target.

[0075] As an example, the preset vertical coordinate value can be 0.5.

[0076] The fifth step is to determine the difference between the preset vertical coordinate value and the pixel ratio of the corresponding point of the second target as the second vertical offset value.

[0077] The sixth step is to determine the ratio of the first longitudinal offset value to the camera focal length value as the first field of view tangent value.

[0078] The seventh step is to determine the ratio of the second longitudinal offset value to the camera focal length value as the second field of view tangent value.

[0079] Step 8: Determine the arctangent value of the first visual field angle tangent value as the first visual field angle value.

[0080] Step 9: Determine the arctangent value of the above-mentioned second visual field angle tangent as the second visual field angle value.

[0081] Step 10: Determine the difference between the first visual field angle value and the second visual field angle value as the visual field angle difference value.

[0082] The content related to step 105, as an inventive point of this disclosure, solves the second technical problem mentioned in the background art, "insufficient adaptability of camera position adjustment." The factors leading to insufficient adaptability of camera position adjustment are often as follows: the positioning chip cannot be installed in cameras already in use, reducing the adaptability of measuring camera height values. Solving these factors can improve the adaptability of camera position adjustment. To achieve this effect, this disclosure can generate a corresponding first target height value interval on a camera without a positioning chip, based on the corresponding point information extracted from the image captured by the target camera. Then, a second target height value is selected within the first target height value interval, and the error value corresponding to the second target height value is determined. By reducing the error value, the camera height value of the target camera is gradually determined, improving the adaptability of measuring camera height values, and thus improving the adaptability of camera position adjustment.

[0083] Step 106: Send the shooting height value to the target camera's control terminal to adjust the target camera's position.

[0084] In some embodiments, the execution entity may send the shooting height value to the control terminal of the target camera to adjust the position of the target camera.

[0085] As an example, after receiving the shooting height value, the control terminal of the target camera can control the mobile device to move the camera to the position of the received shooting height value along the moving guide rail.

[0086] The above embodiments of this disclosure have the following beneficial effects: the camera position adjustment method of some embodiments of this disclosure can adjust the camera position in a timely manner. Specifically, the reason why the camera position cannot be adjusted in a timely manner is that when staff manually measure the camera height and adjust the camera position, it is difficult to measure the camera height in a timely manner. Based on this, the camera position adjustment method of some embodiments of this disclosure firstly obtains the target video information captured by the target camera and the initial pitch angle value corresponding to the target camera, wherein the target video information includes a target image set. Secondly, it extracts corresponding points from each target image in the target image set to generate target corresponding point information, thereby obtaining a target corresponding point information set, wherein each target corresponding point information in the target corresponding point information set includes a target corresponding point distance value. Thus, information on feature points with the same reference object in each target image in the target image set can be obtained. Then, in response to determining that the initial pitch angle value corresponding to the target camera is equal to a preset value, the average value of the distance values ​​of each target corresponding point in the target corresponding point distance value set is determined as the initial camera height value. Thus, the initial camera height value can be obtained to facilitate the generation of the range of the shooting height value of the target camera. Next, based on the initial camera height value, a first target height value interval corresponding to the initial camera height value is generated. This allows us to obtain the target height value interval where the shooting height value lies, thus determining the shooting height value of the target camera. Then, based on the first target height value interval and the target corresponding point information set, a shooting height value is generated. This allows us to determine the shooting height value of the target camera, enabling us to adjust the position of the target camera. Finally, the shooting height value is sent to the control terminal of the target camera to adjust its position. Thus, the position of the target camera can be adjusted in a timely manner through the control terminal. Therefore, some camera position adjustment methods disclosed herein can directly determine the camera's shooting height using only the video information captured by the target camera, thereby enabling timely determination of the camera's height and, consequently, timely adjustment of the camera's position.

[0087] Further reference Figure 2 As an implementation of the methods shown in the above figures, this disclosure provides some embodiments of a camera position adjustment device, which are similar to... Figure 1 Corresponding to the method embodiments shown, this camera position adjustment device can be specifically applied to various electronic devices.

[0088] like Figure 2As shown, the camera position adjustment device 200 in some embodiments includes: an acquisition unit 201, an extraction unit 202, a determination unit 203, a first generation unit 204, a second generation unit 205, and a sending unit 206. The system includes the following components: an acquisition unit 201, configured to acquire target video information captured by a target camera and the initial pitch angle value corresponding to the target camera, wherein the target video information includes a set of target images; an extraction unit 202, configured to extract corresponding points from each target image in the target image set to generate target corresponding point information, thereby obtaining a set of target corresponding point information, wherein each target corresponding point in the target corresponding point information set includes a target corresponding point distance value; a determination unit 203, configured to determine the average value of the distance values ​​of each target corresponding point in the target corresponding point distance value set as the initial camera height value in response to determining that the initial pitch angle value corresponding to the target camera is equal to a preset value; a first generation unit 204, configured to generate a first target height value interval corresponding to the initial camera height value; a second generation unit 205, configured to generate a shooting height value based on the first target height value interval and the target corresponding point information set; and a sending unit 206, configured to send the shooting height value to a display terminal for staff to adjust the position of the target camera.

[0089] It is understandable that the units described in the camera position adjustment device 200 are related to the reference. Figure 1 The steps in the described camera position adjustment method correspond to each other. Therefore, the operations, features, and beneficial effects described above for the camera position adjustment method also apply to the camera position adjustment device 200 and the units contained therein, and will not be repeated here.

[0090] The following is for reference. Figure 3 This document illustrates a structural schematic of an electronic device 300 suitable for implementing some embodiments of the present disclosure. The electronic devices in some embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 3 The terminal device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments of this disclosure.

[0091] like Figure 3As shown, the electronic device 300 may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) 301, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 302 or a program loaded from a storage device 308 into a random access memory (RAM) 303. The RAM 303 also stores various programs and data required for the operation of the electronic device 300. The processing unit 301, ROM 302, and RAM 303 are interconnected via a bus 304. An input / output (I / O) interface 305 is also connected to the bus 304.

[0092] Typically, the following devices can be connected to I / O interface 305: input devices 306 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 307 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 308 including, for example, magnetic tapes, hard disks, etc.; and communication devices 309. Communication device 309 allows electronic device 300 to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 3 An electronic device 300 with various devices is shown; however, it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed alternatively. Figure 3 Each box shown can represent a device or multiple devices as needed.

[0093] In particular, according to some embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, some embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication device 309, or installed from storage device 308, or installed from ROM 302. When the computer program is executed by processing device 301, it performs the functions defined in the methods of some embodiments of this disclosure.

[0094] It should be noted that, in some embodiments of this disclosure, the computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium may be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In some embodiments of this disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In some embodiments of this disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0095] In some implementations, clients and servers can communicate using any currently known or future-developed network protocol such as HTTP (Hypertext Transfer Protocol) and can interconnect with digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include local area networks (“LANs”), wide area networks (“WANs”), the Internet (e.g., the Internet of Things), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future-developed networks.

[0096] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device. The aforementioned computer-readable medium carries one or more programs that, when executed by the electronic device, cause the electronic device to: acquire target video information captured by a target camera and the initial pitch angle value corresponding to the target camera, wherein the target video information includes a set of target images; extract corresponding points from each target image in the target image set to generate target corresponding point information, obtaining a set of target corresponding point information, wherein each target corresponding point in the target corresponding point information set includes a target corresponding point distance value; in response to determining that the initial pitch angle value corresponding to the target camera is equal to a preset value, determine the average value of the distance values ​​of each target corresponding point in the target corresponding point distance value set as an initial camera height value; based on the initial camera height value, generate a first target height value interval corresponding to the initial camera height value; based on the first target height value interval and the target corresponding point information set, generate a shooting height value; and send the shooting height value to a display terminal for personnel to adjust the position of the target camera.

[0097] Computer program code for performing operations of some embodiments of this disclosure can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0098] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0099] The units described in some embodiments of this disclosure can be implemented in software or hardware. The described units can also be housed in a processor; for example, a processor may be described as including an acquisition unit, an extraction unit, a determination unit, a first generation unit, a second generation unit, and a transmission unit. The names of these units do not necessarily limit the specific unit; for example, the acquisition unit may also be described as "a unit that acquires target video information captured by a target camera and the initial pitch angle value corresponding to the target camera."

[0100] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: Field Programmable Gate Arrays (FPGAs), Application-Specific Integrated Circuits (ASICs), Application Standard Products (ASSPs), System-on-Chip (SoCs), Complex Programmable Logic Devices (CPLDs), and so on.

[0101] The above description is merely a selection of preferred embodiments of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in the embodiments of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in the embodiments of this disclosure.

Claims

1. A method for adjusting the position of a camera, comprising: Acquire target video information captured by the target camera and the initial pitch angle value corresponding to the target camera, wherein the target video information includes a set of target images; For each target image in the target image set, corresponding points are extracted to generate target corresponding point information, resulting in a target corresponding point information set. Each target corresponding point information in the target corresponding point information set includes a target corresponding point distance value. The target corresponding point information represents the feature points of the same reference object in each target image in the target image set. The target corresponding point distance value is the distance value from the feature point to the target camera. In response to determining that the initial pitch angle value corresponding to the target camera is equal to a preset value, the average value of the distance values ​​of each target corresponding point in the target distance value set is determined as the initial camera height value; Based on the initial camera height value, a first target height value range corresponding to the initial camera height value is generated; Based on the first target height value range and the target corresponding point information set, a shooting height value is generated; The shooting height value is sent to the control terminal of the target camera to adjust the position of the target camera.

2. The method according to claim 1, wherein, The step of generating a shooting height value based on the first target height value range and the target corresponding point information set includes: The first target height value interval is divided into a second target height value interval set, wherein the number of second target height value intervals in the second target height value interval set is a first preset number; In each second target height value interval of the second target height value interval set, select each second target height value to generate a second target height value group, and obtain a second target height value group set, wherein the number of second target height values ​​in the second target height value group is a second preset number; Based on the target corresponding point distance value set included in the target corresponding point information set, determine the second target error value corresponding to each second target height value in the second target height value set, and obtain the second target error value set; The average value of each second target error value in each second target error value group in the second target error value group set is determined as the second target average error value, thus obtaining the second target average error value set; The minimum average error value of the second target is determined as the minimum average error value in the set of average error values ​​of the second target. In response to determining that the minimum average error value meets the preset condition, the second target height value corresponding to the smallest second target error value in the second target error value set that corresponds to the minimum average error value is determined as the shooting height value.

3. The method according to claim 2, wherein, The method further includes: In response to determining that the minimum average error value does not meet the preset condition, the second target height value interval that is concentrated in the second target height value interval corresponding to the minimum average error value is determined as the third target height value interval; The second target height value corresponding to the smallest second target error value in the second target error value group is determined as the height median value in the second target height value group set corresponding to the third target height value interval in the second target height value group set. The difference between the median height value and the upper limit of the third target height value range is determined as the range difference; The difference between the median height value and the interval difference is determined as the lower limit of the third height value interval; The third height value range is determined as the first target height value range, and the operation of generating shooting height values ​​is performed again.

4. The method according to claim 2, wherein, The step of determining the second target error value corresponding to each second target height value in the second target height value set based on the target corresponding point distance value set included in the target corresponding point information set includes: For every two target corresponding point distance values ​​in the aforementioned target corresponding point distance value set, the following steps are performed to generate a total error value, resulting in a total error value set: The distance values ​​between the two target corresponding points are respectively defined as the distance value between the first target corresponding point and the distance value between the second target corresponding point; Based on the target altitude value, determine the pitch angle difference between the distance value of the first target corresponding point and the distance value of the second target corresponding point; Based on the target height value, determine the difference in field of view angle between the distance value of the first target corresponding point and the distance value of the second target corresponding point; The difference between the pitch angle difference and the field of view difference is determined as the total error value; The total error value with the smallest value in the set of total error values ​​is determined as the second target error value.

5. A camera position adjustment device for performing the camera position adjustment method as described in claim 1, the device comprising: The acquisition unit is configured to acquire target video information captured by the target camera and the initial pitch angle value corresponding to the target camera, wherein the target video information includes a set of target images; The extraction unit is configured to extract corresponding points from each target image in the target image set to generate target corresponding point information, thereby obtaining a target corresponding point information set, wherein each target corresponding point information in the target corresponding point information set includes a target corresponding point distance value. The determining unit is configured to, in response to determining that the initial pitch angle value corresponding to the target camera is equal to a preset value, determine the average value of the distance values ​​of each target corresponding point in the target distance value set as the initial camera height value; The first generation unit is configured to generate a first target height value range corresponding to the initial camera height value based on the initial camera height value; The second generation unit is configured to generate a shooting height value based on the first target height value range and the target corresponding point information set; The transmitting unit is configured to send the shooting height value to the control terminal of the target camera to adjust the position of the target camera.

6. 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 1-4.

7. A computer-readable medium having a computer program stored thereon, wherein, When the computer program is executed by a processor, it implements the method as described in any one of claims 1-4.

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