A method, device, storage medium and electronic device for implementing privacy shielding of ball camera

Abstract

The present invention proposes a method, device, storage medium and electronic device for implementing privacy shielding of a ball camera, obtaining the length of a first line segment, the length of a second line segment and the length of a third line segment; obtaining the offset coefficient of a privacy shielding block according to the length of the first line segment, the length of the second line segment and the length of the third line segment, wherein the offset coefficient includes an X-axis offset coefficient and a Y-axis offset coefficient; adjusting the privacy shielding block based on the offset coefficient to complete the privacy shielding of the ball camera imaging. The privacy shielding block is moved according to the X-axis offset coefficient and the Y-axis offset coefficient to complete the privacy shielding of the ball camera imaging, thereby overcoming the privacy defect problem caused by the rotation of the ball camera and greatly improving the accuracy of the privacy shielding.

Description

Technical Field

[0001] The present invention relates to the field of images, and in particular to a method, device, storage medium and electronic device for implementing privacy shielding of a ball camera. Background Art

[0002] With the development of high-definition video, image processing, and video surveillance, users have higher and higher requirements for privacy areas. Spherical cameras (referred to as dome cameras) are widely used, and they need to take privacy requirements into account when performing image monitoring.

[0003] As the ball camera rotates, the user requires to block a certain area of ​​the image to avoid privacy infringement. When the ball camera rotates, the image is often obtained by mapping the spherical surface to the plane. As a result, the current privacy masking algorithms on the market can only block the area in the middle of the image. As the ball camera rotates, when the area to be blocked reaches the edge of the image, it often cannot be blocked.

[0004] How to control the ball camera so that it can still achieve privacy shielding when it is rotating has become a difficult problem that technicians in this field are concerned about. Summary of the invention

[0005] The object of the present invention is to provide a method, device, storage medium and electronic device for implementing privacy shielding of a ball camera, so as to at least partially improve the above-mentioned problems.

[0006] In order to achieve the above purpose, the technical solution adopted by the embodiment of the present invention is as follows:

[0007] In a first aspect, an embodiment of the present invention provides a method for implementing privacy shielding of a ball camera, the method comprising:

[0008] Get the length of the first line segment, the length of the second line segment and the length of the third line segment, wherein the first line segment is the line segment between the first point and the third point, the second line segment is the line segment between the second point and the third point, the third line segment is the line segment between the second point and the first point, the first point is the intersection of the first extension line and the imaging surface of the sensor when the horizontal rotation angle of the ball camera is 0, the first extension line is the extension line from the geometric center of the ball camera to the optical center point of the sensor when the horizontal rotation angle of the ball camera is θ, the second point is the optical center point of the sensor when the horizontal rotation angle of the ball camera is 0, the third point is the intersection of the second extension line and the horizontal center line of the imaging surface of the sensor when the horizontal rotation angle of the ball camera is 0, the second extension line is the extension line from the center of the circular trajectory of the optical center point of the sensor when the sensor rotates to the optical center point of the sensor when the horizontal rotation angle of the ball camera is θ;

[0009] Acquire an offset coefficient of the privacy mask block according to the first line segment length, the second line segment length, and the third line segment length, wherein the offset coefficient includes an X-axis offset coefficient and a Y-axis offset coefficient;

[0010] The privacy mask block is adjusted based on the offset coefficient to complete the privacy masking of ball camera imaging.

[0011] Optionally, the step of acquiring an offset coefficient of the privacy mask block according to the first line segment length, the second line segment length, and the third line segment length includes:

[0012] Determine a target cosine parameter of a target angle according to the first line segment length, the second line segment length, and the third line segment length;

[0013] The X-axis offset coefficient and the Y-axis offset coefficient are determined according to the third line segment length and the target cosine parameter.

[0014] Optionally, the formulas for the X-axis offset coefficient and the Y-axis offset coefficient are:

[0015]

[0016] in, represents the target cosine parameter, represents the X-axis offset coefficient, represents the Y-axis offset coefficient, a represents the length of the first line segment, b represents the length of the second line segment, and c represents the length of the third line segment.

[0017] Optionally, the step of obtaining the length of the first line segment includes:

[0018] Get the length of the fourth line segment and the length of the fifth line segment;

[0019] The length of the first line segment is determined according to the length of the fourth line segment, the length of the fifth line segment, and the angle between the fourth line segment and the fifth line segment.

[0020] Optionally, the formula for calculating the length of the first line segment is:

[0021]

[0022] Wherein, a represents the length of the first line segment, d represents the length of the fourth line segment, e represents the length of the fifth line segment, R represents the radius of the circular trajectory of the optical center point of the sensor when the sensor rotates, f represents the focal length of the ball camera, θ represents the horizontal rotation angle of the ball camera, and h represents the angle between the fourth line segment and the fifth line segment. It represents the projection angle of the horizontal rotation angle θ of the ball camera on the circular trajectory plane of the optical center point of the sensor.

[0023] Optionally, the formula for calculating the length of the second line segment is:

[0024]

[0025] Wherein, b represents the length of the second line segment.

[0026] Optionally, the formula for calculating the length of the third line segment is:

[0027]

[0028] Wherein, c represents the length of the third line segment.

[0029] In a second aspect, an embodiment of the present invention provides a device for implementing privacy shielding of a ball camera, the device comprising:

[0030] A first processing unit is used to obtain a first line segment length, a second line segment length, and a third line segment length, wherein the first line segment is a line segment between a first point and a third point, the second line segment is a line segment between a second point and a third point, and the third line segment is a line segment between a second point and a first point, the first point is an intersection of a first extension line and an imaging surface of a sensor when a horizontal rotation angle of the ball camera is 0, the first extension line is an extension line from a geometric center of the ball camera to an optical center point of the sensor when a horizontal rotation angle of the ball camera is θ, the second point is an optical center point of the sensor when a horizontal rotation angle of the ball camera is 0, the third point is an intersection of a second extension line and a horizontal center line of an imaging surface of the sensor when a horizontal rotation angle of the ball camera is 0, and the second extension line is an extension line from a center of a circular trajectory of an optical center point of the sensor when the sensor rotates to an optical center point of the sensor when a horizontal rotation angle of the ball camera is θ;

[0031] The first processing unit is further used to obtain an offset coefficient of the privacy mask block according to the first line segment length, the second line segment length, and the third line segment length, wherein the offset coefficient includes an X-axis offset coefficient and a Y-axis offset coefficient;

[0032] The second processing unit is used to adjust the privacy mask block based on the offset coefficient to complete the privacy masking of ball camera imaging.

[0033] In a third aspect, an embodiment of the present invention provides a storage medium having a computer program stored thereon, and the computer program implements the above method when executed by a processor.

[0034] In a fourth aspect, an embodiment of the present invention provides an electronic device, comprising: a processor and a memory, wherein the memory is used to store one or more programs; when the one or more programs are executed by the processor, the above method is implemented.

[0035] Compared with the prior art, the embodiments of the present invention provide a method, device, storage medium and electronic device for implementing privacy shielding of a ball camera, wherein the length of a first line segment, the length of a second line segment and the length of a third line segment are obtained, wherein the first line segment is a line segment between a first point and a third point, the second line segment is a line segment between a second point and a third point, the third line segment is a line segment between a second point and a first point, the first point is the intersection of a first extension line and an imaging surface of a sensor when the horizontal rotation angle of the ball camera is 0, the first extension line is an extension line from the geometric center of the ball camera to the optical center point of the sensor when the horizontal rotation angle of the ball camera is θ, and the second point The first line segment is the optical center point of the sensor when the horizontal rotation angle of the ball camera is 0, the third point is the intersection of the second extension line and the horizontal center line of the imaging surface of the sensor when the horizontal rotation angle of the ball camera is 0, and the second extension line is the extension line from the center of the circular trajectory of the optical center point of the sensor when the sensor rotates to the optical center point of the sensor when the horizontal rotation angle of the ball camera is θ; the offset coefficient of the privacy mask block is obtained according to the first line segment length, the second line segment length and the third line segment length, wherein the offset coefficient includes the X-axis offset coefficient and the Y-axis offset coefficient; the privacy mask block is adjusted based on the offset coefficient to complete the privacy masking of the ball camera imaging. The privacy mask block is moved according to the X-axis offset coefficient and the Y-axis offset coefficient to complete the privacy masking of the ball camera imaging, thereby overcoming the privacy defect problem caused by the rotation of the ball camera and greatly improving the accuracy of the privacy masking.

[0036] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

[0039] Figure 2 A schematic flow chart of a method for implementing privacy shielding of a ball camera provided in an embodiment of the present invention.

[0040] Figure 3 A schematic diagram of angle relationships provided in an embodiment of the present invention.

[0041] Figure 4 A schematic diagram of the units of a device for implementing privacy shielding of a ball camera provided in an embodiment of the present invention.

[0042] In the figure: 10 - processor; 11 - memory; 12 - bus; 13 - communication interface; 401 - first processing unit; 402 - second processing unit. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0044] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. At the same time, in the description of the present invention, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0046] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0047] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0048] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0050] As the ball camera rotates, the position of the privacy area to be blocked in the imaging picture will also change, resulting in the privacy block being unable to completely block the privacy area. In order to overcome this problem, an embodiment of the present invention provides a method for implementing privacy blocking of a ball camera, which can rotate with the ball camera and flexibly adjust the privacy blocking block to protect the user's privacy.

[0051] The embodiment of the present invention provides an electronic device, which may be a central control unit of a ball camera or a mobile phone, a computer, a server or other device that is connected to the central control unit of the ball camera for communication. Figure 1 , a schematic diagram of the structure of an electronic device. The electronic device includes a processor 10, a memory 11, and a bus 12. The processor 10 and the memory 11 are connected via the bus 12, and the processor 10 is used to execute an executable module stored in the memory 11, such as a computer program.

[0052] The processor 10 can be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the ball camera privacy shielding implementation method can be completed by the hardware integrated logic circuit in the processor 10 or the software form of instructions. The above-mentioned processor 10 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0053] The memory 11 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory.

[0054] The bus 12 may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus. Figure 1 Although only one bidirectional arrow is used in the diagram, it does not mean that there is only one bus 12 or only one type of bus 12 .

[0055] The memory 11 is used to store programs, such as programs corresponding to the device for implementing the privacy shielding of the ball camera. The device for implementing the privacy shielding of the ball camera includes at least one software function module that can be stored in the memory 11 in the form of software or firmware or fixed in the operating system (OS) of the electronic device. After receiving the execution instruction, the processor 10 executes the program to implement the method for implementing the privacy shielding of the ball camera.

[0056] Possibly, the electronic device provided by the embodiment of the present invention further includes a communication interface 13. The communication interface 13 is connected to the processor 10 via a bus.

[0057] It should be understood that Figure 1 The structure shown is only a schematic diagram of a portion of the electronic device. The electronic device may also include Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown. Figure 1 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0058] The privacy shielding method for ball camera provided by the embodiment of the present invention can be applied to but not limited to Figure 1 For detailed procedures, please refer to the electronic equipment shown in Figure 2 The method for implementing privacy shielding of a ball camera includes: S10, S20 and S30, which are specifically described as follows.

[0059] S10, obtaining a first line segment length (DE-a), a second line segment length (BE-b), and a third line segment length (BD-c).

[0060] Among them, the first line segment is the line segment between the first point and the third point, the second line segment is the line segment between the second point and the third point, the third line segment is the line segment between the second point and the first point, the first point is the intersection of the first extension line (AC extension line) and the imaging surface of the sensor when the horizontal rotation angle of the ball camera is 0, the first extension line is the extension line from the geometric center of the ball camera (A) to the optical center point (C) of the sensor when the horizontal rotation angle of the ball camera is θ, the second point is the optical center point (B) of the sensor when the horizontal rotation angle of the ball camera is 0, the third point is the intersection of the second extension line (OC extension line) and the horizontal center line (GH) of the imaging surface of the sensor when the horizontal rotation angle of the ball camera is 0, and the second extension line is the extension line from the center (O) of the circular trajectory of the optical center point of the sensor when the sensor rotates to the optical center point (C) of the sensor when the horizontal rotation angle of the ball camera is θ.

[0061] Please refer to Figure 3 , Figure 3 A schematic diagram of the angle relationship provided by an embodiment of the present invention. Wherein, A is the geometric center of the ball camera, B (the second point) is the optical center point of the sensor when the horizontal rotation angle of the ball camera is 0, C is the optical center point of the sensor when the horizontal rotation angle of the ball camera is θ, O represents the center of the circular trajectory of the optical center point of the sensor when the sensor rotates, D (the first point) is the intersection of the AC extension line (the first extension line) and the imaging surface of the sensor when the horizontal rotation angle of the ball camera is 0, E (the third point) is the intersection of the OC extension line (the second extension line) and the horizontal center line (GH) of the imaging surface of the sensor when the horizontal rotation angle of the ball camera is 0, DF is a perpendicular line through D to GH, and F is the intersection of the perpendicular line DF and GH. In the figure, θ represents the horizontal rotation angle of the ball camera, h' represents the vertical rotation angle of the ball camera, It represents the projection angle of the horizontal rotation angle θ of the ball camera on the circular trajectory plane of the optical center point of the sensor, that is, the angle between OB and OC, h represents the angle between CD and CE, h=90°-h', AB=AC=f (focal length of the ball camera lens), OB=OC=R (radius of the circular trajectory of the optical center point of the sensor when the sensor rotates).

[0062] It should be noted that the image sensor inside the ball camera can rotate around the geometric center A, and the rotation angle includes the horizontal rotation angle θ of the ball camera and the vertical rotation angle h' of the ball camera.

[0063] S20, obtaining an offset coefficient of the privacy mask according to the first line segment length, the second line segment length, and the third line segment length.

[0064] The offset coefficient includes an X-axis offset coefficient and a Y-axis offset coefficient.

[0065] Optionally, the coordinate system used in the embodiment of the present invention is a planar imaging coordinate system of a ball camera.

[0066] S30, adjusting the privacy shielding block based on the offset coefficient to complete the privacy shielding of the ball camera imaging.

[0067] It should be noted that the X-axis offset coefficient indicates the distance that the privacy mask block needs to move on the X-axis, and the Y-axis offset coefficient indicates the distance that the privacy mask block needs to move on the Y-axis. The privacy mask block is moved according to the X-axis offset coefficient and the Y-axis offset coefficient to complete the privacy masking of the ball camera imaging, thereby overcoming the privacy defect problem caused by the rotation of the ball camera and greatly improving the accuracy of the privacy masking.

[0068] exist Figure 2 On the basis of this, regarding the content in S20, the embodiment of the present invention also provides an optional implementation method, please refer to the following.

[0069] S20, the step of obtaining the offset coefficient of the privacy mask block according to the first line segment length, the second line segment length, and the third line segment length, comprises:

[0070] S21, determining a target cosine parameter of a target angle according to the first line segment length, the second line segment length, and the third line segment length.

[0071] The target angle is the angle β between BD and BE.

[0072] S22, determining an X-axis offset coefficient and a Y-axis offset coefficient according to the third line segment length and the target cosine parameter.

[0073] Optionally, the formulas for the X-axis offset coefficient and the Y-axis offset coefficient are:

[0074]

[0075] in, represents the target cosine parameter, represents the target sinusoidal parameter, represents the X-axis offset coefficient, represents the Y-axis offset coefficient, a represents the length of the first line segment, b represents the length of the second line segment, and c represents the length of the third line segment.

[0076] exist Figure 2 On the basis of this, regarding the content in S10, the embodiment of the present invention also provides an optional implementation method, please refer to the following.

[0077] The step of obtaining the first line segment length (DE-a) includes: S11 and S12, which are specifically described as follows.

[0078] Get the length of the fourth line segment (CD-d) and the length of the fifth line segment (CE-e).

[0079] Please continue to refer to Figure 3 , where CD is the fourth line segment and CE is the fifth line segment.

[0080] The length of the first line segment is determined according to the length of the fourth line segment, the length of the fifth line segment, and the angle between the fourth line segment and the fifth line segment.

[0081] Optionally, the formula for calculating the length of the first line segment is:

[0082]

[0083] Wherein, a represents the length of the first line segment, d represents the length of the fourth line segment, e represents the length of the fifth line segment, R represents the radius of the circular trajectory of the optical center point of the sensor when the sensor rotates, f represents the focal length of the ball camera, θ represents the horizontal rotation angle of the ball camera, and h represents the angle between the fourth line segment and the fifth line segment. It represents the projection angle of the horizontal rotation angle θ of the ball camera on the circular trajectory plane of the optical center point of the sensor.

[0084] Optionally, the formula for calculating the length of the second line segment is:

[0085]

[0086] Wherein, b represents the length of the second line segment.

[0087] Optionally, the formula for calculating the length of the third line segment is:

[0088]

[0089] Wherein, c represents the length of the third line segment.

[0090] See also Figure 4 , Figure 4 An embodiment of the present invention provides a device for implementing privacy shielding of a ball camera. Optionally, the device for implementing privacy shielding of a ball camera is applied to the electronic device described above.

[0091] The device for implementing privacy shielding of a ball camera includes: a first processing unit 401 and a second processing unit 402 .

[0092] The first processing unit 401 is used to obtain the length of the first line segment, the length of the second line segment and the length of the third line segment, wherein the first line segment is a line segment between the first point and the third point, the second line segment is a line segment between the second point and the third point, the third line segment is a line segment between the second point and the first point, the first point is the intersection of the first extension line and the imaging surface of the sensor when the horizontal rotation angle of the ball camera is 0, the first extension line is the extension line from the geometric center of the ball camera to the optical center point of the sensor when the horizontal rotation angle of the ball camera is θ, the second point is the optical center point of the sensor when the horizontal rotation angle of the ball camera is 0, the third point is the intersection of the second extension line and the horizontal center line of the imaging surface of the sensor when the horizontal rotation angle of the ball camera is 0, and the second extension line is the extension line from the center of the circular trajectory of the optical center point of the sensor when the sensor rotates to the optical center point of the sensor when the horizontal rotation angle of the ball camera is θ;

[0093] The first processing unit 401 is further configured to obtain an offset coefficient of the privacy mask block according to the first line segment length, the second line segment length, and the third line segment length, wherein the offset coefficient includes an X-axis offset coefficient and a Y-axis offset coefficient;

[0094] The second processing unit 402 is used to adjust the privacy mask block based on the offset coefficient to complete the privacy masking of the ball camera imaging.

[0095] It should be noted that the device for implementing privacy shielding of a ball camera provided in this embodiment can execute the method flow shown in the above method flow embodiment to achieve the corresponding technical effect. For the sake of brief description, for the parts not mentioned in this embodiment, please refer to the corresponding contents in the above embodiment.

[0096] The embodiment of the present invention further provides a storage medium, which stores computer instructions and programs, and when the computer instructions and programs are read and run, the method for implementing the privacy shielding of the ball camera in the above embodiment is executed. The storage medium may include a memory, a flash memory, a register, or a combination thereof.

[0097] The following provides an electronic device, which may be a ball machine or a central control unit of a ball machine, or a mobile phone, a computer, a server, or other devices that are connected to the central control unit of the ball machine for communication. Figure 1 As shown, the above-mentioned method for implementing privacy shielding of a ball camera can be implemented; specifically, the electronic device includes: a processor 10, a memory 11, and a bus 12. The processor 10 can be a CPU. The memory 11 is used to store one or more programs. When the one or more programs are executed by the processor 10, the method for implementing privacy shielding of a ball camera in the above-mentioned embodiment is executed.

[0098] In summary, the embodiments of the present invention provide a method, device, storage medium and electronic device for implementing privacy shielding of a ball camera, wherein the length of the first line segment, the length of the second line segment and the length of the third line segment are obtained, wherein the first line segment is a line segment between the first point and the third point, the second line segment is a line segment between the second point and the third point, the third line segment is a line segment between the second point and the first point, the first point is the intersection of the first extension line and the imaging surface of the sensor when the horizontal rotation angle of the ball camera is 0, the first extension line is the extension line from the geometric center of the ball camera to the optical center point of the sensor when the horizontal rotation angle of the ball camera is θ, and the second point is the ball The optical center point of the sensor when the horizontal rotation angle of the camera is 0, the third point is the intersection of the second extension line and the horizontal center line of the imaging surface of the sensor when the horizontal rotation angle of the ball camera is 0, and the second extension line is the extension line from the center of the circular trajectory of the optical center point of the sensor when the sensor rotates to the optical center point of the sensor when the horizontal rotation angle of the ball camera is θ; the offset coefficient of the privacy mask block is obtained according to the length of the first line segment, the length of the second line segment, and the length of the third line segment, wherein the offset coefficient includes the X-axis offset coefficient and the Y-axis offset coefficient; the privacy mask block is adjusted based on the offset coefficient to complete the privacy masking of the ball camera imaging. The privacy mask block is moved according to the X-axis offset coefficient and the Y-axis offset coefficient to complete the privacy masking of the ball camera imaging, thereby overcoming the privacy defect problem caused by the rotation of the ball camera and greatly improving the accuracy of the privacy masking.

[0099] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0100] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A method for implementing privacy shielding of a ball camera, characterized in that: The method comprises: According to the radius R of the circular trajectory of the sensor's optical center point when the sensor rotates, the focal length f of the ball camera's lens, the horizontal rotation angle θ of the ball camera, the angle h, and the projection angle of the horizontal rotation angle θ of the ball camera on the circular trajectory plane of the sensor's optical center point , obtain the length of the first line segment, the length of the second line segment and the length of the third line segment, wherein the first line segment is the line segment between the first point and the third point, the second line segment is the line segment between the second point and the third point, the third line segment is the line segment between the second point and the first point, the first point is the intersection of the first extension line and the imaging surface of the sensor when the horizontal rotation angle of the ball camera is 0, the first extension line is the extension line from the geometric center of the ball camera to the optical center point of the sensor when the horizontal rotation angle of the ball camera is θ, the second point is the optical center point of the sensor when the horizontal rotation angle of the ball camera is 0, the third point is the intersection of the second extension line and the horizontal center line of the imaging surface of the sensor when the horizontal rotation angle of the ball camera is 0, the second extension line is the extension line from the center of the circular trajectory of the optical center point of the sensor when the sensor rotates to the optical center point of the sensor when the horizontal rotation angle of the ball camera is θ, h=90°-h', h' represents the vertical rotation angle of the ball camera; Acquire an offset coefficient of the privacy mask block according to the first line segment length, the second line segment length, and the third line segment length, wherein the offset coefficient includes an X-axis offset coefficient and a Y-axis offset coefficient; Adjusting the privacy mask block based on the offset coefficient to complete the privacy masking of ball camera imaging; The step of obtaining the offset coefficient of the privacy mask block according to the first line segment length, the second line segment length, and the third line segment length includes: Determine a target cosine parameter of a target angle according to the first line segment length, the second line segment length, and the third line segment length; Determine the X-axis offset coefficient and the Y-axis offset coefficient according to the third line segment length and the target cosine parameter; The formulas for the X-axis offset coefficient and the Y-axis offset coefficient are: in, represents the target cosine parameter, represents the X-axis offset coefficient, represents the Y-axis offset coefficient, a represents the length of the first line segment, b represents the length of the second line segment, and c represents the length of the third line segment.

2. The method for implementing privacy shielding of a ball camera as claimed in claim 1, characterized in that: The step of obtaining the length of the first line segment comprises: Get the length of the fourth line segment and the length of the fifth line segment; The fourth line segment is a line segment between the optical center point of the sensor and the first point when the horizontal rotation angle of the ball camera is θ, and the fifth line segment is a line segment between the optical center point of the sensor and the third point when the horizontal rotation angle of the ball camera is θ; The length of the first line segment is determined according to the length of the fourth line segment, the length of the fifth line segment, and the angle between the fourth line segment and the fifth line segment.

3. The method for implementing privacy shielding of a ball camera as claimed in claim 2, characterized in that: The formula for the length of the first line segment is: Wherein, a represents the length of the first line segment, d represents the length of the fourth line segment, e represents the length of the fifth line segment, R represents the radius of the circular trajectory of the optical center point of the sensor when the sensor rotates, f represents the focal length of the ball camera, θ represents the horizontal rotation angle of the ball camera, and h represents the angle between the fourth line segment and the fifth line segment. It represents the projection angle of the horizontal rotation angle θ of the ball camera on the circular trajectory plane of the optical center point of the sensor.

4. The method for implementing privacy shielding of a ball camera as claimed in claim 3, characterized in that: The formula for the length of the second line segment is: Wherein, b represents the length of the second line segment.

5. The method for implementing privacy shielding of a ball camera as claimed in claim 3, characterized in that: The formula for the length of the third line segment is: Wherein, c represents the length of the third line segment.

6. A device for implementing privacy shielding of a ball camera, characterized in that: The device comprises: The first processing unit is used to calculate the projection angle of the circular trajectory of the optical center point of the sensor on the plane of the circular trajectory of the optical center point of the sensor according to the radius R of the circular trajectory of the optical center point of the sensor when the sensor rotates, the focal length f of the lens of the ball camera, the horizontal rotation angle θ of the ball camera, the angle h, and the projection angle of the circular trajectory of the optical center point of the sensor on the plane of the circular trajectory of the optical center point of the sensor , obtain the length of the first line segment, the length of the second line segment and the length of the third line segment, wherein the first line segment is the line segment between the first point and the third point, the second line segment is the line segment between the second point and the third point, the third line segment is the line segment between the second point and the first point, the first point is the intersection of the first extension line and the imaging surface of the sensor when the horizontal rotation angle of the ball camera is 0, the first extension line is the extension line from the geometric center of the ball camera to the optical center point of the sensor when the horizontal rotation angle of the ball camera is θ, the second point is the optical center point of the sensor when the horizontal rotation angle of the ball camera is 0, the third point is the intersection of the second extension line and the horizontal center line of the imaging surface of the sensor when the horizontal rotation angle of the ball camera is 0, the second extension line is the extension line from the center of the circular trajectory of the optical center point of the sensor when the sensor rotates to the optical center point of the sensor when the horizontal rotation angle of the ball camera is θ, h=90°-h', h' represents the vertical rotation angle of the ball camera; The first processing unit is further used to obtain an offset coefficient of the privacy mask block according to the first line segment length, the second line segment length, and the third line segment length, wherein the offset coefficient includes an X-axis offset coefficient and a Y-axis offset coefficient; A second processing unit is used to adjust the privacy mask block based on the offset coefficient to complete the privacy masking of ball camera imaging; The obtaining the offset coefficient of the privacy mask block according to the first line segment length, the second line segment length, and the third line segment length includes: determining a target cosine parameter of a target angle according to the first line segment length, the second line segment length, and the third line segment length; determining the X-axis offset coefficient and the Y-axis offset coefficient according to the third line segment length and the target cosine parameter; The formulas for the X-axis offset coefficient and the Y-axis offset coefficient are: in, represents the target cosine parameter, represents the X-axis offset coefficient, represents the Y-axis offset coefficient, a represents the length of the first line segment, b represents the length of the second line segment, and c represents the length of the third line segment.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

8. An electronic device, characterized in that: include: A processor and a memory, the memory being used to store one or more programs; When the one or more programs are executed by the processor, the method according to any one of claims 1 to 5 is implemented.

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