Video data calling method and device, display and storage medium

Abstract

The invention provides a video data calling method and device, a display and a storage medium, and the method comprises the steps: receiving a video calling instruction, the video calling instruction comprises target information and a preset time period, the target information comprises the information of a target position or a first camera, and the target position corresponds to the first camera; in response to the video calling instruction, acquiring video data acquired by the first camera and the target camera in a preset time period; the target camera is a camera which is determined based on a pre-stored target association relationship and corresponds to the first camera; the target association relationship is used for representing the relationship between the cameras with intersection of the field angles and the relationship between the cameras with unique passing paths between the projection areas of the field angles; and displaying the acquired video data. According to the method, the video data can be quickly retrieved.

Description

Technical Field

[0001] Embodiments of the present application relate to the field of image processing, and more specifically, to a video data retrieval method, device, display, and storage medium. Background Art

[0002] In actual applications, in order to improve accuracy or increase the efficiency of determining the whereabouts of a specific object, when staff view videos for a specific object or a specific event (such as a person who commits an illegal act or a vehicle involved in a traffic accident), they need to view videos captured by multiple cameras in the corresponding area.

[0003] However, due to the large number of cameras and the different field of view of each camera, staff often need to manually search for the video to be viewed from a large number of videos, resulting in a low video retrieval rate. Therefore, how to quickly retrieve video data has become an urgent problem to be solved. Summary of the invention

[0004] The embodiments of the present application provide a video data retrieval method, device, display and storage medium. The method can quickly retrieve video data and improve the convenience of retrieving video data.

[0005] In a first aspect, a method for retrieving video data is provided, the method comprising:

[0006] receiving a video retrieval instruction, the video retrieval instruction including target information and a preset time period, the target information including a target position or information of a first camera, the target position corresponding to the first camera;

[0007] In response to the video retrieval instruction, video data collected by the first camera and the target camera in a preset time period are obtained; the target camera is a camera corresponding to the first camera determined based on a pre-stored target association relationship; the target association relationship is used to characterize the relationship between cameras with intersecting fields of view, and the relationship between cameras with unique passage paths between projection areas of the field of view; the passage path is a traffic road between projection areas of the field of view;

[0008] Display the acquired video data.

[0009] The above technical solution obtains the video data collected by the first camera and the target camera in a preset time period in response to the video retrieval instruction; since the target camera is a camera corresponding to the first camera determined based on a pre-stored target association relationship, in the process of video data retrieval, it is only necessary to obtain the information of the first camera whose projection area of ​​any field of view angle includes the area where the target position is located, and match the information of the first camera with the target association relationship, that is, it is possible to quickly determine that the projection area of ​​the field of view angle includes the target position, and the camera is the only one with a passage path between the projection area of ​​the field of view angle and the area where the target position is located, and then quickly retrieve the video data of the first camera and the target camera in the preset time period, thereby improving the convenience of retrieving video data.

[0010] In combination with the first aspect, in some possible implementations, the method further includes:

[0011] In response to the video retrieval instruction, determining a target camera associated with the first camera in the target association relationship;

[0012] The video data collected by the first camera and the target camera in a preset time period are obtained.

[0013] The above technical solution determines the target camera associated with the first camera in the target association relationship, and obtains the video data collected by the first camera and the target camera in a preset time period; since the target association relationship represents the relationship between cameras with intersecting fields of view, and the relationship between cameras with unique passage paths between projection areas of the field of view, the target camera associated with the first camera can be determined through the target association relationship, thereby quickly extracting the video data collected by the first camera and the target camera in the preset time period.

[0014] In combination with the first aspect and the above implementation manner, in some possible implementation manners, the method further includes:

[0015] Acquire attribute data of each camera in a preset area; wherein the attribute data includes field of view angle, position, installation tilt angle and target height from the ground; the target position is within the preset area;

[0016] According to the acquired attribute data, determine the projection area of ​​the field of view of each camera, the translation distance of one camera relative to the other camera among any two cameras, and the deflection angle of one camera relative to the other camera among any two cameras;

[0017] Determine the vertex coordinates of each projection area in the same coordinate system according to the determined translation distance, deflection angle, and projection area of ​​the field of view of each camera;

[0018] According to the vertex coordinates of each projection area, the target association relationship is determined.

[0019] The above technical scheme obtains the attribute data of each camera in a preset area, and determines the projection area of ​​the field of view angle of each camera, the translation distance of one camera relative to the other camera among any two cameras, and the deflection angle of one camera relative to the other camera among any two cameras according to the acquired attribute data, and determines the vertex coordinates of each projection area in the same coordinate system according to the determined translation distance, deflection angle and the projection area of ​​the field of view angle of each camera, and then determines the target association relationship according to the vertex coordinates of each projection area; because the target association relationship is determined by the vertex coordinates of each projection area in the same coordinate system, it can improve the accuracy of determining the cameras with an association relationship, thereby improving the rate of constructing the target association relationship on the basis of ensuring the accuracy of constructing the target association relationship.

[0020] In combination with the first aspect and the above implementation manner, in some possible implementation manners, the method further includes:

[0021] According to the vertex coordinates of each projection area, determine whether any two projection areas have an intersection;

[0022] If there is an intersection between the first projection area and the second projection area, the target association relationship is determined to include the correspondence between the first camera and the second camera; the projection area of ​​the field of view angle of the first camera is the first projection area, the projection area of ​​the field of view angle of the second camera is the second projection area, and the first camera and the second camera are any two cameras within the preset area.

[0023] The above technical solution determines whether any two projection areas have an intersection based on the vertex coordinates of each projection area. If the first projection area and the second projection area have an intersection, the target association relationship is determined to include the correspondence between the first camera and the second camera. Since whether any two projection areas have an intersection is determined by the vertex coordinates under the same coordinates, the accuracy of the correspondence between the cameras included in the target association relationship can be ensured, thereby improving the accuracy of video data retrieval.

[0024] In combination with the first aspect and the above implementation manner, in some possible implementation manners, the method further includes:

[0025] If there is no intersection between the first projection area and the second projection area, determining a passage path between the first projection area and the second projection area;

[0026] If the number of determined passing paths is equal to 1, then the determined target association relationship includes a corresponding relationship between the first camera and the second camera.

[0027] The above technical scheme, when there is no intersection between the projection areas of any two cameras, determines whether there is a corresponding relationship between the two cameras through the passage path between the projection areas corresponding to the two cameras; through the dual judgment of the intersection of the projection areas corresponding to the cameras and the passage path of the projection areas, it is possible to improve the accuracy of the corresponding relationship between cameras in the target association relationship, thereby improving the accuracy of the target association relationship.

[0028] In combination with the first aspect and the above implementation manner, in some possible implementation manners, the deflection angle is a target deflection angle of the first camera relative to the second camera; and the method further includes:

[0029] According to the determined translation distance, deflection angle and projection area of ​​the field of view of each camera, the vertex coordinates of each projection area in the same coordinate system are determined, including:

[0030] Establishing a first coordinate system with the center point of the projection area of ​​the field of view angle of the second camera as the origin, establishing a second coordinate system with the center point of the projection area of ​​the field of view angle of the first camera as the origin, and determining the first vertex coordinates of the projection area of ​​the field of view angle of the first camera in the second coordinate system;

[0031] According to the target translation distance and the target deflection angle, coordinate transformation is performed on the first vertex coordinates to obtain the second vertex coordinates of the projection area of ​​the field of view angle of the first camera in the first coordinate system.

[0032] The above technical scheme establishes a first coordinate system with the center point of the projection area of ​​the field of view angle of the second camera as the origin, establishes a second coordinate system with the center point of the projection area of ​​the field of view angle of the first camera as the origin, determines the first vertex coordinates of the projection area of ​​the first camera in the second coordinate system, and performs coordinate transformation on the first vertex coordinates based on the target translation distance and the target deflection angle to obtain the second vertex coordinates of the projection area of ​​the field of view angle of the first camera in the first coordinate system; by converting the vertex coordinates in different coordinate systems to the vertex coordinates in the same coordinate system, the accuracy and convenience of judging whether there is an intersection of the projection areas can be improved.

[0033] In combination with the first aspect and the above implementation manner, in some possible implementation manners, the method further includes:

[0034] Determine the projection radius of each camera on the ground according to the field of view of each camera, the installation tilt angle and the target height from the ground;

[0035] The projection area of ​​the field of view of each camera is determined according to the projection radius of each camera on the ground.

[0036] The above technical solution determines the projection radius of each camera based on the target height, field of view angle and installation tilt angle of each camera; since the projection radius of the camera is determined based on the relevant parameters of the camera, the projection area of ​​each camera is determined by the projection radius, which can improve the accuracy of the projection area.

[0037] In combination with the first aspect and the above implementation manner, in some possible implementation manners, the method further includes:

[0038] A third coordinate system is established with the point at which the first camera is perpendicular to the ground as the origin to determine the coordinates of the first center point of the projection area of ​​the field of view of the first camera, and a fourth coordinate system is established with the point at which the second camera is perpendicular to the ground as the origin to determine the coordinates of the second center point of the projection area of ​​the field of view of the second camera;

[0039] The coordinates of the first center point are transformed according to the position of the first camera to obtain first transformed coordinates of the first center point, and the coordinates of the second center point are transformed according to the position of the second camera to obtain second transformed coordinates of the second center point;

[0040] Determine the coordinate difference between the first transformed coordinate and the second transformed coordinate;

[0041] The coordinate difference is taken as the translation distance of the first camera relative to the second camera.

[0042] The above technical scheme determines the first center point coordinates and the second center point coordinates through the first center point coordinates, the second center point coordinates, the geographic location information of the first camera and the geographic location information of the second camera, and converts the first center point coordinates and the second center point coordinates to obtain the coordinate difference between the geographic location information of the first center point and the geographic location information of the second center point, thereby determining the translation distance and ensuring the accuracy of the translation distance, thereby improving the accuracy of determining the target association relationship.

[0043] In a second aspect, a video data retrieving device is provided, the device comprising:

[0044] A receiving module, used for receiving a video retrieval instruction, the video retrieval instruction includes target information and a preset time period, the target information includes a target position or information of a first camera, and the target position corresponds to the first camera;

[0045] An acquisition module is used to respond to a video acquisition instruction and acquire video data collected by a first camera and a target camera in a preset time period; the target camera is a camera corresponding to the first camera determined based on a pre-stored target association relationship; the target association relationship is used to characterize the relationship between cameras with intersecting fields of view, and the relationship between cameras with unique passage paths between projection areas of the field of view; the passage path is a traffic road between projection areas of the field of view;

[0046] The display module is used to display the acquired video data.

[0047] In a third aspect, a display is provided, comprising a memory and a processor, wherein the memory is used to store executable program code; the processor is used to call and run the executable program code from the memory, so that the display executes the video data retrieval method in the above-mentioned first aspect or any possible implementation method of the first aspect.

[0048] In a fourth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the video data retrieval method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0049] In a fifth aspect, a computer program product is provided, which includes: a computer program code, which, when executed on a computer, enables the computer to execute the video data retrieval method in the first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a scene schematic diagram of a video data retrieval method provided in an embodiment of the present application;

[0051] Figure 2 is a schematic flow chart of a video data retrieval method provided in an embodiment of the present application;

[0052] Figure 3 is a schematic diagram of a scene of cameras with intersecting field of view angles provided in an embodiment of the present application;

[0053] Figure 4 It is a scene schematic diagram of a method for determining a projection area of ​​a camera provided in an embodiment of the present application;

[0054] Figure 5 is a schematic diagram of a vertex coordinate conversion method provided in an embodiment of the present application;

[0055] Figure 6 This is a schematic diagram of a scene in which projection areas intersect, provided in an embodiment of the present application;

[0056] Figure 7 is a schematic flow chart of determining target association relationships provided in an embodiment of the present application;

[0057] Figure 8 is a schematic diagram of a target association relationship provided in an embodiment of the present application;

[0058] Fig. 9 It is a structural schematic diagram of a video data retrieving device provided in an embodiment of the present application;

[0059] Fig.10 It is a schematic diagram of the structure of a display provided in an embodiment of the present application. DETAILED DESCRIPTION

[0060] The following will be combined with the accompanying drawings to clearly and thoroughly describe the technical solutions in the embodiments of the present application. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0061] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0062] In actual applications, when certain specific incidents occur, such as campus bullying alarms / fire alarms / emergency alarms, staff need to retrieve multiple relevant surveillance videos for prevention and control command, post-event analysis, etc.

[0063] In order to improve the accuracy or efficiency of determining the whereabouts of a specific object, the staff needs to view the videos captured by multiple cameras in the corresponding area, and the videos captured by the multiple cameras should preferably provide records from different angles.

[0064] However, due to the large number of cameras and the different field of view of each camera, staff often need to manually search for the video to be viewed from a large number of videos, resulting in a low video retrieval rate.

[0065] In view of this, the embodiments of the present application provide a video data retrieval method, device, display and storage medium, which use cameras as nodes, and construct a target association relationship through the relationship between cameras with intersecting fields of view, and the relationship between cameras with unique paths between projection areas of field of view, thereby converting the complex data search problem into a mathematical problem, that is, determining whether there is a corresponding relationship between two cameras through the target association relationship, simplifying the difficulty of current video retrieval, and automatically finding and determining the video to be viewed from a large number of videos, so as to quickly retrieve video data and improve the convenience of retrieving video data.

[0066] Figure 1 It is a scene diagram of a video data retrieval method provided in an embodiment of the present application.

[0067] Exemplarily, the target association relationship represents the relationship between cameras with intersecting field of view angles, and the relationship between cameras with unique paths between projection areas of field of view angles. Figure 1 As shown, the cameras include C1, C2 and C3, and the target association relationships include C1-C2 and C2-C3, that is, the field of view angles of camera C1 and camera C2 intersect, and the field of view angles of camera C2 and camera C3 intersect.

[0068] In one example, a video retrieval instruction is received from the first camera C1 (the target position is within the field of view of the first camera) from 9:00 to 10:00 a.m. on January 1, 2024. According to the video retrieval instruction, the target camera associated with the first camera in the target association relationship is determined, and the target camera is C2. The video data of the first camera C1 and the target camera C2 from 9:00 to 10:00 a.m. on January 1, 2024 is obtained, and the obtained video data is displayed on the display.

[0069] In another example, a video call instruction of the first camera C2 (the target position is located within the projection area of ​​the field of view angle of the first camera) is received from 9:00 to 10:00 a.m. on January 1, 2024, and according to the video call instruction, the target camera associated with the first camera in the target association relationship is determined, and the target camera is C1. The video data of the first camera C2 and the target camera C1 from 9:00 to 10:00 a.m. on January 1, 2024 is obtained, and the obtained video data is displayed on the display.

[0070] It can be understood that in the embodiment of the present application, in response to the video retrieval instruction, it is only necessary to obtain the information of the first camera whose projection area includes the target position in any field of view angle, and match the information of the first camera with the target association relationship, that is, it is possible to quickly determine all cameras whose projection area includes the target position, and all cameras whose path between the projection area of ​​the field of view angle and the target position is unique, so as to retrieve the video data, which can improve the retrieval rate of the video data.

[0071] Figure 2 FIG. 1 is a schematic flow chart of a video data retrieval method provided in an embodiment of the present application. Figure 2 As shown, the method 200 includes the following processes:

[0072] S210, receiving a video retrieval instruction.

[0073] In actual applications, when it is necessary to view the video associated with the first camera, the user enters the information / target position of the first camera (the projection area of ​​the field of view of the first camera includes the target position) and the preset time period in the interface displaying the query / search control, and then the user clicks the query / search control.

[0074] Correspondingly, the display receives a video call instruction, which includes target information and a preset time period. The target information includes the target position or information of the first camera, and the target position corresponds to the first camera, that is, the projection area of ​​the field of view of the first camera includes the target position.

[0075] The information of the first camera may be input by the user or determined by the display according to the target location. For example, if the target location is in a parking lot, the surveillance camera of the parking lot corresponding to the area where the target location is located may be determined as the first camera.

[0076] S220, in response to the video retrieval instruction, obtaining video data collected by the first camera and the target camera in a preset time period.

[0077] The target camera is a camera corresponding to the first camera determined based on the pre-stored target association relationship. The target association relationship is used to characterize the relationship between cameras with intersecting field of view angles, and the relationship between cameras with unique passage paths between projection areas of the field of view angles. The passage path is the traffic road between projection areas of the field of view angles.

[0078] In practical applications, the target association relationship can be stored in a display or in a server. The present application embodiment does not specifically limit this. It is understandable that storing the target association relationship in a server can effectively reduce the storage space occupied by the display compared to storing it in a display.

[0079] If the target association relationship is stored in the display, the display determines the target camera corresponding to the first camera according to the video calling instruction, and obtains the video data collected by the first camera and the target camera in a preset time period from the local or server.

[0080] If the target association relationship is stored in the server, then in response to the video retrieval instruction, the display sends the information of the first camera to the server, requesting to obtain the corresponding video data; the server determines the target camera corresponding to the first camera based on the information of the first camera, and obtains the video data collected by the first camera and the target camera in the preset time period, and sends the video data collected by the first camera and the target camera in the preset time period to the display.

[0081] Since the target association relationship represents the relationship between cameras with intersecting fields of view, and the relationship between cameras with unique paths between projection areas of the fields of view, the target camera associated with the first camera can be determined through the target association relationship, thereby quickly extracting video data collected by the first camera and the target camera in a preset time period.

[0082] S230: Display the acquired video data.

[0083] After acquiring the video data collected by the first camera and the target camera in a preset time period, the display displays the acquired video data.

[0084] Optionally, the display can display the cover of each acquired video data in a list format, or can classify and display the cover of the video data collected by each camera in a preset time period based on the camera, or can use other display methods, which are not specifically limited in the embodiments of the present application.

[0085] In summary, the target association relationship in the embodiment of the present application is determined by the attribute data of each camera in a preset area (the target position is located in the preset area), and the target association relationship characterizes the relationship between cameras with intersecting field of view angles, and the relationship between cameras with unique passage paths between projection areas of the field of view angles. In response to the video retrieval instruction, the display obtains the video data collected by the first camera and the target camera in a preset time period, and displays the acquired video data. The target association relationship is pre-stored, and the target camera is a camera corresponding to the first camera determined based on the pre-stored target association relationship. It can be seen that the video retrieval method provided in the embodiment of the present application can quickly and effectively determine the target camera associated with the first camera based on the target association relationship, and then quickly retrieve the video data of the first camera and the target camera in the preset time period, thereby improving the convenience of retrieving video data.

[0086] In order to further facilitate the understanding of the solution provided in the embodiment of the present application, the projection areas of the field of view angles with intersection mentioned in the embodiment of the present application, and the cameras whose projection areas do not intersect but have a unique passage path are explained in conjunction with the accompanying drawings.

[0087] Figure 3 It is a schematic diagram of a scene of cameras with overlapping field of view angles in an embodiment of the present application.

[0088] Figure 3 (a) in the figure shows a side view of a camera with an intersection of field of view angles. Figure 3 (b) in the figure shows a side view of another camera with an intersecting field of view. Figure 3 (c) in the figure shows a side view of another type of camera with an intersecting field of view.

[0089] For example, Figure 3 As shown in (a), the projection area of ​​the field of view angle of camera C1 and the projection area of ​​the field of view angle of camera C2 intersect, then it is determined that the field of view angles of camera C1 and camera C2 intersect, that is, camera C1 and camera C2 can capture image data of the same area.

[0090] For example, Figure 3 As shown in (b), camera C1 can capture the installation position of camera C2, and the projection area of ​​the field of view angle of camera C1 includes the projection area of ​​the field of view angle of camera C2, that is, the projection areas of the field of view angles of the two cameras intersect. Then, it is determined that the field of view angles of camera C1 and camera C2 intersect, that is, camera C1 and camera C2 can capture image data of the same area.

[0091] For example, Figure 3 As shown in (c), the projection area of ​​the field of view of camera C1 and the projection area of ​​the field of view of camera C2 do not intersect, but since there is a unique path from the projection area a of the field of view of camera C1 to the projection area b of the field of view of camera C2 (from the projection area b of the field of view of camera C2 to the projection area a of the field of view of camera C1), when the target object moves from a to b, it must move from projection area a to projection area b, so there is a logical relationship between camera C1 and camera C2, and it is determined that there is an association relationship between camera C1 and camera C2. For example, the camera on the 2nd floor and the camera on the 3rd floor; or, the cameras at both ends of the bridge.

[0092] As mentioned above, in practical applications, the projection areas of the camera's field of view angles intersect, and there is an association relationship between cameras with unique paths between the projection areas. The target association relationship determined based on this can accurately characterize the relationship between the cameras. In the process of video retrieval, the relevant cameras can be quickly located based on the target association relationship, thereby improving the retrieval rate of video data.

[0093] For example, if it is necessary to retrieve the video data of all cameras that can shoot the target location A, it is only necessary to obtain the first camera whose shooting range includes the area where the target location A is located, and match the information of the first camera with the target association relationship, so as to quickly determine the target camera that has an intersection with the field of view of the first camera, and the target camera that has a unique path between the projection area of ​​the field of view angle and the projection area of ​​the field of view angle of the first camera, thereby retrieving the video data of the first camera and the target camera, and improving the retrieval rate of the video data of all cameras that shoot the target location A.

[0094] It should be noted that the projection area of ​​the camera's field of view is not unique, and the projection area may change due to the camera's performance, ground conditions, etc. In this embodiment, the projection area of ​​the field of view is mapped to a rectangular area or a circular area, so that the projection area is determined by the rectangular area or the circular area to construct a target association relationship. The process of constructing a camera's target association relationship based on the rectangular projection area or the circular area of ​​the camera's field of view is described as follows. The method shown is only one method that may be used in actual applications, and does not limit the construction method used in actual applications.

[0095] Exemplarily, the attribute data of each camera in a preset area is obtained; the attribute data includes the field of view angle, position, installation tilt angle and target height from the ground, and the target position is located in the preset area. According to the obtained attribute data, the projection area of ​​the field of view angle of each camera, the translation distance of one camera relative to the other camera among any two cameras, and the deflection angle of one camera relative to the other camera among any two cameras are determined, and according to the determined translation distance, deflection angle and projection area of ​​the field of view angle of each camera, the vertex coordinates of each projection area in the same coordinate system are determined; and then according to the vertex coordinates of each projection area, the target association relationship is determined.

[0096] Optionally, the preset area can be set to a school, a hospital, an urban area, etc. The preset area can be determined according to actual conditions and is not specifically limited here.

[0097] In one example, when the projection area of ​​the field of view of each camera is a rectangular area, the four vertex coordinates of the projection area of ​​any two cameras are converted into vertex coordinates in the same coordinate system. It can be understood that by using the vertex coordinates in the same coordinate system, it is possible to determine whether two rectangular areas have an intersection, thereby establishing a target association relationship.

[0098] In another example, when the projection area of ​​the field of view of each camera is a circular area, the vertex coordinates can be the coordinates of the center of the circle and any coordinates on the boundary of the circular area. By converting the vertex coordinates of the two circular areas into vertex coordinates in the same coordinate system, the first distance between the two center coordinates is obtained, and the sum of the radii of the two circular areas is the second distance. If the first distance is greater than or equal to the second distance, it is determined that there is no intersection between the projection areas of the two cameras. If there is no intersection, the number of targets in the passage path between the projection areas of the two cameras is determined. If the number of targets is equal to 1, it is determined that the field of view of the two cameras has an intersection. If the first distance is less than the second distance, it is determined that the field of view of the two cameras has an intersection. On this basis, the target association relationship is determined to include the corresponding relationship between cameras with an intersection in the field of view.

[0099] It can be understood that the candidate cameras whose fields of view are determined to have an intersection are one-to-many or one-to-one. For example, the cameras include C1, C2, C3, and C4, and the candidate cameras whose fields of view are determined to have an intersection include the cameras (C2, C3, and C4) corresponding to C1, that is, the fields of view of camera C1 and cameras C2, C3, and C4 all have an intersection. Alternatively, the candidate cameras whose fields of view are determined to have an intersection include camera C4 corresponding to C1, that is, camera C1 only has an intersection with the field of view of camera C4.

[0100] The above technical scheme obtains the attribute data of each camera in a preset area, and determines the projection area of ​​the field of view angle of each camera, the translation distance of one camera relative to the other camera among any two cameras, and the deflection angle of one camera relative to the other camera among any two cameras according to the acquired attribute data, and determines the vertex coordinates of each projection area in the same coordinate system according to the determined translation distance, deflection angle and the projection area of ​​the field of view angle of each camera, and then determines the target association relationship according to the vertex coordinates of each projection area; because the target association relationship is determined by the vertex coordinates of each projection area in the same coordinate system, it can improve the accuracy of determining the cameras with an association relationship, thereby improving the rate of constructing the target association relationship on the basis of ensuring the accuracy of constructing the target association relationship.

[0101] Specifically, the major axis radius and the minor axis radius of the elliptical area of ​​the projection of the field of view of each camera on the ground can be determined by the field of view of each camera, the installation tilt angle and the target height from the ground. When the projection area is determined to be a rectangular area, the minimum circumscribed rectangle of the elliptical area is determined as the projection area. When the projection area is determined to be a circular area, the minimum circumscribed circle of the elliptical area is used as the projection area.

[0102] Figure 4 It is a scene schematic diagram of a method for determining a projection area of ​​a camera provided in an embodiment of the present application.

[0103] For example, Figure 4 As shown, during the camera installation process, the target height h of the camera M from the ground, the field of view angle β of the camera M, and the installation inclination angle α of the camera M to the vertical line can be obtained. Since the line of sight of the camera M is always perpendicular to the bottom surface Q of the cone, the radius of Q is r, and the projection A of the field of view angle of the camera M is a regular ellipse, the major axis radius of the regular ellipse A is a, and the minor axis radius is b. Then the expression of r can be expressed as follows:

[0104]

[0105] Among them, h represents the target height, α represents the installation tilt angle, and β represents the field of view angle, so that r can be determined.

[0106] In addition, the angle γ between Q and A can be determined according to the installation tilt angle α and the field of view angle β. The expression of γ can be expressed as follows:

[0107] γ=180-(90-α)-0.5*(180-2*β)

[0108] Wherein, α represents the installation tilt angle, β represents the field of view angle, and thus γ can be calculated.

[0109] Since the line of sight of camera M is always perpendicular to Q, the major axis radius a and the minor axis radius b can be calculated by the formula. The specific expressions are as follows:

[0110]

[0111] Wherein, a represents the major axis radius of the camera M. On the basis of determining the major axis radius a, the minor axis radius b can be determined in combination with the algorithm of the standard ellipse. Based on the same algorithm, the major axis radius and the minor axis radius corresponding to the projection B of the camera N can be determined. For details, please refer to the aforementioned disclosed embodiment, which will not be described in detail here.

[0112] Further, when the projection radius of each camera is determined, the projection area of ​​the field of view of each camera can be determined based on the projection radius of each camera. For example, if the major axis radius of the projection is determined to be a and the minor axis radius is determined to be b, the projection area of ​​the field of view of the camera can be determined to be a rectangular projection area with a length of 2a and a width of 2b. Alternatively, the projection area of ​​the field of view of the camera can be determined to be a circular projection area with a radius of a.

[0113] The above technical solution determines the projection radius of each camera based on the target height, field of view angle and installation tilt angle of each camera; since the projection radius of the camera is determined based on the relevant parameters of the camera, the projection area of ​​each camera is determined by the projection radius, which can improve the accuracy of the projection area.

[0114] Exemplarily, the translation distance between any two cameras is used to indicate the translation distance of one camera relative to another camera. The translation distance is represented by two-dimensional coordinates. For example, the two center points are node 1 (1,1) and node 2 (2,3), then the translation distance of node 2 relative to node 1 is (1,2), and the translation direction is the direction from node 2 to node 1.

[0115] Specifically, a third coordinate system is established with the point at which the first camera is perpendicular to the ground as the origin to determine the coordinates of the first center point of the projection area of ​​the field of view angle of the first camera, and a fourth coordinate system is established with the point at which the second camera is perpendicular to the ground as the origin to determine the coordinates of the second center point of the projection area of ​​the field of view angle of the second camera; the coordinates of the first center point are transformed according to the position of the first camera to obtain the first transformed coordinates of the first center point, and the coordinates of the second center point are transformed according to the position of the second camera to obtain the second transformed coordinates of the second center point; the coordinate difference between the first transformed coordinates and the second transformed coordinates is determined; and the coordinate difference is used as the translation distance of the first camera relative to the second camera.

[0116] For example, Figure 4 As shown, a third coordinate system is established with the point where the first camera M is perpendicular to the ground as the origin, and the coordinates of the first camera M are determined to be (0, h M ), the coordinates of the first center point G of the projection area of ​​the field of view of the first camera M are (h M *tan(α M +β M ), 0); establish a fourth coordinate system with the point where the second camera N is perpendicular to the ground as the origin, and determine the coordinates of the second camera N as (0, h N ), the coordinates of the second center point of the projection area of ​​the field of view of the second camera N are (h N *tan(α N +β N), 0). On this basis, in combination with the geographic location information (longitude and latitude information) of the first camera M, the coordinates of the first center point are converted into longitude and latitude information to obtain the first converted coordinates of the first center point, and in combination with the geographic location information (longitude and latitude information) of the second camera N, the coordinates of the second center point are converted into longitude and latitude information to obtain the second converted coordinates of the second center point, and according to the first converted coordinates of the first center point and the second converted coordinates of the second center point, a coordinate difference is determined, and the coordinate difference is used as the translation distance of the first camera relative to the second camera.

[0117] The above technical scheme determines the first center point coordinates and the second center point coordinates through the first center point coordinates, the second center point coordinates, the geographic location information of the first camera and the geographic location information of the second camera, and converts the first center point coordinates and the second center point coordinates to obtain the coordinate difference between the geographic location information of the first center point and the geographic location information of the second center point, thereby determining the translation distance and ensuring the accuracy of the translation distance, thereby improving the accuracy of determining the target association relationship.

[0118] Exemplarily, the deflection angle between any two cameras is used to indicate the deflection angle of one camera relative to another camera, which can be determined by image matching. Specifically, according to the first camera and the second camera, the corresponding first image and the second image are determined; feature matching is performed on the first image and the second image to determine the matching point pair; wherein the matching point pair is used to indicate the same feature point in the first image and the second image; based on the matching point pair, the deflection angle of the first camera relative to the second camera is determined.

[0119] It can be understood that, when determining the projection area of ​​the field of view angle of each camera, the target deflection angle of the first camera relative to the second camera, and the target translation distance of the first camera relative to the second camera, the vertex coordinates of the projection area of ​​the first camera and the vertex coordinates of the projection area of ​​the second camera in the same coordinate system are determined.

[0120] Exemplarily, a first coordinate system is established with the center point of the projection area of ​​the second camera's field of view angle as the origin, and a second coordinate system is established with the center point of the projection area of ​​the first camera's field of view angle as the origin, and the first vertex coordinates of the projection area of ​​the first camera's field of view angle in the second coordinate system are determined; according to the target translation distance and the target deflection angle, the first vertex coordinates are transformed to obtain the second vertex coordinates of the projection area of ​​the first camera's field of view angle in the first coordinate system.

[0121] Figure 5 It is a schematic diagram of a vertex coordinate conversion method provided in an embodiment of the present application.

[0122] For example, Figure 5As shown, the deflection angle is the counterclockwise deflection angle δ of the first camera relative to the target deflection angle of the second camera; the translation distance is the target translation distance (m, n) of the first camera relative to the second camera; a first coordinate system W is established with the center point G of the projection area A of the second camera as the origin, and the vertex coordinates of the projection area A of the field of view angle of the second camera under the first coordinate system W are determined to be P1 and P2; a second coordinate system V is established with the center point K of the projection area of ​​the field of view angle of the first camera as the origin, and the first vertex coordinates of the projection area of ​​the field of view angle of the first camera under the second coordinate system V are determined to be P3 and P4.

[0123] Assuming that the projection area A of the field of view of the second camera is 2a1 long and 2b1 wide, the coordinates of P1 in the first coordinate system W are:

[0124] x1=-a1

[0125] y1=b1

[0126] Similarly, the coordinates of P2 in the first coordinate system W are:

[0127] x2=a1

[0128] y2=-b1

[0129] Assume that the projection area B of the field of view of the first camera is 2a2 long and 2b2 wide, the coordinates of P3 in the second coordinate system V are (-a2, b2), and the coordinates of P4 are (a2, -b2). Based on the target translation distance (m, n) and the counterclockwise deflection angle δ, P3 and P4 are transformed to obtain the coordinates of P3 in the first coordinate system W:

[0130] x3=-a2cosδ+b2sinδ+m

[0131] y3=b2cosδ-a2sinδ+n

[0132] Similarly, the coordinates of P4 in the first coordinate system W are:

[0133] x4=a2cosδ-b2sinδ+m

[0134] y4=-b2cosδ-a2sinδ+n

[0135] It can be understood that when the projection area of ​​the camera's field of view is a circular area, the conversion method of the center point coordinates of the projection area in the same coordinate system can refer to the aforementioned disclosed embodiment, which will not be repeated here.

[0136] In the above technical solution, a first coordinate system is established with the center point of the projection area of the field of view of the second camera as the origin, and a second coordinate system is established with the center point of the projection area of the field of view of the first camera as the origin. The first vertex coordinates of the projection area of the first camera in the second coordinate system are determined. Based on the target translation distance and the target deflection angle, coordinate transformation is performed on the first vertex coordinates to obtain the second vertex coordinates of the projection area of the field of view of the first camera in the first coordinate system. By converting the vertex coordinates in different coordinate systems to the vertex coordinates in the same coordinate system, the accuracy and convenience of determining the existence of an intersection in the projection area can be improved.

[0137] It should be noted that in the case of converting the vertex coordinates of the projection areas of each camera to the same coordinate system, based on the vertex coordinates of the projection areas of each camera, determining the target association relationship includes the correspondence between the first camera and the second camera.

[0138] In an example, according to the vertex coordinates of each projection area, it is determined whether there is an intersection between any two projection areas. If there is an intersection between the first projection area and the second projection area, it is determined that the target association relationship includes the correspondence between the first camera and the second camera. The projection area of the field of view of the first camera is the first projection area, the projection area of the field of view of the second camera is the second projection area, and the first camera and the second camera are any two cameras within the preset area.

[0139] Exemplarily, it is determined that the projection area of the field of view of the first camera is A, and the projection area of the field of view of the second camera is B. The diagonal vertex coordinates of the projection area A are P1(x1, y1) and P2(x2, y2), and the diagonal vertex coordinates of the projection area B are P3(x3, y3) and P4(x4, y4). According to De Morgan's algorithm, the judgment condition for determining that there is an intersection between the projection areas corresponding to the first camera and the second camera is: (p2.y2 > p3.y3) AND (p1.y1 < p4.y4) AND (p2.x2 > p3.x3) AND (p1.x1 < p4.x4). When the diagonal vertex coordinates meet the judgment condition, it is determined that there is an intersection between the projection areas corresponding to the first camera and the second camera, and it is determined that the target association relationship includes the correspondence between the first camera and the second camera.

[0140] Figure 6 It is a schematic diagram of a scenario where there is an intersection in the projection area provided by an embodiment of the present application.

[0141] Exemplarily, Figure 6 As shown in (a) in Figure 6 is a schematic diagram of a projection area with an intersection,

[0142] For example, Figure 6 As shown in (a) in FIG. 1 , the projection area A of the field of view angle of the first camera and the projection area B of the field of view angle of the second camera partially overlap.

[0143] like Figure 6 As shown in (b), the projection area B of the field of view angle of the second camera includes the projection area A of the field of view angle of the first camera, then it is determined that the projection area of ​​the field of view angle of the first camera and the projection area of ​​the field of view angle of the second camera have an intersection.

[0144] The above technical solution determines whether any two projection areas have an intersection based on the vertex coordinates of each projection area. If the first projection area and the second projection area have an intersection, the target association relationship is determined to include the correspondence between the first camera and the second camera. Since whether any two projection areas have an intersection is determined by the vertex coordinates under the same coordinates, the accuracy of the correspondence between the cameras included in the target association relationship can be ensured, thereby improving the accuracy of video data retrieval.

[0145] In another example, when the projection area of ​​each camera is a circular area, the vertex coordinates are the coordinates of the center of the circle and any coordinates on the boundary of the circular area, and a first distance between the two center coordinates and a second distance is obtained as the sum of the radii of the two circular areas. If the first distance is less than the second distance, it is determined that the field of view angles of the two cameras intersect, and the target association relationship is determined to include the correspondence between the two cameras.

[0146] Furthermore, if the projection areas of any two cameras do not have an intersection, the correspondence between the cameras is determined based on the passage paths of the projection areas of the two cameras. Specifically, if the first projection area and the second projection area do not have an intersection, a passage path between the first projection area and the second projection area is determined, and if the number of determined passage paths is equal to 1, it is determined that the target association relationship includes the correspondence between the first camera and the second camera.

[0147] The above technical scheme, when there is no intersection between the projection areas of any two cameras, determines whether there is a corresponding relationship between the two cameras through the passage path between the projection areas corresponding to the two cameras; through the dual judgment of the intersection of the projection areas corresponding to the cameras and the passage path of the projection areas, it is possible to improve the accuracy of the corresponding relationship between cameras in the target association relationship, thereby improving the accuracy of the target association relationship.

[0148] The target association relationship in the embodiment of the present application can be presented in the form of a network graph, which can be a directed graph or an undirected graph, and the embodiment of the present application does not make any specific limitation on this.

[0149] Exemplarily, if the target association relationship is a network graph, the straight-line distance between cameras with intersecting fields of view is obtained; each camera is used as a node, and the straight-line distance between cameras with intersecting fields of view is used as a weight to construct a network graph.

[0150] The above technical solution determines the target camera associated with the first camera in the target association relationship, and obtains the video data collected by the first camera and the target camera in a preset time period; since the target association relationship represents the relationship between cameras with intersecting fields of view, and the relationship between cameras with unique passage paths between projection areas of the field of view, the target camera associated with the first camera can be determined through the target association relationship, thereby quickly extracting the video data collected by the first camera and the target camera in the preset time period.

[0151] Figure 7 It is a schematic flowchart of determining target association relationships in an embodiment of the present application.

[0152] For example, Figure 7 As shown, the method 700 includes the following processes:

[0153] S710, determining the projection area of ​​the field of view of each camera, the translation distance of one camera relative to the other camera, and the deflection angle of one camera relative to the other camera according to the attribute data of each camera.

[0154] Exemplarily, based on the field of view angle of each camera, the installation tilt angle and the target height from the ground, the projection radius of the field of view angle of each camera on the ground is determined, and based on the projection radius of the field of view angle of each camera on the ground, the projection area of ​​the field of view angle of each camera is determined.

[0155] Exemplarily, the method for determining the translation distance between any two cameras can be determined by taking the first camera and the second camera as an example. Specifically, a third coordinate system is established with the point of the first camera perpendicular to the ground as the origin to determine the coordinates of the first center point of the projection area of ​​the field of view angle of the first camera, and a fourth coordinate system is established with the point of the second camera perpendicular to the ground as the origin to determine the coordinates of the second center point of the projection area of ​​the field of view angle of the second camera; the coordinates of the first center point are transformed with the position of the first camera to obtain the first transformed coordinates of the first center point, and the coordinates of the second center point are transformed with the position of the second camera to obtain the second transformed coordinates of the second center point; the coordinate difference between the first transformed coordinates and the second transformed coordinates is determined; and the coordinate difference is used as the translation distance of the first camera relative to the second camera.

[0156] Exemplarily, the deflection angle between any two cameras can be determined by image matching. Specifically, the corresponding first image and second image are determined by the first camera and the second camera; feature matching is performed on the first image and the second image to determine matching point pairs, and the matching point pairs indicate the same feature points in the first image and the second image; based on the matching point pairs, the deflection angle of the first camera relative to the second camera is determined. It can be understood that when the deflection angle of the first camera relative to the second camera is determined, the first camera is controlled to rotate at the deflection angle so as to be consistent with the shooting angle of the second camera.

[0157] S720, based on the translation distance and the deflection angle between any two cameras and the projection area of ​​the field of view of each camera, determine the vertex coordinates of each projection area in the same coordinate system.

[0158] Exemplarily, when determining the projection area of ​​the field of view angle of each camera, the translation distance of one camera relative to any two cameras and the deflection angle of one camera relative to any two cameras, the vertex coordinates of each projection area in the same coordinate system are determined based on the translation distance between any two cameras, the deflection angle and the projection area of ​​the field of view angle of each camera.

[0159] Exemplarily, the deflection angle is the target deflection angle of the first camera relative to the second camera, and the translation distance is the target translation distance of the first camera relative to the second camera; a first coordinate system is established with the center point of the projection area of ​​the field of view angle of the second camera as the origin, and a second coordinate system is established with the center point of the projection area of ​​the field of view angle of the first camera as the origin, and the first vertex coordinates of the projection area of ​​the field of view angle of the first camera in the second coordinate system are determined; according to the target translation distance and the target deflection angle, the first vertex coordinates are transformed to obtain the second vertex coordinates of the projection area of ​​the field of view angle of the first camera in the first coordinate system.

[0160] S730, determining whether any two projection areas have an intersection based on the vertex coordinates of each projection area; if so, executing S740; if not, executing S750.

[0161] Exemplarily, based on the vertex coordinates of the projection areas of the fields of view of each camera, determine whether there is an intersection between the projection areas of the fields of view of any two cameras. Specifically, according to De Morgan's algorithm, determine whether there is an intersection between the projection areas of the fields of view of any two cameras. If there is an intersection between the projection areas of the fields of view of any two cameras, determine that the target association relationship includes the correspondence between the first camera and the second camera; if there is no intersection between the projection areas of the fields of view of any two cameras, based on the passage path between the projection areas of the fields of view of any two cameras, determine whether there is a correspondence between the corresponding cameras.

[0162] Exemplarily, determine that the projection area of the field of view of the first camera is A and the projection area of the field of view of the second camera is B. The diagonal vertex coordinates of the projection area A are P1(x1, y1) and P2(x2, y2), and the diagonal vertex coordinates of the projection area B are P3(x3, y3) and P4(x4, y4). According to De Morgan's algorithm, the judgment condition for determining that there is an intersection area between the projection areas of the fields of view of any two cameras is: (p2.y2>p3.y3) AND (p1.y1<p4.y4) AND (p2.x2>p3.x3) AND (p1.x1<p4.x4). When the diagonal vertex coordinates satisfy the judgment condition, determine that there is an intersection between the projection areas of the fields of view of any two cameras, and determine that the target association relationship includes the correspondence between the first camera and the second camera.

[0163] S740, determine that the target association relationship includes the correspondence between the cameras corresponding to the two projection areas.

[0164] Exemplarily, when there is an intersection between the projection areas of the fields of view of any two cameras, determine that the target association relationship includes the correspondence between the cameras corresponding to the two projection areas.

[0165] S750, determine the passage path between the two projection areas.

[0166] Exemplarily, if there is no intersection between the projection areas of the fields of view of any two cameras, based on the passage path between the projection areas of the fields of view of any two cameras, determine whether there is a correspondence between the corresponding cameras.

[0167] Optionally, the number of passage paths between the projection areas of the fields of view of any two cameras can be 1, 2, 3, etc., which is not specifically limited here.

[0168] S760, determine whether the number of passage paths is equal to 1; if so, execute S770.

[0169] Exemplarily, if the number of traffic paths is equal to 1, it is determined that there is a unique traffic path between the two projection areas, and leaving the first projection area will inevitably lead to emerging from the second projection area.

[0170] S770: Determine that the target association relationship includes a correspondence relationship between cameras corresponding to two projection areas.

[0171] Exemplarily, when the number of passing paths between the projection areas of the field of view angles of any two cameras is equal to 1, determining the target association relationship includes a corresponding relationship between the first camera and the second camera.

[0172] If the target association relationship is a network graph, the straight-line distances between cameras with intersecting fields of view and the straight-line distances between cameras with unique paths between projection areas of the fields of view are obtained, and a network graph is constructed with each camera as a node and the straight-line distances between cameras with corresponding relationships as weights.

[0173] Optionally, the target association relationship presented in the form of a network graph may be stored in the form of an adjacency list, in the form of an adjacency matrix, or in other forms, which is not specifically limited in the embodiments of the present application.

[0174] For example, Figure 8 (a) in the figure shows the target association relationship presented in an undirected graph. Figure 8 (b) in FIG. 1 shows the target association relationship stored in the form of an adjacency list.

[0175] like Figure 8 As shown in (a), there is a correspondence between camera C1 and camera C2, camera C3, and camera C6, there is a correspondence between camera C2 and camera C1, camera C3, and camera C5, there is a correspondence between camera C3 and camera C1, camera C2, and camera C4, there is a correspondence between camera C4 and camera C3 and camera C6, there is a correspondence between camera C5 and camera C2 and camera C6, and there is a correspondence between camera C1, camera C4, and camera C5; the existence of a correspondence between cameras indicates the relationship between cameras with intersecting fields of view, and the relationship between cameras with unique passing paths between projection areas of field of view; the straight-line distance between cameras is determined as the corresponding weight, and a weight of 1.0 corresponds to 10 meters.

[0176] For example, Figure 8As shown in (b), when the target association relationship is a directed graph, the correspondence between the camera and the camera with an intersection in the field of view in the target association relationship can be stored through an adjacency table, so that when the first camera is determined, the target camera can be quickly determined and the video data can be retrieved.

[0177] Exemplarily, in response to a video retrieval instruction, the first camera is determined to be C3 based on the preset time period and the first camera information in the video retrieval instruction, and it is necessary to retrieve video data within 60 meters around C3 as the center point from 9:00 to 10:00 a.m. on January 1, 2024. Then, the target cameras that have an intersection with the field of view of C3 are quickly determined to be camera C1, camera C2, and camera C4 through the connection table corresponding to the undirected graph. Then, the video data of cameras C1, camera C2, camera C3 and camera C4 from 9:00 to 10:00 a.m. on January 1, 2024 are obtained, and the obtained video data is displayed on the monitor.

[0178] It should be understood that the above examples are intended to help those skilled in the art understand the embodiments of the present application, rather than to limit the embodiments of the present application to the specific numerical values ​​or specific scenarios illustrated. Those skilled in the art can obviously make various equivalent modifications or changes based on the above examples, and such modifications or changes also fall within the scope of the embodiments of the present application.

[0179] Combination of the above Figures 1 to 8 The video data retrieval method provided by the embodiment of the present application is described in detail. Fig. 9 and Fig.10 The device embodiments of the present application are described in detail. It should be understood that the device in the embodiments of the present application can execute the various methods of the aforementioned embodiments of the present application, that is, the specific working processes of the following various products can refer to the corresponding processes in the aforementioned method embodiments.

[0180] Fig. 9 It is a structural diagram of a video data retrieval device provided in an embodiment of the present application.

[0181] like Fig. 9 As shown, the video data retrieving device 900 includes: a receiving module 910 , an acquiring module 920 and a display module 930 .

[0182] The receiving module 910 is used to receive a video retrieval instruction, the video retrieval instruction includes target information and a preset time period, the target information includes a target position or information of a first camera, and the target position corresponds to the first camera.

[0183] The acquisition module 920 is used to respond to the video retrieval instruction to obtain the video data collected by the first camera and the target camera in a preset time period; the target camera is a camera corresponding to the first camera determined based on a pre-stored target association relationship; the target association relationship is used to characterize the relationship between cameras with intersecting fields of view, and the relationship between cameras with unique passage paths between projection areas of the field of view.

[0184] The display module 930 is used to display the acquired video data.

[0185] Optionally, as an embodiment, the acquisition module 920 is specifically used for:

[0186] In response to the video retrieval instruction, determining a target camera associated with the first camera in the target association relationship;

[0187] The video data collected by the first camera and the target camera in a preset time period are obtained.

[0188] Optionally, as an embodiment, the video data retrieving device 900 further includes a construction module, and the construction module is specifically used to:

[0189] Acquire attribute data of each camera in a preset area; wherein the attribute data includes field of view angle, position, installation tilt angle and target height from the ground; the target position is within the preset area;

[0190] According to the acquired attribute data, determine the projection area of ​​the field of view of each camera, the translation distance of one camera relative to the other camera among any two cameras, and the deflection angle of one camera relative to the other camera among any two cameras;

[0191] Determine the vertex coordinates of each projection area in the same coordinate system according to the determined translation distance, deflection angle, and projection area of ​​the field of view of each camera;

[0192] According to the vertex coordinates of each projection area, the target association relationship is determined.

[0193] Optionally, as an embodiment, the building module is specifically used for:

[0194] According to the vertex coordinates of each projection area, determine whether any two projection areas have an intersection;

[0195] If there is an intersection between the first projection area and the second projection area, the target association relationship is determined to include the correspondence between the first camera and the second camera; the projection area of ​​the field of view angle of the first camera is the first projection area, the projection area of ​​the field of view angle of the second camera is the second projection area, and the first camera and the second camera are any two cameras within the preset area.

[0196] Optionally, as an embodiment, the building module is specifically used for:

[0197] If there is no intersection between the first projection area and the second projection area, determining a passage path between the first projection area and the second projection area;

[0198] If the number of determined passing paths is equal to 1, then the determined target association relationship includes a corresponding relationship between the first camera and the second camera.

[0199] Optionally, as an embodiment, the deflection angle is a target deflection angle of the first camera relative to the second camera; and the translation distance is a target translation distance of the first camera relative to the second camera.

[0200] Correspondingly, the building blocks are specifically used for:

[0201] Establishing a first coordinate system with the center point of the projection area of ​​the field of view angle of the second camera as the origin, establishing a second coordinate system with the center point of the projection area of ​​the field of view angle of the first camera as the origin, and determining the first vertex coordinates of the projection area of ​​the field of view angle of the first camera in the second coordinate system;

[0202] According to the target translation distance and the target deflection angle, coordinate transformation is performed on the first vertex coordinates to obtain the second vertex coordinates of the projection area of ​​the field of view angle of the first camera in the first coordinate system.

[0203] Optionally, as an embodiment, the building module is specifically used for:

[0204] Determine the projection radius of each camera on the ground according to the field of view of each camera, the installation tilt angle and the target height from the ground;

[0205] The projection area of ​​the field of view of each camera is determined according to the projection radius of each camera on the ground.

[0206] Optionally, as an embodiment, the building module is specifically used for:

[0207] A third coordinate system is established with the point at which the first camera is perpendicular to the ground as the origin to determine the coordinates of the first center point of the projection area of ​​the field of view of the first camera, and a fourth coordinate system is established with the point at which the second camera is perpendicular to the ground as the origin to determine the coordinates of the second center point of the projection area of ​​the field of view of the second camera;

[0208] The coordinates of the first center point are transformed according to the position of the first camera to obtain first transformed coordinates of the first center point, and the coordinates of the second center point are transformed according to the position of the second camera to obtain second transformed coordinates of the second center point;

[0209] Determine the coordinate difference between the first transformed coordinate and the second transformed coordinate;

[0210] The coordinate difference is taken as the translation distance of the first camera relative to the second camera.

[0211] It should be noted that the video data retrieving device 900 is implemented in the form of a functional unit. The term "module" here can be implemented in the form of software and / or hardware, and is not specifically limited to this.

[0212] For example, a "module" may be a software program, a hardware circuit, or a combination of the two that implements the above functions. The hardware circuit may include an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor, or a group processor, etc.) and a memory for executing one or more software or firmware programs, a combined logic circuit, and / or other suitable components that support the described functions.

[0213] Therefore, the units of each example described in the embodiments of the present application can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present application.

[0214] Fig.10 It is a schematic diagram of the structure of a display provided in an embodiment of the present application.

[0215] For example, Fig.10 As shown, the display 1000 includes: a memory 1010 and a processor 1020, wherein the memory 1010 stores an executable program code 1030, and the processor 1020 is used to call and execute the executable program code 1030 to perform the above-mentioned video data retrieving method.

[0216] Exemplarily, the memory 1010 can be used to store the relevant programs of the video data retrieval method provided in the embodiment of the present application; the processor 1020 can call the relevant programs of the video data retrieval method stored in the memory 1010 to execute the video data retrieval method of the embodiment of the present application. For example, a video retrieval instruction is received, the video retrieval instruction includes target information and a preset time period, the target information includes the target position or the information of the first camera, and the target position corresponds to the first camera; in response to the video retrieval instruction, the video data collected by the first camera and the target camera in the preset time period is obtained; the target camera is a camera corresponding to the first camera determined based on the pre-stored target association relationship; the target association relationship is used to characterize the relationship between cameras with intersecting field of view angles, and the relationship between cameras with unique passage paths between the projection areas of the field of view angles; the acquired video data is displayed.

[0217] In this embodiment, the functional modules of the device can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0218] In the case of dividing each functional module according to each function, the device may also include a receiving module, an acquisition module, a display module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0219] It should be understood that the device provided in this embodiment is used to execute the above-mentioned video data retrieving method, and thus can achieve the same effect as the above-mentioned implementation method.

[0220] In the case of an integrated unit, the device may include a processing module and a storage module. The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits shown in conjunction with the disclosure of the present application. The processor may also be a combination that implements a computing function, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0221] In addition, the device provided in the embodiments of the present application may specifically be a chip, a component or a module, and the chip may include a connected processor and a memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a video data retrieval method provided in the above embodiments.

[0222] The present application also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement the video data retrieval method provided in the above-mentioned embodiment.

[0223] Among them, computer-readable storage media may include but are not limited to any type of disk, including floppy disks, optical disks, digital versatile disks (Digital Video Disc, DVD), compact disc read-only memory (Compact Disc Read-Only Memory, CD-ROM), microdrives and magneto-optical disks, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable programmable read only memory (Electrically Erasable Programmable read only memory, EEPROM), dynamic random access memory (Dynamic Random Access Memory, DRAM), video random access memory (Video Random Access Memory, VRAM), flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0224] The present application also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement the video data retrieval method provided in the above-mentioned embodiment.

[0225] Among them, the computer-readable storage medium, computer program product or chip provided in this application is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0226] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0227] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0228] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A video data acquisition method, characterized in that: The method comprises: receiving a video retrieval instruction, the video retrieval instruction including target information and a preset time period, the target information including a target position or information of a first camera, the target position corresponding to the first camera; In response to the video retrieval instruction, video data collected by the first camera and the target camera in the preset time period are obtained; the target camera is a camera corresponding to the first camera determined based on a pre-stored target association relationship; the target association relationship is used to characterize the relationship between cameras with intersecting fields of view, and the relationship between cameras with unique passage paths between projection areas of the field of view; the passage path is a traffic road between projection areas of the field of view; The acquired video data is displayed.

2. The video data retrieving method according to claim 1, characterized in that: The step of obtaining, in response to the video acquisition instruction, video data collected by the first camera and the target camera during the preset time period includes: In response to the video retrieval instruction, determining the target camera associated with the first camera in the target association relationship; The video data collected by the first camera and the target camera in the preset time period are obtained.

3. The method according to claim 1 or 2, characterized in that: The video data retrieving method further includes: Acquire attribute data of each camera in a preset area; wherein the attribute data includes field of view angle, position, installation tilt angle and target height from the ground; the target position is located in the preset area; Determine, according to the acquired attribute data, a projection area of ​​the field of view of each camera, a translation distance of one camera relative to the other camera among any two cameras, and a deflection angle of one camera relative to the other camera among any two cameras; Determine the vertex coordinates of each projection area in the same coordinate system according to the determined translation distance, the deflection angle, and the projection area of ​​the field of view of each camera; The target association relationship is determined according to the vertex coordinates of each projection area.

4. The method according to claim 3, characterized in that The determining the target association relationship according to the vertex coordinates of each projection area includes: Determine whether any two projection areas have an intersection according to the vertex coordinates of each projection area; If there is an intersection between the first projection area and the second projection area, the target association relationship is determined to include a correspondence between the first camera and the second camera; the projection area of ​​the field of view angle of the first camera is the first projection area, the projection area of ​​the field of view angle of the second camera is the second projection area, and the first camera and the second camera are any two cameras within the preset area.

5. The method according to claim 4, characterized in that The video data retrieving method further includes: If there is no intersection between the first projection area and the second projection area, determining the passage path between the first projection area and the second projection area; If the determined number of the passing paths is equal to 1, it is determined that the target association relationship includes a corresponding relationship between the first camera and the second camera.

6. The method according to claim 4 or 5, characterized in that: The deflection angle is the target deflection angle of the first camera relative to the second camera; the translation distance is the target translation distance of the first camera relative to the second camera; The step of determining the vertex coordinates of each projection area in the same coordinate system according to the determined translation distance, the deflection angle, and the projection area of ​​the field of view of each camera comprises: Establishing a first coordinate system with the center point of the projection area of ​​the field of view angle of the second camera as the origin, establishing a second coordinate system with the center point of the projection area of ​​the field of view angle of the first camera as the origin, and determining the first vertex coordinates of the projection area of ​​the field of view angle of the first camera in the second coordinate system; The first vertex coordinates are transformed according to the target translation distance and the target deflection angle to obtain second vertex coordinates of a projection area of ​​the field of view angle of the first camera in the first coordinate system.

7. The method according to claim 4 or 5, characterized in that: Determining the projection area of ​​the field of view of each camera according to the acquired attribute data includes: Determine the projection radius of the field of view of each camera on the ground according to the field of view of each camera, the installation tilt angle and the target height from the ground; The projection area of ​​the field of view of each camera is determined according to the projection radius of the field of view of each camera on the ground.

8. The method according to claim 7, characterized in that Determining the translation distance of one camera relative to the other camera in any two cameras according to the acquired attribute data includes: A third coordinate system is established with the point at which the first camera is perpendicular to the ground as the origin to determine the coordinates of a first center point of the projection area of ​​the field of view of the first camera, and a fourth coordinate system is established with the point at which the second camera is perpendicular to the ground as the origin to determine the coordinates of a second center point of the projection area of ​​the field of view of the second camera; The coordinates of the first center point are transformed according to the position of the first camera to obtain first transformed coordinates of the first center point, and the coordinates of the second center point are transformed according to the position of the second camera to obtain second transformed coordinates of the second center point; Determine a coordinate difference between the first transformed coordinate and the second transformed coordinate; The coordinate difference is used as the translation distance of the first camera relative to the second camera.

9. A video data retrieving device, characterized in that: The device comprises: A receiving module, configured to receive a video acquisition instruction, wherein the video acquisition instruction includes target information and a preset time period, wherein the target information includes a target position or information of a first camera, and the target position corresponds to the first camera; an acquisition module, configured to acquire video data collected by the first camera and a target camera during the preset time period in response to the video acquisition instruction; the target camera is a camera corresponding to the first camera and determined based on a pre-stored target association relationship; the target association relationship is used to characterize the relationship between cameras with intersecting fields of view, and the relationship between cameras with unique passage paths between projection areas of the fields of view; the passage path is a traffic road between projection areas of the fields of view; A display module is used to display the acquired video data.

10. A display, characterized in that: include: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory, so that the display executes the video data retrieving method as described in any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the video data retrieving method according to any one of claims 1 to 8 is implemented.

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