Camera observation point position determination method and device, equipment and storage medium

Abstract

The application discloses a kind of camera observation point determination method, device, equipment and storage medium, it is related to cross-media observation technical field, comprising: the initial motion parameter of the moving object, the first medium resistance, second medium resistance and the camera field of view parameter of multiple cameras are acquired;Determine the first motion trajectory of the moving object in the first medium based on the initial motion parameter and the first medium resistance;According to the first motion trajectory and the initial motion parameter, determine the process motion parameter of the moving object;Determine the second motion trajectory of the moving object in the second medium based on the process motion parameter and the second medium resistance;According to the first motion trajectory, the second motion trajectory and the camera field of view parameter, determine the target observation point of each camera, to be photographed by the target observation point to the moving object.This application improves the continuity and integrity of cross-media object motion observation data.

Description

Technical Field

[0001] This application relates to the field of cross-media observation technology, and in particular to methods, apparatus, equipment and storage media for determining the observation point of a camera. Background Technology

[0002] High-speed camera observation technology has been widely applied in scenarios involving the recording and analysis of object motion. In fields such as aerospace and shipbuilding, it is frequently necessary to photograph and observe moving objects such as projectiles and projectiles to obtain key data such as their trajectory and attitude changes, providing a basis for subsequent analysis and research. In single-medium environments, such as when an object moves only in air or only underwater, existing high-speed camera deployment methods can rationally set the camera observation points based on the object's predicted trajectory in that medium, enabling continuous recording of the object's motion.

[0003] However, in many practical applications, moving objects need to traverse different media, such as moving from air into water or from one liquid to another. During such cross-media movement, existing camera deployment methods only set up observation points based on the estimated trajectory of the object in a single medium. This results in camera deployment points only covering the object's movement path within that single medium, leading to blind spots or image interruptions in the medium switching area, making it difficult to achieve continuous and complete recording of the entire cross-media movement process. Summary of the Invention

[0004] The main purpose of this application is to provide a method, device, equipment and storage medium for determining the observation point of a camera, which aims to solve the technical problem that shooting blind spots or image interruptions occur in the medium switching area, making it difficult to achieve continuous and complete shooting of the entire process of cross-medium movement.

[0005] To achieve the above objectives, this application proposes a method for determining the observation point position of a camera, the method comprising: The initial motion parameters of the moving object, the first medium resistance, the second medium resistance, and the camera field of view parameters of multiple cameras used to capture the moving object are obtained. Based on the initial motion parameters and the first medium resistance, the first motion trajectory of the moving object in the first medium is determined; Based on the first motion trajectory and the initial motion parameters, determine the motion parameters of the moving object as it moves from the first medium into the second medium; Based on the process motion parameters and the resistance of the second medium, the second motion trajectory of the moving object in the second medium is determined; Based on the first motion trajectory, the second motion trajectory, and the camera field of view parameters, the target observation point of each camera is determined so as to capture the moving object through the target observation point.

[0006] In one embodiment, determining the target observation point position of each camera based on the first motion trajectory, the second motion trajectory, and the camera field of view parameters includes: Obtain the preset field-of-view overlap amount; Based on the camera field of view parameters and the field of view overlap, the target observation point of each camera is determined according to the first motion trajectory and the second motion trajectory.

[0007] In one embodiment, determining the target observation point position of each camera based on the camera's field of view parameters and the field of view overlap, based on the first motion trajectory and the second motion trajectory, includes: The target motion trajectory is determined based on the first motion trajectory and the second motion trajectory; Based on the camera field of view parameters, determine the coverage length of each camera's field of view along the target's motion trajectory and the reference observation point of the reference camera; Based on the reference observation point, the coverage length, and the field of view overlap, the target observation point of the adjacent camera adjacent to the reference camera is determined along the target motion trajectory. Using the adjacent camera as the reference camera, return to the step of determining the target observation point of the adjacent camera along the target motion trajectory based on the reference observation point, the coverage length, and the field of view overlap, until the target observation point of each camera is obtained.

[0008] In one embodiment, determining the motion parameters of the moving object as it enters the second medium from the first medium, based on the first motion trajectory and the initial motion parameters, includes: Based on the first motion trajectory, determine the first boundary position and motion time of the moving object at the interface between the first medium and the second medium; Based on the motion time and the initial motion parameters, determine the process velocity of the moving object at the interface; The first boundary position and the process velocity are used as process motion parameters.

[0009] In one embodiment, determining the first trajectory of the moving object in the first medium based on the initial motion parameters and the first medium resistance includes: Based on the initial motion parameters and the first medium resistance, establish the motion equation of the moving object in the first medium; Using the initial motion parameters as initial conditions, the motion equations are solved to obtain the first motion relationship of the moving object's position in the first medium over time, and the first motion relationship is used as the first motion trajectory of the moving object in the first medium.

[0010] In one embodiment, acquiring the initial motion parameters of the moving object, the first medium resistance, the second medium resistance, and the camera field-of-view parameters of the plurality of cameras used to capture the moving object includes: Obtain the initial position and initial velocity of the moving object at the start time, and use the initial position and initial velocity as initial motion parameters; The first density of the first medium, the first drag coefficient of the moving object in the first medium, and the first characteristic area are obtained, and the first density, the first drag coefficient, and the first characteristic area are used as the first medium drag. The second density of the second medium, the second drag coefficient of the moving object in the second medium, and the second characteristic area are obtained, and the second density, the second drag coefficient, and the second characteristic area are used as the drag of the second medium. Obtain the field of view of each camera and use the field of view as the camera's field of view parameter.

[0011] In one embodiment, after the step of determining the target observation point of each camera based on the first motion trajectory, the second motion trajectory, and the camera field of view parameters, so as to capture images of the moving object through the target observation point, the method further includes: The captured image data is analyzed to determine the motion trajectory data, posture change data, and deformation data of the moving object during its cross-medium motion. Based on the motion trajectory data, the posture change data, and the deformation data, the motion stability, posture change rationality, and structural deformation of the moving object are evaluated to obtain the evaluation results. Based on the evaluation results, the motion parameters, attitude parameters, or structural parameters of the moving object are optimized.

[0012] Furthermore, to achieve the above objectives, this application also proposes a camera observation point determination device, which includes: The parameter acquisition module is used to acquire the initial motion parameters of the moving object, the first medium resistance, the second medium resistance, and the camera field of view parameters of multiple cameras used to capture the moving object. The first trajectory determination module is used to determine the first motion trajectory of the moving object in the first medium based on the initial motion parameters and the first medium resistance. The process parameter determination module is used to determine the process motion parameters of the moving object from the first medium to the second medium based on the first motion trajectory and the initial motion parameters. The second trajectory determination module is used to determine the second motion trajectory of the moving object in the second medium based on the process motion parameters and the resistance of the second medium. The observation point determination module is used to determine the target observation point of each camera based on the first motion trajectory, the second motion trajectory, and the camera field of view parameters, so as to capture images of the moving object through the target observation point.

[0013] In addition, to achieve the above objectives, this application also proposes a camera observation point determination device, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the camera observation point determination method as described above.

[0014] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the camera observation point determination method described above.

[0015] One or more technical solutions proposed in this application have at least the following technical effects: By decomposing cross-medium motion into phased motions within each medium, determining the motion trajectory in each medium based on the drag characteristics of the corresponding medium, and extracting process motion parameters at the medium interface to achieve trajectory connection between adjacent medium phases, the observation points of each camera are ultimately determined based on the joint motion trajectories in each medium. This ensures that the observation points of each camera can cover the complete motion path of the moving object before and after crossing the medium. This solves the technical problem of existing solutions that only deploy cameras for a single medium trajectory, failing to consider trajectory changes after the object enters another medium, resulting in blind spots or image interruptions in the medium switching area, making it difficult to achieve continuous and complete recording of the entire cross-medium motion process. This approach achieves seamless and continuous recording of the entire cross-medium motion process of a moving object, ensuring the continuity and integrity of the observation data. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart illustrating the method for determining the observation point of the camera in this application, as provided in Embodiment 1. Figure 2 This is a flowchart illustrating Embodiment 2 of the method for determining the observation point of the camera in this application. Figure 3 A schematic diagram of a typical business scenario provided by an embodiment of the camera observation point determination method of this application; Figure 4 This is a schematic diagram of the module structure of the camera observation point determination device in an embodiment of this application; Figure 5 This is a schematic diagram of the device structure of the hardware operating environment involved in the camera observation point determination method in this application embodiment.

[0019] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0021] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0022] The main solution of this application embodiment is as follows: Obtain the initial motion parameters of the moving object, the first medium resistance, the second medium resistance, and the camera field-of-view parameters of multiple cameras used to capture the moving object; determine the first motion trajectory of the moving object in the first medium based on the initial motion parameters and the first medium resistance; determine the process motion parameters of the moving object as it enters the second medium from the first medium based on the first motion trajectory and the initial motion parameters; determine the second motion trajectory of the moving object in the second medium based on the process motion parameters and the second medium resistance; and determine the target observation point of each camera based on the first motion trajectory, the second motion trajectory, and the camera field-of-view parameters, so as to capture the moving object through the target observation point.

[0023] Because existing technology only sets up camera observation points for the estimated motion trajectory of an object in a single medium, without considering the continuity of the motion trajectory after the object crosses a medium, the camera deployment points can only cover the motion path of the object in a single medium, and cannot cover the subsequent motion process of the object in another medium. There are blind spots or interruptions in the shooting in the medium switching area, making it difficult to achieve continuous and complete shooting of the entire process of cross-medium motion.

[0024] This application provides a solution that decomposes cross-medium motion into phased motions in each medium, determines the motion trajectory in each medium by combining the resistance characteristics of the corresponding medium, and achieves trajectory connection between adjacent medium phases by extracting process motion parameters at the medium interface. Finally, the observation point of each camera is determined based on the motion trajectory in each medium, so that the field of view of each camera can cover the complete motion path of the object before and after crossing the medium, realizing seamless continuous shooting of the entire cross-medium motion process.

[0025] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an electronic device or processor capable of performing the above functions. The following description uses a processor as an example to illustrate this embodiment and the subsequent embodiments. All actions involving the acquisition of signals, information, or data in this application are performed in accordance with the relevant data protection regulations of the locality and with authorization from the owner of the corresponding device.

[0026] Based on this, embodiments of this application provide a method for determining the observation point of a camera, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the method for determining the observation point of the camera in this application.

[0027] In this embodiment, the method for determining the observation point of the camera includes steps S10 to S50: Step S10: Obtain the initial motion parameters of the moving object, the first medium resistance, the second medium resistance, and the camera field of view parameters of the multiple cameras used to capture the moving object.

[0028] It should be noted that the initial motion parameters include the position, magnitude, and direction of the moving object at the initial moment. The first medium drag includes the density of the first medium, the drag coefficient of the moving object in the first medium, and the characteristic area of ​​the moving object perpendicular to the direction of motion in the first medium. The second medium drag includes the density of the second medium, the drag coefficient of the moving object in the second medium, and the characteristic area of ​​the moving object perpendicular to the direction of motion in the second medium. The camera field-of-view parameters include the field-of-view angle of each camera and the coverage length of the field of view of each camera along the trajectory.

[0029] In one feasible implementation, step S10 may include: acquiring the initial position and initial velocity of the moving object at the start time, and using the initial position and initial velocity as initial motion parameters; acquiring the first density of the first medium, the first drag coefficient of the moving object in the first medium, and the first characteristic area, and using the first density, the first drag coefficient, and the first characteristic area as the first medium drag; acquiring the second density of the second medium, the second drag coefficient of the moving object in the second medium, and the second characteristic area, and using the second density, the second drag coefficient, and the second characteristic area as the second medium drag; and acquiring the field of view of each camera, and using the field of view as the camera field of view parameter.

[0030] It should be noted that the initial position refers to the spatial coordinates of the moving object relative to the interface between the first and second media when it begins to move. The initial velocity is in vector units and refers to the speed and direction of the moving object at the instant it leaves the starting point.

[0031] Specifically, the interface between the first and second media is determined, and a coordinate system is established based on the interface. The initial position of the moving object relative to the interface at the starting moment, as well as the initial velocity magnitude and initial velocity direction of the moving object when leaving the starting point, are obtained as initial motion parameters. The density of the first medium is obtained, and the first drag coefficient of the moving object in the first medium is determined based on the surface smoothness and overall shape of the moving object. The first characteristic area is determined based on the projected area of ​​the moving object in the first medium perpendicular to the motion direction. The density, first drag coefficient, and first characteristic area of ​​the first medium are used as the first medium drag. The density of the second medium is obtained, and the second drag coefficient of the moving object in the second medium is determined based on the surface smoothness and overall shape of the moving object. The second characteristic area is determined based on the projected area of ​​the moving object in the second medium perpendicular to the motion direction. The density, second drag coefficient, and second characteristic area of ​​the second medium are used as the second medium drag. The field of view of each camera is obtained, and the coverage length of the field of view range of each camera at the motion trajectory along the trajectory extension direction is determined based on the distance between each camera and the motion trajectory and the field of view angle, which is used as the camera field of view parameter.

[0032] Understandably, the initial position and initial velocity direction in the initial motion parameters determine the tendency of the moving object to move towards the interface between the first and second media. The drag force of the first and second media respectively characterize the difference in resistance experienced by the moving object when moving in different media. This difference is the main reason why the trajectory of the moving object changes after crossing the interface. The coverage length in the camera's field of view parameters provides a basis for subsequently determining the deployment spacing and field of view overlap between adjacent cameras, ensuring that the field of view of each camera can achieve continuous coverage along the trajectory extension direction.

[0033] Step S20: Based on the initial motion parameters and the first medium resistance, determine the first motion trajectory of the moving object in the first medium.

[0034] It should be noted that the first medium refers to the initial medium environment in which the moving object is located before entering the second medium, such as air or other gaseous environments, or any kind of liquid medium. The first trajectory refers to the path relationship of the moving object's position changing continuously over time as it moves in the first medium. This trajectory describes the complete motion process of the object from the initial moment until it reaches the interface between the first and second media.

[0035] In one feasible implementation, step S20 may include: establishing the motion equation of the moving object in the first medium based on the initial motion parameters and the first medium resistance; solving the motion equation using the initial motion parameters as initial conditions to obtain the first motion relationship of the position of the moving object in the first medium over time; and using the first motion relationship as the first motion trajectory of the moving object in the first medium.

[0036] Specifically, based on the initial position and initial velocity in the initial motion parameters, the initial motion state of the moving object in the first medium is determined; the mass of the moving object and the drag coefficient, density, and characteristic area of ​​the first medium are obtained; combined with the gravitational acceleration, the force balance equations of the moving object along each coordinate axis in the first medium are established; the initial position and initial velocity are substituted into the force balance equations for solution, and the first motion relationship of the moving object's position in the first medium as a function of time is obtained, which is the first motion trajectory.

[0037] Understandably, by introducing the first medium resistance, the first trajectory can realistically reflect the actual path of the moving object after encountering environmental resistance in the first medium, rather than an idealized, resistance-free parabola. This lays the foundation for subsequently determining the time, position, and velocity of the object reaching the interface, thereby ensuring the accuracy of the entire cross-medium trajectory prediction.

[0038] Step S30: Based on the first motion trajectory and the initial motion parameters, determine the motion parameters of the moving object as it moves from the first medium into the second medium.

[0039] It should be noted that process motion parameters refer to the motion state of a moving object at the instant it crosses the interface between the first and second media, including the motion time of the moving object to reach the interface, its position at the interface, and its process velocity at the interface.

[0040] In one feasible implementation, step S30 may include: determining, based on the first motion trajectory, the first boundary position and motion time of the moving object reaching the interface between the first medium and the second medium; determining the process velocity of the moving object at the interface based on the motion time and the initial motion parameters; and using the first boundary position and the process velocity as process motion parameters.

[0041] Specifically, based on the correspondence between the position and time of the moving object described by the first motion trajectory, the motion time corresponding to the moving object reaching the interface is calculated; based on the first motion trajectory and the motion time, the position coordinates of the moving object at the interface are determined; based on the initial velocity, gravitational acceleration and motion time in the initial motion parameters, the process velocity of the moving object at the interface is determined, which includes the velocity magnitude and velocity direction.

[0042] Understandably, by extracting the motion parameters of the moving object at the interface, the motion process in the first medium is connected with the motion process in the second medium it is about to enter. The determination of the process velocity takes into account the cumulative effects of factors such as gravity during the object's motion in the first medium, ensuring that the initial velocity upon entering the second medium remains continuous with the motion process in the first medium. This provides a reliable prerequisite for accurately predicting the object's subsequent trajectory in the second medium.

[0043] Step S40: Based on the process motion parameters and the resistance of the second medium, determine the second motion trajectory of the moving object in the second medium.

[0044] It should be noted that the second medium refers to the medium environment in which the moving object is located after crossing the interface, and the second medium and the first medium can be the same medium. The second trajectory refers to the path relationship of the moving object's position changing continuously over time as it moves in the second medium. This trajectory describes the complete process of the object's movement from the interface to its continued movement in the second medium.

[0045] Specifically, the process velocity in the process motion parameters is taken as the initial velocity of the moving object in the second medium, and the position of the moving object at the interface in the process motion parameters is taken as the starting position of the second motion trajectory. The mass of the moving object and the drag coefficient corresponding to the resistance of the second medium, the density of the second medium and the characteristic area are obtained. Combined with the gravitational acceleration and the buoyancy exerted on the moving object by the second medium, the force balance equations of the moving object along each coordinate axis in the second medium are established. Using the starting position and the initial velocity as initial conditions, the force balance equations are solved to obtain the second motion relationship of the moving object's position in the second medium as a function of time. This second motion relationship is the second motion trajectory.

[0046] Understandably, by fully transmitting the process motion parameters to the second medium motion stage, the starting position and initial velocity of the second motion trajectory are completely connected with the endpoint of the motion in the first medium, ensuring the continuity of the cross-medium motion trajectory. Simultaneously, by introducing the resistance and buoyancy forces of the second medium, the second motion trajectory accurately reflects the trajectory changes caused by the changing environmental forces after the moving object enters the new medium, providing accurate trajectory data for the subsequent rational deployment of cameras in that medium.

[0047] Step S50: Determine the target observation point of each camera based on the first motion trajectory, the second motion trajectory, and the camera field of view parameters, so as to capture the moving object through the target observation point.

[0048] It should be noted that the target observation point refers to the specific location of each camera when shooting in space. This location ensures that the camera's field of view can cover the corresponding segment of the moving object along the first and second motion trajectories. By rationally arranging the target observation points of each camera along the extension directions of the first and second motion trajectories, a preset amount of overlap in the field of view of adjacent cameras is achieved, thereby enabling seamless and continuous shooting of the entire process of the moving object's movement across media.

[0049] Specifically, a preset field-of-view overlap amount is obtained, which includes the horizontal overlap length along the trajectory extension direction and the vertical overlap height perpendicular to the trajectory extension direction; based on the camera field-of-view parameters, the coverage length of the field of view range of each camera at the motion trajectory along the trajectory extension direction is determined; for any two adjacent cameras, based on the target observation point of one camera on the first motion trajectory or the second motion trajectory, the coverage length of the corresponding camera, and the field-of-view overlap amount, the target observation point of the other camera is determined along the trajectory extension direction on the first motion trajectory or the second motion trajectory, so that the field of view range of adjacent cameras maintains a preset field-of-view overlap amount in the trajectory extension direction.

[0050] In one feasible implementation, after step S50, the method may further include: analyzing the captured image data to determine the motion trajectory data, posture change data, and deformation data of the moving object during its cross-medium motion; evaluating the motion stability, posture change rationality, and structural deformation of the moving object based on the motion trajectory data, posture change data, and deformation data to obtain evaluation results; and optimizing the motion parameters, posture parameters, or structural parameters of the moving object based on the evaluation results.

[0051] It should be noted that motion trajectory data refers to information obtained through image data analysis regarding the actual spatial position of a moving object during cross-medium motion as it changes over time. Attitude change data refers to information regarding the changes in attitude angles such as pitch, yaw, and roll angles of a moving object over time during cross-medium motion. Deformation data refers to information regarding changes in the structural dimensions of a moving object due to forces during cross-medium motion. Motion parameters refer to design parameters related to the motion state, such as the initial velocity and initial direction of the moving object. Attitude parameters refer to design parameters related to attitude stability, such as the center of gravity position and moment of inertia of the moving object. Structural parameters refer to design parameters related to structural strength, such as the external dimensions, wall thickness, and material strength of the moving object.

[0052] Specifically, the process involves acquiring continuous image data captured by each camera during the movement of a moving object across media. The image data is then stitched together according to the time sequence of the moving object's movement to obtain a continuous motion image of the object's entire process from the first medium to the second medium. Frame-by-frame analysis of the continuous motion image is performed to extract the spatial coordinates of the moving object at each time point, generating motion trajectory data. Feature points of the moving object in the continuous motion image are identified and tracked to determine the pitch, yaw, and roll angles at each time point, generating attitude change data. Finally, the outline dimensions of the moving object in the continuous motion image are measured and compared with the original outline dimensions of the moving object in a stationary state to determine the dimensional changes of the moving object at each time point, generating deformation data. The motion trajectory data is compared with the first and second motion trajectories to evaluate the deviation between the actual and predicted trajectories of the moving object, thus obtaining a motion stability assessment result. Based on the attitude change data, it is determined whether the moving object experiences attitude instability or abnormal rollover at the moment of crossing the medium, thus obtaining an attitude change rationality assessment result. Based on the deformation data, it is determined whether the structural dimension change of the moving object at the moment of crossing the medium exceeds a preset safety threshold, thus obtaining a structural deformation assessment result. Based on the motion stability assessment result, the initial velocity or initial direction of the moving object is optimized. Based on the attitude change rationality assessment result, the center of gravity position or moment of inertia of the moving object is optimized. Based on the structural deformation assessment result, the external dimensions, wall thickness, or material strength of the moving object are optimized.

[0053] Understandably, by deploying the target observation points of each camera along the extension directions of the first and second motion trajectories, the field of view of each camera can continuously cover the complete motion path of the moving object before and after crossing the medium, avoiding blind spots caused by trajectory changes due to medium switching. By introducing field-of-view overlap in both horizontal and vertical dimensions, it is ensured that adjacent cameras can achieve field-of-view connection in both the trajectory extension direction and its vertical direction, so that no image will be missed even if the motion trajectory bends or shifts in space. Based on this, through in-depth analysis of continuously captured image data, not only can the actual motion trajectory of the moving object during cross-medium movement be obtained, but also key data such as attitude changes and structural deformation can be extracted simultaneously, providing comprehensive measured data support for the design optimization of the moving object, forming a complete closed loop from observation and shooting to data analysis and design optimization.

[0054] This embodiment provides a method for determining the observation point of a camera. By acquiring the initial motion parameters of the moving object, the first medium resistance, the second medium resistance, and the camera's field of view parameters, the first motion trajectory of the moving object in the first medium and the second motion trajectory in the second medium are determined respectively. Based on the two motion trajectories, the target observation point of each camera is determined, realizing seamless and continuous shooting of the entire process of the moving object's cross-medium movement. This solves the technical problem of existing methods that only deploy cameras for a single medium trajectory and do not consider the trajectory change after the object enters another medium, resulting in shooting blind spots or image interruptions in the medium switching area, making it difficult to achieve continuous and complete shooting of the entire process of cross-medium movement.

[0055] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in Embodiment 1 above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 2 Step S50 also includes steps S51 to S52: Step S51: Obtain the preset field of view overlap amount.

[0056] It should be noted that field-of-view overlap refers to the spatial dimension of the overlapping area between the fields of view of adjacent cameras. Field-of-view overlap includes the horizontal overlap length along the trajectory extension direction and the vertical overlap height perpendicular to the trajectory extension direction. By setting the field-of-view overlap, it can be ensured that when adjacent cameras are filming moving objects, there will be no blank areas not captured by either camera when the moving object enters the field of view of an adjacent camera from one camera's field of view.

[0057] Specifically, the system obtains the pre-inputted field-of-view overlap value based on shooting requirements. This overlap value includes the horizontal overlap length and the vertical overlap height. Alternatively, the horizontal overlap length and vertical overlap height can be calculated based on the field-of-view parameters of each camera and a preset overlap ratio. The horizontal overlap length ensures the continuity of the field of view for adjacent cameras along the trajectory extension direction, while the vertical overlap height ensures the continuity of the field of view for adjacent cameras perpendicular to the trajectory extension direction.

[0058] Step S52: Based on the camera field of view parameters and the field of view overlap, determine the target observation point of each camera according to the first motion trajectory and the second motion trajectory.

[0059] It should be noted that when determining the target observation point of each camera, the first motion trajectory and the second motion trajectory are treated as a continuous target motion trajectory, so that the field of view of each camera is arranged sequentially along the target motion trajectory, thereby achieving continuous coverage of the complete motion path of the moving object from the first medium to the second medium.

[0060] In one feasible implementation, step S52 includes: determining a target motion trajectory based on the first motion trajectory and the second motion trajectory; determining the coverage length of the field of view of each camera along the target motion trajectory and the reference observation point of the reference camera based on the camera field of view parameters; determining the target observation point of the adjacent camera adjacent to the reference camera along the target motion trajectory based on the reference observation point, the coverage length, and the field of view overlap; using the adjacent camera as the reference camera, returning to execute the step of determining the target observation point of the adjacent camera adjacent to the reference camera along the target motion trajectory based on the reference observation point, the coverage length, and the field of view overlap, until the target observation point of each camera is obtained.

[0061] Specifically, the first and second motion trajectories are spliced ​​together at the junction of the interface to obtain the target motion trajectory covering the moving object from its starting point to its endpoint in the second medium. Based on the camera's field of view parameters, the coverage length of each camera's field of view along the trajectory's extension direction is determined. A known point on the target motion trajectory is selected as the reference observation point for the reference camera; this reference observation point can be the starting point of the target motion trajectory, the junction of the interface, or any pre-specified point. Based on the reference observation point, the coverage length corresponding to the reference camera, and the preset field of view overlap, the position coordinates of adjacent cameras on the target motion trajectory are calculated, and these position coordinates are used as the target observation points for the adjacent cameras. Using the adjacent cameras as new reference cameras, the steps for determining the target observation points of adjacent cameras are repeated, determining the target observation points of each camera one by one along the extension direction of the target motion trajectory, until the field of view of all cameras collectively covers the complete target motion trajectory.

[0062] Understandably, by stitching the first and second motion trajectories together to form the target motion trajectory, the camera deployment process can uniformly handle the complete motion path before and after crossing media, simplifying the deployment logic. By employing a recursive determination method using a reference camera and adjacent cameras, the target observation point is determined one by one along the trajectory extension direction from any known point. This is not limited by the number of cameras or the starting point of deployment, and is applicable to motion trajectories of any length and any number of cameras. By calculating the position coordinates of adjacent cameras based on the coverage length and field-of-view overlap, the field-of-view range of adjacent cameras maintains a preset overlap in the trajectory extension direction, ensuring the continuity of the captured footage.

[0063] For example, to help understand the implementation flow of the camera observation point determination method obtained by combining the above embodiments, please refer to... Figure 3 , Figure 3A typical business scenario diagram illustrating a method for determining the observation point position of a camera is provided, specifically: In this embodiment, the first medium is air, the second medium is water, and the moving object is a projectile that enters the water from the air by performing projectile motion.

[0064] The thrown object starts from point O. Assuming wind resistance is negligible, it will fall into the water along a standard parabolic trajectory. Let T0 be the time elapsed from the horizontal launch point O to the moment of impact. Then:

[0065] Where g is the acceleration due to gravity, which is a constant value. H is the height of the starting point O above the water surface.

[0066] Then we have:

[0067] Therefore, the camera on the water surface is positioned near a horizontal distance D from the throwing point, and vertically above the landing point.

[0068] Assuming that each camera has the same field of view at the trajectory of the projectile, denoted as l in the horizontal direction and h in the vertical direction, and the ratio of l to h is a fixed known quantity, then the coordinate position of the camera can be considered to be at the exact center of its field of view.

[0069] To ensure the continuous and uninterrupted capture of the projectile's trajectory, the field of view of adjacent cameras overlaps. The amount of overlap is adjustable and a known value. The horizontal overlap length between cameras 1 and 2 is... The vertical overlap height is The overlap length and height between cameras 2 and 3 are respectively... and The vertical overlap between cameras 1 and 2 is centered precisely on the water surface. If monitoring the trajectory of a longer projectile requires more cameras, this rule should be applied sequentially when defining the calculation length.

[0070] According to the resistance calculation formula:

[0071] In the formula: C is the drag coefficient of the object in water, which is related to the cross-sectional area (characteristic area) of the projectile perpendicular to the direction of motion, the smoothness of the surface, and the overall shape; Let be the density of water, which is generally a constant value; S be the cross-sectional area of ​​the projectile perpendicular to the direction of motion in the water; and v be the velocity of the projectile relative to the water. The direction of resistance is opposite to the direction of motion.

[0072] According to the buoyancy calculation formula:

[0073] In the formula: g is the acceleration due to gravity, which is a constant value; The volume of the thrown object entering the water; When a thrown object moves in water, it is simultaneously affected by resistance, buoyancy, and gravity.

[0074] Neglecting the surface roughness of the thrown object and the change in its velocity before and after entering the water, and assuming the temperature is normal, let the horizontal velocity of the object be... The velocity in the vertical direction is Then we have: At the moment of falling into the water,

[0075]

[0076] After entering the water, the horizontal velocity is:

[0077] In the formula, m is the mass of the thrown object, and t is the time it takes for the object to move after entering the water. Let be the cross-sectional area of ​​the object in the vertical plane. We can obtain:

[0078] After entering the water, the vertical velocity is:

[0079] In the formula, m is the mass of the thrown object, and t is the time it takes for the object to move after entering the water. Let be the cross-sectional area of ​​the object on the horizontal plane. We can obtain:

[0080] Therefore, the velocities of the projectile's trajectory along the x-axis and y-axis are functions of the time t, respectively. and .

[0081] The displacement coordinates of the object in the coordinate system are respectively expressed as: and Then we have:

[0082]

[0083] In the formula, T represents the time it takes for the object to travel after entering the water. According to the formula, we can obtain:

[0084]

[0085] Based on the above, let the coordinates of the location of camera 1 be... Then we have:

[0086] Let the coordinates of the camera 2's placement point be... By confirming the vertical direction of the thrown object, we can determine its displacement underwater. The position of the y-axis in the corresponding coordinate system .

[0087] That is, we get:

[0088] Therefore, the motion time T2 of the thrown object from the moment it enters the water to the position perpendicular to camera 2 can be calculated, and then:

[0089] thereby:

[0090] Similarly, the travel time of the projectile can be deduced from the vertical coordinates of the subsequent cameras, and the horizontal coordinates of the cameras can be calculated.

[0091] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the method for determining the observation point of the camera in this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0092] This application also provides a device for determining the observation point of a camera, please refer to... Figure 4 The camera's observation point determination device includes: The parameter acquisition module 10 is used to acquire the initial motion parameters of the moving object, the first medium resistance, the second medium resistance, and the camera field of view parameters of multiple cameras used to capture the moving object. The first trajectory determination module 20 is used to determine the first motion trajectory of the moving object in the first medium based on the initial motion parameters and the first medium resistance. The process parameter determination module 30 is used to determine the process motion parameters of the moving object from the first medium to the second medium based on the first motion trajectory and the initial motion parameters. The second trajectory determination module 40 is used to determine the second motion trajectory of the moving object in the second medium based on the process motion parameters and the resistance of the second medium. The observation point determination module 50 is used to determine the target observation point of each camera based on the first motion trajectory, the second motion trajectory and the camera field of view parameters, so as to capture the moving object through the target observation point.

[0093] The camera observation point determination device provided in this application, employing the camera observation point determination method in the above embodiments, can solve the technical problem of shooting blind spots or image interruptions occurring in the medium switching area, making it difficult to achieve continuous and complete shooting of the entire process of cross-medium movement. Compared with the prior art, the beneficial effects of the camera observation point determination device provided in this application are the same as those of the camera observation point determination method provided in the above embodiments, and other technical features in the camera observation point determination device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0094] In one embodiment, the observation point determination module 50 is further configured to obtain a preset field of view overlap amount; Based on the camera field of view parameters and the field of view overlap, the target observation point of each camera is determined according to the first motion trajectory and the second motion trajectory.

[0095] In one embodiment, the observation point determination module 50 is further configured to determine the target motion trajectory based on the first motion trajectory and the second motion trajectory; Based on the camera field of view parameters, determine the coverage length of each camera's field of view along the target's motion trajectory and the reference observation point of the reference camera; Based on the reference observation point, the coverage length, and the field of view overlap, the target observation point of the adjacent camera adjacent to the reference camera is determined along the target motion trajectory. Using the adjacent camera as the reference camera, return to the step of determining the target observation point of the adjacent camera along the target motion trajectory based on the reference observation point, the coverage length, and the field of view overlap, until the target observation point of each camera is obtained.

[0096] In one embodiment, the process parameter determination module 30 is further configured to determine, based on the first motion trajectory, the first boundary position and motion time of the moving object reaching the interface between the first medium and the second medium; Based on the motion time and the initial motion parameters, determine the process velocity of the moving object at the interface; The first boundary position and the process velocity are used as process motion parameters.

[0097] In one embodiment, the first trajectory determination module 20 is further configured to establish the motion equation of the moving object in the first medium based on the initial motion parameters and the first medium resistance; Using the initial motion parameters as initial conditions, the motion equations are solved to obtain the first motion relationship of the moving object's position in the first medium over time, and the first motion relationship is used as the first motion trajectory of the moving object in the first medium.

[0098] In one embodiment, the parameter acquisition module 10 is further configured to acquire the initial position and initial velocity of the moving object at the start time, and use the initial position and initial velocity as initial motion parameters; The first density of the first medium, the first drag coefficient of the moving object in the first medium, and the first characteristic area are obtained, and the first density, the first drag coefficient, and the first characteristic area are used as the first medium drag. The second density of the second medium, the second drag coefficient of the moving object in the second medium, and the second characteristic area are obtained, and the second density, the second drag coefficient, and the second characteristic area are used as the drag of the second medium. Obtain the field of view of each camera and use the field of view as the camera's field of view parameter.

[0099] In one embodiment, the observation point determination module 50 is further configured to analyze the captured image data to determine the motion trajectory data, posture change data, and deformation data of the moving object during its cross-medium motion. Based on the motion trajectory data, the posture change data, and the deformation data, the motion stability, posture change rationality, and structural deformation of the moving object are evaluated to obtain the evaluation results. Based on the evaluation results, the motion parameters, attitude parameters, or structural parameters of the moving object are optimized.

[0100] This application provides a camera observation point determination device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the camera observation point determination method in the above embodiment 1.

[0101] The following is for reference. Figure 5The diagram illustrates a structural schematic of a camera observation point determination device suitable for implementing embodiments of this application. The camera observation point determination device in embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 5 The camera observation point determination device shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0102] like Figure 5 As shown, the camera observation point determination device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in ROM (Read Only Memory) 1002 or a program loaded from storage device 1003 into RAM (Random Access Memory) 1004. RAM 1004 also stores various programs and data required for the operation of the camera observation point determination device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via bus 1005. Input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, LCDs (Liquid Crystal Displays), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the camera's observation point determination device to communicate wirelessly or wiredly with other devices to exchange data. Although the figure shows camera observation point determination devices with various systems, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems can be implemented alternatively.

[0103] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0104] The camera observation point determination device provided in this application, employing the camera observation point determination method in the above embodiments, can solve the technical problem of blind spots or image interruptions occurring in the medium switching area, making it difficult to achieve continuous and complete shooting of the entire process of cross-medium movement. Compared with the prior art, the beneficial effects of the camera observation point determination device provided in this application are the same as those of the camera observation point determination method provided in the above embodiments, and other technical features of this camera observation point determination device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0105] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0106] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0107] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the camera observation point determination method in the above embodiments.

[0108] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, RAM (Random Access Memory), ROM (Read Only Memory), EPROM (Erasable Programmable Read Only Memory or Flash Memory), optical fibers, CD-ROM (CD-Read Only Memory), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0109] The aforementioned computer-readable storage medium may be included in the camera's observation point determination device; or it may exist independently and not be assembled into the camera's observation point determination device.

[0110] The aforementioned computer-readable storage medium carries one or more programs that, when executed by a camera observation point determination device, cause the camera observation point determination device to: acquire initial motion parameters of a moving object, a first medium resistance, a second medium resistance, and camera field-of-view parameters of multiple cameras used to photograph the moving object; determine a first motion trajectory of the moving object in the first medium based on the initial motion parameters and the first medium resistance; determine process motion parameters of the moving object as it enters the second medium based on the first motion trajectory and the initial motion parameters; determine a second motion trajectory of the moving object in the second medium based on the process motion parameters and the second medium resistance; and determine target observation points for each camera based on the first motion trajectory, the second motion trajectory, and the camera field-of-view parameters, so as to photograph the moving object through the target observation points.

[0111] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including LAN (Local Area Network) or WAN (Wide Area Network)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0112] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0113] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0114] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the observation point determination method of the camera described above. This solves the technical problem of blind spots or image interruptions occurring in the medium switching area, making it difficult to achieve continuous and complete recording of the entire process of movement across media. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the observation point determination method of the camera provided in the above embodiments, and will not be repeated here.

[0115] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A method for determining the observation point of a camera, characterized in that, The method includes: The initial motion parameters of the moving object, the first medium resistance, the second medium resistance, and the camera field of view parameters of multiple cameras used to capture the moving object are obtained. Based on the initial motion parameters and the first medium resistance, the first motion trajectory of the moving object in the first medium is determined; Based on the first motion trajectory and the initial motion parameters, determine the motion parameters of the moving object as it moves from the first medium into the second medium; Based on the process motion parameters and the resistance of the second medium, the second motion trajectory of the moving object in the second medium is determined; Based on the first motion trajectory, the second motion trajectory, and the camera field of view parameters, the target observation point of each camera is determined so as to capture the moving object through the target observation point.

2. The method as described in claim 1, characterized in that, Based on the first motion trajectory, the second motion trajectory, and the camera field of view parameters, the target observation point position of each camera is determined, including: Obtain the preset field-of-view overlap amount; Based on the camera field of view parameters and the field of view overlap, the target observation point of each camera is determined according to the first motion trajectory and the second motion trajectory.

3. The method as described in claim 2, characterized in that, The step of determining the target observation point position of each camera based on the camera's field of view parameters and the field of view overlap, using the first motion trajectory and the second motion trajectory, includes: The target motion trajectory is determined based on the first motion trajectory and the second motion trajectory; Based on the camera field of view parameters, determine the coverage length of each camera's field of view along the target's motion trajectory and the reference observation point of the reference camera; Based on the reference observation point, the coverage length, and the field of view overlap, the target observation point of the adjacent camera adjacent to the reference camera is determined along the target motion trajectory. Using the adjacent camera as the reference camera, return to the step of determining the target observation point of the adjacent camera along the target motion trajectory based on the reference observation point, the coverage length, and the field of view overlap, until the target observation point of each camera is obtained.

4. The method as described in claim 1, characterized in that, The step of determining the motion parameters of the moving object as it enters the second medium from the first medium based on the first motion trajectory and the initial motion parameters includes: Based on the first motion trajectory, determine the first boundary position and motion time of the moving object at the interface between the first medium and the second medium; Based on the motion time and the initial motion parameters, determine the process velocity of the moving object at the interface; The first boundary position and the process velocity are used as process motion parameters.

5. The method as described in claim 1, characterized in that, Determining the first trajectory of the moving object in the first medium based on the initial motion parameters and the first medium resistance includes: Based on the initial motion parameters and the first medium resistance, establish the motion equation of the moving object in the first medium; Using the initial motion parameters as initial conditions, the motion equations are solved to obtain the first motion relationship of the moving object's position in the first medium over time, and the first motion relationship is used as the first motion trajectory of the moving object in the first medium.

6. The method as described in claim 1, characterized in that, The acquisition of the initial motion parameters of the moving object, the first medium resistance, the second medium resistance, and the camera field-of-view parameters of the multiple cameras used to capture the moving object includes: Obtain the initial position and initial velocity of the moving object at the start time, and use the initial position and initial velocity as initial motion parameters; The first density of the first medium, the first drag coefficient of the moving object in the first medium, and the first characteristic area are obtained, and the first density, the first drag coefficient, and the first characteristic area are used as the first medium drag. The second density of the second medium, the second drag coefficient of the moving object in the second medium, and the second characteristic area are obtained, and the second density, the second drag coefficient, and the second characteristic area are used as the drag of the second medium. Obtain the field of view of each camera and use the field of view as the camera's field of view parameter.

7. The method as described in claim 1, characterized in that, After the step of determining the target observation point of each camera based on the first motion trajectory, the second motion trajectory, and the camera field of view parameters, so as to capture the moving object through the target observation point, the method further includes: The captured image data is analyzed to determine the motion trajectory data, posture change data, and deformation data of the moving object during its cross-medium motion. Based on the motion trajectory data, the posture change data, and the deformation data, the motion stability, posture change rationality, and structural deformation of the moving object are evaluated to obtain the evaluation results. Based on the evaluation results, the motion parameters, attitude parameters, or structural parameters of the moving object are optimized.

8. A device for determining the observation point of a camera, characterized in that, The device includes: The parameter acquisition module is used to acquire the initial motion parameters of the moving object, the first medium resistance, the second medium resistance, and the camera field of view parameters of multiple cameras used to capture the moving object. The first trajectory determination module is used to determine the first motion trajectory of the moving object in the first medium based on the initial motion parameters and the first medium resistance. The process parameter determination module is used to determine the process motion parameters of the moving object from the first medium to the second medium based on the first motion trajectory and the initial motion parameters. The second trajectory determination module is used to determine the second motion trajectory of the moving object in the second medium based on the process motion parameters and the resistance of the second medium. The observation point determination module is used to determine the target observation point of each camera based on the first motion trajectory, the second motion trajectory, and the camera field of view parameters, so as to capture images of the moving object through the target observation point.

9. A device for determining the observation point of a camera, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the method for determining the observation point of the camera as described in any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the camera observation point determination method as described in any one of claims 1 to 7.

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