Motion tracking evaluation method and system

Abstract

The present application relates to a motion tracking evaluation method and a system. The method is applied to a tracking evaluation apparatus. The tracking evaluation apparatus performs motion tracking evaluation on a gimbal device. The method comprises: reading a video acquired by the gimbal device; determining first information related to a moving identification target in the video; determining second information related to a background identification target in the video; and on the basis of the first information and / or the second information, determining index information for evaluating the gimbal device. According to the motion tracking evaluation method and the system provided by the present application, the information related to the moving identification target and the background identification target in the video acquired by the gimbal device is processed to obtain the quantitative index for evaluating motion tracking, thereby implementing evaluation of a motion tracking function of the gimbal device, avoiding the problems of subjectivity and large errors caused by manual evaluation, and enabling an evaluation process more objective and accurate.

Description

Mobile tracking evaluation method and system Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a mobile tracking evaluation method and system. Background Art

[0002] Pan / Tilt (Pan / Tilt) devices, such as security cameras, often feature "motion tracking," which is used to track moving targets. This allows the camera to focus on areas where the target is moving, even with a limited field of view. When fine-tuning motion tracking, it's important to evaluate the tracking performance.

[0003] The existing approach is subjective evaluation, which mainly involves technicians observing the response time of the pan-tilt device when the target moves, the position of the target in the field of view of the pan-tilt device when the target stops moving, the number of tracking failures when the target moves quickly or back and forth, and the number of pauses and swings. The mobile tracking capability of the pan-tilt device is evaluated based on the data observed by the technicians.

[0004] However, the above-mentioned prior art methods are highly subjective and may result in large errors due to manual estimation.

[0005] Summary of the Invention

[0006] In order to solve the problem that the evaluation effect of the mobile tracking function of the gimbal device in the existing technology is too subjective and has large errors, this application proposes a mobile tracking evaluation scheme, which quantifies scenarios and indicators, and thus can more effectively optimize the "mobile tracking" effect.

[0007] According to a first aspect of the present application, a mobile tracking evaluation method is provided, which is applied to a tracking evaluation device, wherein the tracking evaluation device performs mobile tracking evaluation on a pan-tilt device, and is characterized in that the method includes:

[0008] Read the video captured by the PTZ device;

[0009] Determining first information related to a mobile identifier in the video;

[0010] Determining second information related to a background marker in the video; and

[0011] Determine index information for evaluating the pan / tilt device based on the first information and / or the second information.

[0012] According to a second aspect of the present application, a mobile tracking test system is provided, comprising:

[0013] Background markers, fixed at preset positions;

[0014] A moving marker moves in a preset direction relative to the background marker;

[0015] A pan / tilt device, configured to capture the background marker and the moving marker to form a video; and

[0016] A tracking and evaluation device is used to execute the method described in the first aspect.

[0017] According to a third aspect of the present application, an electronic device is provided, including:

[0018] processor; and

[0019] The memory stores computer instructions, and when the computer instructions are executed by the processor, the processor is caused to perform the method described in the first aspect.

[0020] According to a fourth aspect of the present application, a non-transitory computer storage medium is provided, storing a computer program, which, when executed by multiple processors, enables the processors to execute the method described in the first aspect.

[0021] According to the mobile tracking evaluation method and system provided in the present application, information related to mobile markers and background markers in the video collected by the pan-tilt device is processed to obtain quantitative indicators for evaluating mobile tracking, thereby realizing the evaluation of the mobile tracking function of the pan-tilt device, avoiding the subjective and large-error problems caused by manual evaluation, and making the evaluation process more objective and accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without exceeding the scope of protection required by this application.

[0023] FIG1 is a schematic diagram of a mobile tracking and evaluation system according to an embodiment of the present application.

[0024] FIG2 is a flowchart of a mobile tracking evaluation method according to an embodiment of the present application.

[0025] FIG3 is a flow chart of determining a response time according to an embodiment of the present application.

[0026] FIG4 is a flowchart of determining a tracking completion time according to an embodiment of the present application.

[0027] FIG5 is a flow chart of determining center deviation according to an embodiment of the present application.

[0028] FIG6 is a flow chart of determining whether a pan-tilt device is swinging according to an embodiment of the present application.

[0029] FIG7 is a flowchart of determining whether a PTZ device has paused according to an embodiment of the present application.

[0030] FIG8 is a flow chart of determining whether a pan-tilt device has lost tracking according to an embodiment of the present application.

[0031] FIG9 is a structural diagram of an electronic device provided by this application. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0033] FIG1 is a schematic diagram of a mobile tracking and evaluation system according to an embodiment of the present application. As shown in FIG1 , the system includes a pan-tilt device to be tested, one or more background markers, a mobile marker, and a tracking and evaluation device. The tracking and evaluation device is connected to the pan-tilt device, and the connection method can be a wired connection or a wireless connection, without any limitation. The tracking and evaluation device can be a mobile phone, a personal computer, etc., and the pan-tilt device can be a network camera. The background marker and the mobile marker are equipped with identification information to facilitate the network camera to collect the background marker and the mobile marker. The identification information equipped on the background marker and the mobile marker can be an AprilTag, or other identification methods such as a QRCode. AprilTag is a positioning QR code commonly used in this field, which is designed to encode a smaller data payload (for example, between 4 and 12 bits), allowing it to be detected more reliably and can be detected from a longer range.

[0034] According to some embodiments, the background marker is fixed at a preset position, such as fixed on a shelf, and the mobile marker is to equip the identification information on a mobile object, such as a person holding the identification information in his hand or with the identification information on his back and moving relative to the background marker, or a car with identification information on it moves relative to the background marker, and the pan-tilt device tracks the movement of the mobile marker. The pan-tilt device usually has a certain direction of movement. According to one embodiment, a pan-tilt device can move horizontally and can track the movement of a horizontally moving mobile marker; if the mobile marker moves in other directions, the position of the pan-tilt device can be adjusted accordingly to track the mobile marker moving in other directions. For example, if the mobile marker moves in the vertical direction, the pan-tilt device can be placed flat and the movement of the vertically moving mobile marker can also be tracked.

[0035] According to some embodiments, after the PTZ device captures video of background markers and mobile markers, the tracking and evaluation device processes and analyzes the video captured by the PTZ device to derive quantitative indicators for evaluating mobile tracking, thereby evaluating the mobile tracking function of the PTZ device. To make the evaluation of the mobile tracking function of the PTZ device more objective and eliminate interference from other factors, a slide rail can be constructed and the movement of the mobile marker controlled by a corresponding program to ensure that the movement direction, speed, and distance of the mobile marker remain the same during each test.

[0036] According to some embodiments, the quantitative indicators for evaluating mobile tracking may include one or more of response time, tracking completion time, center deviation, number of swings, number of pauses, number of lost tracking, etc. Among them, the response time refers to the time from when the mobile marker moves to when the gimbal device starts tracking. The smaller the response time, the better the effect. The tracking completion time refers to the time from when the mobile marker moves to when the gimbal device completes tracking. Under the condition that the time for the mobile marker to move is fixed, the shorter the tracking completion time, the better the effect. The center deviation refers to the distance from the center point of the mobile marker to the center point of the field of view of the gimbal device during the movement of the mobile marker. The smaller the distance, the better the effect. The number of swings refers to the number of times the gimbal device swings back and forth during the movement of the mobile marker. The smaller the number of swings, the better the effect. The number of pauses refers to the number of times the gimbal device pauses during the movement of the mobile marker. The smaller the number, the better the effect. The number of lost tracking refers to the number of times the gimbal device fails to track the mobile marker during rapid or back-and-forth movement. The smaller the number, the better the effect.

[0037] Figure 2 is a flow chart of a mobile tracking evaluation method according to an embodiment of the present application. As shown in Figure 2, the method includes the following steps.

[0038] Step S201, reading the video captured by the PTZ device;

[0039] Step S202, determining first information related to a moving marker in the video;

[0040] Step S203, determining second information related to background markers in the video; and

[0041] Step S204: determining index information for evaluating the PTZ device according to the first information and / or the second information.

[0042] According to some embodiments, after the pan-tilt device captures background markers and mobile markers to obtain videos, the tracking evaluation device processes and analyzes the videos obtained by the pan-tilt device to obtain quantitative indicators for evaluating mobile tracking, thereby evaluating the mobile tracking function of the pan-tilt device.

[0043] According to some embodiments, after the tracking and evaluation device processes and analyzes the video captured by the PTZ device, it can obtain various information, such as the position and moving direction of the moving marker, the position of the background marker, the position and distance relative to the moving marker, the center point of the field of view of the PTZ device, etc., wherein the information related to the moving marker is set as the first information, and the information related to the background marker is set as the second information. The tracking and evaluation device determines the index information for evaluating the PTZ device based on the first information and / or the second information obtained. As described above, the index information for evaluating the PTZ device may include one or more of the following: response time, tracking completion time, center deviation, number of swings, number of pauses, number of lost tracking, etc.

[0044] Next, Figures 3 to 8 of the present application respectively describe the determination of response time, tracking completion time, center deviation, number of swings, number of pauses, and number of lost tracking times.

[0045] Figure 3 is a flow chart of determining the response time according to an embodiment of the present application. As shown in Figure 3, the method includes the following steps.

[0046] Step S301, reading the video captured by the PTZ device;

[0047] Step S302, determining the first time when the position of the moving marker in the video begins to change;

[0048] Step S303, determining a second time when the position of the background marker in the video begins to change; and

[0049] Step S304: determining a response time of the PTZ device according to the first time and the second time.

[0050] After the PTZ device captures video of the background marker and the moving marker, the tracking and evaluation device processes and analyzes the video data. According to some embodiments, determining the response time requires knowing the time when the moving marker in the video begins to move and the time when the PTZ device begins to move. The response time of the PTZ device is determined based on the time difference between these two times.

[0051] According to some embodiments, the tracking and evaluation device processes the identification information (e.g., AprilTag) of the background markers and the mobile markers in the video to obtain the positions of the background markers and the mobile markers, such as their coordinates. The time when the positions of the background markers and the mobile markers in the video begin to change is recorded (e.g., forming a timestamp), and the first time when the position of the mobile marker in the video begins to change is determined, and the second time when the position of the background marker in the video begins to change is determined. Based on the time difference between the first time and the second time, the response time of the pan-tilt device is determined.

[0052] It should be noted that the background marker itself does not move. During the process of the PTZ device tracking the movement of the mobile marker, the background marker moves relative to the PTZ device due to the movement of the PTZ device. This is reflected in the video captured by the PTZ device, where the position of the background marker changes in the video. The second time recorded is the time when the position of the background marker in the video begins to change, and the time when the position of the background marker changes in the video indicates the time when the PTZ device begins to move. In this way, by determining the first time when the position of the mobile marker in the video begins to change and the second time when the position of the background marker in the video begins to change, the response time of the PTZ device can be determined.

[0053] Fig. 4 is a flow chart of determining the tracking completion time according to an embodiment of the present application. As shown in Fig. 3, the method includes the following steps.

[0054] Step S401, reading the video captured by the PTZ device;

[0055] Step S402, determining a third time from when the position of the background marker in the video starts to change to when the position does not change, when the position relationship between the background marker and the mobile marker does not change and the position of the background marker does not change; and

[0056] Step S403: determining the tracking completion time of the PTZ device according to the third time.

[0057] According to some embodiments, the tracking and evaluation device processes the identification information (e.g., AprilTag) of the background marker and the mobile marker in the video to obtain the positions of the background marker and the mobile marker, such as their coordinates. The positions of the background marker and the mobile marker are used to determine whether the positional relationship between the background marker and the mobile marker has changed. If it is determined that there has been a change, it indicates that the pan-tilt device is still performing tracking. If the positional relationship between the background marker and the mobile marker does not change and the position of the background marker does not change, it indicates that the pan-tilt device has stopped tracking. In this case, the time from when the position of the background marker in the video begins to change to when the position does not change is determined, and this time is the tracking completion time of the pan-tilt device.

[0058] Fig. 5 is a flow chart of determining the center deviation according to an embodiment of the present application. As shown in Fig. 4 , the method includes the following steps.

[0059] Step S501, reading the video captured by the PTZ device;

[0060] Step S502, determining the position of the moving marker in one or more video frames in the video;

[0061] Step S503, determining the distance between the position of the mobile marker and the center point of the field of view of the pan / tilt device; and

[0062] Step S504: determining the center deviation of the pan / tilt device according to the distance.

[0063] According to some embodiments, a tracking and evaluation device processes identification information (e.g., AprilTag) of a moving marker in a video to obtain the position of the moving marker, such as the coordinates of the moving marker. Ideally, when a PTZ device tracks a moving marker, the center of the PTZ device's field of view should correspond to the position of the moving marker. However, due to various reasons such as device debugging or hardware issues, there is often a certain deviation between the center of the PTZ device's field of view and the position of the moving marker.

[0064] According to some embodiments, for a video frame, the distance between the position of the moving marker and the center of the field of view of the pan-tilt device can be determined as the center deviation.

[0065] According to some embodiments, to improve the accuracy of calculating the center deviation, the distance between the position of a moving marker and the center of the PTZ device's field of view can be calculated across multiple video frames. For example, for any video frame across multiple videos, the position of the moving marker is determined, and the distance between the position of the moving marker and the center of the PTZ device's field of view is calculated. This will yield multiple distances across multiple video frames, and the center deviation of the PTZ device can be determined based on these multiple distances. According to some embodiments, the mean square error (MSE) can be calculated based on these multiple distances to obtain the center deviation.

[0066] According to some embodiments, in the process of calculating the distance between the position of the moving marker and the center of the field of view of the pan-tilt device, the pixels between the moving marker and the center of the field of view in the video frame can be calculated. In order to reduce the impact of resolution on the result, the calculation can be performed in percentage. During the movement of the object, there may be a situation where the detection of the marker fails. In this case, this frame can be ignored. The proportion of failed frames cannot be too high. For example, it can be determined that the proportion of failed frames exceeds 2%, then the material is considered to have failed, and the pan-tilt device needs to re-record.

[0067] FIG6 is a flow chart of determining whether a pan / tilt device is swinging according to an embodiment of the present application. As shown in FIG6 , the method includes the following steps.

[0068] Step S601, reading the video captured by the PTZ device;

[0069] Step S602, determining the direction in which the background marker in the video moves relative to the moving marker; and

[0070] Step S603, in response to the background marker in the video moving relative to the moving marker in a first direction and then moving relative to the moving marker in a second direction, determining that the pan / tilt device swings, wherein the second direction is opposite to the first direction.

[0071] According to some embodiments, the tracking and evaluation device processes identification information (e.g., AprilTag) of background markers and mobile markers in the video to obtain the positions of the background markers and mobile markers, such as their coordinates. The positions of the background markers and mobile markers are used to determine whether the positional relationship between the background markers and mobile markers has changed and the direction of relative movement between the background markers and mobile markers.

[0072] In this application, when the PTZ device captures a video, the moving marker always moves in a preset direction, such as east, south, clockwise around the background marker, counterclockwise around the background marker, etc. Thus, if the PTZ device tracks the moving marker, it will also move in a preset direction. However, if the PTZ device moves in a direction opposite to the preset direction, it indicates that the PTZ device is swinging.

[0073] While the PTZ device is tracking the moving marker, the background marker itself remains in the same position. However, in the video captured by the PTZ device, the background marker and the moving marker move relative to each other. Furthermore, the direction in which the background marker moves relative to the moving marker corresponds to the preset direction of movement of the moving marker, which for ease of explanation is set as a first direction. If the PTZ device moves in a direction opposite to the preset direction, the direction in which the background marker moves relative to the moving marker is opposite to the first direction. In this way, whether the PTZ device is swinging can be determined by determining whether the direction in which the background marker moves relative to the moving marker has changed.

[0074] According to some embodiments, in order to evaluate the motion tracking function of the pan-tilt device, the number of times the pan-tilt device swings is counted based on processing and analyzing the video.

[0075] FIG7 is a flow chart of determining whether a PTZ device has paused according to an embodiment of the present application. As shown in FIG7 , the method includes the following steps.

[0076] Step S701, reading the video captured by the PTZ device;

[0077] Step S702, determining the position of the moving marker in the video;

[0078] Step S703, determining the position of the background marker in the video; and

[0079] Step S704 , in response to the background marker position not changing while the position of the moving marker in the video changes, determining that the pan / tilt device has paused.

[0080] According to some embodiments, the tracking and evaluation device processes identification information (e.g., AprilTag) of background markers and mobile markers in the video to obtain the positions of the background markers and mobile markers, such as their coordinates. The positions of the background markers and mobile markers are used to determine whether the positional relationship between the background markers and mobile markers has changed.

[0081] When the position of a moving marker changes, the PTZ device will normally track it, and the position of the background marker in the video will also change. However, if the position of the background marker in the video does not change while the moving marker's position changes, it means that the PTZ device is not tracking the moving marker, and thus the PTZ device is determined to be paused.

[0082] According to some embodiments, in order to evaluate the motion tracking function of the pan-tilt device, the number of pauses of the pan-tilt device is counted based on processing and analysis of the video.

[0083] FIG8 is a flow chart of determining when a PTZ device is lost according to an embodiment of the present application. As shown in FIG8 , the method includes the following steps.

[0084] Step S801, reading the video captured by the PTZ device;

[0085] Step S802, determining the position of the moving marker in the video;

[0086] Step S803: In response to not obtaining the moving marker in the video, it is determined that the pan-tilt device has lost tracking.

[0087] According to some embodiments, the tracking and evaluation device processes the identification information (e.g., AprilTag) of a mobile marker in the video to obtain the location of the mobile marker, such as the coordinates of the mobile marker. Under normal circumstances, the PTZ device will track the mobile marker, and the mobile marker will always be present in the video. If the mobile marker is not detected in the video, it is determined that the PTZ device has lost tracking.

[0088] According to some embodiments, in order to evaluate the motion tracking function of the PTZ device, the number of times the PTZ device loses tracking is counted based on processing and analysis of the video.

[0089] After determining the quantitative indicators for evaluating mobile tracking, the mobile tracking function of the gimbal device is evaluated according to the quantitative indicators, wherein the quantitative indicators may include response time, tracking completion time, center deviation, number of swings, number of pauses and number of lost tracking. The mobile tracking function of the gimbal device can be evaluated based on one or more of these quantitative indicators. For example, the mobile tracking function of the gimbal device can be evaluated based on the response time, or based on the response time and tracking completion time. This application does not impose any limitations on this.

[0090] According to one embodiment, Table 1 shows a specific example of evaluating the mobile tracking function of a pan-tilt device based on response time, tracking completion time, center deviation, number of swings, number of pauses, and number of tracking-losses.

[0091] Table 1

[0092] According to the mobile tracking evaluation method and system provided in the present application, information related to mobile markers and background markers in the video collected by the pan-tilt device is processed to obtain quantitative indicators for evaluating mobile tracking, thereby realizing the evaluation of the mobile tracking function of the pan-tilt device, avoiding the subjective and large-error problems caused by manual evaluation, and making the evaluation process more objective and accurate.

[0093] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0094] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all optional embodiments, and the actions and modules involved are not necessarily required by this application.

[0095] In the several embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, 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, and the indirect coupling or communication connection of the devices or units can be electrical connection or other forms.

[0096] Referring to FIG9 , FIG9 provides an electronic device including a processor and a memory. The memory stores computer instructions, which, when executed by the processor, enable the processor to execute the computer instructions to implement the method and detailed solutions shown in FIG2 to FIG8 .

[0097] It should be understood that the above-described device embodiments are merely illustrative, and the devices disclosed herein may also be implemented in other ways. For example, the division of units / modules described in the above-described embodiments is merely a logical functional division, and actual implementations may employ alternative divisions. For example, multiple units, modules, or components may be combined or integrated into another system, or some features may be omitted or not implemented.

[0098] In addition, unless otherwise specified, the functional units / modules in the various embodiments of the present invention may be integrated into a single unit / module, each unit / module may exist physically separately, or two or more units / modules may be integrated together. The aforementioned integrated units / modules may be implemented in the form of hardware or software program modules.

[0099] If the integrated unit / module is implemented in hardware, the hardware may be a digital circuit, an analog circuit, or the like. The physical implementation of the hardware structure includes, but is not limited to, transistors, memristors, and the like. Unless otherwise specified, the processor or chip may be any appropriate hardware processor, such as a CPU, GPU, FPGA, DSP, and ASIC. Unless otherwise specified, the on-chip cache, off-chip memory, and storage may be any appropriate magnetic storage medium or magneto-optical storage medium, such as resistive random access memory (RRAM), dynamic random access memory (DRAM), static random access memory (SRAM), enhanced dynamic random access memory (EDRAM), high-bandwidth memory (HBM), hybrid memory cube (HMC), and the like.

[0100] If the integrated unit / module is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a memory, including a number of instructions for enabling a computer electronic device (which can be a personal computer, a server or a network electronic device, etc.) to perform all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned memory includes: various media that can store program codes, such as a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0101] An embodiment of the present application also provides a non-transitory computer storage medium storing a computer program. When the computer program is executed by multiple processors, the processors execute the method and detailed solutions shown in Figures 2 to 8.

[0102] The embodiments of the present application are described in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only intended to help understand the method and core ideas of the present application. At the same time, changes or modifications made by those skilled in the art based on the ideas of the present application, the specific implementation methods, and the scope of application of the present application, all fall within the scope of protection of the present application. In summary, the contents of this specification should not be construed as limiting the present application.

Claims

1. A mobile tracking evaluation method, applied to a tracking evaluation device, wherein the tracking evaluation device performs mobile tracking evaluation on a pan-tilt device, characterized in that: The method comprises: Read the video captured by the PTZ device; Determining first information related to a mobile identifier in the video; Determining second information related to a background marker in the video; and Determine index information for evaluating the pan / tilt device based on the first information and / or the second information.

2. The method according to claim 1, characterized in that The determining of the first information related to the mobile marker in the video includes: Determine the first time when the position of the moving marker in the video begins to change; The determining of the second information related to the background marker in the video includes: Determine a second time when the position of the background marker in the video begins to change; The determining of the index information for evaluating the PTZ device according to the first information and / or the second information includes: The response time of the pan / tilt device is determined according to the first time and the second time.

3. The method according to claim 1, characterized in that The determining of the second information related to the background marker in the video includes: When the positional relationship between the background marker and the mobile marker does not change and the position of the background marker does not change, determining a third time from when the position of the background marker in the video starts to change to when the position does not change; The determining of the index information for evaluating the PTZ device according to the first information and / or the second information includes: The tracking completion time of the pan / tilt device is determined according to the third time.

4. The method according to claim 1, characterized in that The determining of the first information related to the mobile marker in the video includes: Determining the position of the moving marker in one or more video frames in the video; and Determine the distance between the position of the mobile marker and the center point of the field of view of the pan / tilt device; The determining of the index information for evaluating the PTZ device according to the first information and / or the second information includes: The center deviation of the pan / tilt device is determined according to the distance.

5. The method according to claim 1, characterized in that The determining of the second information related to the background marker in the video includes: Determine the direction in which the background marker in the video moves relative to the moving marker; The determining of the index information for evaluating the PTZ device according to the first information and / or the second information includes: In response to the background marker in the video moving in a first direction relative to the moving marker and then moving in a second direction relative to the moving marker, it is determined that the pan / tilt device swings, wherein the second direction is opposite to the first direction.

6. The method according to claim 1, characterized in that The determining of the first information related to the mobile marker in the video includes: Determining the position of the moving marker in the video; The determining of the second information related to the background marker in the video includes: Determine the position of the background marker in the video; The determining of the index information for evaluating the PTZ device according to the first information and / or the second information includes: In response to the fact that the position of the background marker remains unchanged while the position of the moving marker in the video changes, it is determined that the pan / tilt device pauses.

7. The method according to claim 1, characterized in that The determining of the first information related to the mobile marker in the video includes: Determining the position of the moving marker in the video; The determining of the index information for evaluating the PTZ device according to the first information and / or the second information includes: In response to not detecting the moving marker in the video, it is determined that the pan / tilt device has been lost.

8. A mobile tracking test system, comprising: Background markers, fixed at preset positions; A moving marker moves in a preset direction relative to the background marker; A pan / tilt device, used for collecting the background marker and the moving marker to form a video; as well as A tracking and evaluation device, used to execute the method according to any one of claims 1 to 7.

9. An electronic device, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the method according to any one of claims 1 to 7 when executing the computer program in the memory.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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