CN106225719A - A kind of generation method and device of character array structure light coding pattern - Google Patents
A kind of generation method and device of character array structure light coding pattern Download PDFInfo
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- CN106225719A CN106225719A CN201610634979.7A CN201610634979A CN106225719A CN 106225719 A CN106225719 A CN 106225719A CN 201610634979 A CN201610634979 A CN 201610634979A CN 106225719 A CN106225719 A CN 106225719A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2513—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with several lines being projected in more than one direction, e.g. grids, patterns
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/22—Measuring arrangements characterised by the use of optical techniques for measuring depth
Abstract
The invention discloses a kind of generation method of character array structure light coding pattern, including: generate 2 yuan of 4 rank pseudo-random sequence according to linear feedback shift register；According to described pseudo-random sequence, all enumerate out by 4 rank subsequences in one cycle of sequence, the most therefrom find out the encoder matrix of 11 groups of subsequence one 4x11 of composition；By described encoder matrix repeating mapping to having generation character array coding pattern in periodic gridiron pattern pattern, then form a bigger character array coding pattern.The invention also discloses the generating means of a kind of character array structure light coding pattern.It is many that the present invention has number of codewords in obtained character array coding pattern, the advantage that depth information is more rich during the degree of depth decodes, some cloud is more dense, has good code word error correcting capability and robustness simultaneously.
Description
Technical field
The present invention relates to computer vision, depth perception, three-dimensional reconstruction field, be specifically related in active stereo vision
A kind of structure light coding method for label space projected, especially proposes a kind of character array structure light coding method.
Background technology
Currently without man-machine, 3D printing, robot, virtual implementing helmet, smart mobile phone, Smart Home, recognition of face pay,
The deep development of the industries such as intelligent monitoring, needs to solve environment sensing, natural human-machine interaction, avoidance, 3D scanning, accurate identification etc.
A difficult problem, three dimensional depth cognition technology contributes to solving these difficult problems as key common technology, will greatly discharge and excite people
To the scientific imagination power of Related Research Domain and creativity.
Three dimensional depth cognition technology based on structure light coding can relatively accurately obtain depth information, compares binocular and stands
Body photographic head and TOF (Time of Flight) mode, the depth map information with acquisition is more stable reliably, not by environment shadow
The advantages such as sound, Stereo Matching Algorithm are simple；As a kind of high performance-price ratio, the depth perception skill worked on a large scale highly reliable, applicable
Art, in current and future a very long time, the mainstream technology that man-machine interaction will be become, the smart machine degree of depth obtains.Based on knot
The depth perception method of structure pumped FIR laser, the coding pattern that coding pattern projector is projected is one of key technology, designed
Coding pattern performance will directly affect complexity, depth accuracy and the depth map resolution that degree of depth decoding calculates.
Summary of the invention
The method described in a kind of generation method of character array structure light coding pattern that the purpose of the present invention is to propose to includes: root
2 yuan of 4 rank pseudo-random sequence is generated according to linear feedback shift register；According to described pseudo-random sequence, by one cycle of sequence
4 rank subsequences all enumerate out, the most therefrom find out the encoder matrix of 11 groups of subsequences, one 4x11 of composition；By described volume
Code matrix repeating mapping is to having generation character array coding pattern in periodic gridiron pattern pattern, by character array code pattern
Case is divided into two pieces of independent patterns, then is spun upside down respectively by these two pieces of independent patterns, is then respectively provided at by the pattern after upset
The left and right sides of original encoding pattern, forms a bigger character array coding pattern；The bigger character array formed is compiled
Code pattern based on pattern, through up and down or left and right translate splicing, obtain spliced character array coding pattern；According to horizontal line
Separation principle, rotates centered by pattern center point clockwise or counterclockwise by spliced character array coding pattern
Certain angle, obtains postrotational character array coding pattern；Compile from postrotational character array by rectangle or square
Intercepting out final character array coding pattern in code pattern, described final character array coding pattern is tied as character array
Structure pumped FIR laser pattern for carrying out projection coding to projecting space or target object.
Preferably, according to described pseudo-random sequence, all enumerate out by 4 rank subsequences in one cycle of sequence,
Before the most therefrom finding out the encoder matrix of 11 groups of subsequence one 4x11 of composition, also include: choose gridiron pattern pattern；Described choosing
Take gridiron pattern pattern also to include: choose a certain size gridiron pattern pattern, in each gridiron pattern, have a white or black
Inscribed circle, and according to black and white interval mode periodic arrangement, each circular junction is class diamond-shaped area；Described choose chess
The size of dish grid pattern is 3n × 12n.
Preferably, described according to linear feedback shift register generate 2 yuan of 4 rank pseudo-random sequence farther include: generate
The pseudo-random sequence on one 2 yuan of 4 rank, its cycle is 15, and the subsequence on each 4 rank only occurs once.
Preferably, according to described pseudo-random sequence, all enumerate out, so by 4 rank subsequences in one cycle of sequence
After therefrom find out the encoder matrix of 11 groups of subsequences, one 4x11 of composition and farther include: within a cycle of sequence, each 4
The subsequence on rank only occurs once, all enumerates out by 4 rank subsequences in one cycle of sequence and obtains matrix, every in matrix
Individual 42 system subsequences are all unique；Choose the matrix that 11 groups of subsequences in matrix form 4x11, the son chosen
The binary numeral of sequence every string along matrix from a high position to low level is arranged in order from top to down, and each in this matrix
The window of 4x2 is all unique.
Preferably, described by described encoder matrix repeating mapping to having in periodic gridiron pattern pattern generation symbol battle array
Row coding pattern, is divided into character array coding pattern two pieces of independent patterns, then is spun upside down respectively by these two pieces of independent patterns,
Then the pattern after upset is respectively provided at the left and right sides of original encoding pattern, forms a bigger character array coding pattern
Farther include: the uniqueness window size of encoder matrix is 4x2, i.e. any two row continuous print argyle designs in coding pattern
Coding pattern is unique, thus any two row argyle designs make the pattern formed whole plus middle gridiron pattern pattern
Coding pattern is unique, it is ensured that coding pattern does not has identical code-word type.
Preferably, described will be formed bigger character array coding pattern based on pattern, through up and down or left and right put down
Move splicing, obtain spliced character array coding pattern and farther include: through translating spliced character array code pattern
Case, but horizontal line separation principle can not be met in the horizontal direction.
Preferably, described according to horizontal line separation principle, by spliced character array coding pattern with pattern center point be
Centrally along rotating a certain angle clockwise or counterclockwise, obtain postrotational character array coding pattern and wrap further
Include: spliced character array coding pattern with pattern center along the most certain angle, it is ensured that at water
Square to repeat code word center fall on different vertical coordinate.
The present invention also provides for the generating means of a kind of character array structure light coding pattern, described generating means include pseudo-with
Machine sequence generating unit, encoder matrix component units, character array coding pattern signal generating unit, concatenation unit, rotary unit, cut
Take unit；Described pseudo-random sequence signal generating unit, for generating 2 yuan of 4 rank pseudo-random sequence according to linear feedback shift register；
Described encoder matrix component units, for according to described pseudo-random sequence, by 4 whole sieve of rank subsequence in one cycle of sequence
List, the most therefrom find out the encoder matrix of 11 groups of subsequence one 4x11 of composition；Described character array coding pattern generates
Unit, is used for described encoder matrix repeating mapping to having generation character array code pattern in periodic gridiron pattern pattern
Case, is divided into character array coding pattern two pieces of independent patterns, then is spun upside down respectively by these two pieces of independent patterns, then will turn over
Pattern after Zhuaning is respectively provided at the left and right sides of original encoding pattern, forms a bigger character array coding pattern；Described spelling
Order unit, for will be formed bigger character array coding pattern based on pattern, through up and down or left and right translate splicing,
To spliced character array coding pattern；Described rotary unit, for according to horizontal line separation principle, by spliced symbol battle array
Row coding pattern rotates a certain angle centered by pattern center point clockwise or counterclockwise, obtains postrotational symbol
Number array code pattern；Described interception unit, for by rectangle or square from postrotational character array coding pattern
Intercepting out final character array coding pattern, described final character array coding pattern is as character array structure light coding
Pattern for carrying out projection coding to projecting space or target object.
Preferably, described generating means also includes, chooses unit；Described choose unit, be used for choosing gridiron pattern pattern；Institute
State and choose unit and be further used for: choose a certain size gridiron pattern pattern, in each gridiron pattern, have a white or black
The inscribed circle of color, and according to black and white interval mode periodic arrangement, each circular junction is class diamond-shaped area；Described choose
The size of gridiron pattern pattern is 3n × 12n.
Preferably, described encoder matrix component units is further used for: the 11 groups of subsequences chosen in matrix form one
The matrix of 4x11, the binary numeral of the subsequence chosen every string along matrix from a high position to low level is arranged the most successively
Row, and in this matrix, the window of each 4x2 is unique.
Code word in the character array coding pattern that the present invention is generated meets periodic arrangement, is not free between code word
Remaining, code word is shared that pixel region is little, improves the utilization rate of pixel.The present invention has obtained character array coding pattern
Middle number of codewords is many, the advantage that depth information is more rich during the degree of depth decodes, some cloud is more dense, has good simultaneously
Code word error correcting capability and robustness.
Accompanying drawing explanation
Fig. 1 is the overall flow figure of a kind of character array structure light coding pattern generation of the present invention；
Fig. 2 is a kind of embodiment design that the present invention chooses gridiron pattern pattern；
Fig. 3 is the linear feedback shift register that the present invention applies；
4 rank subsequences in the cycle that Fig. 4 (a) is the present invention to be set out according to pseudo-random sequence；
Fig. 4 (b) is encoder matrix embodiment schematic diagram of the present invention；
Fig. 5 is that encoder matrix repeating mapping is compiled by the present invention to having generation character array in periodic gridiron pattern pattern
Code pattern embodiments schematic diagram；
Fig. 6 is the signal that the present invention carries out the obtained character array coding pattern embodiment of translation splicing to fundamental design
Figure；
Fig. 7 (a) is the reality that the character array structure light coding pattern that the present invention finally gives projects through laser projecting apparatus
Execute the schematic diagram of example；
Fig. 7 (b) is the schematic diagram of abstract character array structure light coding pattern embodiments；
Fig. 8 is the schematic diagram of a kind of character array structure light coding pattern generating apparatus of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Fig. 1 gives the flow chart of a kind of character array structure light coding method for generating pattern of the present invention.
Step 1: choose gridiron pattern pattern.
Choose a certain size gridiron pattern pattern, in each gridiron pattern, have a white or the inscribed circle of black, and
And according to black and white interval mode periodic arrangement, each circular junction is class diamond-shaped area.
In one embodiment of the present of invention, first select pattern based on the gridiron pattern pattern shown in Fig. 2, choose chessboard
The size of grid pattern is 3n × 12n (row, column represents white inscribed circle number respectively, and n takes any positive integer), this gridiron pattern pattern
A white or the inscribed circle of black, such gridiron pattern pattern is had to have periodically in upper each gridiron pattern and anti-dry
Disturb ability strong.The gridiron pattern pattern of black-white colors is because color contrast high energy effectively eliminates the change of different objects surface reflectivity
Change impact projective patterns caused with ambient light.
Step 2: generate 2 yuan of 4 rank pseudo-random sequence according to linear feedback shift register.
Wherein, described linear feedback shift register pre-sets according to primitive polynomial.
The formula (1) of the proper polynomial of the pseudo-random sequence on first n rank is:
Wherein the cycle of this pseudo-random sequence is:
P=2n-1 formula (2)
Generating the pseudo-random sequence on 2 yuan of 4 rank, its cycle is 15, and the subsequence on each 4 rank only occurs once, first
First need to create corresponding linear feedback shift register, at this moment it needs to be determined that the primitive polynomial of this depositor.Deposit for one
The primitive polynomial of device needs to be irreducible polynomial (i.e. can not decompose the multinomial of factor again)；And (x can be divided exactlyp+1)；
And aliquant (xq+ 1), wherein q ＜ p.Therefore the primitive polynomial selected when creating 2 yuan of 4 rank pseudo-random sequence is:
F (x)=x4+ x+1 formula (3)
Utilize linear feedback shift register that this multinomial (3) constitutes as it is shown on figure 3, as can be seen from Figure 3 akBy
ak-n+3With ak-nThe addition carrying out mould two obtains (binary addition), wherein n=4.
If setting original state a3a2a1a0=1000, then the cycle generated by Fig. 3 be the pseudo-random sequence of p be formula
(4):
{ak}=000111101011001000111101011001 ... formula (4)
It should be noted that do not have the sequencing in sequential between step 1 and 2, it is not required that interdepend execution.
Step 1 and 2 can first carry out step 1, it is also possible to first carries out step 2, or performs simultaneously.
Step 3: according to described pseudo-random sequence, all enumerate out, then by 4 rank subsequences in one cycle of sequence
Therefrom find out the encoder matrix of 11 groups of subsequence one 4x11 of composition.
In one embodiment of the invention, at sequence { akA cycle in, the subsequence on each 4 rank only occurs one
Secondary, by sequence { ak4 rank subsequences in one cycle all enumerate out and can obtain the matrix shown in Fig. 4, every in matrix
Individual 42 system subsequences are all unique such as Fig. 4 (a).
Randomly select matrix such as Fig. 4 (b) that 11 groups of subsequences in the matrix shown in Fig. 4 (a) form 4x11, choose
The binary numeral of subsequence every string along matrix from a high position to low level be arranged in order from top to down, and every in this matrix
The window of individual 4x2 is all unique.
Step 4: described encoder matrix repeating mapping is compiled to having generation character array in periodic gridiron pattern pattern
Code pattern, is divided into character array coding pattern two pieces of independent patterns, then is spun upside down respectively, then by these two pieces of independent patterns
Pattern after upset is respectively provided at the left and right sides of original encoding pattern, forms a bigger character array coding pattern.
In one embodiment of the invention, the pseudo random matrix of Fig. 4 (b) is mapped in gridiron pattern pattern, matrix
The diamond-shaped area of the junction of inscribed circle in each element individually corresponding gridiron pattern, this diamond-shaped area is set to white by 1 representative
Color, this diamond-shaped area is set to black by 0 representative.Owing to the uniqueness window size of encoder matrix is 4x2, i.e. in coding pattern
Any two row continuous print argyle designs are unique in coding pattern, thus any two row argyle designs are plus middle chessboard
It is unique in whole coding pattern that grid pattern makees the pattern formed, it is ensured that do not have identical code-word type in coding pattern.
Described bigger character array coding pattern, it is therefore intended that further ensure that the large scale coding pattern of generation meets
Horizontal line separation principle, and make the code word on pattern in level when utilizing this coding pattern that actual object is carried out Range finder
Direction can be moved in sufficiently large scope, when building large scale coding pattern, is not the sub pattern utilizing upper figure to obtain
Carry out simple being repeated cyclically, but in sub pattern two pieces of single patterns are spun upside down the most respectively, after then overturning
Pattern be respectively provided at the left and right sides of original pattern, form a bigger character array coding pattern.
Character array coding pattern shown in Fig. 5 will be obtained by mapping to be divided into two independent patterns and spin upside down respectively, then
It is respectively provided at the left and right sides of original encoding pattern, is formed a bigger character array coding pattern.
Step 5: pattern based on the bigger character array coding pattern that step 4 is formed, through up and down or left and right put down
Move splicing, obtain spliced character array coding pattern.
In one embodiment of the invention, as shown in Figure 6 through translating spliced character array coding pattern, but
Horizontal direction can not meet horizontal line separation principle.
Step 6: according to horizontal line separation principle, by spliced character array coding pattern edge centered by pattern center point
Rotate a certain angle clockwise or counterclockwise, obtain postrotational character array coding pattern.
In one embodiment of the invention, in order to further ensure that the large scale coding pattern of generation meets horizontal line and separates
Principle, and make the code word on pattern in the horizontal direction can be when utilizing this coding pattern that actual object is carried out Range finder
Move in sufficiently large scope, by the spliced character array coding pattern shown in Fig. 6 with pattern center along clockwise or inverse
Hour hands rotate a certain angle, it is ensured that repeat code word center in the horizontal direction and fall on different vertical coordinate.
Step 7: intercept out final symbol battle array from postrotational character array coding pattern by rectangle or square
Row coding pattern, described final character array coding pattern is used for projecting space as character array structure light coding pattern
Or target object carries out projection coding.
In one embodiment of the invention, intercept out shown in final pattern such as Fig. 7 (a), as can be seen from the figure code word
The center of A2 falls on the vertical coordinate at 701a place, and the center of be adjacent two same code word A1 and A3 does not the most fall
On the vertical coordinate of 701a, and the code word pattern that whole piece 701a horizontal line is covered the most all does not has identical with A2
Code word occurs, therefore this pattern meets range of triangle principle.
The character array structure light coding pattern that Fig. 7 (b) abstract representation Fig. 7 (a) shows meets the reason of range of triangle.
In figure, every kind of letter represents a kind of code word, when repeating one by one in the code word horizontal direction in coding pattern, certain on vertical direction
In the range of when do not repeat, this pattern is rotated a certain angle, then can be seen that will not go out on same level direction
Existing identical code word.701b, 702b, 703b represent three different vertical coordinates randomly selected respectively, and three horizontal lines pass
During this coding pattern, identical letter does not has on identical horizontal line.
Pass through above-mentioned steps, it is possible to obtain eventually for the symbol battle array that projecting space or target object are carried out projection coding
Array structure pumped FIR laser pattern.
Fig. 8 gives the schematic diagram of a kind of character array structure light coding pattern generating apparatus of the present invention, described generation
Device includes choosing unit, pseudo-random sequence signal generating unit, encoder matrix component units, character array coding pattern generation list
Unit, concatenation unit, rotary unit, interception unit.
Described choose unit, be used for choosing gridiron pattern pattern.
First design a certain size gridiron pattern pattern, in each gridiron pattern, have a white or the inscribe of black
Circle, and according to black and white interval mode periodic arrangement.
In one embodiment of the present of invention, first select pattern based on the gridiron pattern pattern shown in Fig. 2, choose chessboard
The size of grid pattern is 3n × 12n (row, column represents white inscribed circle number respectively, and n takes any positive integer), this gridiron pattern pattern
A white or the inscribed circle of black, such gridiron pattern pattern is had to have periodically in upper each gridiron pattern and anti-dry
Disturb ability strong.The gridiron pattern pattern of black-white colors is because color contrast high energy effectively eliminates the change of different objects surface reflectivity
Change impact projective patterns caused with ambient light.
Pseudo-random sequence signal generating unit, for generating 2 yuan of 4 rank pseudo-random sequence according to linear feedback shift register.
Wherein, described linear feedback shift register pre-sets according to primitive polynomial.
The formula (1) of the proper polynomial of the pseudo-random sequence on first n rank is:
Wherein the cycle of this pseudo-random sequence is:
P=2n-1 formula (2)
Generate the pseudo-random sequence on 2 yuan of 4 rank, it is necessary first to create corresponding linear feedback shift register, this
Time it needs to be determined that the primitive polynomial of this depositor.The primitive polynomial of one depositor needs to be that irreducible polynomial (i.e. can not
Decompose the multinomial of factor again)；And (x can be divided exactlyp+1)；And aliquant (xq+ 1), wherein q ＜ p.Therefore 2 yuan are being created
The primitive polynomial selected during 4 rank pseudo-random sequence is:
F (x)=x4+ x+1 formula (3)
Utilize linear feedback shift register that this multinomial (3) constitutes as it is shown on figure 3, as can be seen from Figure 3 akBy
ak-n+3With ak-nThe addition carrying out mould two obtains (binary addition), wherein n=4.
If setting original state a3a2a1a0=1000, then the cycle generated by Fig. 3 be the pseudo-random sequence of p be formula
(4):
{ak}=000111101011001000111101011001 ... formula (4)
Encoder matrix component units, for according to described pseudo-random sequence, by complete for 4 rank subsequences in one cycle of sequence
Portion enumerates out, the most therefrom finds out the encoder matrix of 11 groups of subsequence one 4x11 of composition.
In one embodiment of the invention, at sequence { akA cycle in, the subsequence on each 4 rank only occurs one
Secondary, by sequence { ak4 rank subsequences in one cycle all enumerate out and can obtain the matrix shown in Fig. 4, every in matrix
Individual 42 system subsequences are all unique such as Fig. 4 (a).
Choose matrix such as Fig. 4 (b) that 11 groups of subsequences in the matrix shown in Fig. 4 (a) form 4x11, the son chosen
The binary numeral of sequence every string along matrix from a high position to low level is arranged in order from top to down, and each in this matrix
The window of 4x2 is all unique.
Character array coding pattern signal generating unit, is used for described encoder matrix repeating mapping to having periodic chessboard
Grid pattern generates character array coding pattern, character array coding pattern is divided into two pieces of independent patterns, then by these two pieces of lists
Solely pattern spins upside down respectively, then the pattern after upset is respectively provided at the left and right sides of original encoding pattern, forms one more
Big character array coding pattern.
In one embodiment of the invention, the pseudo random matrix of Fig. 4 (b) is mapped in gridiron pattern pattern, matrix
The diamond-shaped area of the junction of inscribed circle in each element individually corresponding gridiron pattern, this diamond-shaped area is set to white by 1 representative
Color, this diamond-shaped area is set to black by 0 representative.Owing to the uniqueness window size of encoder matrix is 4x2, i.e. in coding pattern
Any two row continuous print argyle designs are unique in coding pattern, thus any two row argyle designs are plus middle chessboard
It is unique in whole coding pattern that grid pattern makees the pattern formed, it is ensured that do not have identical code-word type in coding pattern.
Character array coding pattern shown in Fig. 5 will be obtained by mapping to be divided into two independent patterns and spin upside down respectively, then
It is respectively provided at the left and right sides of original encoding pattern, is formed a bigger character array coding pattern.
Concatenation unit, makees for bigger character array coding pattern character array coding pattern signal generating unit formed
Based on pattern, through up and down or left and right translate splicing, obtain spliced character array coding pattern.
In one embodiment of the invention, as shown in Figure 6 through translating spliced character array coding pattern, but
Horizontal direction can not meet horizontal line separation principle.
Rotary unit, for according to horizontal line separation principle, by spliced character array coding pattern with pattern center point
Centered by rotate a certain angle clockwise or counterclockwise, obtain postrotational character array coding pattern.
In one embodiment of the invention, in order to further ensure that the large scale coding pattern of generation meets horizontal line and separates
Principle, and make the code word on pattern in the horizontal direction can be when utilizing this coding pattern that actual object is carried out Range finder
Move in sufficiently large scope, by the spliced character array coding pattern shown in Fig. 6 with pattern center along clockwise or inverse
Hour hands rotate a certain angle, it is ensured that repeat code word center in the horizontal direction and fall on different vertical coordinate.
Interception unit, for intercepting out final by rectangle or square from postrotational character array coding pattern
Character array coding pattern, described final character array coding pattern is used for throwing as character array structure light coding pattern
Penetrate space or target object carries out projection coding.
Pass through said apparatus, it is possible to obtain eventually for the symbol battle array that projecting space or target object are carried out projection coding
Array structure pumped FIR laser pattern.
The character array structure light coding pattern generated by the present invention can project projecting space and target by projector
Body surface, it is achieved to projecting space and the features localization of target object, beneficially image recognition.Before the invention is not limited in
The detailed description of the invention stated.Thus amendment without departing from the spirit and scope of the present invention and perfect, should be included in above-mentioned
Right in.
Claims (10)
1. the generation method of a character array structure light coding pattern, it is characterised in that described method includes:
2 yuan of 4 rank pseudo-random sequence is generated according to linear feedback shift register；
According to described pseudo-random sequence, all enumerate out by 4 rank subsequences in one cycle of sequence, the most therefrom find out 11
The encoder matrix of group subsequence one 4x11 of composition；
By described encoder matrix repeating mapping to having generation character array coding pattern in periodic gridiron pattern pattern, will symbol
Number array code pattern is divided into two pieces of independent patterns, then is spun upside down respectively by these two pieces of independent patterns, then will be after upset
Pattern is respectively provided at the left and right sides of original encoding pattern, forms a bigger character array coding pattern；
Will be formed bigger character array coding pattern based on pattern, through up and down or left and right translate splicing, spliced
After character array coding pattern；
According to horizontal line separation principle, by spliced character array coding pattern centered by pattern center point along clockwise or inverse
Clockwise rotates a certain angle, and obtains postrotational character array coding pattern；
From postrotational character array coding pattern, final character array coding pattern is intercepted out by rectangle or square,
Described final character array coding pattern is used for projecting space or target object as character array structure light coding pattern
Carry out projection coding.
Generation method the most according to claim 1, it is characterised in that: preferably, according to described pseudo-random sequence, by sequence
4 rank subsequences in one cycle of row all are enumerated out, the most therefrom find out the coding of 11 groups of subsequence one 4x11 of composition
Before matrix, also include:
Choose gridiron pattern pattern；
Described gridiron pattern pattern of choosing also includes:
Choose a certain size gridiron pattern pattern, have a white or the inscribed circle of black in each gridiron pattern, and press
According to black and white interval mode periodic arrangement, each circular junction is class diamond-shaped area；
The described size choosing gridiron pattern pattern is 3n × 12n.
Generation method the most according to claim 1, it is characterised in that described according to linear feedback shift register generation 2
Unit's 4 rank pseudo-random sequences farther include:
Generating the pseudo-random sequence on 2 yuan of 4 rank, its cycle is 15, and the subsequence on each 4 rank only occurs once.
Generation method the most according to claim 1, it is characterised in that according to described pseudo-random sequence, by one week of sequence
4 rank subsequences in phase all are enumerated out, and the encoder matrix the most therefrom finding out 11 groups of subsequence one 4x11 of composition enters one
Step includes:
Within a cycle of sequence, the subsequence on each 4 rank only occurs once, by 4 rank subsequences in one cycle of sequence
All enumerating out and obtain matrix, in matrix, each 42 system subsequences are unique；
Choose the matrix of 11 groups of subsequences, one 4x11 of composition in matrix, the binary numeral of the subsequence chosen from a high position to
Low level is arranged in order from top to down along every string of matrix, and in this matrix, the window of each 4x2 is unique.
Generation method the most according to claim 1, it is characterised in that described by described encoder matrix repeating mapping to having
Periodically gridiron pattern pattern generates character array coding pattern, character array coding pattern is divided into two pieces of independent patterns,
Again these two pieces of independent patterns are spun upside down respectively, then the pattern after upset is respectively provided at the left and right two of original encoding pattern
Side, forms a bigger character array coding pattern and farther includes:
The uniqueness window size of encoder matrix is 4x2, and i.e. in coding pattern, any two row continuous print argyle designs are encoding
Pattern is unique, thus any two row argyle designs make the pattern formed at whole code pattern plus middle gridiron pattern pattern
Case is unique, it is ensured that coding pattern does not has identical code-word type.
Generation method the most according to claim 1, it is characterised in that the described bigger character array code pattern that will be formed
Pattern based on case, through up and down or left and right translate splicing, obtain spliced character array coding pattern and farther include:
Through translating spliced character array coding pattern, but horizontal line separation principle can not be met in the horizontal direction.
Generation method the most according to claim 1, it is characterised in that described according to horizontal line separation principle, by spliced
Character array coding pattern rotates a certain angle centered by pattern center point clockwise or counterclockwise, is rotated
After character array coding pattern farther include:
Spliced character array coding pattern with pattern center along the most certain angle, it is ensured that at water
Square to repeat code word center fall on different vertical coordinate.
8. the generating means of a character array structure light coding pattern, it is characterised in that: described generating means includes pseudorandom
Sequence generating unit, encoder matrix component units, character array coding pattern signal generating unit, concatenation unit, rotary unit, intercepting
Unit；
Described pseudo-random sequence signal generating unit, for generating 2 yuan of 4 rank pseudo-random sequence according to linear feedback shift register；
Described encoder matrix component units, for according to described pseudo-random sequence, by complete for 4 rank subsequences in one cycle of sequence
Portion enumerates out, the most therefrom finds out the encoder matrix of 11 groups of subsequence one 4x11 of composition；
Described character array coding pattern signal generating unit, is used for described encoder matrix repeating mapping to having periodic chessboard
Grid pattern generates character array coding pattern, character array coding pattern is divided into two pieces of independent patterns, then by these two pieces of lists
Solely pattern spins upside down respectively, then the pattern after upset is respectively provided at the left and right sides of original encoding pattern, forms one more
Big character array coding pattern；
Described concatenation unit, pattern based on the bigger character array coding pattern that will be formed, through up and down or left and right
Translation splicing, obtains spliced character array coding pattern；
Described rotary unit, for according to horizontal line separation principle, by spliced character array coding pattern with pattern center point
Centered by rotate a certain angle clockwise or counterclockwise, obtain postrotational character array coding pattern；
Described interception unit, for intercepting out final by rectangle or square from postrotational character array coding pattern
Character array coding pattern, described final character array coding pattern is used for throwing as character array structure light coding pattern
Penetrate space or target object carries out projection coding.
Generating means the most according to claim 8, it is characterised in that: described generating means also includes, chooses unit；
Described choose unit, be used for choosing gridiron pattern pattern.
Described unit of choosing is further used for:
Choose a certain size gridiron pattern pattern, have a white or the inscribed circle of black in each gridiron pattern, and press
According to black and white interval mode periodic arrangement, each circular junction is class diamond-shaped area.
The described size choosing gridiron pattern pattern is 3n × 12n.
Generating means the most according to claim 8, it is characterised in that: described encoder matrix component units is further used for:
Choose the matrix of 11 groups of subsequences, one 4x11 of composition in matrix, the binary numeral of the subsequence chosen from a high position to
Low level is arranged in order from top to down along every string of matrix, and in this matrix, the window of each 4x2 is unique.
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