CN113037434B - Method and related equipment for solving synchronous communication packet loss of coding type active optical capturing system - Google Patents
Method and related equipment for solving synchronous communication packet loss of coding type active optical capturing system Download PDFInfo
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- CN113037434B CN113037434B CN202110284796.8A CN202110284796A CN113037434B CN 113037434 B CN113037434 B CN 113037434B CN 202110284796 A CN202110284796 A CN 202110284796A CN 113037434 B CN113037434 B CN 113037434B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/0078—Avoidance of errors by organising the transmitted data in a format specifically designed to deal with errors, e.g. location
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
- H04B10/114—Indoor or close-range type systems
- H04B10/116—Visible light communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/0078—Avoidance of errors by organising the transmitted data in a format specifically designed to deal with errors, e.g. location
- H04L1/0091—Avoidance of errors by organising the transmitted data in a format specifically designed to deal with errors, e.g. location arrangements specific to receivers, e.g. format detection
Abstract
The invention relates to the technical field of computer vision, in particular to a method for solving synchronous communication packet loss of an encoding type active optical capturing system and related equipment. The method comprises the following steps: judging whether a synchronous trigger signal is received within the interval time; if the synchronous trigger signal is received in the interval time, respectively calling one-bit coded data from the coded information of each luminous target object of the register in sequence, and controlling the corresponding luminous target object to emit light according to the coded data; if the synchronous trigger signal is not received after the interval time, one-bit coded data is automatically and respectively called from the coded information of each luminous target object of the register in sequence, and the corresponding luminous target object is controlled to emit light according to the coded data. When packet loss occurs, the rigid body can still display correct coded data in a proper time, and the transmission is carried out in a mode of transmitting according to a synchronous trigger signal of a base station when no packet loss occurs, so that the problem of identifying wrong codes caused by packet loss is solved.
Description
Technical Field
The invention relates to the technical field of computer vision, in particular to a method for solving synchronous communication packet loss of an encoding type active optical capturing system and related equipment.
Background
The optical motion capture system is divided into an active type and a passive type, and an object which can emit light by itself is used as a tracking target object in the active type. The active optical dynamic capturing system is divided into a coding type and a non-coding type, the coding type active optical capturing system realizes binary coding through the alternation of light and dark of the luminous objects, namely the light represents '1' and the dark represents '0', so that each luminous object can be endowed with an independent ID, and further the luminous objects with the determined IDs can be captured by a camera to form a specific rigid body, and the six-degree-of-freedom information of the rigid body is calculated.
The coded active optical dynamic capturing system performs wireless pulse broadcasting on the luminous target object or rigid body through the base station, so that the light and shade state of the luminous target object is synchronized with the shooting exposure state of the dynamic capturing camera, and the synchronization state of the camera and the luminous target object is corrected. The object of the light emitting mark displays a binary code in a bright or dark form when receiving a broadcast pulse, and meanwhile, the moving camera can also shoot by exposure in a stepping mode.
However, in a complex communication environment, packet loss occurs in wireless communication, that is, the object or rigid body of the light emitting object cannot receive the pulse signal broadcasted by the base station, and the object or rigid body of the light emitting object cannot execute correct encoding, so that packet loss greatly increases the probability that the correct ID of the object of the light emitting object cannot be identified due to incorrect identification encoding.
Disclosure of Invention
The invention mainly aims to provide a method and related equipment for solving the packet loss of synchronous communication of an encoding type active optical capturing system, and aims to solve the technical problem of the packet loss phenomenon generated in the synchronous communication process in the encoding type active optical capturing system.
In order to achieve the above object, the present invention provides a method for solving packet loss in synchronous communication of an encoding type active optical capturing system, which comprises the following steps:
judging whether a synchronous trigger signal is received within a preset interval time, wherein the interval time is the sum of a preset frame rate time and a preset overtime time;
if the synchronous trigger signal is received within the interval time, respectively calling one-bit coded data in sequence from the coded information of each luminous target object of the register according to the synchronous trigger signal, and controlling the corresponding luminous target object to emit light according to the coded data;
if the synchronous trigger signal is not received after the interval time, automatically calling one-bit coded data from the coded information of each light-emitting object of the register respectively in sequence, and controlling the light-emitting object corresponding to the coded data to emit light.
Optionally, the determining whether the synchronization trigger signal is received within a preset interval time, where the interval time is a preset frame rate time plus a preset timeout time, includes:
initializing preset timing software, and starting timing through the timing software;
if the synchronous trigger signal is received within the interval time, the timing software is reset to zero, and then the step of starting timing through the timing software is continued;
and if the synchronous trigger signal is not received after the interval time is exceeded, starting timing by the timing software according to the overtime.
Optionally, if the interval time is exceeded and the synchronization trigger signal is not received, the step of starting timing by the timing software according to the timeout time includes:
and reading the overtime, and starting timing by the timing software by taking the overtime as initial time after the timing software is reset to zero.
Optionally, if the synchronous trigger signal is not received after the interval time, automatically and respectively calling one-bit coded data from the coded information of each light-emitting object in the register in sequence, and controlling the light-emitting object to emit light according to the coded data, includes:
receiving total coding information of all objects of the luminous targets in an identification period, and judging whether the length of the total coding information is the product of the preset coding length and the number of the objects of the luminous targets;
if not, judging that the synchronous trigger signal is not received after the interval time is exceeded, feeding a packet loss prompt back to the base station, and transmitting the packet loss prompt to a rigid body through the base station;
and according to the packet loss prompt, the rigid body automatically calls one-bit coded data from the coded information of each luminous target object in the register of the rigid body in sequence respectively, and controls the corresponding luminous target object to emit light according to the coded data.
Further, to achieve the above object, the present invention further provides a device for solving the packet loss problem in the synchronous communication of the encoding type active optical capturing system, including:
the judging module is used for judging whether a synchronous trigger signal is received within a preset interval time, wherein the interval time is the sum of a preset frame rate time and a preset overtime time;
the trigger calling module is used for calling one-bit coded data from the coded information of each luminous target object of the register according to the synchronous trigger signal and controlling the corresponding luminous target object to emit light according to the coded data if the synchronous trigger signal is received within the interval time;
and the packet loss calling module is used for automatically calling one-bit coded data from the coded information of each light-emitting object of the register in sequence respectively if the synchronous trigger signal is not received after the interval time, and controlling the light-emitting object corresponding to the coded data to emit light.
Optionally, the determining module includes:
the timing unit is used for initializing preset timing software and starting timing through the timing software;
the zero-resetting timing unit is used for skipping to the timing unit to start timing through the timing software after the timing software is reset to zero if the synchronous trigger signal is received within the interval time;
and the delay timing unit is used for delaying and jumping to the timing unit to start timing through the timing software according to the overtime if the synchronous trigger signal is not received after the interval time is exceeded.
Optionally, the delay timing unit is further configured to read the timeout time, and jump to the timing unit to start timing through the timing software with the timeout time as the initial time after the timing software is reset to zero.
Optionally, the system further includes a packet loss calling module:
the integrity judging unit is used for receiving total coding information of all the luminous target objects in an identification period and judging whether the length of the total coding information is the product of the preset coding length and the number of the luminous target objects;
a packet loss feedback unit, configured to feed a packet loss prompt back to the base station if the total length of the coding information is not a product of a preset coding length and the number of luminescent targets, and if the total length of the coding information exceeds the interval time and the synchronous trigger signal is not received, transmit the packet loss prompt to a rigid body through the base station;
and the automatic control unit is used for calling one-bit coded data from the coded information of each luminous target object of the register of the rigid body automatically according to the packet loss prompt in sequence respectively and controlling the corresponding luminous target object to emit light according to the coded data.
A coding type active optical dynamic capturing system comprises a server, a base station, cameras and rigid bodies, wherein the server is used for generating unique coding information for each rigid body, sending the unique coding information to the rigid body through the base station, receiving image data from the cameras at the same time, and identifying the rigid body according to the image information;
the base station is used for generating a synchronous trigger signal and sending the synchronous trigger signal to the rigid body and the camera;
the camera is used for carrying out exposure shooting on the rigid body after receiving the synchronous trigger signal and sending image data obtained by shooting to the server;
the rigid body comprises a plurality of light-emitting objects and is used for controlling the light-emitting objects by adopting the method for solving the synchronous communication packet loss of the coding type active optical capturing system.
In order to achieve the above object, the present invention further provides an apparatus for solving the packet loss problem in synchronous communication of an encoding-type active optical capturing system, where the apparatus includes: the method comprises a memory, a processor and a program for solving the synchronous communication packet loss of the coding type active optical capturing system, wherein the program for solving the synchronous communication packet loss of the coding type active optical capturing system is stored in the memory and can be operated on the processor, and the method for solving the synchronous communication packet loss of the coding type active optical capturing system is realized when the program for solving the synchronous communication packet loss of the coding type active optical capturing system is executed by the processor.
The invention provides a method for solving the synchronous communication packet loss of a coding type active optical capturing system, which is used in the coding type active optical capturing system, when a rigid body cannot receive a synchronous trigger signal sent by a base station and causes frame loss, the rigid body automatically and actively acquires coding data according to a certain frame rate, and controls and displays a bright and dark state on a luminous object according to the coding data, so that the correct coding of the packet loss is automatically sent by the rigid body. The base station continuously broadcasts the pulse to correct the synchronous time sequence, the synchronous trigger signal sent by the base station is still used as the first basis for activating the object of the light-emitting mark and synchronizing other devices, and the rigid body continuously activates correct codes according to the synchronous trigger signal sent by the base station. After the design, when packet loss occurs, the rigid body can still display correct coded data in a proper time, and the transmission is carried out in a mode of combining the transmission according to the synchronous trigger signal of the base station when no packet loss occurs, so that the problem of identifying wrong coded data caused by packet loss is solved.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention.
FIG. 1 is a schematic diagram of signal connection of an encoding type active optical capture system according to the present invention;
FIG. 2 is a diagram illustrating a timing diagram of a signal in the prior art;
fig. 3 is a flowchart illustrating a method for solving a packet loss problem in a synchronous communication of an encoding-type active optical capturing system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a signal timing diagram according to the present invention;
fig. 5 is a block diagram of an apparatus for solving the problem of packet loss in synchronous communication of an encoding-type active optical capturing system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
Fig. 1 is a schematic signal connection diagram of an encoding-type active optical capturing system according to an embodiment of the present invention, and the encoding-type active optical capturing system is used for solving a packet loss problem in synchronous communication of the encoding-type active optical capturing system.
As shown in fig. 1, the coded active light capturing system includes: base station 11, rigid body 12 (active optical rigid body), camera 13 (active optical camera), and server 14 and switch 15. As shown in fig. 1, including 3 rigid bodies, which are the rigid body 12, the rigid body a, and the rigid body B, the coded active optical capturing system may not be limited to the number of the rigid bodies; the camera 13 receives the active optical signal emitted by the active optical rigid body, and transmits the active optical signal to the server 14 through the switch 15, and the tracking software running on the server 14 preprocesses the active optical signal, so as to output 2D coordinate information, gray value information, area information, and the like of the LED lamp. As shown in fig. 1, 2 cameras, camera 13 and camera a, respectively, are included; the switch 15 is used for supplying power to the camera 13 and the base station 11 and transmitting information of the camera 13 and the base station 11; base station 11 may communicate with rigid body 12, configuring rigid body 12 based on the encoded information.
Specifically, the server 14 may generate unique encoding information for each rigid body 12, transmit the unique encoding information to the base station 11 through the switch 15, and issue the unique encoding information to each rigid body 12 by the base station 11; meanwhile, image data of the rigid body 12 shot by the camera 13 is received, coding information of the corresponding rigid body 12 is obtained according to the image data in an identification period, the rigid body 12 is identified according to the coding information and preset rigid body coding information, and the posture information of the identified rigid body 12 represents the motion information of the corresponding motion capture key point.
The base station 11 may generate a synchronization trigger signal according to a predetermined interval period and transmit the generated synchronization trigger signal to the rigid body 12 and the camera 13 at the same time, so that the rigid body 12 can control the brightness of the object on the rigid body 12 to emit light according to the synchronization trigger signal, and the camera 13 can capture the image data of the object on the rigid body 12 to emit light according to the synchronization trigger signal. In transmission of the inter-component information, the base station 11 randomly assigns the plurality of pieces of encoded information received from the server 14 to the plurality of rigid bodies 12, and each rigid body 12 registers the encoded information in the register of the rigid body 12 after receiving the encoded information.
The rigid body 12 comprises a plurality of light-emitting objects, and on one hand, the rigid body 12 receives coding information sent by the base station 11 and registers the coding information in a register; on the other hand, after receiving the synchronization trigger signal from the base station 11, the coded data is periodically called from the coded information stored by the base station and distributed to each light-emitting object, so that each light-emitting object can control the light-emitting brightness according to the coded data.
The coding information of the rigid body 12 includes coding information of all the objects to be lighted on the rigid body 12, and the coding information of one object to be lighted stores the coding data of one object to be lighted in one identification period. Meanwhile, one recognition cycle includes consecutive designated frame image data, and the designated number of frames (or the number of camera exposure shots) of the consecutive image data within one recognition cycle is the same as the code length of the code information of an object to be lighted.
The server 14 generates different m × n binary coding tables according to preset coding rules. Wherein, m represents the code length of each luminous target object, n represents the number of the luminous target objects forming the rigid body, and the total code information length corresponding to the rigid body is the product m × n of the code length of each luminous target object and the number of the luminous target objects.
The base station 11 broadcasts the synchronization trigger signal to the rigid body 12 through a wireless transmission technology, such as wireless wifi, ZigBee and other wireless communication technologies. Every time a synchronous trigger signal is received, the rigid body 12 calls the coded data of 1 x n bytes from the code table in the register in sequence to be respectively distributed to the corresponding light-emitting objects, each light-emitting object receives 1 byte, and the corresponding coded data is shown to be 1 or 0 through the light or dark of the light-emitting object. After sending the m-time synchronous trigger signals, the camera 13 records the whole segment of coding information displayed by the objects with different light-emitting objects in a light or dark mode, so that the objects with different light-emitting objects can be distinguished by the different coding information, and different rigid bodies 12 can be distinguished.
It can be understood that if the rigid body 12 does not receive the synchronization trigger signal within the preset time interval, it is likely that the total encoded information length of the rigid body does not match m × n, that is, the total encoded information length of the rigid body may be smaller than m × n, that is, a packet loss of the communication data occurs because the synchronization trigger signal is not received. Even if the total coding information length of the rigid body is consistent with m × n, some wrong coding data also exist, and at this time, the packet loss phenomenon needs to be avoided, and the accuracy of rigid body identification is ensured.
As shown in fig. 1, the synchronization trigger signal sent to the camera 13 is transmitted through the gigabit network cable and the switch 15, and the transmission signal is stable, so that no serious packet loss or error phenomenon occurs. However, in a complex communication environment, packet loss occurs in wireless communication, that is, the rigid body 12 cannot receive the pulse signal broadcast by the base station 11, and the packet loss greatly increases the probability that the coded data is incorrectly identified, so that the correct ID of the light-emitting object cannot be identified. As shown in fig. 2, assuming that correct coding information of a certain illuminant is 01010 · · when the rigid body 12 receives the: · pulse of the base station 11, the: -coded data "0" is extracted from the preset coding information of the illuminant object, correspondingly, the illuminant luminance of the illuminant object is "dark" within a preset time, the exposure window of the camera 13 is set within the preset time, and the gray scale obtained after exposure sampling determines that the coded data is "0"; when the rigid body 12 receives the pulse number two from the base station 11, the coded data number two "1" is extracted from the preset coding information of the luminous object, correspondingly, the luminous brightness of the object of the cursor is "bright" within a preset time, the exposure window of the camera 13 is set within the preset time, and the coded data is judged to be "1" through the gray scale obtained after exposure sampling. When the pulse of the fourth number is lost, the rigid body 12 is not activated, and the coded data is not extracted from the preset coded information, and the original 1 is finally identified as 0, so that the coded data is identified incorrectly, and the packet loss phenomenon is caused.
In order to make up for coding identification errors caused by packet loss in wireless transmission, the invention adopts a mode of self-circulation display of correct sequence codes from a rigid body 12 and correction of synchronous time sequence by combining broadcast pulses of a base station 11, thereby greatly improving the robustness of the system.
Referring to fig. 3, which is a flowchart of a method for solving a packet loss problem in a synchronous communication of an encoding-type active optical capturing system according to an embodiment of the present invention, a method for solving a packet loss problem in a synchronous communication of an encoding-type active optical capturing system includes the following steps:
step S1, determining interval: and judging whether the synchronous trigger signal is received within a preset interval time, wherein the interval time is the sum of the preset frame rate time and the preset overtime time.
The rigid body displays a bright and dark state according to a certain frame rate, if the frame rate is 100fps, the rigid body emits light at an interval of 10ms (synchronous trigger signals are received at an interval of 10 ms), and if the interval time exceeds (10+ x) ms and no signal is received, the rigid body is judged to have a packet loss. Where x is the timeout.
In one embodiment, step S1 includes:
step S101, initializing a preset timer software, and starting timing by the timer software.
The interval time is timed through timing software, the timing software can be preset in a rigid body, and the rigid body can give signals of starting, ending, returning to zero and the like to control the timing software to perform timing work.
And step S102, if the synchronous trigger signal is received within the interval time, the timing software is reset to zero, and then the step of starting timing through the timing software is continued.
Under the condition of normal packet loss, a rigid body receives a synchronous trigger signal from a base station within an interval time, the synchronous trigger signal sent by the base station is taken as a first basis for activating the timing sequence of an object to be triggered and other devices, and after the synchronous trigger signal sent by the base station is normally received each time, timing software is controlled to start timing from zero again, and whether the synchronous trigger signal can be received in the interval time of the next frame is judged.
And step S103, if the interval time is exceeded and the synchronous trigger signal is not received, starting timing through timing software according to the overtime.
Specifically, the interval time includes a frame rate time + a timeout time, where the timeout time is generally a positive number. When the timeout time is positive, if the frame rate time is exceeded for a period of time and the synchronization trigger signal is not received, the packet loss phenomenon is determined. For the case that the timeout time is positive, the following method may be specifically adopted for controlling the initial timing time of the timing software:
reading the overtime, and after the timing software is reset to zero, starting the timing step by the timing software by taking the overtime as the initial time.
In this embodiment, after the timing software is controlled in the above manner, even if the rigid body has a packet loss phenomenon, the timing software records the interval time and counts the time by the modified frame rate time, where the modified frame rate time is the initial frame rate time + the timeout time. When the rigid body automatically acquires the correct encoded data in advance or after delaying, the rigid body still defaults to the rigid body, the encoded data is acquired according to the corrected frame rate time, and each frame is zeroed after timing is finished, so that whether the accurate time data is provided for receiving the synchronous trigger signal in the interval time or not is judged for the next frame of correct timing interval time, and the synchronous trigger signal from the base station is used as an activation basis under the condition of no packet loss.
Step S2, control during normal triggering: if the synchronous trigger signal is received in the interval time, respectively calling one-bit coded data in sequence from the coded information of each luminous target object of the register according to the synchronous trigger signal, and controlling the corresponding luminous target object to emit light according to the coded data.
When a synchronous trigger signal sent by a base station is normally received, the synchronous trigger signal is taken as an activation basis, the rigid body calls one bit of coded data from the coded information of each luminous target object pre-stored in the register in sequence, and when there are several luminous targets, the rigid body calls several corresponding coded data to control the on and off of the corresponding luminous target objects respectively according to the coded data, wherein the on and off refers to the brightness and darkness degree of the luminous targets, the coded data 1 represents 'bright' and the coded data 0 represents 'dark'. As shown in fig. 2, the first three times of the rigid body respectively receive the synchronous trigger signal at the frame rate time, and the light-emitting object is normally controlled.
Step S3, control when packet is lost: if the synchronous trigger signal is not received after the interval time, one-bit coded data is automatically and respectively called from the coded information of each luminous target object of the register in sequence, and the corresponding luminous target object is controlled to emit light according to the coded data.
If the synchronous trigger signal is not received after the interval time, the packet loss phenomenon can be considered to be generated, at this time, based on the result that whether the synchronous trigger signal is received or not in the interval time is judged to be negative in step S1, the rigid body actively calls one-bit coded data from the coded information of each light-emitting object pre-stored in the register in the same order, several corresponding coded data are called by the objects with several light-emitting objects without receiving the trigger signal, and meanwhile, several times of non-reception of the trigger signal by each light-emitting object in one identification period are also actively called, so that each light-emitting object can still control the light and shade state thereof according to the coded data. It should be noted that the rigid body is used for actively controlling the light-emitting object, rather than controlling the light-emitting object to emit light according to the synchronous trigger signal given by the base station, so that when packet loss occurs in the signal emitted by the base station, the purpose of automatically displaying the correct sequence by the rigid body is achieved, and the robustness of the coding type active light-operated capturing system is greatly improved.
In a possible embodiment, the step S3 specifically includes:
step S301: receiving total coding information of all objects of the luminous targets in an identification period, and judging whether the length of the total coding information is the product of the preset coding length and the number of the objects of the luminous targets; in the step, the integrity of the received total coding information is judged so as to determine whether the rigid body receives a synchronous trigger signal sent by the base station.
As described above, the server generates unique encoding information for each object to be illuminated, and the server transmits the preset encoding information to each object to be illuminated through the base station by the switch. According to the control state of step S2 when triggered normally, the total length of the coded information of the rigid body of the object with multiple light-emitting objects should be the product of the coded length of each light-emitting object (i.e. the preset coded length) and the number of the light-emitting objects, and at this time, after the rigid body receives its own total coded information, the rigid body determines whether the total coded information has a reception error or has not been received by comparing whether the total coded information length matches the product of the preset coded length and the number of the light-emitting objects.
Step S302: if the two are not in accordance with each other, the packet loss phenomenon is determined to occur if the synchronous trigger signal is not received after the interval time, and a packet loss prompt is generated at the same time, the packet loss prompt is fed back to the base station, and the packet loss prompt is transmitted to the rigid body through the base station;
if the length of the total coding information is wrong, coding data may be missed or the coding information cannot be received actually, at this time, the active optical capturing system needs to be reported, so that a packet loss prompt is generated, and the packet loss prompt is transmitted to the rigid body after being received by the base station, so that the rigid body can control the object of the light-emitting mark to emit light correctly.
Step S303: according to the packet loss prompt, the rigid body automatically calls one-bit coded data from the coded information of each luminous target object in the register of the rigid body in sequence respectively, and the corresponding luminous target object is controlled to emit light according to the coded data;
at the moment, because the trigger signal is not received, the rigid body does not control the light-emitting object according to the trigger signal sent by the base station, but automatically and respectively calls one bit of coded data in sequence from the coded information of each light-emitting object of the self register, so that the coded data representing the brightness degree can still be correctly displayed by each light-emitting object, and the problem of the transmission loss of the trigger signal caused by a wireless network or other reasons is avoided.
As shown in fig. 2, the original "1" is finally recognized as "0" when the fourth pulse is lost, resulting in a code recognition error. After the method and the device are adopted, as shown in fig. 4, the rigid body actively acquires the correct coded data, so that even if a packet loss phenomenon is generated under the condition that the synchronous trigger signal is lost, the object with the light-emitting mark can still display the correct coded data, the corresponding camera can capture the correct coded data, and the generation of code identification errors is avoided.
The embodiment solves the problem of packet loss in synchronous communication of the encoding type active optical capturing system, when a packet loss occurs in a synchronous trigger signal of a base station, a rigid body automatically acquires correct encoded data according to a preset time interval, namely when the packet loss occurs, the rigid body automatically displays a bright-dark state according to a certain frame rate, and the correct encoded data of the packet loss is automatically sent out by the rigid body. The synchronous trigger signal sent by the base station is still used as a first basis for activating the object and synchronizing the time sequence of each device, the synchronous trigger signal and the device are organically combined, when no packet is lost during transmission, the synchronous trigger signal is still transmitted according to the base station, and correct codes are activated through the synchronous trigger signal, so that the problem of identifying error coded data caused by packet loss is solved.
In one embodiment, an apparatus for solving the packet loss problem in synchronous communication of an encoded active optical capturing system is provided, as shown in fig. 5, the apparatus includes:
the judging module is used for judging whether a synchronous trigger signal is received within a preset interval time, wherein the interval time is the sum of the preset frame rate time and the preset overtime time; the trigger calling module is used for calling one-bit coded data from the coded information of each luminous target object of the register according to the synchronous trigger signal in sequence if the synchronous trigger signal is received within the interval time, and controlling the corresponding luminous target object to emit light according to the coded data; and the packet loss calling module is used for automatically calling one-bit coded data from the coded information of each luminous target object of the register in sequence respectively if the synchronous trigger signal is not received after the interval time, and controlling the corresponding luminous target object to emit light according to the coded data.
In one embodiment, the determining module includes: the timing unit is used for initializing preset timing software and starting timing through the timing software; the zero-resetting timing unit is used for skipping to the timing unit to start timing through the timing software after the timing software is reset to zero if the synchronous trigger signal is received within the interval time; and the delay timing unit is used for delaying and jumping to the timing unit to start timing through timing software according to the overtime if the synchronous trigger signal is not received after the interval time is exceeded.
In one embodiment, the delay timing unit is further configured to read the timeout time, and jump to the start of timing by the timing software in the timing unit with the timeout time as the initial time after the timing software is reset to zero.
In one embodiment, the packet loss calling module further includes:
the integrity judging unit is used for receiving total coding information of all the luminous target objects in an identification period and judging whether the length of the total coding information is the product of the preset coding length and the number of the luminous target objects;
a packet loss feedback unit, configured to feed a packet loss prompt back to the base station if the total length of the coded information is not a product of a preset coding length and the number of the luminescent targets, and if the total length of the coded information exceeds the interval time and no synchronization trigger signal is received, transmit the packet loss prompt to the rigid body through the base station;
and the automatic control unit is used for calling one-bit coded data from the coded information of each light-emitting object of the self register respectively in sequence automatically by the rigid body according to the packet loss prompt, and controlling the light-emitting object corresponding to the coded data to emit light.
A coding type active optical dynamic capturing system comprises a server, a base station, cameras and rigid bodies, wherein the server is used for generating unique total coding information for each rigid body, sending the unique total coding information to the rigid bodies through the base station, receiving image data from the cameras at the same time and identifying the rigid bodies according to the image information; the base station is used for generating a synchronous trigger signal and sending the synchronous trigger signal to the rigid body and the camera; the camera is used for carrying out exposure shooting on the rigid body after receiving the synchronous trigger signal and sending image data obtained by shooting to the server; the rigid body comprises a plurality of luminous targets, and is used for controlling the luminous brightness of the luminous targets by adopting the method for solving the synchronous communication packet loss of the coding type active optical capturing system in each embodiment.
In one embodiment, an apparatus for solving packet loss in synchronous communication of an encoded active optical capturing system is provided, the apparatus comprising: the method comprises a memory, a processor and a program which is stored on the memory and can be operated on the processor for solving the synchronous communication packet loss of the coding type active optical capturing system, wherein the program for solving the synchronous communication packet loss of the coding type active optical capturing system is executed by the processor to realize the steps in the method for solving the synchronous communication packet loss of the coding type active optical capturing system of each embodiment.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express some exemplary embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method for solving the problem of packet loss in synchronous communication of an encoding type active optical capturing system is characterized by comprising the following steps:
judging whether a synchronous trigger signal is received within preset interval time, wherein the interval time is timed by modified frame rate time, the modified frame rate time is initial frame rate time plus overtime time, and the overtime time is a positive number;
if the synchronous trigger signal is received within the interval time, respectively calling one-bit coded data in sequence from the coded information of each luminous target object of the register according to the synchronous trigger signal, and controlling the corresponding luminous target object to emit light according to the coded data;
if the synchronous trigger signal is not received after the interval time, automatically calling one-bit coded data from the coded information of each light-emitting object of the register respectively in sequence, and controlling the light-emitting object corresponding to the coded data to emit light.
2. The method of claim 1, wherein the determining whether the synchronization trigger signal is received within a preset interval time is performed, the interval time is measured by a modified frame rate time, the modified frame rate time is an initial frame rate time plus a timeout time, wherein the timeout time is a positive number, and the method includes:
initializing preset timing software, and starting timing through the timing software;
if the synchronous trigger signal is received within the interval time, the timing software is reset to zero, and then the step of starting timing through the timing software is continued;
and if the synchronous trigger signal is not received after the interval time is exceeded, starting timing by the timing software according to the overtime.
3. The method according to claim 2, wherein if the synchronous trigger signal is not received after the interval time is exceeded, the step of starting timing by the timing software according to the timeout time includes:
and reading the overtime, and starting timing by the timing software by taking the overtime as initial time after the timing software is reset to zero.
4. The method according to claim 1, wherein if the synchronous trigger signal is not received after the time interval, the method calls one-bit coded data in the coded information of each light-emitting object in the register in sequence, and controls the corresponding light-emitting object to emit light according to the coded data, and includes:
receiving total coding information of all objects of the luminous targets in an identification period, and judging whether the length of the total coding information is the product of the preset coding length and the number of the objects of the luminous targets;
if not, judging that the synchronous trigger signal is not received after the interval time is exceeded, feeding a packet loss prompt back to the base station, and transmitting the packet loss prompt to the rigid body through the base station;
and according to the packet loss prompt, the rigid body automatically calls one-bit coded data from the coded information of each luminous target object in the register of the rigid body in sequence respectively, and controls the corresponding luminous target object to emit light according to the coded data.
5. A device for solving the problem of packet loss in synchronous communication of an encoding type active optical capturing system is characterized by comprising:
a judging module, configured to judge whether a synchronization trigger signal is received within a preset interval time, where the interval time is timed by a modified frame rate time, and the modified frame rate time is an initial frame rate time plus an timeout time, where the timeout time is a positive number;
the trigger calling module is used for calling one-bit coded data from the coded information of each luminous target object of the register according to the synchronous trigger signal and controlling the corresponding luminous target object to emit light according to the coded data if the synchronous trigger signal is received within the interval time;
and the packet loss calling module is used for automatically calling one-bit coded data from the coded information of each light-emitting object of the register in sequence respectively if the synchronous trigger signal is not received after the interval time, and controlling the light-emitting object corresponding to the coded data to emit light.
6. The apparatus for solving the packet loss in the synchronous communication of the encoded active optical capturing system according to claim 5, wherein the determining module comprises:
the timing unit is used for initializing preset timing software and starting timing through the timing software;
the zero-resetting timing unit is used for skipping to the timing unit to start timing through the timing software after the timing software is reset to zero if the synchronous trigger signal is received within the interval time;
and the delay timing unit is used for delaying and jumping to the timing unit to start timing through the timing software according to the overtime if the synchronous trigger signal is not received after the interval time is exceeded.
7. The apparatus for solving the problem of packet loss in synchronous communication of an encoded active optical capturing system according to claim 6, wherein the delay timing unit is further configured to read the timeout period, and after the timing software is reset to zero, jump to the timing unit with the timeout period as an initial period and start timing through the timing software.
8. The apparatus for solving the packet loss problem in the synchronous communication of the encoded active optical capturing system according to claim 5, wherein the packet loss invoking module further comprises:
the integrity judging unit is used for receiving total coding information of all the luminous target objects in an identification period and judging whether the length of the total coding information is the product of the preset coding length and the number of the luminous target objects;
a packet loss feedback unit, configured to feed a packet loss prompt back to the base station if the total coding information length is not a product of a preset coding length and the number of luminescent targets, and if the total coding information length exceeds the interval time and the synchronous trigger signal is not received, transmit the packet loss prompt to the rigid body through the base station;
and the automatic control unit is used for calling one-bit coded data from the coded information of each luminous target object of the register of the rigid body automatically according to the packet loss prompt in sequence respectively and controlling the corresponding luminous target object to emit light according to the coded data.
9. A coding type active optical dynamic capturing system comprises a server, a base station, a camera and rigid bodies, and is characterized in that the server is used for generating unique coding information for each rigid body, sending the unique coding information to the rigid bodies through the base station, receiving image data from the camera and identifying the rigid bodies according to the image data;
the base station is used for generating a synchronous trigger signal and sending the synchronous trigger signal to the rigid body and the camera;
the camera is used for carrying out exposure shooting on the rigid body after receiving the synchronous trigger signal and sending image data obtained by shooting to the server;
the rigid body includes a plurality of light-emitting objects for controlling light emission luminance of the light-emitting objects by the method of any one of claims 1 to 4.
10. An apparatus for solving packet loss in synchronous communication of an encoding-type active optical capturing system, the apparatus comprising:
the method comprises a memory, a processor and a program for solving the synchronous communication packet loss of the coding type active optical capturing system, wherein the program is stored in the memory and can run on the processor, and when the program for solving the synchronous communication packet loss of the coding type active optical capturing system is executed by the processor, the method for solving the synchronous communication packet loss of the coding type active optical capturing system is realized according to any one of claims 1 to 4.
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| CN111931614B (en) * | 2020-07-24 | 2024-04-19 | 深圳市瑞立视多媒体科技有限公司 | Active light rigid body identification method, device, equipment and storage medium |
| CN114461093B (en) * | 2021-08-19 | 2023-01-20 | 荣耀终端有限公司 | Detection method of ambient light, electronic equipment, chip system and storage medium |
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| CN113037434A (en) | 2021-06-25 |
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