CN113129394B - Parallelogram coding mark based on region division coding and coding method thereof - Google Patents

Parallelogram coding mark based on region division coding and coding method thereof Download PDF

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CN113129394B
CN113129394B CN202110392310.2A CN202110392310A CN113129394B CN 113129394 B CN113129394 B CN 113129394B CN 202110392310 A CN202110392310 A CN 202110392310A CN 113129394 B CN113129394 B CN 113129394B
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parallelogram
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CN113129394A (en
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殷玉龙
朱华炳
杨霈
杨昭辉
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Hefei University of Technology
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    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract

The invention discloses a parallelogram coding mark based on region partition coding and a coding method thereof, which mainly comprises the following steps: the positive integer e is the coding number of the parallelogram coding mark; establishing a coding coordinate system o of a parallelogram coding mark corresponding to a coding number e e ‑X e Y e Z e (ii) a Dividing a parallelogram coding mark with a coding number of e into 6 coding regions, wherein each coding region in the parallelogram coding mark with the coding number of e comprises 2 coding mark patterns; numbering 6 coding regions in the code sign; each corner point of the 6 coding regions within the coding logo is coded. The invention divides the parallelogram coding mark into six areas for coding, and has higher processing precision for affine transformation images; the parallelogram coding mark has large information capacity, four corners of the parallelogram coding mark can realize sub-pixel level image coordinate extraction, and the coding pattern is simple and is easy for digital image processing.

Description

Parallelogram coding mark based on region division coding and coding method thereof
Technical Field
The invention relates to the field of vision measurement in computer vision, which is suitable for the fields of camera calibration, target feature extraction, stereo matching, three-dimensional data splicing and the like, in particular to a coding method of a parallelogram coding mark based on region segmentation coding.
Background
With the development of modern industry, in order to improve the product quality and the product benefit and solve the measurement problems of large size, small size and complex background, the visual measurement technology is compliant. The vision measurement technology has the characteristics of non-contact, difficult influence of temperature change and vibration, high precision, good portability and the like. In the field of vision measurement, the problems of difficult camera calibration under a large visual field and a complex background, how to realize stereo matching and three-dimensional data splicing of a large-size target and the like are still research hotspots.
In order to effectively solve the problems, the coding mark point technology is rapidly developed, the types of the generated coding mark points are many, but most of the coding mark points are annular, circular or fan-shaped, and the like, and when the coding mark points face affine transformation images or three-dimensionally splice large-size targets, the accuracy and precision of results cannot be ensured, and a plurality of difficulties exist in the coding and coding processes, so that the digital images are not easy to process. Therefore, the coding method of the parallelogram coding mark based on the region partition coding effectively makes up the defects.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a coding method of a parallelogram coding sign based on region segmentation coding, which overcomes the defects of the prior art, and the method for coding by using segmented regions can still cope with camera calibration under large view field and complex background, and stereo matching and three-dimensional data splicing of large-size targets under the condition of keeping accuracy and accuracy.
In order to solve the technical problems, the invention adopts a technical scheme that: the method for coding the parallelogram coding mark based on the region partition coding mainly comprises the following steps:
step 1, recording a positive integer e as a coding number of the parallelogram coding mark, wherein e belongs to [0,4095 ];
step 2, establishing a coding coordinate system o of the parallelogram coding mark corresponding to the coding number e e -X e Y e Z e ；
Step 3, dividing the parallelogram coding marks with the coding number e into 6 coding regions, wherein each coding region in the parallelogram coding marks with the coding number e comprises 2 coding mark patterns;
step 4, numbering 6 coding areas in the parallelogram coding mark corresponding to the coding number e;
and 5, coding each corner point of 6 coding areas in the parallelogram coding mark corresponding to the coding number e.
Further, in step 3, the specific method for dividing the region of the parallelogram coding flag with the coding number e includes the following steps:
step 3.1, recording the coordinate of the positioning circle mass center in the parallelogram coding mark corresponding to the coding number e as o l,e (x l,e ,y l,e 0), the coordinate of the orientation circular ring mass center in the parallelogram coding mark corresponding to the coding number e is o d,e (x d,e ,y d,e 0); locate the distance to the centroid o l,e The two nearest vertexes are respectively marked as C e,1min (x e,1min ,y e,1min 0) and C e,2min (x e,2min ,y e,2min ,0)；
Step 3.2, respectively calculating the direction vector in the parallelogram coding mark corresponding to the coding number e according to the following formula
Figure BDA0003017199930000021
And vertex vector
Figure BDA0003017199930000022
Figure BDA0003017199930000023
Figure BDA0003017199930000024
Step 3.3, recording the centroid o of the positioning circle l,e And parallel to the vertex vector
Figure BDA0003017199930000025
Is a straight line of 1,e Over-orientation of the center of mass o of the ring d,e And parallel to the vertex vector
Figure BDA0003017199930000026
Is a straight line of 2,e Passing through the location of the centroid o l,e And the center of mass o of the directional ring d,e Is a straight line of 3,e Then straight line l 3,e Straight line l 1,e And a straight line l 2,e The parallelogram coding flag with the coding number e can be divided into 6 coding areas.
Further, in step 4, the specific method for numbering the coding region of the parallelogram coding flag with the coding number e includes the following steps:
step 4.1, in the parallelogram coding mark with the coding number e, respectively calculating a first judgment vector in the parallelogram coding mark with the coding number e according to the following formula
Figure BDA0003017199930000027
And a second decision vector
Figure BDA0003017199930000028
Figure BDA0003017199930000029
Figure BDA00030171999300000210
Step 4.2, respectively calculating the first vector of the area division in the parallelogram coding mark corresponding to the coding number e by the following formula
Figure BDA00030171999300000211
And area division second vector
Figure BDA00030171999300000212
Figure BDA00030171999300000213
Figure BDA00030171999300000214
Step 4.3, dividing the first vector according to the region
Figure BDA00030171999300000215
And area division second vector
Figure BDA00030171999300000216
Determine the vertex C of the direction situation e,1min (x e,1min ,y e,1min 0) locating a vertex for the 1 st coding region in the parallelogram coding flag with the coding number e
Figure BDA00030171999300000217
Or 6 th coding region locating vertex
Figure BDA00030171999300000218
Correspondingly determining the vertex C e,2min (x e,2min ,y e,2min 0) locating the vertex for the 6 th coding region
Figure BDA00030171999300000219
Or 1 st coding region locating vertex
Figure BDA00030171999300000220
Step 4.4, positioning the vertex of the 1 st coding region
Figure BDA0003017199930000031
The coding region is marked as the 1 st coding region in the parallelogram coding mark with the coding number e, and the 6 th coding region is positioned to the vertex
Figure BDA0003017199930000032
The coding region is marked as the 6 th coding region in the parallelogram coding mark with the coding number e;
and 4.5, taking the 1 st coding region of the parallelogram coding mark with the coding number of e as a starting region and the 6 th coding region as an end region, and sequentially marking the 6 coding regions in the parallelogram coding mark with the coding number of e as the 1 st coding region, the 2 nd coding region, the 3 rd coding region, the 4 th coding region, the 5 th coding region and the 6 th coding region of the parallelogram coding mark with the coding number of e according to the clockwise direction.
Further, in step 5, the method for coding each corner point of 6 coding regions in the parallelogram coding index with the coding number e comprises the following steps:
step 5.1, in the parallelogram coding mark corresponding to the coding number e, the centroid of the ith coding mark pattern in the sigma coding region is aligned to the straight line l 1e Is recorded as
Figure BDA0003017199930000033
Centroid-to-straight line l of ith coded logo pattern in the pi-th coded region 2,e Is recorded as
Figure BDA0003017199930000034
Centroid-to-straight line l of ith code mark pattern in theta code area 3,e Is recorded as
Figure BDA0003017199930000035
Where σ is 1,2,5,6, pi is 3,4, i is 1,2, θ is 1,2,3,4,5, 6;
step 5.2, in the parallelogram coding mark corresponding to the coding number e, according to
Figure BDA0003017199930000036
And
Figure BDA0003017199930000037
the size relationship between the sigma-bit coded mark patterns determines the 1 st bit coded mark pattern in the sigma-bit coded region
Figure BDA0003017199930000038
And 2 nd bit coded flag pattern
Figure BDA0003017199930000039
Where σ is 1,2,5,6, i is 1,2, θ is σ;
within a parallelogram-shaped coding index corresponding to the coding number e, according to
Figure BDA00030171999300000310
And
Figure BDA00030171999300000311
the size relationship between the coded mark patterns determines and determines the 1 st bit of the coded mark pattern in the pi-th coding area
Figure BDA00030171999300000312
And 2 nd bit coded flag pattern
Figure BDA00030171999300000313
Wherein pi is 3,4, i is 1,2, and θ is pi;
step 5.3, in the parallelogram coding mark with the coding number e, coding the j-th bit coding mark pattern in the theta coding area
Figure BDA00030171999300000314
The corresponding code value is noted
Figure BDA00030171999300000315
Wherein j is 1,2 and θ is 1,2,3,4,5,6, and
Figure BDA00030171999300000316
can only take the value of 0 or 1;
step 5.4, for the parallelogram coding mark with the coding number e, the 12-bit binary number corresponding to the coding number e is marked as w e Stipulate that
Figure BDA00030171999300000317
Respectively corresponding to binary numbers w in sequence from the lowest order to the highest order e And satisfies the formula (11),
G T ·F e ＝＝e (11)
wherein, the column vector G is (2) 0 ,2 1 ,2 2 ,2 3 ,2 4 ,2 5 ,2 6 ,2 7 ,2 8 ,2 9 ,2 10 ,2 11 ) T (ii) a And is
Column vector
Figure BDA00030171999300000318
Step 5.5, according to the j bit coding mark pattern of the theta coding area in the parallelogram coding mark corresponding to the coding number e determined in the step 5.4
Figure BDA0003017199930000041
Corresponding code value
Figure BDA0003017199930000042
The value of (a) designates the j-th bit coding mark pattern of the theta-th coding area in the parallelogram coding mark corresponding to the coding number e
Figure BDA0003017199930000043
Wherein j is 1,2 and θ is 1,2,3,4,5, 6;
step 5.6, parallel four with code number eIn the edge-shaped coded mark
Figure BDA0003017199930000044
The corner points on the coding region are marked as the first in a parallelogram coding mark with a coding number of e
Figure BDA0003017199930000045
Corner point of a coding region
Figure BDA0003017199930000046
Wherein
Figure BDA0003017199930000047
Further, in step 5.2, if
Figure BDA0003017199930000048
And is
Figure BDA0003017199930000049
Then the 1 st coding mark pattern in the sigma coding region in the parallelogram coding mark with the coding number e is the 1 st coding mark pattern in the sigma coding region in the parallelogram coding mark with the coding number e
Figure BDA00030171999300000410
The 2 nd coding mark pattern in the sigma coding region in the parallelogram coding mark with the coding number of e is the 2 nd coding mark pattern in the sigma coding region in the parallelogram coding mark with the coding number of e
Figure BDA00030171999300000411
If it is
Figure BDA00030171999300000412
And is provided with
Figure BDA00030171999300000413
Then the sigma-th code in the parallelogram coding mark corresponding to the code number e is markedThe 2 nd coding mark pattern in the code region is the 1 st coding mark pattern in the sigma coding region in the parallelogram coding mark corresponding to the coding number e
Figure BDA00030171999300000414
The 1 st coding mark pattern in the sigma coding region in the parallelogram coding mark with the coding number of e is the 2 nd coding mark pattern in the sigma coding region in the parallelogram coding mark with the coding number of e
Figure BDA00030171999300000415
Further, in step 5.2, if
Figure BDA00030171999300000416
And is
Figure BDA00030171999300000417
Then the 1 st coding mark pattern in the pi-th coding area in the parallelogram coding mark with the coding number e is the 1 st coding mark pattern in the pi-th coding area in the parallelogram coding mark with the coding number e
Figure BDA00030171999300000418
The 2 nd coding mark pattern in the pi-th coding area in the parallelogram coding mark with the coding number of e is the 2 nd coding mark pattern in the pi-th coding area in the parallelogram coding mark with the coding number of e
Figure BDA00030171999300000419
If it is
Figure BDA00030171999300000420
And is
Figure BDA00030171999300000421
Then the 2 nd coding mark picture in the pi coding area in the parallelogram coding mark with the coding number of eThe pattern of the 1 st bit coding mark in the pi coding region in the parallelogram coding mark corresponding to the coding number e
Figure BDA00030171999300000422
The 1 st coding mark pattern in the pi-th coding area in the parallelogram coding mark with the coding number of e is the 2 nd coding mark pattern in the pi-th coding area in the parallelogram coding mark with the coding number of e
Figure BDA00030171999300000423
Furthermore, in step 5.5, if the code number is e, the j-th coded mark pattern in the theta-th coded area in the corresponding parallelogram coded mark
Figure BDA00030171999300000424
Is coded value of
Figure BDA00030171999300000425
The j-th bit coding mark pattern of the theta-th coding area in the parallelogram coding mark with the coding number e
Figure BDA00030171999300000426
Is color I; if it is
Figure BDA00030171999300000427
Let the j-th bit encode the mark pattern
Figure BDA00030171999300000428
Is color II, where j is 1,2 and θ is 1,2,3,4,5, 6.
Further, the color I and the color II have a distinct difference.
Also, a computer-readable storage medium is provided, comprising a computer program for use in conjunction with an electronic device having image processing capabilities, the computer program being executable by a processor to perform the encoding method.
The invention has the following beneficial effects:
1. the method for coding by utilizing the partition area, which is disclosed by the invention, takes four vertexes of the parallelogram coding mark as four coding angular points, and combines the characteristics that the four coding angular points are beneficial to extraction and high-precision positioning, so that the method for judging the color of each coding mark pattern is used for coding, and the positioning of the high-precision parallelogram coding mark, high-precision three-dimensional point cloud splicing and other applications can be realized, therefore, the method still has better robustness and precision in the face of affine transformation images, and is not easily influenced by complex environments;
2. in the parallelogram coding mark adopted by the coding method, because the orientation pattern and the positioning pattern are set, the method can also adapt to the condition that the angle of the camera changes, obtain accurate results, and has simple and convenient operation and strong flexibility;
3. in the parallelogram coding marks adopted by the coding method, 12 coding mark patterns are totally adopted, so 4096 different codes can be generated totally, and sufficient capacity is provided for three-dimensional data splicing of large-size targets or camera calibration under a large view field; meanwhile, as the coding capacity is large, the high accuracy can be still kept for the point cloud splicing of the three-dimensional data of the large-size target;
4. the parallelogram coding mark adopted by the coding method has simple structure and convenient operation, and is easy to obtain accurate coding information by using a digital image processing technology, thereby facilitating the extraction of real-time digital images in computer vision measurement and the realization of a decoding algorithm of the real-time parallelogram coding mark.
Drawings
FIG. 1 is a view of a parallelogram shaped code symbol when all code symbol patterns are white;
FIG. 2 is a schematic diagram of the distribution of the predetermined vector, the auxiliary vector and each region;
FIG. 3 is a schematic diagram of a parallelogram coding flag with a code number of 757;
FIG. 4 is a flowchart illustrating an encoding method according to the present invention.
Detailed Description
The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention easier to understand by those skilled in the art, and thus will clearly and clearly define the scope of the invention.
Referring to fig. 1, the parallelogram coding flag used in the present invention includes a coding pattern and a parallelogram background pattern, wherein the coding pattern is in the parallelogram background pattern. And in the visual structured light three-dimensional measurement process, the four corners of the parallelogram coding mark are used for splicing the three-dimensional point cloud of the target curved surface.
The coding pattern of the parallelogram coding mark comprises a positioning pattern (a larger white circular connected domain shown in figure 1), an orientation pattern (a white circular connected domain shown in figure 1) and a coding mark pattern (a plurality of smaller white circular connected domains shown in figure 1), wherein the coding mark pattern is composed of a plurality of coding unit patterns. The judgment of the rotation direction of the parallelogram coding mark can be realized by the orientation pattern and the positioning pattern, and the coding mark pattern is used for coding each corner point of the parallelogram coding mark; in this embodiment, there are 12 coding unit patterns in total.
In the parallelogram coding mark, a connecting line of the centroid of the positioning pattern and the centroid of the orientation pattern is parallel to any one side of the parallelogram coding mark, and the midpoint of the connecting line of the centroid of the positioning pattern and the centroid of the orientation pattern is near the center position of the parallelogram coding mark. In this embodiment, in the square code square, the midpoint of the line connecting the centroid of the positioning pattern and the centroid of the orientation pattern coincides with the centroid of the square code square. Because the orientation pattern and the positioning pattern are set, the method can adapt to the condition that the angle of the camera changes, obtain an accurate result, and has simple and convenient operation and strong flexibility.
The positioning pattern, the orientation pattern and the coding mark pattern in the parallelogram coding mark are not overlapped and not communicated. The parallelogram coding mark is a parallelogram with the length of a and the width of b, and both a and b are larger than zero; in this embodiment, the parallelogram-shaped code marks are square with a side length of 40 mm. In the parallelogram coding mark, the contour length of each coding unit pattern is smaller than that of the positioning pattern, and the contour length of the positioning pattern is smaller than that of the parallelogram coding mark. In this embodiment, all the positioning patterns are solid circles with a diameter of 6.5 mm in the square coding squares; all the directional patterns are circular rings with an inner diameter of 3.5 mm and an outer diameter of 6.5 mm; the number of the code cell patterns in each code square was 12 in total, and each was a solid circle having a diameter of 3 mm.
The background color of the parallelogram coding mark is marked as color I, the colors of the positioning pattern and the orientation pattern are marked as color II, and the colors of all the coding unit patterns are the same as the color I or the same as the color II, and the color I is obviously different from the color II. In this example, the selected color I is black and the color II is white. In the parallelogram-shaped coded mark, the positions and colors of all the coding unit patterns can be determined by the coding method of the invention.
Taking the integer z v As an initial coding number in the coding plane target, calculating and determining the total number epsilon of the parallelogram coding units according to the number M of rows and the number N of columns of calibration angular points in the coding plane target; in this embodiment, ∈ ═ 4096;
wherein z is v Satisfies the formula: z is a radical of v ≤4096-ε；
The total number of parallelogram-shaped coding units ε can be obtained by the following formula:
if M, N are both odd numbers, or M, N is an odd-even number, then ε can be calculated from equation (2):
ε＝[(M-1)(N-1)]/2+M+N；
if M, N are both even numbers, then ε can be calculated by equation (3):
ε＝[(M-1)(N-1)+1]/2+M+N；
taking an integer variable e and giving an initial value e ═ z v ；
Referring to fig. 4, a method for coding a parallelogram coding flag based on region partition coding mainly includes the following steps:
step 1, recording a positive integer e as a coding number of the parallelogram coding mark, wherein e belongs to [0,4095 ];
in the parallelogram coding marks adopted by the coding method, 12 coding mark patterns are totally adopted, so 4096 different codes can be generated totally, and sufficient capacity is provided for three-dimensional data splicing of large-size targets or camera calibration under a large view field; meanwhile, due to the fact that the coding capacity is large, high accuracy can be still kept for three-dimensional data point cloud splicing of large-size targets.
Step 2, establishing a coding coordinate system o of the parallelogram coding mark corresponding to the coding number e e -X e Y e Z e ；
Selecting one vertex on the parallelogram coding mark with the code number e as the origin o of the coding coordinate system e Recording the center of mass O of the directional ring in the code mark d,e Point-oriented positioning circular mass center O l,e The vector of (a) is a direction vector with a code number in the code sign
Figure BDA0003017199930000071
To be measured by the direction vector
Figure BDA0003017199930000072
Direction of (2) as Y of the coding coordinate system of the coding mark e An axial direction;
in the plane of the parallelogram coding mark with the coding number e, the original point o of the coding coordinate system of the coding mark is used e Make one and Y as the starting point e Unit vector with same axial positive direction
Figure BDA0003017199930000073
When the person looks at the coding mark, the origin o of the coding coordinate system of the coding mark is used e As a rotation center, in the plane of the coding mark, a unit vector
Figure BDA0003017199930000074
Clockwise rotation of 90 degrees is carried out to obtain a rotation unit vector
Figure BDA0003017199930000075
Will rotate the unit vector
Figure BDA0003017199930000076
As X of said coding coordinate system e Axial, simultaneous encoding of Z of the coordinate system e Axis, X e Axis and Y e The axes meet the right-hand criterion, thereby establishing a coding coordinate system o e -X e Y e Z e . In this embodiment, the coordinate system o is encoded 1 "-XYZ is shown in FIG. 2.
Step 3, dividing the parallelogram coding mark with the coding number e into 6 coding regions, so that each coding region in the coding mark comprises 2 coding mark patterns;
the specific method for dividing the region comprises the following steps:
step 3.1, recording the coordinate of the positioning circle mass center in the parallelogram coding mark corresponding to the coding number e as o l,e (x l,e ,y l,e 0), the coordinates of the center of mass of the oriented circle in the code mark are o d,e (x d,e ,y d,e 0), locate the distance to the centroid o l,e The two nearest vertexes are respectively marked as C e,1min (x e,1min ,y e,1min 0) and C e,2min (x e,2min ,y e,2min ,0)；
Step 3.2, respectively calculating the direction vector in the parallelogram coding mark corresponding to the coding number e according to the following formula
Figure BDA0003017199930000081
And vertex vector
Figure BDA0003017199930000082
Figure BDA0003017199930000083
Figure BDA0003017199930000084
Step 3.3, recording the centroid o of the positioning circle l,e And parallel to the vertex vector
Figure BDA0003017199930000085
Is a straight line of 1,e Over-orientation of the center of mass o of the ring d,e And parallel to the vertex vector
Figure BDA0003017199930000086
Is a straight line of 2,e Passing through the location of the centroid o l,e And the center of mass o of the directional ring d,e Is a straight line of 3,e Then straight line l 3,e Line l 1,e And a straight line l 2,e The parallelogram coding mark with the coding number e can be divided into 6 coding regions, and each coding region in the coding mark comprises 2 coding mark patterns.
In this embodiment, the code number e of the parallelogram-shaped code mark is 757, and if the color of all the code mark patterns is color II, the straight line l 3,757 Line l 1,757 And a straight line l 2,757 As shown in fig. 2.
Step 4, numbering 6 coding areas in the parallelogram coding mark corresponding to the coding number e;
the specific method comprises the following steps:
step 4.1, in the parallelogram coding mark with the coding number e, respectively calculating a first judgment vector in the parallelogram coding mark with the coding number e according to the following formula
Figure BDA0003017199930000087
And a second decision vector
Figure BDA0003017199930000088
Figure BDA0003017199930000089
Figure BDA00030171999300000810
Step 4.2, respectively calculating the first vector of the area division in the parallelogram coding mark corresponding to the coding number e by the following formula
Figure BDA00030171999300000811
And area division second vector
Figure BDA00030171999300000812
Figure BDA00030171999300000813
Figure BDA0003017199930000091
Step 4.3, dividing the first vector according to the region
Figure BDA0003017199930000092
And area division second vector
Figure BDA0003017199930000093
Determine the vertex C of the direction situation e,1min (x e,1min ,y e,1min 0) locating a vertex for the 1 st coding region in the parallelogram coding flag with the coding number e
Figure BDA0003017199930000094
Or 6 th coding region locating vertex
Figure BDA0003017199930000095
Correspondingly determining the vertex C e,2min (x e,2min ,y e,2min 0) locating the vertex for the 6 th coding region
Figure BDA0003017199930000096
Or 1 st coding region locating vertex
Figure BDA0003017199930000097
The method specifically comprises the following situations:
(1) if z is J1 > 0 and z J2 If < 0, the vertex C is pointed to e,1min (x e,1min ,y e,1min 0) positioning vertex of the 1 st coding region in the parallelogram coding mark with the coding number e
Figure BDA0003017199930000098
And the coding mark includes the 1 st coding region positioning vertex
Figure BDA0003017199930000099
The coding region of (1) is marked as the 1 st coding region in the coding mark; at the same time, the vertex C e,2min (x e,2min ,y e,2min 0) positioning vertex of the 6 th coding region in the parallelogram coding mark with the coding number e
Figure BDA00030171999300000910
And the coding mark includes the 6 th coding region positioning vertex
Figure BDA00030171999300000911
The coding region of (2) is marked as the 6 th coding region in the coding mark;
(2) if it is
Figure BDA00030171999300000912
And is
Figure BDA00030171999300000913
Then vertex C will be pointed out e,1min (x e,1min ,y e,1min 0) positioning vertex of the 6 th coding region in the parallelogram coding mark with the coding number e
Figure BDA00030171999300000914
And the 6 th coding region locating vertex is included in the coding mark
Figure BDA00030171999300000915
The coding region of (2) is marked as the 6 th coding region in the coding mark; at the same time, the vertex C e,2min (x e,2min ,y e,2min 0) positioning vertex of the 1 st coding region in the parallelogram coding mark with the coding number e
Figure BDA00030171999300000916
And the coding mark includes the 1 st coding region positioning vertex
Figure BDA00030171999300000917
The coding region of (1) is marked as the 1 st coding region in the coding flag.
Step 4.4, positioning vertex of the 1 st coding region
Figure BDA00030171999300000918
The coding region is marked as the 1 st coding region in the parallelogram coding mark with the coding number e, and the 6 th coding region is positioned at the vertex
Figure BDA00030171999300000919
The coding region is marked as the 6 th coding region in the parallelogram coding mark with the coding number e;
and 4.5, taking the 1 st coding region of the parallelogram coding mark with the coding number of e as a starting region and the 6 th coding region as an end region, and sequentially marking the 6 coding regions in the parallelogram coding mark with the coding number of e as the 1 st coding region, the 2 nd coding region, the 3 rd coding region, the 4 th coding region, the 5 th coding region and the 6 th coding region of the parallelogram coding mark with the coding number of e according to the clockwise direction.
In this embodiment, in the parallelogram-shaped code flag with the code number of 757, the 1 st code region is used as the start region, and the 6 th code region is used as the end region, and the 1 st code region, the 2 nd code region, the 3 rd code region, the 4 th code region, the 5 th code region and the 6 th code region of the parallelogram-shaped code flag corresponding to the code number are obtained in the clockwise direction as shown in fig. 2.
And 5, coding each corner point of 6 coding areas in the parallelogram coding mark corresponding to the coding number e.
The method of encoding each corner point of the coding mark comprises the steps of:
step 5.1, in the parallelogram coding mark corresponding to the coding number e, the centroid of the ith coding mark pattern in the sigma coding region is converted into a straight line l 1,e Is recorded as
Figure BDA0003017199930000101
Centroid-to-straight line l of ith coded logo pattern in the pi-th coded region 2,e Is recorded as
Figure BDA0003017199930000102
Centroid-to-straight line l of ith code mark pattern in theta code area 3,e Is recorded as
Figure BDA0003017199930000103
Where σ ═ 1,2,5,6, pi ═ 3,4, i ═ 1,2, θ ═ 1,2,3,4,5, 6;
step 5.2, in the parallelogram coding mark with the coding number e, according to
Figure BDA0003017199930000104
And
Figure BDA0003017199930000105
the size relationship between the sigma-bit coded mark patterns determines the 1 st bit coded mark pattern in the sigma-bit coded region
Figure BDA0003017199930000106
And 2 nd bit coded flag pattern
Figure BDA0003017199930000107
Where σ ═ 1,2,5,6, i ═ 1,2, and θ ═ σ; the method specifically comprises the following situations:
(1) if it is
Figure BDA0003017199930000108
And is
Figure BDA0003017199930000109
Then the 1 st coding mark pattern in the sigma coding region in the parallelogram coding mark with the coding number e is the 1 st coding mark pattern in the sigma coding region in the coding mark
Figure BDA00030171999300001010
Let the 2 nd coded mark pattern in the sigma-th coding region be the 2 nd coded mark pattern in the sigma-th coding region in the coded mark
Figure BDA00030171999300001011
(2) If it is
Figure BDA00030171999300001012
And is
Figure BDA00030171999300001013
The 2 nd coding mark pattern in the sigma coding region in the parallelogram coding mark with the coding number e is the 1 st coding mark pattern in the sigma coding region in the coding mark
Figure BDA00030171999300001014
Let the 1 st coding mark pattern in the sigma coding region be the 2 nd coding mark pattern in the sigma coding region in the coding mark
Figure BDA00030171999300001015
Within a parallelogram-shaped coding index corresponding to the coding number e, according to
Figure BDA00030171999300001016
And
Figure BDA00030171999300001017
the size relationship between the coded mark patterns determines and determines the 1 st bit of the coded mark pattern in the pi-th coding area
Figure BDA00030171999300001018
And 2 nd bit coded flag pattern
Figure BDA00030171999300001019
Wherein pi is 3,4, i is 1,2, and θ is pi; the method specifically comprises the following situations:
(1) if it is
Figure BDA00030171999300001020
And is
Figure BDA00030171999300001021
Then the 1 st coded mark pattern in the pi-th coding region in the parallelogram coded mark with the code number e is the 1 st coded mark pattern in the pi-th coding region in the coded mark
Figure BDA00030171999300001022
Note that the 2 nd coded mark pattern in the pi-th coding region is the 2 nd coded mark pattern in the pi-th coding region in the coded mark
Figure BDA00030171999300001023
(2) If it is
Figure BDA0003017199930000111
And is
Figure BDA0003017199930000112
Then the 2 nd coding mark pattern in the pi-th coding area in the parallelogram coding mark with the coding number e is the 1 st coding mark pattern in the pi-th coding area in the coding mark
Figure BDA0003017199930000113
Marking the 1 st coded mark pattern in the pi-th coding region as the 2 nd coded mark pattern in the pi-th coding region of the coded mark
Figure BDA0003017199930000114
In this embodiment, the centroid of the 1 st code mark pattern in the σ -encoding region in the parallelogram code mark corresponding to code number 757 is directed to the straight line l 1 And a straight line l 3 Are respectively at a distance of
Figure BDA0003017199930000115
Satisfy the requirement of
Figure BDA0003017199930000116
And the centroid of the 2 nd coding mark pattern in the sigma coding region in the coding mark is respectively positioned to the straight line l 1 And a straight line l 3 Are respectively at a distance of
Figure BDA0003017199930000117
Satisfy the requirement of
Figure BDA0003017199930000118
Then the 1 st coded mark pattern in the sigma coding region in the parallelogram coded mark with the code number of 757 is the 1 st coded mark pattern in the sigma coding region in the coded mark
Figure BDA0003017199930000119
Marking the 2 nd coding mark pattern in the sigma-th coding region in the coding mark as the 2 nd coding mark pattern in the sigma-th coding region in the coding mark
Figure BDA00030171999300001110
In this embodiment, the 1 st coded mark in the pi-th coded region in the parallelogram coded mark corresponding to the code number 757The centroid of the pattern respectively falling on the straight line l 2 And a straight line l 3 Are respectively at a distance of
Figure BDA00030171999300001111
Satisfy the requirement of
Figure BDA00030171999300001112
And the centroid of the 2 nd coded mark pattern in the pi-th coded region in the coded mark is respectively aligned to the line l 2 And a straight line l 3 Are respectively at a distance of
Figure BDA00030171999300001113
Satisfy the requirement of
Figure BDA00030171999300001114
Then the 1 st coded mark pattern in the pi-th coded area in the parallelogram coded mark with the mark number of 757 is the 1 st coded mark pattern in the pi-th coded area in the coded mark
Figure BDA00030171999300001115
Noting that the 2 nd coded mark pattern in the pi-th coding region in the coded mark is the 2 nd coded mark pattern in the pi-th coding region in the coded mark
Figure BDA00030171999300001116
Step 5.3, in the parallelogram coding mark with the coding number e, coding the j-th coding mark pattern in the theta-th coding area
Figure BDA00030171999300001117
The corresponding code value is noted
Figure BDA00030171999300001118
Wherein j is 1,2 and θ is 1,2,3,4,5,6, and
Figure BDA00030171999300001119
can only take the value of 0 or 1;
step 5.4,For the parallelogram coding mark with the coding number e, the 12-bit binary number corresponding to the coding number e is marked as w e Provision for
Figure BDA00030171999300001120
Sequentially and respectively corresponding to binary numbers w from the lowest order to the highest order e And satisfies the formula (11),
G T ·F e ＝＝e (11)
wherein, the column vector G is (2) 0 ,2 1 ,2 2 ,2 3 ,2 4 ,2 5 ,2 6 ,2 7 ,2 8 ,2 9 ,2 10 ,2 11 ) T (ii) a And is
Column vector
Figure BDA0003017199930000121
In this example, G T ·F 757 757, and column vector G (2) 0 ,2 1 ,2 2 ,2 3 ,2 4 ,2 5 ,2 6 ,2 7 ,2 8 ,2 9 ,2 10 ,2 11 ) T ；
Figure BDA0003017199930000122
Step 5.5, according to the j bit coding mark pattern of the theta coding area in the parallelogram coding mark corresponding to the coding number e determined in the step 5.4
Figure BDA0003017199930000123
Corresponding code value
Figure BDA0003017199930000124
The value of (a) designates the j-th bit coding mark pattern of the theta-th coding area in the parallelogram coding mark corresponding to the coding number e
Figure BDA0003017199930000125
Wherein j is 1,2 and θ is 1,2,3,4,5, 6; the method specifically comprises the following situations:
(1) if the code number is e, the j-th coded mark pattern in the theta-th coded area in the corresponding parallelogram coded mark
Figure BDA0003017199930000126
Is coded value of
Figure BDA0003017199930000127
The j-th bit coding mark pattern of the theta-th coding area in the parallelogram coding mark with the coding number of e
Figure BDA0003017199930000128
Is color I, where j is 1,2 and θ is 1,2,3,4,5, 6;
(2) if the code number is e, the j-th coded mark pattern in the theta-th coded area in the corresponding parallelogram coded mark
Figure BDA0003017199930000129
Is coded value of
Figure BDA00030171999300001210
The j-th bit coding mark pattern in the theta-th coding area in the parallelogram coding mark corresponding to the coding number e is made to be
Figure BDA00030171999300001211
Is color II, where j is 1,2 and θ is 1,2,3,4,5, 6;
then the result obtained in step 5.4
Figure BDA00030171999300001212
The color of all of the coded logo patterns in each of the coded areas in the parallelogram-shaped coded logo corresponding to reference number 757 is shown in FIG. 3, where a portion of the coded logo patterns are the same color as the background color and are not shown.
Step 5.6, the first parallelogram coding mark with the coding number e
Figure BDA00030171999300001213
The corner points on the coding region are marked as the first in the parallelogram coding mark with the coding number of e
Figure BDA00030171999300001214
Corner point of a coding region
Figure BDA00030171999300001215
Wherein
Figure BDA00030171999300001216
Therefore, the coding work of the parallelogram coding mark with the coding number of 757 is completed, and the coding sequence numbers of the four angular points are respectively as follows: corner point of No. 1 coding region in parallelogram coding mark with code number 757
Figure BDA00030171999300001217
Corner point of No. 3 coding region in parallelogram coding mark with code number 757
Figure BDA00030171999300001218
Corner of the 4 th coding region in a 757 code number parallelogram coding index
Figure BDA00030171999300001219
Corner point of the 6 th coding region in the parallelogram coding index with code number 757
Figure BDA00030171999300001220
The coding sequence number of each angular point can realize the judgment of the position of the uniquely determined angular point on the parallelogram coding mark.
The coding of the parallelogram coding flags of the other code numbers can be completed by referring to the coding process of the parallelogram coding flag corresponding to the code number 757.
The invention also provides a computer readable storage medium comprising a computer program for use with an electronic device having an image processing function, wherein the computer program is executable by a processor to perform the encoding method.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (6)

1. A coding method of a parallelogram coding flag based on region partition coding is characterized in that: four vertexes of the parallelogram coding mark are used as four angular points of the parallelogram coding mark, and the four angular points of the parallelogram coding mark are used for splicing three-dimensional point clouds of a target curved surface in the visual structured light three-dimensional measurement process;
the method mainly comprises the following steps:
step 1, recording a positive integer e as a coding number of the parallelogram coding mark, wherein e belongs to [0,4095 ];
step 2, establishing a coding coordinate system o of the parallelogram coding mark corresponding to the coding number e e -X e Y e Z e ；
Step 3, dividing the parallelogram coding sign with the coding number e into 6 coding areas, wherein each coding area in the parallelogram coding sign with the coding number e comprises 2 coding sign patterns, and the method comprises the following steps:
step 3.1, recording the coordinate of the positioning circle mass center in the parallelogram coding mark corresponding to the coding number e as o l,e (x l,e ,y l,e 0), the coordinate of the orientation ring centroid in the parallelogram code sign corresponding to the code number e is o d,e (x d,e ,y d,e 0); locate the distance to the circular centroid o l,e More recentTwo vertexes are respectively marked as C e,1min (x e,1min ,y e,1min 0) and C e,2min (x e,2min ,y e,2min ,0)；
Step 3.2, respectively calculating the direction vector in the parallelogram coding mark corresponding to the coding number e according to the following formula
Figure FDA0003787128120000011
And vertex vector
Figure FDA0003787128120000012
Figure FDA0003787128120000013
Figure FDA0003787128120000014
Step 3.3, recording the centroid o of the positioning circle l,e And parallel to the vertex vector
Figure FDA0003787128120000015
Is a straight line of 1,e Over-orientation of the center of mass o of the ring d,e And parallel to the vertex vector
Figure FDA0003787128120000016
Is a straight line of 2,e Passing through the location of the centroid o l,e And the center of mass o of the directional ring d,e Is a straight line of 3,e Then straight line l 3,e Straight line l 1,e And a straight line l 2,e The parallelogram coding mark with the coding number e can be divided into 6 coding areas;
step 4, numbering 6 coding areas in the parallelogram coding mark corresponding to the coding number e;
step 5, coding each corner point of 6 coding areas in the parallelogram coding mark corresponding to the coding number e, comprising the following steps:
step 5.1, in the parallelogram coding mark corresponding to the coding number e, the centroid of the ith coding mark pattern in the sigma coding region is converted into a straight line l 1,e Is recorded as
Figure FDA0003787128120000017
Centroid-to-straight line l of ith coded logo pattern in the pi-th coded region 2,e Is recorded as
Figure FDA0003787128120000021
Centroid-to-straight line l of ith code mark pattern in theta code area 3,e Is recorded as
Figure FDA0003787128120000022
Where σ is 1,2,5,6, pi is 3,4, i is 1,2, θ is 1,2,3,4,5, 6;
step 5.2, in the parallelogram coding mark corresponding to the coding number e, according to
Figure FDA0003787128120000023
And
Figure FDA0003787128120000024
the size relationship between the sigma-bit coded mark patterns determines the 1 st bit coded mark pattern in the sigma-bit coded region
Figure FDA0003787128120000025
And 2 nd bit coded flag pattern
Figure FDA0003787128120000026
Where σ ═ 1,2,5,6, i ═ 1,2, and θ ═ σ;
within a parallelogram-shaped coding index corresponding to the coding number e, according to
Figure FDA0003787128120000027
And
Figure FDA0003787128120000028
the size relationship between the coded mark patterns determines the 1 st bit in the pi coding region
Figure FDA0003787128120000029
And 2 nd bit coded flag pattern
Figure FDA00037871281200000210
Wherein pi is 3,4, i is 1,2, and θ is pi;
step 5.3, in the parallelogram coding mark with the coding number e, coding the j-th bit coding mark pattern in the theta coding area
Figure FDA00037871281200000211
The corresponding code value is noted
Figure FDA00037871281200000212
Wherein j is 1,2 and θ is 1,2,3,4,5,6, and
Figure FDA00037871281200000213
can only take the value of 0 or 1;
step 5.4, for the parallelogram coding mark with the coding number e, recording the 12-bit binary number with the coding number e as w e Stipulate that
Figure FDA00037871281200000214
Figure FDA00037871281200000215
Respectively corresponding to binary numbers w in sequence from the lowest order to the highest order e And satisfies the formula (11),
G T ·F e ＝＝e (11)
wherein, the column vector G is (2) 0 ,2 1 ,2 2 ,2 3 ,2 4 ,2 5 ,2 6 ,2 7 ,2 8 ,2 9 ,2 10 ,2 11 ) T (ii) a And is
Column vector
Figure FDA00037871281200000216
Step 5.5, according to the j bit coding mark pattern of the theta coding area in the parallelogram coding mark corresponding to the coding number e determined in the step 5.4
Figure FDA00037871281200000217
Corresponding code value
Figure FDA00037871281200000218
The value of (a) designates the j-th bit coding mark pattern of the theta-th coding area in the parallelogram coding mark corresponding to the coding number e
Figure FDA00037871281200000219
Wherein j is 1,2 and θ is 1,2,3,4,5, 6;
step 5.6, the first parallelogram coding mark with the coding number e
Figure FDA00037871281200000220
The corner points on the coding region are marked as the first in the parallelogram coding mark with the coding number of e
Figure FDA00037871281200000221
Corner points of a coding region
Figure FDA00037871281200000222
Wherein
Figure FDA00037871281200000223
2. The encoding method according to claim 1, wherein: in step 4, the specific method for numbering the coding region of the parallelogram coding mark with the coding number e comprises the following steps:
step 4.1, in the parallelogram coding mark with the coding number e, respectively calculating a first judgment vector in the parallelogram coding mark with the coding number e according to the following formula
Figure FDA0003787128120000031
And a second decision vector
Figure FDA0003787128120000032
Figure FDA0003787128120000033
Figure FDA0003787128120000034
Step 4.2, respectively calculating the first vector of the regional division in the parallelogram coding mark corresponding to the coding number e by the following formula
Figure FDA0003787128120000035
And area division second vector
Figure FDA0003787128120000036
Figure FDA0003787128120000037
Figure FDA0003787128120000038
Step 4.3, dividing the first vector according to the region
Figure FDA0003787128120000039
And area division second vector
Figure FDA00037871281200000310
Determine the vertex C of the direction situation e,1min (x e,1min ,y e,1min 0) locating a vertex for the 1 st coding region in the parallelogram coding flag with the coding number e
Figure FDA00037871281200000311
Or 6 th coding region locating vertex
Figure FDA00037871281200000312
Correspondingly determining the vertex C e,2min (x e,2min ,y e,2min 0) locating the vertex for the 6 th coding region
Figure FDA00037871281200000313
Or 1 st coding region locating vertex
Figure FDA00037871281200000314
Step 4.4, positioning vertex of the 1 st coding region
Figure FDA00037871281200000315
The coding region is marked as the 1 st coding region in the parallelogram coding mark with the coding number e, and the 6 th coding region is positioned at the vertex
Figure FDA00037871281200000316
The coding region is marked as the 6 th coding region in the parallelogram coding mark with the coding number e;
and 4.5, taking the 1 st coding region of the parallelogram coding mark with the coding number of e as a starting region and the 6 th coding region as an end region, and sequentially marking the 6 coding regions in the parallelogram coding mark with the coding number of e as the 1 st coding region, the 2 nd coding region, the 3 rd coding region, the 4 th coding region, the 5 th coding region and the 6 th coding region of the parallelogram coding mark with the coding number of e according to the clockwise direction.
3. The encoding method according to claim 1, wherein: in step 5.2, if
Figure FDA00037871281200000317
And is
Figure FDA00037871281200000318
Then the 1 st coding mark pattern in the sigma coding region in the parallelogram coding mark corresponding to the coding number e is marked as a coding number
Figure FDA00037871281200000319
If it is
Figure FDA00037871281200000320
And is
Figure FDA00037871281200000321
Then the 2 nd coding mark pattern in the pi-th coding area in the parallelogram coding mark with the coding number e is the 1 st coding mark pattern in the pi-th coding area in the parallelogram coding mark with the coding number e
Figure FDA00037871281200000322
The 1 st coding mark pattern in the pi-th coding area in the parallelogram coding mark with the coding number of e is the 2 nd coding mark pattern in the pi-th coding area in the parallelogram coding mark with the coding number of e
Figure FDA00037871281200000323
4. According to claimThe encoding method of claim 1, wherein: in step 5.5, if the code number is e, the j-th bit code mark pattern in the theta-th code area in the corresponding parallelogram code mark
Figure FDA0003787128120000041
Is coded value of
Figure FDA0003787128120000042
The j-th bit coding mark pattern of the theta-th coding area in the parallelogram coding mark with the coding number of e
Figure FDA0003787128120000043
Is color I; if it is
Figure FDA0003787128120000044
Let the j-th bit encode the mark pattern
Figure FDA0003787128120000045
Is color II, where j is 1,2 and θ is 1,2,3,4,5, 6.
5. The encoding method according to claim 4, wherein: the color I and the color II have a clear difference.
6. A computer-readable storage medium comprising a computer program for use in conjunction with an electronic device having image processing capabilities, the computer program being executable by a processor to perform the encoding method of claim 1.
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