WO2017206824A1 - Position information processing method and system for use in smart display of visual images - Google Patents

Abstract

A position information processing method and system for use in smart display of visual images, the method comprising: acquiring a pixel and an imaging depth of an observing device, and acquiring a relative coordinate of a target object with respect to the observing device (S1); acquiring a horizontal offset angle and a vertical offset angle of the observing device, forming a new coordinate system with the observing device as the origin after defining the offset of the observing device, and calculating to obtain a new relative coordinate of the target object in the new coordinate system by calculation; and then calculating, according to the new relative coordinate of the target object, to obtain a coordinate point of the target object on a plane where an imaging picture of the observing device is located (S2); determining whether the coordinate point is within the imaging picture (S3); if yes, displaying a projection or a set of associated information projections at the coordinate point; if no, dividing an outside area of the imaging picture into a plurality of areas, and displaying a projection or a set of associated information projections at a position that matches the area where the coordinate point is located within the imaging picture (S4). Displaying a target object by projecting at a coordinate point in an imaging picture, renders the target object very clear, thus resulting in an enhanced visual effect.

Description

Position information processing method and system for intelligently displaying visual image Technical field

The invention relates to a method and a system for processing position information of a smart display visual image.

Background technique

Computer vision technology began to be applied as early as the lunar exploration activities of the 1970s. Whether it is today's new virtual reality, augmented reality, or positioning technology, the processing of visual images is particularly important. Current visual image processing is often based on observation equipment, and the technology of visual image display based on the position information of the object is still in a blank state.

Summary of the invention

In order to overcome the deficiencies of the prior art, one of the objects of the present invention is to provide a position information processing method for intelligently displaying a visual image, which can convert the relative coordinates of the target object in real time and perform projection display on the target object.

Another object of the present invention is to provide a position information processing system for intelligently displaying a visual image, which can achieve one of the objects of the present invention.

One of the objects of the present invention is achieved by the following technical solutions:

A method for processing location information of a smart display visual image includes the following steps:

Step S1: acquiring a pixel and an imaging depth of the observation device, and acquiring relative coordinates of the target object with respect to the observation device; the observation device forms one or a group of imaging images in the observation direction thereof, and the center of each imaging image and the observation device The distance between them is the imaging depth;

Step S2: Obtain a horizontal offset angle and a vertical offset angle of the observation device, define a shift of the observation device, form a new coordinate system with the observation device as an origin, and calculate a new relative coordinate of the target object in the new coordinate system. Then, according to the new relative coordinate of the target object, the coordinate point of the target object on the plane of the imaging image of the observation device is obtained;

Step S3: determining whether the coordinate point is located in the imaging picture, and if so, displaying a projection or a set of related information projections at the coordinate point; otherwise, performing step S4;

Step S4: Divide the outside of the imaging picture into a plurality of areas, and display a projection or a set of related information projections at positions matching the area where the coordinate points are located in the imaging picture.

Preferably, step S4 specifically includes the following steps:

Step S41: defining the imaged image by the first long side, the first wide side, the second long side, and the second wide side, and the first long side and the second long side are both left and right. The direction is infinitely extended, and the left extension line of the first long side, the right extension line of the first long side, the left extension line of the second long side, and the right extension line of the second long side are obtained; the first wide side and the second side are The wide sides are infinitely extended in the upper and lower directions, and the upper extension line of the first wide side, the lower extension line of the first wide side, the upper extension line of the second wide side, and the lower extension line of the second wide side are obtained;

Step S42: defining a formation area between the first left extension line and the first upper extension line as a first area, a first left extension line, a second area forming a region between the first wide side line and the second left extension line, The formation area between the second left extension line and the first lower extension line is a third area, and the first lower extension line, the second long side and the second lower extension line are formed as a fourth area, and the second lower extension The formation area between the line and the second right extension line is a fifth area, and the formation area between the second right extension line, the second wide side and the first right extension line is a sixth area, the first right extension line and the first The formation area between the two upper extension lines is a seventh area, and the formation area between the second upper extension line, the first long side and the first upper extension line is an eighth area;

Step S43: when the coordinate point is located in the first area, display a projection or a set of related information projection in the upper left corner of the imaging picture; when the coordinate point is located in the second area, display a projection or on the first wide side of the imaging picture a set of related information projection; when the coordinate point is located in the third area, a projection or a set of related information projection is displayed in the lower left corner of the imaging picture; when the coordinate point is located in the fourth area, it is displayed on the second long side of the imaging picture a projection or a set of related information projections; when the coordinate point is in the fifth region, a projection or a set of related information projections are displayed in the lower right corner of the imaged image; When located in the sixth area, a projection or a set of related information projections are displayed on the second wide side of the imaging picture; when the coordinate point is located in the seventh area, a projection or a set of related information projections are displayed in the upper right corner of the imaging picture; When the coordinate point is in the eighth region, a projection or a set of related information projections are displayed on the first long side of the imaged picture.

Preferably, in step S1, the relative coordinates of the target object are p(P _x , P _y , P _z ); step S2 specifically includes the following sub-steps:

Step S21: Obtain the horizontal offset angle of the observation device as arg ₁ , and obtain the vertical offset angle of the observation device as arg ₂ , and define the offset of the observation device to form a new coordinate system with the observation device as the origin;

Step S22: passing the formula

Find the direct length of the target object and the observation device, where l is the length directly between the target object and the observation device;

Step S23: Passing the formula

Find the horizontal angle between the target object and the X-axis, and obtain the horizontal angle of the target object with the X-axis in the new coordinate system by the formula A' _hori =A _hori +arg ₁ , where A _hori is the target object and the X-axis. The horizontal angle of the angle, A' _hori is the horizontal angle of the target object with the X axis in the new coordinate system;

Step S24: Passing the formula

Find the projection of the target object on the xy plane, according to the formula

Find the vertical angle between the target object and the xy plane, and find the vertical angle of the target object with the Y axis in the new coordinate system by the formula A' _vert = A _vert + arg ₂ , where l _xy is the target object at xy Projective on the plane, A _vert is the vertical angle between the target object and the xy plane, and A' _vert is the vertical angle of the target object with the Y axis in the new coordinate system;

Step S25: Calculate the Z-axis coordinate of the target object in the new coordinate system according to the formula q ₃ =l*sin(A' _vert ), and obtain the target object in the new according to the formula l' _xy = l*cos(A' _vert ) The projective length on the xy plane of the coordinate system, and the X-axis coordinate of the target object in the new coordinate system is obtained according to the formula q ₁ =l' _xy *cos(A' _hori ) according to the formula q ₂ =l' _xy *sin(A ' _hori ) _finds the Y-axis coordinate of the target object in the new coordinate system, where q ₃ is the Z-axis coordinate of the target object in the new coordinate system, and l' _xy is the projection of the target object on the xy plane of the new coordinate system. Length, q ₁ is the X-axis coordinate of the target object in the new coordinate system, and q ₂ is the Y-axis coordinate of the target object in the new coordinate system;

Step S26: Calculate the new relative coordinate of the target object as q(q ₁ , q ₂ , q ₃ ) according to the X-axis coordinate, the Y-axis coordinate and the Z coordinate of the target object in the new coordinate system, and according to the new relative of the target object. The coordinates determine the coordinate point of the target object on the plane of the imaging picture of the observation device.

The second object of the present invention is achieved by the following technical solutions:

A position information processing system for intelligently displaying visual images, comprising:

Obtaining module: acquiring pixels and imaging depths of the observation device, and acquiring relative coordinates of the target object relative to the observation device; the observation device forms one or a group of imaging images in the observation direction, and the center of each imaging image is The distance between the observation devices is the imaging depth;

The calculation module is configured to acquire a horizontal offset angle and a vertical offset angle of the observation device, define a deviation of the observation device, form a new coordinate system with the observation device as an origin, and calculate a new target object in the new coordinate system. Relative coordinate; then calculating the coordinate point of the target object on the plane of the imaging image of the observation device according to the new relative coordinate of the target object;

a judging module: configured to determine whether the coordinate point is located in an imaging screen, and if so, display a projection or a set of related information projections at the coordinate point; otherwise, execute a display module;

Display module: used to divide the outside of the imaging picture into several areas, and display a projection or a set of related information projections at positions matching the area where the coordinate points are located in the imaging picture.

Preferably, the display module specifically includes the following submodules:

The setting sub-module is configured to define the imaging picture to be surrounded by the first long side, the first wide side, the second long side and the second wide side, and the first long side and the second long side are all left And the right two directions are infinitely extended, and the left extension line of the first long side, the right extension line of the first long side, the left extension line of the second long side, and the right extension line of the second long side are obtained; the first wide side is And the second wide side is infinitely extended in the upper and lower directions, and the upper extension line of the first wide side, the lower extension line of the first wide side, the upper extension line of the second wide side, and the lower side of the second wide side are obtained. Extension line

Defining a sub-module: defining a formation area between the first left extension line and the first upper extension line as a first area, a formation area between the first left extension line, the first wide side line, and the second left extension line The second region, the formation region between the second left extension line and the first lower extension line is a third region, and the formation between the first lower extension line and the second long extension line and the second lower extension line is a fourth region, The formation area between the second lower extension line and the second right extension line is a fifth area, and the formation area between the second right extension line, the second wide side and the first right extension line is a sixth area, and the first right extension a formation area between the line and the second upper extension line is a seventh area, and a formation area between the second upper extension line, the first long side and the first upper extension line is an eighth area;

Display sub-module: for displaying a projection or a set of related information projections in the upper left corner of the imaging picture when the coordinate point is located in the first area; displaying on the first wide side of the imaging picture when the coordinate point is located in the second area a projection or a set of related information projections; when the coordinate point is in the third region, a projection or a set of related information projections are displayed in the lower left corner of the imaged image; and when the coordinate point is located in the fourth region, the second longest in the imaged image A projection or a set of related information projections are displayed on the side; when the coordinate point is located in the fifth region, a projection or a set of related information projections are displayed in the lower right corner of the imaging image; when the coordinate points are located in the sixth region, in the imaging image A projection or a set of related information projections is displayed on the second wide side; when the coordinate point is located in the seventh area, a projection or a set of related information projections are displayed in the upper right corner of the imaged image; when the coordinate points are located in the eighth region, A projection or a set of related information projections is displayed on the first long side of the imaged image.

Preferably, in the acquisition module, the relative coordinates of the target object are p(P _x , P _y , P _z ); the calculation module specifically includes the following sub-modules:

Obtain sub-module: the horizontal offset angle used to obtain the observing device is recorded as arg ₁ , and the vertical offset angle of the observing device is recorded as arg ₂ . After defining the observing device offset, the observing device is used as the origin to form a new coordinate system. ;

First calculation sub-module: used to pass the formula

Find the direct length of the target object and the observation device, where l is the length directly between the target object and the observation device;

Second calculation sub-module: used to pass the formula

Find the horizontal angle between the target object and the X-axis, and obtain the horizontal angle of the target object with the X-axis in the new coordinate system by the formula A' _hori =A _hori +arg ₁ , where A _hori is the target object and the X-axis. The horizontal angle of the angle, A' _hori is the horizontal angle of the target object with the X axis in the new coordinate system;

Third calculation sub-module: used to pass the formula

Find the projection of the target object on the xy plane, according to the formula

Find the vertical angle between the target object and the xy plane, and find the vertical angle of the target object with the Y axis in the new coordinate system by the formula A' _vert = A _vert + arg ₂ , where l _xy is the target object at xy Projective on the plane, A _vert is the vertical angle between the target object and the xy plane, and A' _vert is the vertical angle of the target object with the Y axis in the new coordinate system;

The fourth calculation sub-module is used to obtain the Z-axis coordinate of the target object in the new coordinate system according to the formula q ₃ =l*sin(A' _vert ), and obtain the formula according to the formula l' _xy =l*cos(A' _vert ) Obtain the projective length of the target object on the xy plane of the new coordinate system, and obtain the X-axis coordinate of the target object in the new coordinate system according to the formula q ₁ =l' _xy *cos(A' _hori ), according to the formula q ₂ =l' _Xy *sin(A' _hori ) _finds the Y-axis coordinate of the target object in the new coordinate system, where q ₃ is the Z-axis coordinate of the target object in the new coordinate system, and l' _xy is the target object in the new coordinate system. Projective length on the xy plane, q ₁ is the X-axis coordinate of the target object in the new coordinate system, and q ₂ is the Y-axis coordinate of the target object in the new coordinate system;

The fifth calculation sub-module is configured to obtain a new relative coordinate of the target object as q(q ₁ , q ₂ , q ₃ ) according to the X-axis coordinate, the Y-axis coordinate and the Z coordinate of the target object in the new coordinate system, and according to The new relative coordinates of the target object determine the coordinate point of the target object on the plane of the imaging picture of the observation device.

Compared with the prior art, the beneficial effects of the present invention are:

The invention uses the observation device as the reference object as the origin of the coordinate system, and after the observation device generates the offset, the new relative coordinates of the target object are obtained by calculation, and the coordinate points of the target object on the imaging image are projected and displayed, which makes it clear at a glance , producing a visually enhanced effect.

DRAWINGS

1 is a flow chart of a method for processing position information of a smart display visual image according to the present invention.

2 is an example 1 of displaying a projection in an imaging screen when the coordinate point is outside the imaging screen;

3 is a second example of displaying a projection in an imaging screen when the coordinate point is outside the imaging screen;

4 is a third example of displaying a projection in an imaging screen when the coordinate point is outside the imaging screen;

Figure 5 is a schematic view showing the offset angle of the observation apparatus of the present invention;

Figure 6 is a schematic diagram of relative coordinates of a target object;

FIG. 7 is a schematic diagram of new relative coordinates of the target object with respect to the observed device after the offset of the observation device.

detailed description

The present invention will be further described below in conjunction with the drawings and specific embodiments.

Referring to FIG. 1 , the present invention provides a method for processing location information of an intelligent display visual image, including:

Step S1: acquiring a pixel and an imaging depth of the observation device, and acquiring relative coordinates of the target object with respect to the observation device; the observation device forms one or a group of imaging images in the observation direction thereof, and the center of each imaging image and the observation device The distance between them is the imaging depth;

The observation device of this embodiment may be a camera, and if it is used as another application, it may be changed to other devices according to other situations. The pixel of the observing device is the physical property of the observing device, and is immutable. The length and width of the imaging image of the observing device can be obtained according to the pixel of the observing device, and the imaging depth of the observing device is related to the actual scene, and can be preset, belonging to the advance Knowable factors. The original coordinate system is established with the observation device as the origin, and the relative coordinates of the target object in the original coordinate system are also known in advance. According to the principle of the observation device, it forms an imaging picture in front.

Step S2: Obtain a horizontal offset angle and a vertical offset angle of the observation device, define a shift of the observation device, form a new coordinate system with the observation device as an origin, and calculate a new relative coordinate of the target object in the new coordinate system. Then, according to the new relative coordinate of the target object, the coordinate point of the target object on the plane of the imaging image of the observation device is obtained;

When the observing device produces an offset, a new coordinate system with the observing device as the origin is still established at this time, and the relative coordinates of the target object are also changed. At this time, it is necessary to recalculate the new relative coordinates of the target object, thereby further obtaining the coordinate points of the target object on the plane of the imaging picture. The imaging picture is a plane, and the plane is infinitely expanded into a virtual plane, that is, a plane on which the imaging picture is located. The new relative coordinate of the target object is equivalent to a vector with the observation device as the origin. The continuous extension of the vector will eventually create an intersection with the virtual plane, which is the desired coordinate point.

Specifically, step S2 includes the following steps:

Step S21: Please refer to FIG. 5, the horizontal offset angle of the acquiring observation device is recorded as arg ₁ , and the vertical offset angle of the acquiring observation device is recorded as arg ₂ , and the observation device is defined as an offset and the observation device is used as the origin. a new coordinate system; a six-axis sensor is provided on the observation device, and the horizontal offset angle and the vertical offset angle of the device can be observed through the six-axis sensor;

Step S22: Please refer to FIG. 6 and pass the formula.

Find the direct length of the target object and the observation device, where l is the direct length of the target object and the observation device; the formula applied in the step is the Pythagorean law, where P _x is the X-axis coordinate of the target object, and P _y is the target object The Y-axis coordinate, P _z is the Z-axis coordinate of the target object. In fact, in step S1, the relative coordinates of the target object are p(P _x , P _y , P _z );

Step S23: Passing the formula

Find the horizontal angle between the target object and the X-axis, and obtain the horizontal angle of the target object with the X-axis in the new coordinate system by the formula A' _hori =A _hori +arg ₁ , where A _hori is the target object and the X-axis. The horizontal angle of the angle, A' _hori is the horizontal angle of the target object with the X axis in the new coordinate system;

Step S24: Passing the formula Find the projection of the target object on the xy plane, according to the formula

Find the vertical angle between the target object and the xy plane, and find the vertical angle of the target object with the Y axis in the new coordinate system by the formula A' _vert = A _vert + arg ₂ , where l _xy is the target object at xy Projective on the plane, A _vert is the vertical angle between the target object and the xy plane, and A' _vert is the vertical angle of the target object with the Y axis in the new coordinate system;

Step S25: Referring to FIG. 7, the Z-axis coordinate of the target object in the new coordinate system is obtained according to the formula q ₃ =l*sin(A' _vert ), according to the formula l' _xy =l*cos(A' _vert The projection length of the target object on the xy plane of the new coordinate system is obtained, and the X-axis coordinate of the target object in the new coordinate system is obtained according to the formula q ₁ =l' _xy *cos(A' _hori ), according to the formula q ₂ = L' _xy *sin(A' _hori ) _finds the Y-axis coordinate of the target object in the new coordinate system, where q ₃ is the Z-axis coordinate of the target object in the new coordinate system, and l' _xy is the target object at the new coordinate The projective length on the xy plane of the system, q ₁ is the X-axis coordinate of the target object in the new coordinate system, and q ₂ is the Y-axis coordinate of the target object in the new coordinate system;

Step S26: Calculate the new relative coordinate of the target object as q(q ₁ , q ₂ , q ₃ ) according to the X-axis coordinate, the Y-axis coordinate and the Z coordinate of the target object in the new coordinate system, and according to the new relative of the target object. The coordinates determine the coordinate point of the target object on the plane of the imaging picture of the observation device.

Steps S21 to S26 are specific step procedures for combining the required formulas in order to obtain coordinate points of the target object on the plane of the imaging screen.

It should be noted that the above calculation method for obtaining the coordinate points of the target object on the plane of the imaged image is only one of the embodiments, and is not intended to limit the scope of the present invention. In the calculation process, the new relative coordinates of the target object can be calculated more conveniently by the projection in the xy plane. In fact, the target object can be realized by the projection of any plane in the xyz coordinate system. Moreover, the calculation of the relative coordinates of any coordinate point in space relative to any other two points (or multiple points) is also a conventional technical means in the art, and the real-time conversion through the coordinate points falls in order to achieve the object of the present invention. Within the scope of protection of the present invention.

Step S3: determining whether the coordinate point is located in the imaging picture, and if so, displaying a projection or a set of related information projections at the coordinate point; otherwise, performing step S4;

Step S4: Divide the outside of the imaging picture into a plurality of areas, and display a projection or a set of related information projections at positions matching the area where the coordinate points are located in the imaging picture.

Step S4 specifically includes the following steps:

Step S41: defining the imaged image by the first long side, the first wide side, the second long side, and the second wide side, and the first long side and the second long side are both left and right. The direction is infinitely extended, and the left extension line of the first long side, the right extension line of the first long side, the left extension line of the second long side, and the right extension line of the second long side are obtained; the first wide side and the second side are The wide sides are infinitely extended in the upper and lower directions, and the upper extension line of the first wide side, the lower extension line of the first wide side, the upper extension line of the second wide side, and the lower extension line of the second wide side are obtained;

Step S42: defining a formation area between the first left extension line and the first upper extension line as a first area, a first left extension line, a second area forming a region between the first wide side line and the second left extension line, The formation area between the second left extension line and the first lower extension line is The third region, the first lower extension line, the second long side and the second lower extension line are formed as a fourth area, and the formation area between the second lower extension line and the second right extension line is a fifth area. a formation area between the second right extension line, the second wide side and the first right extension line is a sixth area, and a formation area between the first right extension line and the second upper extension line is a seventh area, and the second area The formation area between the extension line, the first long side and the first upper extension line is an eighth area; referring to FIG. 2, the division in the embodiment is to divide the plane of the imaging picture, and S is an imaging picture of the observation device. The first area is a, the second area is b, the third area is c, the fourth area is d, the fifth area is e, the sixth area is f, and the seventh area is g. The eighth area is h;

Step S43: when the coordinate point is located in the first area, display a projection or a set of related information projection in the upper left corner of the imaging picture; when the coordinate point is located in the second area, display a projection or on the first wide side of the imaging picture a set of related information projection; when the coordinate point is located in the third area, a projection or a set of related information projection is displayed in the lower left corner of the imaging picture; when the coordinate point is located in the fourth area, it is displayed on the second long side of the imaging picture a projection or a set of related information projections; when the coordinate point is in the fifth region, a projection or a set of related information projections are displayed in the lower right corner of the imaged image; when the coordinate point is located in the sixth region, the second width in the imaged image A projection or a set of related information projections are displayed on the side; when the coordinate point is located in the seventh region, a projection or a set of related information projections are displayed in the upper right corner of the imaged image; when the coordinate points are located in the eighth region, in the imaged image A projection or a set of related information projections is displayed on the first long side.

From step S41 to step S43, it can be clearly understood how to divide the plane outside the imaging picture into regions for accurate projection display of the coordinate points.

The above is an embodiment in which a projection or a set of related information projections are displayed in an imaging screen when the coordinate point is outside the imaging screen, which is a projection rule set by the present invention. In fact, there are other kinds of projections. Projection rules.

For example, please refer to FIG. 3, which is roughly the same as the area division of FIG. 2, except that there are many lines connecting the coordinate points outside the imaging picture to the imaging picture, and the shortest of the many lines is taken. A point on a corresponding imaging picture is projected as a projection or a set of related information, for example, a projection within the imaging picture is the coordinate point to the imaging picture. It can be seen that the projection of the coordinate points in the regions a, c, e, g on the imaging picture is the same as in the above-mentioned FIG. 2, for example, the projection of the coordinate point k _a in the region _a on the imaging image is in the upper left corner of the imaging image. s ₁ displays a projection or a set of related information projections; and the projections of the coordinate points of the regions b, d, f, h on the imaging picture are: corresponding to the imaging points of the coordinate points in the regions b, d, f, h The sides (corresponding to the first wide side, the second long side, the second wide side, and the first long side respectively) are perpendicular lines, and there is an intersection point between the perpendicular line and the corresponding side of the imaging picture, and one coordinate point is displayed on the imaging screen A projection or a set of related information projections is located at the intersection. For example, the coordinate point k _b in the region b is perpendicular to the first broad side, and the intersection between the vertical line and the first wide side is denoted as s ₂ . The coordinate point k _b displays a projection or a set of related information projections at point s ₂ .

For example, please refer to FIG. 4, which does not divide the specific area outside the imaging picture. The coordinate point outside the imaging picture is connected with the center O of the imaging picture, and there must be an intersection with an edge of the imaging picture. The coordinate point displays a projection or a set of related information projections at the intersection; for example, the intersection of the coordinate point k _m and the center O of the imaged image is s _m , and the coordinate point k _m displays a projection or a point at the s _m point of the imaged image projection group related information; Similarly, a display coordinate point k _n projector or a group of related information projected screen image s _n points.

In summary, the above projection rules are all set by the inventors, and any manner of regularly displaying the coordinate points outside the imaging screen on the imaging screen to display one or a group of related information is in the protection scope of the present invention. For example, in FIG. 4, the following rule may also be adopted: a projection or a set of related information projections of corresponding coordinate points may be displayed at any point on the connecting line from the intersection point to the center O, for example, the coordinate point k _{m is} in the imaged image. Any point on the line connecting the s _m point to the center O of the imaged picture can display a projection or a set of related information projections.

Assume that the imaging depth is depth, the length of the imaging picture is leng, and the width of the imaging picture is width. Assume that the coordinates of the center point of the imaging picture are cen=(0, depth, 0), and the coordinate point of the upper left corner of the imaging picture is

The coordinate point in the upper right corner of the screen is

The lower left coordinate point of the screen is

The lower right coordinate point of the screen is

The new relative coordinate of the target object is q, and the y-axis coordinate of the new relative coordinate q is q ₂ . If the vector q is enlarged by k times and intersects with the virtual plane, then k=depth/q ₂ , and the target object is in the imaging image of the observation device. The coordinates of the coordinate point of the plane (that is, the intersection point) are PJT _ori , PJT _ori = k*q.

According to the position of the coordinate point and the size of k, it can be used as the basis for judging which area outside the imaging screen of the coordinate point:

Among them, PJT represents the coordinate point of the projection, PJT ₁ represents the coordinate of the projected coordinate point on the X axis, and PJT ₃ represents the coordinate of the projected coordinate point on the Z axis. To specifically determine the coordinate point value of the projection, it is necessary to combine the above two sets of formulas, and any one of each set of formulas is combined with any one of the other set of formulas, that is, for example, the first set of formulas

The second set of formulas

Indicates that the projection is displayed to the upper right corner, as in the first set of formulas.

The second set of formulas

This indicates that the projection is displayed to the upper left corner. In addition to the visual enhancement, the solution of the present invention can also be applied in the field of positioning technology, for example, the observation device is replaced by a mobile phone terminal (that is, equivalent to the current location), the target object is the target location of the user, and the user passes the mobile phone. The navigation software inside the terminal performs search and navigation on the target location. In combination with the solution of the present invention, the user can be reminded that the target location is located at the upper left corner, the upper right corner, or other orientation of the current location, which is more convenient for the user to quickly find the target location.

The projection corresponding to the position displayed on the coordinate point or matching the region where the coordinate point is located may be executed through the background center, and after the background center completes the calculation of the coordinate point of the target object, the corresponding device is controlled to generate a projection at the position of the coordinate point. It is known from the prior art.

In another aspect, the present invention also provides a location information processing system for intelligently displaying a visual image, comprising:

An acquisition module: for acquiring pixels and imaging depths of the observation device, and acquiring relative coordinates of the target object relative to the observation device; the observation device forms one or a group of imaging images in its observation direction, the center of each imaging image The distance from the observation device is the imaging depth;

The calculation module is configured to acquire a horizontal offset angle and a vertical offset angle of the observation device, define a deviation of the observation device, form a new coordinate system with the observation device as an origin, and calculate a new target object in the new coordinate system. Relative coordinate; then calculating the coordinate point of the target object on the plane of the imaging image of the observation device according to the new relative coordinate of the target object;

a judging module: configured to determine whether the coordinate point is located in an imaging screen, and if so, display a projection or a set of related information projections at the coordinate point; otherwise, execute a display module;

Display module: used to divide the outside of the imaging picture into several areas, and display a projection or a set of related information projections at positions matching the area where the coordinate points are located in the imaging picture.

Specifically, the display module specifically includes the following submodules:

The setting sub-module is configured to define the imaging picture to be surrounded by the first long side, the first wide side, the second long side and the second wide side, and the first long side and the second long side are all left And the right two directions are infinitely extended, and the left extension line of the first long side, the right extension line of the first long side, the left extension line of the second long side, and the right extension line of the second long side are obtained; the first wide side is And the second wide side is infinitely extended in the upper and lower directions, and the upper extension line of the first wide side, the lower extension line of the first wide side, the upper extension line of the second wide side, and the lower side of the second wide side are obtained. Extension line

Defining a sub-module: defining a formation area between the first left extension line and the first upper extension line as a first area, a formation area between the first left extension line, the first wide side line, and the second left extension line The second region, the formation region between the second left extension line and the first lower extension line is a third region, and the formation between the first lower extension line and the second long extension line and the second lower extension line is a fourth region, The formation area between the second lower extension line and the second right extension line is a fifth area, and the formation area between the second right extension line, the second wide side and the first right extension line is a sixth area, and the first right extension a formation area between the line and the second upper extension line is a seventh area, and a formation area between the second upper extension line, the first long side and the first upper extension line is an eighth area;

Display sub-module: for displaying a projection or a set of related information projections in the upper left corner of the imaging picture when the coordinate point is located in the first area; displaying on the first wide side of the imaging picture when the coordinate point is located in the second area a projection or a set of related information projections; when the coordinate point is in the third region, a projection or a set of related information projections are displayed in the lower left corner of the imaged image; and when the coordinate point is located in the fourth region, the second longest in the imaged image A projection or a set of related information projections are displayed on the side; when the coordinate point is located in the fifth region, a projection or a set of related information projections are displayed in the lower right corner of the imaging image; when the coordinate points are located in the sixth region, in the imaging image A projection or a set of related information projections is displayed on the second wide side; when the coordinate point is located in the seventh area, a projection or a set of related information projections are displayed in the upper right corner of the imaged image; when the coordinate points are located in the eighth region, A projection or a set of related information projections is displayed on the first long side of the imaged image.

Preferably, in the acquisition module, the relative coordinates of the target object are p(P _x , P _y , P _z ); the calculation module specifically includes the following sub-modules:

Obtain sub-module: the horizontal offset angle used to obtain the observing device is recorded as arg ₁ , and the vertical offset angle of the observing device is recorded as arg ₂ . After defining the observing device offset, the observing device is used as the origin to form a new coordinate system. ;

First calculation sub-module: used to pass the formula

Find the direct length of the target object and the observation device, where l is the length directly between the target object and the observation device;

Second calculation sub-module: used to pass the formula

Find the horizontal angle between the target object and the X-axis, and obtain the horizontal angle of the target object with the X-axis in the new coordinate system by the formula A' _hori =A _hori +arg ₁ , where A _hori is the target object and the X-axis. The horizontal angle of the angle, A' _hori is the horizontal angle of the target object with the X axis in the new coordinate system;

Third calculation sub-module: used to pass the formula

Find the projection of the target object on the xy plane, according to the formula

Find the vertical angle between the target object and the xy plane, and find the vertical angle of the target object with the Y axis in the new coordinate system by the formula A' _vert = A _vert + arg ₂ , where l _xy is the target object at xy Projective on the plane, A _vert is the vertical angle between the target object and the xy plane, and A' _vert is the vertical angle of the target object with the Y axis in the new coordinate system;

The fourth calculation sub-module is used to obtain the Z-axis coordinate of the target object in the new coordinate system according to the formula q ₃ =l*sin(A' _vert ), and obtain the formula according to the formula l' _xy =l*cos(A' _vert ) Obtain the projective length of the target object on the xy plane of the new coordinate system, and obtain the X-axis coordinate of the target object in the new coordinate system according to the formula q ₁ =l' _xy *cos(A' _hori ), according to the formula q ₂ =l' _Xy *sin(A' _hori ) _finds the Y-axis coordinate of the target object in the new coordinate system, where q ₃ is the Z-axis coordinate of the target object in the new coordinate system, and l' _xy is the target object in the new coordinate system. Projective length on the xy plane, q ₁ is the X-axis coordinate of the target object in the new coordinate system, and q ₂ is the Y-axis coordinate of the target object in the new coordinate system;

The fifth calculation sub-module is configured to obtain a new relative coordinate of the target object as q(q ₁ , q ₂ , q ₃ ) according to the X-axis coordinate, the Y-axis coordinate and the Z coordinate of the target object in the new coordinate system, and according to The new relative coordinates of the target object determine the coordinate point of the target object on the plane of the imaging picture of the observation device.

Various other changes and modifications may be made by those skilled in the art in light of the above-described technical solutions and concepts, and all such changes and modifications are intended to fall within the scope of the appended claims.

Claims (6)

1. A method for processing position information of an intelligent display visual image, comprising the steps of:

   Step S1: acquiring a pixel and an imaging depth of the observation device, and acquiring relative coordinates of the target object with respect to the observation device; the observation device forms one or a group of imaging images in the observation direction thereof, and the center of each imaging image and the observation device The distance between them is the imaging depth;

   Step S2: Obtain a horizontal offset angle and a vertical offset angle of the observation device, define a shift of the observation device, form a new coordinate system with the observation device as an origin, and calculate a new relative coordinate of the target object in the new coordinate system. Then, according to the new relative coordinate of the target object, the coordinate point of the target object on the plane of the imaging image of the observation device is obtained;

   Step S3: determining whether the coordinate point is located in the imaging picture, and if so, displaying a projection or a set of related information projections at the coordinate point; otherwise, performing step S4;

   Step S4: Divide the outside of the imaging picture into a plurality of areas, and display a projection or a set of related information projections at positions matching the area where the coordinate points are located in the imaging picture.
2. The method for processing position information of a smart display visual image according to claim 1, wherein the step S4 comprises the following steps:

   Step S41: defining the imaged image by the first long side, the first wide side, the second long side, and the second wide side, and the first long side and the second long side are both left and right. The direction is infinitely extended, and the left extension line of the first long side, the right extension line of the first long side, the left extension line of the second long side, and the right extension line of the second long side are obtained; the first wide side and the second side are The wide sides are infinitely extended in the upper and lower directions, and the upper extension line of the first wide side, the lower extension line of the first wide side, the upper extension line of the second wide side, and the lower extension line of the second wide side are obtained;

   Step S42: defining a formation area between the first left extension line and the first upper extension line as a first area, a first left extension line, a second area forming a region between the first wide side line and the second left extension line, The formation area between the second left extension line and the first lower extension line is a third area, and the first lower extension line, the second long side and the second lower extension line are formed as a fourth area, and the second lower extension The formation area between the line and the second right extension line is a fifth area, and the formation area between the second right extension line, the second wide side and the first right extension line is a sixth area, the first right extension line and the first The formation area between the two upper extension lines is a seventh area, and the formation area between the second upper extension line, the first long side and the first upper extension line is an eighth area;

   Step S43: when the coordinate point is located in the first area, display a projection or a set of related information projection in the upper left corner of the imaging picture; when the coordinate point is located in the second area, display a projection or on the first wide side of the imaging picture a set of related information projection; when the coordinate point is located in the third area, a projection or a set of related information projection is displayed in the lower left corner of the imaging picture; when the coordinate point is located in the fourth area, it is displayed on the second long side of the imaging picture a projection or a set of related information projections; when the coordinate point is in the fifth region, a projection or a set of related information projections are displayed in the lower right corner of the imaged image; when the coordinate point is located in the sixth region, the second width in the imaged image A projection or a set of related information projections are displayed on the side; when the coordinate point is located in the seventh region, a projection or a set of related information projections are displayed in the upper right corner of the imaged image; when the coordinate points are located in the eighth region, in the imaged image A projection or a set of related information projections is displayed on the first long side.
3. The position information processing method for intelligently displaying a visual image according to claim 1, wherein in step S1, the relative coordinates of the target object are p(P _x , P _y , P _z ); and step S2 specifically includes the following substeps. :

   Step S21: Obtain the horizontal offset angle of the observation device as arg ₁ , and obtain the vertical offset angle of the observation device as arg ₂ , and define the offset of the observation device to form a new coordinate system with the observation device as the origin;

   Step S22: passing the formula

   

   Find the direct length of the target object and the observation device, where l is the length directly between the target object and the observation device;

   Step S23: Passing the formula

   

   Find the horizontal angle between the target object and the X-axis, and obtain the horizontal angle of the target object with the X-axis in the new coordinate system by the formula A' _hori =A _hori +arg ₁ , where A _hori is the target object and the X-axis. The horizontal angle of the angle, A' _hori is the horizontal angle of the target object with the X axis in the new coordinate system;

   Step S24: Passing the formula

   

   Find the projection of the target object on the xy plane, according to the formula Find the vertical angle between the target object and the xy plane, and find the vertical angle of the target object with the Y axis in the new coordinate system by the formula A' _vert = A _vert + arg ₂ , where l _xy is the target object at xy Projective on the plane, A _vert is the vertical angle between the target object and the xy plane, and A' _vert is the vertical angle of the target object with the Y axis in the new coordinate system;

   Step S25: Calculate the Z-axis coordinate of the target object in the new coordinate system according to the formula q ₃ =l*sin(A' _vert ), and obtain the target object in the new according to the formula l' _xy = l*cos(A' _vert ) The projective length on the xy plane of the coordinate system, and the X-axis coordinate of the target object in the new coordinate system is obtained according to the formula q ₁ =l' _xy *cos(A' _hori ) according to the formula q ₂ =l' _xy *sin(A ' _hori ) _finds the Y-axis coordinate of the target object in the new coordinate system, where q ₃ is the Z-axis coordinate of the target object in the new coordinate system, and l' _xy is the projection of the target object on the xy plane of the new coordinate system. Length, q ₁ is the X-axis coordinate of the target object in the new coordinate system, and q ₂ is the Y-axis coordinate of the target object in the new coordinate system;

   Step S26: Calculate the new relative coordinate of the target object as q(q ₁ , q ₂ , q ₃ ) according to the X-axis coordinate, the Y-axis coordinate and the Z coordinate of the target object in the new coordinate system, and according to the new relative of the target object. The coordinates determine the coordinate point of the target object on the plane of the imaging picture of the observation device.
4. A position information processing system for intelligently displaying a visual image, comprising:

   Obtaining module: acquiring pixels and imaging depths of the observation device, and acquiring relative coordinates of the target object relative to the observation device; the observation device forms one or a group of imaging images in the observation direction, and the center of each imaging image is The distance between the observation devices is the imaging depth;

   The calculation module is configured to acquire a horizontal offset angle and a vertical offset angle of the observation device, define a deviation of the observation device, form a new coordinate system with the observation device as an origin, and calculate a new target object in the new coordinate system. Relative coordinate; then calculating the coordinate point of the target object on the plane of the imaging image of the observation device according to the new relative coordinate of the target object;

   a judging module: configured to determine whether the coordinate point is located in an imaging screen, and if so, display a projection or a set of related information projections at the coordinate point; otherwise, execute a display module;

   Display module: used to divide the outside of the imaging picture into several areas, and display a projection or a set of related information projections at positions matching the area where the coordinate points are located in the imaging picture.
5. The position information processing system for intelligently displaying a visual image according to claim 4, wherein the display module comprises the following sub-modules:

   Setting sub-module: for defining an imaged picture by a first long side, a first wide side, a second long side, and a second wide side The first long side and the second long side are infinitely extended in the left and right directions, and the left long line of the first long side, the right extended line of the first long side, and the second long side are obtained. The left extension line and the right extension line of the second long side; the first wide side and the second wide side are extended infinitely in the upper and lower directions, and the upper extension line of the first wide side and the lower side of the first wide side are obtained. An extension line, an upper extension line of the second wide side, and a lower extension line of the second wide side;

   Defining a sub-module: defining a formation area between the first left extension line and the first upper extension line as a first area, a formation area between the first left extension line, the first wide side line, and the second left extension line The second region, the formation region between the second left extension line and the first lower extension line is a third region, and the formation between the first lower extension line and the second long extension line and the second lower extension line is a fourth region, The formation area between the second lower extension line and the second right extension line is a fifth area, and the formation area between the second right extension line, the second wide side and the first right extension line is a sixth area, and the first right extension a formation area between the line and the second upper extension line is a seventh area, and a formation area between the second upper extension line, the first long side and the first upper extension line is an eighth area;

   Display sub-module: for displaying a projection or a set of related information projections in the upper left corner of the imaging picture when the coordinate point is located in the first area; displaying on the first wide side of the imaging picture when the coordinate point is located in the second area A projection or a set of related information projections; when the coordinate point is in the third region, a projection or a set of related information projections are displayed in the lower left corner of the imaged image; and when the coordinate point is located in the fourth region, the second longest in the imaged image A projection or a set of related information projections are displayed on the side; when the coordinate point is located in the fifth region, a projection or a set of related information projections are displayed in the lower right corner of the imaging image; when the coordinate points are located in the sixth region, in the imaging image A projection or a set of related information projections is displayed on the second wide side; when the coordinate point is located in the seventh area, a projection or a set of related information projections are displayed in the upper right corner of the imaged image; when the coordinate points are located in the eighth region, A projection or a set of related information projections is displayed on the first long side of the imaged image.
6. The position information processing system for intelligently displaying a visual image according to claim 4, wherein in the acquisition module, the relative coordinates of the target object are p(P _x , P _y , P _z ); the calculation module specifically includes the following Module:

   Obtain sub-module: the horizontal offset angle used to obtain the observing device is recorded as arg ₁ , and the vertical offset angle of the observing device is recorded as arg ₂ . After defining the observing device offset, the observing device is used as the origin to form a new coordinate system. ;

   First calculation sub-module: used to pass the formula

   

   Find the direct length of the target object and the observation device, where l is the length directly between the target object and the observation device;

   Second calculation sub-module: used to pass the formula

   

   Find the horizontal angle between the target object and the X-axis, and obtain the horizontal angle of the target object with the X-axis in the new coordinate system by the formula A' _hori =A _hori +arg ₁ , where A _hori is the target object and the X-axis. The horizontal angle of the angle, A' _hori is the horizontal angle of the target object with the X axis in the new coordinate system;

   Third calculation sub-module: used to pass the formula

   

   Find the projection of the target object on the xy plane, according to the formula

   

   Find the vertical angle between the target object and the xy plane, and find the vertical angle of the target object with the Y axis in the new coordinate system by the formula A' _vert = A _vert + arg ₂ , where l _xy is the target object at xy Projective on the plane, A _vert is the vertical angle between the target object and the xy plane, and A' _vert is the vertical angle of the target object with the Y axis in the new coordinate system;

   The fourth calculation sub-module is used to obtain the Z-axis coordinate of the target object in the new coordinate system according to the formula q ₃ =l*sin(A' _vert ), and obtain the formula according to the formula l' _xy =l*cos(A' _vert ) Obtain the projective length of the target object on the xy plane of the new coordinate system, and obtain the X-axis coordinate of the target object in the new coordinate system according to the formula q ₁ =l' _xy *cos(A' _hori ), according to the formula q ₂ =l' _Xy *sin(A' _hori ) _finds the Y-axis coordinate of the target object in the new coordinate system, where q ₃ is the Z-axis coordinate of the target object in the new coordinate system, and l' _xy is the target object in the new coordinate system. Projective length on the xy plane, q ₁ is the X-axis coordinate of the target object in the new coordinate system, and q ₂ is the Y-axis coordinate of the target object in the new coordinate system;

   The fifth calculation sub-module is configured to obtain a new relative coordinate of the target object as q(q ₁ , q ₂ , q ₃ ) according to the X-axis coordinate, the Y-axis coordinate and the Z coordinate of the target object in the new coordinate system, and according to The new relative coordinates of the target object determine the coordinate point of the target object on the plane of the imaging picture of the observation device.

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