CN104914879B - The method and apparatus for adjusting polarizer - Google Patents
The method and apparatus for adjusting polarizer Download PDFInfo
- Publication number
- CN104914879B CN104914879B CN201410084633.5A CN201410084633A CN104914879B CN 104914879 B CN104914879 B CN 104914879B CN 201410084633 A CN201410084633 A CN 201410084633A CN 104914879 B CN104914879 B CN 104914879B
- Authority
- CN
- China
- Prior art keywords
- msub
- polarizer
- mrow
- degree
- mtr
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 27
- 239000013598 vector Substances 0.000 claims abstract description 45
- 238000003384 imaging method Methods 0.000 claims description 35
- 230000002452 interceptive effect Effects 0.000 claims description 21
- 238000004364 calculation method Methods 0.000 claims description 11
- 230000010287 polarization Effects 0.000 claims description 6
- 230000003993 interaction Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Abstract
A kind of method for the angle for adjusting polarizer is provided, comprised the following steps：1）The optional position of polarizer is arranged to initial position（0,0）；2）The motor is adjusted the position of the polarizer, and gather polarizer in initial position（0,0）Neighborhood in n position when n image；3）Calculate the characteristic quantity of n image of collection；4）According to the characteristic quantity of the n image, mean shift vectors C (x are calculatedc,yc)；And 5）By the position adjustment of the polarizer to (xc,yc), if the length value of the mean shift vectorsLess than threshold value, then the now position (x of the polarizerc,yc) it is optimal location；If the length value of the mean shift vectorsNot less than threshold value, then by the position (x of now polarizerc,yc) it is set to initial position（0,0）, and return to step 2）.The method of the angle of adjustment polarizer provided by the invention enables to polarizer to be adjusted to global optimum position rapidly on optimal direction.
Description
Technical field
The present invention relates to a kind of method and apparatus for adjusting polarizer, are applied to interaction system more specifically to one kind
The method and apparatus of the angle of the adjustment polarizer of system.
Background technology
Natural human-machine interaction（Human-Computer Nature Interaction, HCNI or Human-Machine
Nature Interaction,HMNI）Refer between people and machine natural, harmonious, easy exchanges with interacting.With
The rapid popularization of computer and the rapid development of information technology, requirement more and more higher of the user to man-machine interaction, are more needed
Can be similar to the natural human-machine interaction mode of interaction between the mankind.
Fig. 1 shows the example of a natural interaction system 100 in the prior art, natural interaction system in this example
100 include：Imaging device 101, polarizer 102, motor 105 and LCD display device 104, in answering for the natural interaction system 100
, it is necessary to rapidly and accurately identify the profile for the object 103 being positioned on display device 104 in.Added before imaging device 101
Motor 105, can be used for control and the polarisation direction of principal axis of polarizer 102 adjusted by the rotation of polarizer 102 so that polarization
The polarization direction for the polarised light that polarisation direction of principal axis and the LCD display device of piece are sent is vertical, so that imaging device 101 is no longer
The image light that LCD display device is sent is obtained, realizes the back of the body that LCD display device is shown in the image that imaging device 101 obtains
Scape is stripped and has to the profile of object 103 of concern.
Usually, in the method for above-mentioned adjustment polarizer 102, using motor adjustment polarizer direction when, it is necessary to
Before and after parallel with LCD planes, rotation adjustment polarizer in the both direction of left and right, it is assumed that each the adjustment angular field of view in direction is
120 degree, at interval of 1 degree of adjustment once, then the position for needing to adjust will be 14400 positions（120*120）；Need horse
Image is acquired up to 105 driving polarizers 102 to these positions, characteristics of image is calculated, then contrasts each position respectively
Characteristics of image is used for determining optimal location.Even if at interval of 5 degree of rough adjustment once, it is also desirable to 576 positions（24*
24）.Either 14400 positions or 576 positions all will make problem be difficult to solve, so as to which polarizer adjustment process is non-
It is often time-consuming.
Therefore, how some optimizations are carried out to existing above-mentioned polarizer method of adjustment, polarizer is quickly adjusted to
Optimum position so that system becomes more efficiently and practical, is current urgent problem to be solved.
The content of the invention
In order to solve above-mentioned technical problem of the prior art, according to an aspect of the present invention, there is provided one kind adjustment polarization
The method of the angle of piece, applied to an interactive system, wherein, the interactive system includes：Imaging device, polarizer, motor and
Display device, it the described method comprises the following steps：1）The optional position of polarizer is arranged to initial position（0,0）；2）Make institute
The position that motor adjusts the polarizer is stated, and polarizer is gathered in initial position by the imaging device（0,0）Neighbour
N position (x in domain1,y1)、(x2,y2)、……、(xi,yi)、……、(xn,yn) when n image, wherein n is positive integer,
1≤i≤n, (xi,yi) represent that polarizer turns clockwise x around the first rotary shaftiDegree, turned clockwise y around the second rotary shafti
Degree, and the first rotary shaft and the second rotary shaft with the plane where polarizer initial position in, it is and orthogonal；3）Meter
Calculate the characteristic quantity f (x of n image of the imaging device collection1,y1)、f(x2,y2)、……、f(xi,yi)、……f(xn,yn),
1≤i≤n；4）According to the characteristic quantity f (x of the n image1,y1)、f(x2,y2)、……、f(xi,yi)、……f(xn,yn), 1
≤ i≤n, calculate mean shift vectors C (xc,yc)；And 5）According to the mean shift vectors C (xc,yc), pass through the horse
Up to by the position adjustment of the polarizer to (xc,yc), if the length value of the mean shift vectorsLess than threshold
Value, the then now position (x of the polarizerc,yc) it is optimal location；If the length value of the mean shift vectorsNot less than threshold value, then by the position (x of now polarizerc,yc) it is set to initial position（0,0）, and return to step
2）.
In addition, according to one embodiment of present invention, wherein, the mean shift vectors C is calculated according to below equation
(xc,yc)：
In addition, according to one embodiment of present invention, wherein, i-th of position (x in the n positioni,yi) represent inclined
The piece that shakes rotates x respectively relative to orthogonal two rotary shaftsiAngle and rotation yiAngle, wherein, 1≤i≤n, and
And -90 degree≤xi≤ 90 degree, -90 degree≤yi≤ 90 degree.
In addition, according to one embodiment of present invention, the neighborhood for initial position polarizer relative to being mutually perpendicular to
Two rotary shafts rotate 5 degree of scope respectively.
In addition, according to one embodiment of present invention, wherein, 10≤n≤20.
In addition, according to one embodiment of present invention, wherein, the characteristic quantity is corresponding to the light through the polarizer
Brightness.
In addition, according to one embodiment of present invention, wherein, the threshold value is set by the user.
According to another aspect of the present invention, there is provided a kind of device for the angle for adjusting polarizer, applied to an interactive system,
Wherein, the interactive system includes：Imaging device, polarizer, motor and display device, described device include：Position sets single
Member, for the optional position of polarizer to be arranged into initial position（0,0）, and will be on the initial position（0,0）It is initial
Positional information is sent to image acquisition units；Image acquisition units, for making the motor adjust the position of the polarizer, and
And according to the initial position message of reception, polarizer is gathered in initial position by the imaging device（0,0）Neighborhood in n
Individual position (x1,y1)、(x2,y2)、……、(xi,yi)、……、(xn,yn) when n image, and the n image is sent to spy
Sign amount computing unit, wherein n are positive integer, 1≤i≤n, (xi,yi) represent that polarizer turns clockwise x around the first rotary shafti
Degree, turned clockwise y around the second rotary shaftiDegree, and the first rotary shaft and the second rotary shaft with polarizer initial position institute
Plane in, it is and orthogonal；Feature amount calculation unit, for according to the n received from described image collecting unit
Individual image, calculate the characteristic quantity f (x of the n image1,y1)、f(x2,y2)、……、f(xi,yi)、……f(xn,yn), 1≤i
≤ n, and by the characteristic quantity f (x of the n image1,y1)、f(x2,y2)、……、f(xi,yi)、……f(xn,yn) be sent to
Value drift amount computing unit；Average drifting amount computing unit, for according to from feature amount calculation unit receive the n position
(x1,y1)、(x2,y2)、……、(xi,yi)、……、(xn,yn) image characteristic quantity f (x1,y1)、f(x2,y2)、……、f
(xi,yi)、……f(xn,yn), 1≤i≤n, calculate mean shift vectors C (xc,yc), and by the mean shift vectors C (xc,
yc) it is sent to polarizer adjustment unit；And polarizer adjustment unit, for according to the mean shift vectors C (xc,yc), lead to
The motor is crossed by the position adjustment of polarizer to (xc,yc), if the length value of the mean shift vectorsIt is small
In threshold value, then the now position (x of the polarizerc,yc) it is optimal location；If the length value of the mean shift vectorsNot less than threshold value, then by the position (x of now polarizerc,yc) it is set to initial position（0,0）, and by the initial bit
Confidence breath is sent to image acquisition units.
In addition, according to one embodiment of present invention, wherein, the mean shift vectors C is calculated according to below equation
(xc,yc)：
In addition, according to one embodiment of present invention, i-th of position (x in the n positioni,yi) represent polarizer
X is rotated forwardiAngle, and to anticlockwise yiAngle, 1≤i≤n.
In addition, according to one embodiment of present invention, the neighborhood respectively rotates 5 degree and left and right for the front and rear of initial position
The scope of each 5 degree of rotation.
In addition, according to one embodiment of present invention, wherein, 10≤n≤20.
In addition, according to one embodiment of present invention, wherein, the characteristic quantity is corresponding to the light through the polarizer
Brightness.
In addition, according to one embodiment of present invention, wherein, the threshold value is set by the user.
As can be seen here, it is general only provided by the present invention for the method and apparatus of the angle of the adjustment polarizer of interactive system
2-3 iteration is needed, each iteration at most need to only measure 20 positions, i.e. at most only need to measure 60 positions altogether, you can so that
Polarizer is from any initial position fast positioning to global optimum position.Meanwhile provided by the present invention for the tune of interactive system
The method and apparatus of the angle of whole polarizer, polarizer is enabled to be adjusted to global optimum position rapidly on optimal direction
Put so that system becomes more efficiently and practical, also drastically increases Consumer's Experience.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, make below by required in the description to embodiment
Accompanying drawing is briefly described.Drawings in the following description are only the exemplary embodiment of the present invention：
Fig. 1 shows the example of a natural interaction system 100 in the prior art；
Fig. 2 shows the flow chart of the method 200 of the angle of adjustment polarizer according to embodiments of the present invention；
Fig. 3 shows the exemplary block diagram of the device 300 of the angle of adjustment polarizer according to embodiments of the present invention.
Embodiment
Hereinafter, by preferred embodiments of the present invention will be described in detail with reference to the annexed drawings.Pay attention to, in the specification and drawings
In, there is substantially the same step and element to be denoted by the same reference numerals, and to these steps and the repetition solution of element
Releasing to be omitted.
Mentioned " one embodiment " or " embodiment " means to be retouched with reference to the embodiment this specification in the whole text
Special characteristic, structure or the characteristic stated are contained at least one described embodiment.Therefore, in the description phrase " one
In individual embodiment " or " in one embodiment " appearance may not all only band the same embodiment.In addition, the special characteristic, knot
Structure or characteristic can be combined in one or more embodiments in any suitable manner.
The method that the angle of adjustment polarizer according to embodiments of the present invention is described next, with reference to Fig. 2.Fig. 2 is shown
The flow chart of the method 200 of the angle of the adjustment polarizer for being applied to an interactive system 100 according to embodiments of the present invention, its
Described in interactive system 100 include：Imaging device 101, polarizer 102, motor 105 and LCD display device 104.
As shown in Fig. 2 in step S210, the optional position of polarizer is arranged to initial position（0,0）.For example, Fig. 1
In in the interactive system 100 that shows, the position of polarizer 102 and plane-parallel can be arranged to initial position（0,0）.One
As, only vibrated through the polarised light of polarizer 102 on a direction perpendicular to propagation path of light, polarizer 102 has solid
Fixed polarizing axis, it can only allow direction of vibration and its polarisation direction of principal axis identical light or direction of vibration and its polarisation direction of principal axis phase
With the component of light pass through and the direction of vibration light vertical with polarizing axis or the direction of vibration light vertical with its polarisation direction of principal axis
Component will be absorbed by the polarizer.
Next, in step S220, the motor 105 is set to adjust the position of the polarizer 102, and by described
Imaging device 101 gathers polarizer 102 in initial position（0,0）Neighborhood in n position (x1,y1)、(x2,y2)、……、
(xi,yi)、……、(xn,yn) when n image, wherein n is positive integer, 1≤i≤n, (xi,yi) represent polarizer around the first rotation
Rotating shaft turns clockwise xiDegree, turned clockwise y around the second rotary shaftiDegree, and the first rotary shaft and the second rotary shaft be located at
In plane where polarizer initial position, and it is orthogonal.In one embodiment of the invention, polarizer 102 is first
Beginning position（0,0）Neighborhood can be polarizer from initial position（0,0）Revolved respectively relative to orthogonal two rotary shafts
Turn 5 degree of scope, and n span is usually 10-20, i.e., in polarizer 102 from initial position（0,0）Place is around the first rotation
Rotating shaft distinguishes each 5 degree of rotation, distinguishes the neighborhood of each 5 degree of rotation clockwise and anticlockwise around the second rotary shaft clockwise and anticlockwise
In the range of take 10-20 position, then 10- of the polarizer 102 in above-mentioned 10-20 opening position is gathered by the imaging device 101
20 images, wherein, the first rotary shaft and the second rotary shaft with the plane where the initial position of polarizer 102 in, and mutually
It is perpendicular.
For example, figure 1 illustrates interactive system 100 in, a axles and b axle positions are in polarizer 102 in initial position（0,0）
When where plane in, and a axles and b axles are mutually perpendicular to, and adjacent two side with polarizer 102 is parallel respectively, works as polarization
The position of piece 102 and plane-parallel is arranged to initial position（0,0）When, by motor 105 adjust polarizer 102 position,
Polarizer can be turned clockwise x around a axlesiDegree, (x is recorded as around the turn clockwise position of yi degree of b axlesi,yi), for example, horse
Polarizer 102 is turned clockwise 1 degree around a axles up to 105, and can be recorded as around turn clockwise 1 degree of position of b axles（1,
1）, motor 105 is by polarizer 102 around 1 degree of a axles rotate counterclockwise, and the position after 1 degree of b axles rotate counterclockwise can be by
It is recorded as（- 1, -1）.In one embodiment of the invention, can be by polarizer 102 in initial position（0,0）Neighborhood set
5 degree of scope is rotated relative to orthogonal a axles and b axles respectively for the polarizer of initial position.
As illustrated, can be in polarizer 102 from initial position（0,0）Each rotation is distinguished clockwise and anticlockwise around a axles in place
Turn 5 degree, take 10 positions in the contiguous range of each 5 degree of rotation respectively clockwise and anticlockwise around b axles, i.e., polarizer 102 is around a axles
Turn clockwise 1 degree, and 1 degree of the position of turning clockwise around b axles（1,1）, polarizer 102 turned clockwise 2 degree around a axles,
And turn clockwise 2 degree of position around b axles（2,2）, polarizer 102 turned clockwise 3 degree around a axles, it is and clockwise around b axles
The position of 3 degree of rotation（3,3）, polarizer 102 turned clockwise 4 degree around a axles, and 4 degree of the position of turning clockwise around b axles
（4,4）, polarizer 102 turned clockwise 5 degree around a axles, and 5 degree of the position of turning clockwise around b axles（5,5）, polarizer 102
Around 1 degree of a axles rotate counterclockwise, and around the position of 1 degree of b axles rotate counterclockwise（- 1, -1）, polarizer 102 revolves counterclockwise around a axles
Turn 2 degree, and around the position of 2 degree of b axles rotate counterclockwise（- 2, -2）, polarizer 102 around 3 degree of a axles rotate counterclockwise, and around b
The position that 3 degree of axle rotate counterclockwise（- 3, -3）, polarizer 102 turns clockwise 4 degree around a axles, and turns clockwise 4 around b axles
The position of degree（- 4, -4）, polarizer 102 turned clockwise 5 degree around a axles, and 5 degree of the position of turning clockwise around b axles（- 5 ,-
5）, while the collection of imaging device 101 is when polarizer 102 is in above-mentioned 10 positions（1,1）、（2,2）、（3,3）、（4,4）、（5,5）、
（- 1, -1）、（- 2, -2）、（- 3, -3）、（- 4, -4）、（- 5, -5）When 10 images.
Then, in step S230, the characteristic quantity f (x for the n image that the imaging device 101 gathers are calculated1,y1)、f
(x2,y2)、……、f(xi,yi)、……f(xn,yn), 1≤i≤n.Specifically, in this step, the feature of n image is calculated
Amount, the n image is polarizer 102 in n opening position (x1,y1)、(x2,y2)、……、(xi,yi)、……、(xn,yn) when into
The n image gathered as equipment 101.Wherein, the characteristic quantity of image can be the brightness, right for the image that imaging device 101 gathers
Than degree, color etc..In one embodiment of the invention, characteristic quantity can be the brightness for the image that imaging device 101 gathers,
Due to the brightness f (x of the light through the polarizeri,yi) it is the position (x of piece 102 of shakingi,yi) function f (xi,yi), therefore partially
Piece 102 shake in position (xi,yi) characteristic quantity can be taken as correspond to through the polarizer light brightness f (xi,yi).Example
Such as, in one embodiment, imaging device 101 gathers polarizer 102 10 positions（1,1）、（2,2）、（3,3）、（4,4）、
（5,5）、（- 1, -1）、（- 2, -2）、（- 3, -3）、（- 4, -4）、（- 5, -5）When 10 images after, calculate imaging device 101 exist
The characteristic quantity f of 10 images of 10 opening position collections（1,1）、f（2,2）、f（3,3）、f（4,4）、f（5,5）、f（- 1 ,-
1）、f（- 2, -2）、f（- 3, -3）、f（- 4, -4）、f（- 5, -5）.
Then, in step S240, according to the characteristic quantity f (x of the n image1,y1)、f(x2,y2)、……、f(xi,
yi)、……f(xn,yn), 1≤i≤n, calculate mean shift vectors C (xc,yc).Wherein, in one embodiment of the invention,
Mean shift vectors C (the x can be calculated according to below equationc,yc)：
Specifically, for example, in one embodiment, imaging device 101 gathers polarizer 102 10 positions（1,1）、
（2,2）、（3,3）、（4,4）、（5,5）、（- 1, -1）、（- 2, -2）、（- 3, -3）、（- 4, -4）、（- 5, -5）10 images at place
Afterwards, characteristic quantity f of the imaging device 101 in 10 images of 10 opening position collections is calculated（1,1）、f（2,2）、f（3,3）、f
（4,4）、f（5,5）、f（- 1, -1）、f（- 2, -2）、f（- 3, -3）、f（- 4, -4）、f（- 5, -5）.Then, according to described 10 figures
The characteristic quantity f of picture（1,1）、f（2,2）、f（3,3）、f（4,4）、f（5,5）、f（- 1, -1）、f（- 2, -2）、f（- 3, -3）、f（-
4, -4）、f（- 5, -5）, calculate mean shift vectors C (xc,yc).Wherein, in one embodiment of the invention, can according to
Lower formula calculates the mean shift vectors C (xc,yc)：
Then, in step s 250, according to the mean shift vectors C (xc,yc), will be described inclined by the motor 105
Shake piece 102 position adjustment to (xc,yc).In step S260, judge to state the length value of mean shift vectorsIt is
It is no to be less than threshold value, if the length value of the mean shift vectorsLess than threshold value, then the now polarizer
Position (xc,yc) it is optimal location；If the length value of the mean shift vectorsNot less than threshold value, then by this
When polarizer position (xc,yc) it is set to initial position（0,0）, and return to step 220, so that in the loop iteration of a new round,
So that motor 105 adjusts the position of polarizer 102 in the neighborhood of the new initial position of polarizer 102, and resurvey n
Image and calculate n image characteristic quantity and its mean shift vectors until the mean shift vectors C (x calculatedc,yc) length
DegreeLess than threshold value, then end loop iteration, the and position (x obtained by last wheel iterationc,yc) it is inclined
Shake the optimum position of piece 102.Wherein, the threshold value can be set by user according to use demand, can also use system default
The initial value of setting.
2-3 iteration is typically only needed provided by the present invention for the method for the angle of the adjustment polarizer of interactive system, often
Secondary iteration at most need to only measure 20 positions, i.e. altogether at most only need to measure 60 positions, you can so that polarizer from it is any just
Beginning position fast positioning is to global optimum position.As can be seen here, provided by the present invention for the adjustment polarizer of interactive system
The method of angle, polarizer is enabled to be adjusted to global optimum position rapidly so that system becomes more on optimal direction
Increase effect and practicality, drastically increase Consumer's Experience.
Below, reference picture 3 illustrates the device 300 of the angle of the adjustment polarizer according to the present invention.Fig. 3 is shown according to this
The exemplary block diagram of the device 300 of the angle of the adjustment polarizer of inventive embodiments, the angle of the adjustment polarizer
Device 300 is applied to an interactive system 100, and the interactive system 100 includes：Imaging device 101, polarizer 102, motor 105
With LCD display device 104.As shown in figure 3, the device 300 of the angle of adjustment polarizer includes：Position setting unit 310, image
Collecting unit 320, feature amount calculation unit 330, average drifting amount computing unit 340 and polarizer adjustment unit 350.
Specifically, position setting unit 310 is used to the optional position of polarizer 102 being arranged to initial position（0,0）, and
Will be on the initial position（0,0）Initial position message be sent to image acquisition units 320.For example, the friendship shown in Fig. 1
In mutual system 100, the position of polarizer 102 and plane-parallel can be arranged to initial position by position setting unit 310（0,
0）.
Image acquisition units 320, for making the motor 105 adjust the position of the polarizer 102, and according to reception
Initial position message, by the imaging device 101 gather polarizer in initial position（0,0）Neighborhood in n position
(x1,y1)、(x2,y2)、……、(xi,yi)、……、(xn,yn) place n image, and the n image is sent to feature gauge
Unit 330 is calculated, wherein n is positive integer, 1≤i≤n, (xi,yi) represent that polarizer turns clockwise x around the first rotary shaftiDegree, around
Second rotary shaft turns clockwise yiDegree, and the first rotary shaft and the second rotary shaft with it is flat where polarizer initial position
In face, and it is orthogonal.In one embodiment of the invention, polarizer 102 is in initial position（0,0）Neighborhood can be
Position setting unit 310 controls motor 105 to make polarizer from initial position（0,0）Relative to orthogonal two rotary shafts point
Scope that Xuan Zhuan be 5 degree, and n span is usually 10-20, i.e. image acquisition units 320 are in polarizer 102 from initial
Position（0,0）Place around the first rotary shaft clockwise and anticlockwise distinguish it is each rotation 5 degree, around the second rotary shaft clockwise and anticlockwise
10-20 position is taken in the contiguous range of each 5 degree of rotation respectively, then controls the imaging device 101 to gather polarizer 102 upper
State 10-20 image of 10-20 opening position, wherein, the first rotary shaft and the second rotary shaft with the initial position of polarizer 102
In the plane at place, and it is orthogonal.
For example, figure 1 illustrates interactive system 100 in, when position setting unit 310 is by polarizer 102 and horizontal plane
Parallel position is arranged to initial position（0,0）When, image acquisition units 320 can control motor 105 to adjust polarizer 102
Position, polarizer is turned clockwise x around a axlesiDegree, turned clockwise y around b axlesiThe position of degree is recorded as (xi,yi), for example,
Image acquisition units 320 can control motor 105 that polarizer 102 turns clockwise 1 degree around a axles, and around b axle dextrorotations
Turning 1 degree of position can be recorded as（1,1）；Image acquisition units 320 control motor 105 to revolve polarizer 102 counterclockwise around a axles
Turn 1 degree, and the position after 1 degree of b axles rotate counterclockwise can be registered as（- 1, -1）.In one embodiment of the present of invention
In, image acquisition units 320 can be by polarizer 102 in initial position（0,0）Neighborhood be arranged to polarizer 102 from initial bit
Put（0,0）Rotate 5 degree of scope respectively relative to orthogonal a axles and b axles.
As shown in figure 1, in one embodiment of the invention, rotary shaft a axles and b axles can be located at polarizer 102 first
Beginning position（0,0）When where plane in, and a axles and b axles are mutually perpendicular to, and image acquisition units 320 can control motor 105
By polarizer 102 from initial position（0,0）Place distinguish clockwise and anticlockwise around a axles each 5 degree of rotation, around b axles it is clockwise and
Take 10 positions in the contiguous range of each 5 degree of rotation respectively counterclockwise, i.e., image acquisition units 320 are by controlling motor 105 will
Polarizer 102 turns clockwise 1 degree around a axles, and 1 degree of the position of turning clockwise around b axles（1,1）, image acquisition units 320
By controlling motor 105 that polarizer 102 turns clockwise 2 degree around a axles, and 2 degree of the position of turning clockwise around b axles（2,
2）, image acquisition units 320 by controlling motor 105 that polarizer 102 turns clockwise 3 degree around a axles, and around b axle up times
Pin rotates 3 degree of position（3,3）, image acquisition units 320 are by controlling motor 105 that polarizer 102 turns clockwise around a axles
4 degree, and 4 degree of the position of turning clockwise around b axles（4,4）, image acquisition units 320 are by controlling motor 105 by polarizer
102 turn clockwise 5 degree around a axles, and 5 degree of the position of turning clockwise around b axles（5,5）, image acquisition units 320 pass through control
Motor 105 processed by polarizer 102 around 1 degree of a axles rotate counterclockwise, and around the position of 1 degree of b axles rotate counterclockwise（- 1, -1）, figure
As collecting unit 320 is by controlling motor 105 by polarizer 102 around 2 degree of a axles rotate counterclockwise, and around b axle rotate counterclockwises
2 degree of position（- 2, -2）, image acquisition units 320 by controlling motor 105 by polarizer 102 around 3 degree of a axles rotate counterclockwise,
And around 3 degree of position of b axles rotate counterclockwise（- 3, -3）, image acquisition units 320 are by controlling motor 105 by polarizer 102
Turned clockwise 4 degree around a axles, and 4 degree of the position of turning clockwise around b axles（- 4, -4）, image acquisition units 320 pass through control
Motor 105 processed turns clockwise polarizer 102 5 degree around a axles, and 5 degree of the position of turning clockwise around b axles（- 5, -5）, together
When image acquisition units 320 may be controlled to as equipment 101 gather polarizer 102 in above-mentioned 10 positions（1,1）、（2,2）、
（3,3）、（4,4）、（5,5）、（- 1, -1）、（- 2, -2）、（- 3, -3）、（- 4, -4）、（- 5, -5）10 images at place.
Feature amount calculation unit 330, for according to the n image received from described image collecting unit 320, calculating
Characteristic quantity f (the x of the n image1,y1)、f(x2,y2)、……、f(xi,yi)、……f(xn,yn), 1≤i≤n, and by described in
Characteristic quantity f (the x of n image1,y1)、f(x2,y2)、……、f(xi,yi)、……f(xn,yn) it is sent to the calculating of average drifting amount
Unit 340.Specifically, feature amount calculation unit 330 can be arranged to calculate the characteristic quantity of n image, and the n image is inclined
Piece 102 shake in n opening position (x1,y1)、(x2,y2)、……、(xi,yi)、……、(xn,yn) when imaging device 101 gather n
Individual image.Wherein, the brightness for the image that the characteristic quantity of image can gather for imaging device 101, contrast, color etc..
In one embodiment of the present of invention, characteristic quantity can be the brightness for the image that imaging device 101 gathers, due to passing through the polarization
Brightness f (the x of the light of piecei,yi) be polarizer 102 position (xi,yi) function f (xi,yi), therefore polarizer 102 is in position
(xi,yi) characteristic quantity can be taken as correspond to through the polarizer light brightness f (xi,yi).For example, in an implementation
In example, image acquisition units 320 control imaging device 101 to gather polarizer 102 10 positions（1,1）、（2,2）、（3,3）、
（4,4）、（5,5）、（- 1, -1）、（- 2, -2）、（- 3, -3）、（- 4, -4）、（- 5, -5）After 10 images at place, characteristic quantity calculates
Unit 330 calculates characteristic quantity f of the imaging device 101 in 10 images of 10 opening position collections（1,1）、f（2,2）、f（3,
3）、f（4,4）、f（5,5）、f（- 1, -1）、f（- 2, -2）、f（- 3, -3）、f（- 4, -4）、f（- 5, -5）.
Average drifting amount computing unit 340, for according to from feature amount calculation unit 330 receive the n position
(x1,y1)、(x2,y2)、……、(xi,yi)、……、(xn,yn) image characteristic quantity f (x1,y1)、f(x2,y2)、……、f
(xi,yi)、……f(xn,yn), 1≤i≤n, calculate mean shift vectors C (xc,yc), and by the mean shift vectors C (xc,
yc) polarizer adjustment unit 350 is sent to, wherein, in one embodiment of the invention, institute can be calculated according to below equation
State mean shift vectors C (xc,yc)：
Specifically, for example, in one embodiment, image acquisition units 320 control imaging device 101 to gather polarizer
102 10 positions（1,1）、（2,2）、（3,3）、（4,4）、（5,5）、（- 1, -1）、（- 2, -2）、（- 3, -3）、（- 4, -4）、（-
5, -5）When 10 images after, feature amount calculation unit 330 calculates imaging device 101 at 10 of 10 opening positions collection
The characteristic quantity f of image（1,1）、f（2,2）、f（3,3）、f（4,4）、f（5,5）、f（- 1, -1）、f（- 2, -2）、f（- 3, -3）、f（-
4, -4）、f（- 5, -5）.Then, according to the characteristic quantity f of 10 images（1,1）、f（2,2）、f（3,3）、f（4,4）、f（5,
5）、f（- 1, -1）、f（- 2, -2）、f（- 3, -3）、f（- 4, -4）、f（- 5, -5）, the calculating average of average drifting amount computing unit 340
Shift vectors C (xc,yc).Wherein, in one embodiment of the invention, the average drifting can be calculated according to below equation
Vectorial C (xc,yc)：
Polarizer adjustment unit 350, for according to the mean shift vectors C (xc,yc), will be inclined by the motor 105
Shake piece 102 position adjustment to (xc,yc), then judge to state the length value of mean shift vectorsWhether threshold is less than
Value, if the length value of the mean shift vectorsLess than threshold value, then the now position (x of the polarizerc,
yc) it is optimal location；If the length value of the mean shift vectors, then will now polarizer not less than threshold value
Position (xc,yc) it is set to initial position（0,0）, and the initial position message is sent to image acquisition units 320 so as to image
Collecting unit 320 causes motor 105 to adjust the position of polarizer 102 in the neighborhood of the new initial position of polarizer 102 again
Put, and gather n image, feature amount calculation unit 330 calculates the characteristic quantity of n image again, and average drifting amount calculates
Unit 340 calculates mean shift vectors again, until average drifting amount computing unit 340 counts counted mean shift vectors C
(xc,yc) lengthLess than threshold value, then position (xc,yc) be polarizer 102 optimum position.Wherein, it is described
Threshold value can be set by user according to use demand, the initial value that system default can also be used to set.
2-3 iteration is only typically needed provided by the present invention for the device 300 of the angle of the adjustment polarizer of interactive system,
Each iteration at most need to only measure 20 positions, i.e. at most only need to measure 60 positions altogether, you can so that polarizer is from any
Initial position fast positioning is to global optimum position.As can be seen here, provided by the present invention for the adjustment polarizer of interactive system
Angle device, enable to polarizer to be adjusted to global optimum position rapidly on optimal direction, drastically increase
Consumer's Experience.
Those of ordinary skill in the art are it is to be appreciated that the list of each example described with reference to the embodiments described herein
Member and algorithm steps, it can be realized with electronic hardware, computer software or the combination of the two, in order to clearly demonstrate hardware
With the interchangeability of software, the composition and step of each example are generally described according to function in the above description.This
A little functions are performed with hardware or software mode actually, application-specific and design constraint depending on technical scheme.This
Art personnel can realize described function using distinct methods to each specific application, but this realization
It is it is not considered that beyond the scope of this invention.
It should be appreciated by those skilled in the art that can be dependent on design requirement and other factorses carries out various repair to the present invention
Change, combine, partly combining and replacing, as long as they are in the range of appended claims and its equivalent.
Claims (14)
1. a kind of method for the angle for adjusting polarizer, applied to an interactive system, wherein, the interactive system includes：Imaging
Equipment, polarizer, motor and display device, the described method comprises the following steps：
1) optional position of polarizer is arranged to initial position (0,0)；
2) motor is adjusted the position of the polarizer, and polarizer is gathered in initial position by the imaging device
(0,0) n position (x in neighborhood1,y1)、(x2,y2)、……、(xi,yi)、……、(xn,yn) place n image, wherein n
For positive integer, 1≤i≤n, (xi,yi) represent that polarizer turns clockwise x around the first rotary shaftiDegree, around the second rotary shaft up time
Pin rotates yiDegree, and the first rotary shaft and the second rotary shaft be located at in the plane where polarizer initial position, and mutually
It is perpendicular；
3) the characteristic quantity f (x of n image of the imaging device collection are calculated1,y1)、f(x2,y2)、……、f(xi,yi)、……
f(xn,yn), 1≤i≤n；
4) according to the characteristic quantity f (x of the n image1,y1)、f(x2,y2)、……、f(xi,yi)、……f(xn,yn), 1≤i≤
N, calculate mean shift vectors C (xc,yc)；And
5) according to the mean shift vectors C (xc,yc), by the motor by the position adjustment of the polarizer to (xc,yc),
If the length value of the mean shift vectorsLess than threshold value, then the now position (x of the polarizerc,yc) be
Optimal location；If the length value of the mean shift vectorsNot less than threshold value, then by the position of now polarizer
(xc,yc) be set to initial position (0,0), and return to step 2).
2. the mean shift vectors C (x are the method for claim 1, wherein calculated according to below equationc,yc)：
<mrow>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>M</mi>
<mn>00</mn>
</msub>
<mo>=</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<mi>f</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mi>i</mi>
</msub>
<mo>,</mo>
<msub>
<mi>y</mi>
<mi>i</mi>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>M</mi>
<mn>10</mn>
</msub>
<mo>=</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<msub>
<mi>x</mi>
<mi>i</mi>
</msub>
<mi>f</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mi>i</mi>
</msub>
<mo>,</mo>
<msub>
<mi>y</mi>
<mi>i</mi>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>M</mi>
<mn>01</mn>
</msub>
<mo>=</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<msub>
<mi>y</mi>
<mi>i</mi>
</msub>
<mi>f</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mi>i</mi>
</msub>
<mo>,</mo>
<msub>
<mi>y</mi>
<mi>i</mi>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>x</mi>
<mi>c</mi>
</msub>
<mo>=</mo>
<mfrac>
<msub>
<mi>M</mi>
<mn>10</mn>
</msub>
<msub>
<mi>M</mi>
<mn>00</mn>
</msub>
</mfrac>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>y</mi>
<mi>c</mi>
</msub>
<mo>=</mo>
<mfrac>
<msub>
<mi>M</mi>
<mn>01</mn>
</msub>
<msub>
<mi>M</mi>
<mn>00</mn>
</msub>
</mfrac>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>.</mo>
</mrow>
3. the method for claim 1, wherein i-th of position (x in the n positioni,yi) represent that polarizer is relative
X is rotated respectively in orthogonal two rotary shaftsiAngle and rotation yiAngle, wherein, 1≤i≤n, and -90 degree≤
xi≤ 90 degree, -90 degree≤yi≤ 90 degree.
4. the method for claim 1, wherein the neighborhood is the polarizer of initial position relative to orthogonal two
Individual rotary shaft rotates 5 degree of scope respectively.
5. the method for claim 1, wherein 10≤n≤20.
6. the method for claim 1, wherein the characteristic quantity corresponds to the brightness of the light through the polarizer.
7. the method for claim 1, wherein the threshold value is set by the user.
8. a kind of device for the angle for adjusting polarizer, applied to an interactive system, wherein, the interactive system includes：Imaging
Equipment, polarizer, motor and display device, described device include：
Position setting unit, for the optional position of polarizer to be arranged into initial position (0,0), and will be on the initial bit
The initial position message for putting (0,0) is sent to image acquisition units；
Image acquisition units, for making the motor adjust the position of the polarizer, and according to the initial bit confidence of reception
Breath, n position (x of the polarizer in the neighborhood of initial position (0,0) is gathered by the imaging device1,y1)、(x2,
y2)、……、(xi,yi)、……、(xn,yn) place n image, and the n image is sent to feature amount calculation unit, wherein
N is positive integer, 1≤i≤n, (xi,yi) represent that polarizer turns clockwise x around the first rotary shaftiDegree, around the second rotary shaft up time
Pin rotates yiDegree, and the first rotary shaft and the second rotary shaft with the plane where polarizer initial position in, and mutually
Vertically；
Feature amount calculation unit, for according to the n image received from described image collecting unit, calculating the n figure
Characteristic quantity f (the x of picture1,y1)、f(x2,y2)、……、f(xi,yi)、……f(xn,yn), 1≤i≤n, and by the n image
Characteristic quantity f (x1,y1)、f(x2,y2)、……、f(xi,yi)、……f(xn,yn) it is sent to average drifting amount computing unit；
Average drifting amount computing unit, for according to the n position (x received from feature amount calculation unit1,y1)、(x2,
y2)、……、(xi,yi)、……、(xn,yn) image characteristic quantity f (x1,y1)、f(x2,y2)、……、f(xi,yi)、……f
(xn,yn), 1≤i≤n, calculate mean shift vectors C (xc,yc), and by the mean shift vectors C (xc,yc) it is sent to polarization
Piece adjustment unit；And
Polarizer adjustment unit, for according to the mean shift vectors C (xc,yc), by the motor by the position of polarizer
Adjust to (xc,yc), if the length value of the mean shift vectorsLess than threshold value, then the now polarizer
Position (xc,yc) it is optimal location；If the length value of the mean shift vectors, then will now not less than threshold value
Position (the x of polarizerc,yc) initial position (0,0) is set to, and the initial position message is sent to image acquisition units.
9. device as claimed in claim 8, wherein, the mean shift vectors C (x are calculated according to below equationc,yc)：
<mrow>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>M</mi>
<mn>00</mn>
</msub>
<mo>=</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<mi>f</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mi>i</mi>
</msub>
<mo>,</mo>
<msub>
<mi>y</mi>
<mi>i</mi>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>M</mi>
<mn>10</mn>
</msub>
<mo>=</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<msub>
<mi>x</mi>
<mi>i</mi>
</msub>
<mi>f</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mi>i</mi>
</msub>
<mo>,</mo>
<msub>
<mi>y</mi>
<mi>i</mi>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>M</mi>
<mn>01</mn>
</msub>
<mo>=</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
</munderover>
<msub>
<mi>y</mi>
<mi>i</mi>
</msub>
<mi>f</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mi>i</mi>
</msub>
<mo>,</mo>
<msub>
<mi>y</mi>
<mi>i</mi>
</msub>
<mo>)</mo>
</mrow>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>x</mi>
<mi>c</mi>
</msub>
<mo>=</mo>
<mfrac>
<msub>
<mi>M</mi>
<mn>10</mn>
</msub>
<msub>
<mi>M</mi>
<mn>00</mn>
</msub>
</mfrac>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>y</mi>
<mi>c</mi>
</msub>
<mo>=</mo>
<mfrac>
<msub>
<mi>M</mi>
<mn>01</mn>
</msub>
<msub>
<mi>M</mi>
<mn>00</mn>
</msub>
</mfrac>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>.</mo>
</mrow>
10. device as claimed in claim 8, wherein, i-th of position (x in the n positioni,yi) represent polarizer to
Preceding rotation xiAngle, and to anticlockwise yiAngle, 1≤i≤n.
11. device as claimed in claim 8, wherein, the neighborhood is each for front and rear respectively 5 degree of rotation and the left and right of initial position
The scope of 5 degree of rotation.
12. device as claimed in claim 8, wherein, 10≤n≤20.
13. device as claimed in claim 8, wherein, the characteristic quantity corresponds to the brightness of the light through the polarizer.
14. device as claimed in claim 8, wherein, the threshold value is set by the user.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410084633.5A CN104914879B (en) | 2014-03-10 | 2014-03-10 | The method and apparatus for adjusting polarizer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410084633.5A CN104914879B (en) | 2014-03-10 | 2014-03-10 | The method and apparatus for adjusting polarizer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104914879A CN104914879A (en) | 2015-09-16 |
| CN104914879B true CN104914879B (en) | 2017-11-24 |
Family
ID=54084035
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410084633.5A Active CN104914879B (en) | 2014-03-10 | 2014-03-10 | The method and apparatus for adjusting polarizer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104914879B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101888479A (en) * | 2009-05-14 | 2010-11-17 | 汉王科技股份有限公司 | Method and device for detecting and tracking target image |
| CN102117487A (en) * | 2011-02-25 | 2011-07-06 | 南京大学 | Scale-direction self-adaptive Mean-shift tracking method aiming at video moving object |
| CN102339379A (en) * | 2011-04-28 | 2012-02-01 | 重庆邮电大学 | Gesture recognition method and gesture recognition control-based intelligent wheelchair man-machine system |
| TW201224851A (en) * | 2010-12-01 | 2012-06-16 | Htc Corp | Method of dynamically adjusting threshold values and related electronic device |
| CN102661955A (en) * | 2012-04-25 | 2012-09-12 | 北京先驱威锋技术开发公司 | Detection system of visible foreign matters |
| CN103150740A (en) * | 2013-03-29 | 2013-06-12 | 上海理工大学 | Method and system for moving target tracking based on video |
-
2014
- 2014-03-10 CN CN201410084633.5A patent/CN104914879B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101888479A (en) * | 2009-05-14 | 2010-11-17 | 汉王科技股份有限公司 | Method and device for detecting and tracking target image |
| TW201224851A (en) * | 2010-12-01 | 2012-06-16 | Htc Corp | Method of dynamically adjusting threshold values and related electronic device |
| CN102117487A (en) * | 2011-02-25 | 2011-07-06 | 南京大学 | Scale-direction self-adaptive Mean-shift tracking method aiming at video moving object |
| CN102339379A (en) * | 2011-04-28 | 2012-02-01 | 重庆邮电大学 | Gesture recognition method and gesture recognition control-based intelligent wheelchair man-machine system |
| CN102661955A (en) * | 2012-04-25 | 2012-09-12 | 北京先驱威锋技术开发公司 | Detection system of visible foreign matters |
| CN103150740A (en) * | 2013-03-29 | 2013-06-12 | 上海理工大学 | Method and system for moving target tracking based on video |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104914879A (en) | 2015-09-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Dighe et al. | Enhanced B s–B¯ s lifetime difference and anomalous like-sign dimuon charge asymmetry<? format?> from new physics in B s→ τ+ τ | |
| US9727137B2 (en) | User view point related image processing apparatus and method thereof | |
| CN103475823B (en) | Display device and image processing method thereof | |
| EP4203459A1 (en) | Method, apparatus, and device for determining exposure parameter of head-mounted device | |
| CN109615659A (en) | A method and device for obtaining camera parameters of a vehicle-mounted multi-camera surround view system | |
| CN105898138A (en) | Panoramic video play method and device | |
| WO2015131491A1 (en) | User prompting method, electronic device and computer storage medium | |
| CN106534843A (en) | Delay measurement method and device | |
| CN106815802A (en) | A kind of image split-joint method and device | |
| US20220222837A1 (en) | Method for measuring growth height of plant, electronic device, and storage medium | |
| CN105808190A (en) | Display control method and terminal equipment of a display screen | |
| JPWO2016043161A1 (en) | Display device, display system, and display control program | |
| CN104914879B (en) | The method and apparatus for adjusting polarizer | |
| WO2011050601A1 (en) | Method and device for generating perspective image | |
| WO2020177132A1 (en) | Automatic calibration method for image arrangement of naked 3d display screen, and electronic device | |
| DE102019108384A1 (en) | Jitter detection and adaptive control of parameters of clock and data recovery circuits | |
| US20080143748A1 (en) | Panoramic image straightening | |
| CN109685800A (en) | A kind of method of regulation mould plate and Fast Calibration camera external parameter | |
| CN202563212U (en) | Image display system | |
| US20130083392A1 (en) | Mechanism for employing and facilitating a universal and dynamic eyewear optical lens stack and an intelligent tracking system at an eyewear device | |
| US10284827B2 (en) | Automatic adjustment method and device for color wheel | |
| US9619867B2 (en) | Color smear correction based on inertial measurements | |
| US11651529B2 (en) | Image processing method, apparatus, electronic device and computer readable storage medium | |
| CN111896795B (en) | Cloud lightning current waveform measuring method and system | |
| CN114723858A (en) | Image processing method, apparatus, device, storage medium and program product |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |